diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_1.mp4 b/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d344978bf371a28bbf8d13ff00fa5d31bc2bebf
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05c03d75a9a9b24b2e32a6896c833ddb5f2402405943cdd1ff43362e27efcaad
+size 10226224
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_1_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a58b61315f2375958cdbd01cb6de5fee3a2a645
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ad98a3912df68e952df23f5c0cd8f15ffa0616dcab19f196d4bba85f3d79c5d
+size 3221501
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_2.mp4 b/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..47d7e050003534eddc90acdcbde6ef8d9fabd7a2
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0ed12d79743f596547e71389dff0c0ce3985bdda669aba7a01bef958ceecc90
+size 22090088
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_2_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ea687c9202984da6e7d7fc555d329ff87350b2a5
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f595718ea8c32fa1282fef09119bc457c5f605c81b99ee09385170e986f42535
+size 6371935
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/env_cfg.json b/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..357f8c25e7da88e7a656bd5220fe52a2b358b428
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:5", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/fruits_in_basket.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471963286399841, -5.774462260887958e-05, -0.3470001220703125], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lemon_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lemon_01", "spawn": null, "init_state": {"pos": [0.3856664896011359, -0.36678015061754005, 0.08909919881566895], "rot": [0.9419288635253906, 0.3299059625813502, 0.057016612066690585, -0.026099384273873736], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lemon_02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lemon_02", "spawn": null, "init_state": {"pos": [0.3260307908058208, -0.23868608840841005, 0.20847657329880662], "rot": [-0.27720674872398365, -0.10159870271595114, 0.8249058751447398, -0.4820419268279522], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lime01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lime01", "spawn": null, "init_state": {"pos": [0.4361977577209498, -0.24894561239618013, 0.021372735500335572], "rot": [0.9781804084777832, -0.07533644103159434, -0.1278432303415413, -0.145408450850595], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lime01_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lime01_01", "spawn": null, "init_state": {"pos": [0.44568830728530995, -0.17132349678415087, 0.040971186012029336], "rot": [0.919944167137146, 0.3173049700168694, -0.057726476556696306, -0.2229079165424269], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "orange_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/orange_01", "spawn": null, "init_state": {"pos": [0.4923862218856827, -0.3087733126534814, 0.03229415044188491], "rot": [0.9176989197731018, -0.12917140048596235, -0.3667672850500597, 0.08139533500628543], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "orange_02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/orange_02", "spawn": null, "init_state": {"pos": [0.3758616447448735, -0.19806658097642596, 0.030656106770038417], "rot": [0.9469792246818542, 0.2670893481253356, -0.13378941074420853, -0.11829633008532005], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "pomegranate01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "spawn": null, "init_state": {"pos": [0.37925079464912426, -0.2950076050414441, 0.014848608523607153], "rot": [0.9948065280914307, 0.10160271421776663, 0.0033233162207671864, 0.005080915227909633], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "pumpkinlarge": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "spawn": null, "init_state": {"pos": [0.6743540167808533, 0.23907040059566498, 0.002787109464406967], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "pumpkinsmall": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "spawn": null, "init_state": {"pos": [0.578921377658844, 0.20728783309459686, 0.002740677446126938], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "redonion": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/redonion", "spawn": null, "init_state": {"pos": [0.6320742964744579, -0.3169718789953783, 0.04339895397424671], "rot": [-0.5411092638969419, 0.3272032069190475, 0.7518617940259849, 0.1866619098553007], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "serving_bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "spawn": null, "init_state": {"pos": [0.4279561936855316, 0.3938743472099304, 0.003246370702981949], "rot": [0.9999989867210388, -8.574598664059446e-08, 1.5736105796754037e-07, 0.001423571868053788], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "clay_plates": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/clay_plates", "spawn": null, "init_state": {"pos": [0.4022193253040325, -0.31780384847062754, 0.002826265990734111], "rot": [0.9999983310699463, -0.00015620008395065047, -0.001724322332137198, 0.0005832421030422051], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "wooden_bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "spawn": null, "init_state": {"pos": [0.5124515434512656, 0.03163659387980241, 0.007829435169694202], "rot": [0.9971413612365723, 0.009151381587167301, -0.06990075968505755, -0.027189000014226045], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "wooden_spoons": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/wooden_spoons", "spawn": null, "init_state": {"pos": [0.403253972530365, 0.20256920158863068, 0.16761822998523712], "rot": [0.7801259160041809, -0.6250326766195942, 0.023159055531131716, -0.014190365861723547], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spatula": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spatula", "spawn": null, "init_state": {"pos": [0.31130489706993103, 0.28100934624671936, 0.17427046597003937], "rot": [0.8123611807823181, 0.13684668715157564, 0.5233539751428492, -0.21781394095827447], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "storage_box": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/storage_box", "spawn": null, "init_state": {"pos": [0.35045546293258667, 0.23540310561656952, 0.0027529820799827576], "rot": [0.9999914765357971, -0.0032916560166222656, 0.0024747320625562617, -0.00029590140775294794], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_01", "/World/envs/env_.*/scene/lemon_02", "/World/envs/env_.*/scene/lime01", "/World/envs/env_.*/scene/lime01_01", "/World/envs/env_.*/scene/orange_01", "/World/envs/env_.*/scene/orange_02", "/World/envs/env_.*/scene/pomegranate01", "/World/envs/env_.*/scene/pumpkinlarge", "/World/envs/env_.*/scene/pumpkinsmall", "/World/envs/env_.*/scene/redonion", "/World/envs/env_.*/scene/serving_bowl", "/World/envs/env_.*/scene/clay_plates", "/World/envs/env_.*/scene/wooden_bowl", "/World/envs/env_.*/scene/wooden_spoons", "/World/envs/env_.*/scene/spatula", "/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lemon_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lemon_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lime01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__lemon_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__lemon_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__lime01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__lemon_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__lime01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__lime01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clay_plates__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clay_plates", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clay_plates__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clay_plates", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clay_plates__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clay_plates", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clay_plates__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clay_plates", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_spoons__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_spoons", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_spoons__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_spoons", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_on_top", "params": {"object": ["redonion"], "reference_object": "clay_plates", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"redonion": [["functools.partial(<function object_grabbed at 0x7fc6093a9120>, object='redonion')", 0.0], ["functools.partial(<function object_on_top at 0x7fc6095f6700>, object='redonion', reference_object='clay_plates', require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place_on_surface"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "vague", "simple"], "_task_attributes": ["semantics", "vague", "simple"], "_task_name": "FruitsOnionToPlateTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the onion on the plate", "contact_object_list": ["table", "lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01", "pumpkinlarge", "pumpkinsmall", "redonion", "serving_bowl", "clay_plates", "wooden_bowl", "wooden_spoons", "spatula", "storage_box"], "_instruction_variants": {"default": "Put the onion on the plate", "vague": "Plate the onion", "specific": "Pick up the round onion and place it on the flat plate"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/log_0_env0.json b/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4b250fa05ef6309799b8526ebdcb4008395c020
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionToPlateTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.149m", "score": 0.0}, {"step": 90, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 117, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 142, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 143, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 143, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 159, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.119m", "score": 0.0}, {"step": 179, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 181, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 181, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 230, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.061m", "score": 0.0}, {"step": 238, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.057m", "score": 0.0}, {"step": 239, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.058m", "score": 0.0}, {"step": 535, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.061m", "score": 0.0}, {"step": 545, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 557, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 597, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 602, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.080m", "score": 0.0}, {"step": 634, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 638, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 639, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 640, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.060m", "score": 0.0}, {"step": 713, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 714, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 716, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 756, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 757, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 758, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 760, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 760, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 768, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinsmall'", "score": 0.0}, {"step": 789, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.055m", "score": 0.0}, {"step": 794, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 803, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 809, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 856, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 857, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.054m", "score": 0.0}, {"step": 877, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.050m", "score": 0.0}, {"step": 887, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 889, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 890, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/log_1_env0.json b/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..36b2b1b70a124ad58e2195eeee6d0f53ab94744f
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionToPlateTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 10, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.143m", "score": 0.0}, {"step": 62, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.0}, {"step": 64, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 67, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.093m", "score": 0.0}, {"step": 80, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 82, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 100, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 161, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 161, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 210, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 233, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 328, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 377, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 377, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/log_2_env0.json b/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..404669c225cc34d7bf4b5b6458c384fec0022bed
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionToPlateTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 10, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lemon_02'", "score": 0.0}, {"step": 15, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lemon_02' displaced 0.894m", "score": 0.0}, {"step": 19, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.052m", "score": 0.0}, {"step": 23, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_spoons'", "score": 0.0}, {"step": 36, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'storage_box'", "score": 0.0}, {"step": 40, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.101m", "score": 0.0}, {"step": 43, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.153m", "score": 0.0}, {"step": 75, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 90, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.161m", "score": 0.0}, {"step": 90, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box' nudged 0.110m", "score": 0.0}, {"step": 154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 186, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 213, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 312, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 314, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 334, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 357, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 357, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 362, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 374, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 375, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 375, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 379, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.078m", "score": 0.0}, {"step": 405, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 410, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 411, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 457, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 469, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 471, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 501, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 506, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 507, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 572, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 585, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.270m", "score": 0.0}, {"step": 600, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 601, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.068m", "score": 0.0}, {"step": 631, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.159m", "score": 0.0}, {"step": 665, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.082m", "score": 0.0}, {"step": 684, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['redonion'])", "score": 0.0}, {"step": 688, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 688, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 725, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['redonion'])", "score": 0.0}, {"step": 731, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}, {"step": 737, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.166m", "score": 0.0}, {"step": 750, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 751, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['redonion'])", "score": 0.0}, {"step": 752, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}, {"step": 776, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.051m", "score": 0.0}, {"step": 779, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.161m", "score": 0.0}, {"step": 788, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['redonion'])", "score": 0.0}, {"step": 792, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}, {"step": 794, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['redonion'])", "score": 0.0}, {"step": 801, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}, {"step": 802, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.137m", "score": 0.0}, {"step": 811, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['redonion'])", "score": 0.0}, {"step": 817, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}, {"step": 823, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.095m", "score": 0.0}, {"step": 834, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 845, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'serving_bowl' (target objects: ['redonion'])", "score": 0.0}, {"step": 845, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'serving_bowl'", "score": 0.0}, {"step": 847, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'serving_bowl'", "score": 0.0}, {"step": 866, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 869, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['redonion'])", "score": 0.0}, {"step": 889, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}, {"step": 894, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['redonion'])", "score": 0.0}, {"step": 897, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/run_0.hdf5 b/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1622bd1235d7dab48e81e2eceb7c7dfb33465b41
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f4c2ca087299de09b919fca52345e9222551b84441c74ed780e4a65ed6d044a
+size 1298522
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/run_1.hdf5 b/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4f5a41ce83209c293b5c1034d526aea56a9da2e4
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7fdefe1032678db9fb39aac2f47a32f24d72e8665c4eb34563c7a52b79af04c
+size 1238239
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/run_2.hdf5 b/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..82bfd2c3a971f9c4f25c982f5b666a42f1c98958
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/FruitsOnionToPlateTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2ca42277cda030e6ddabe3d58b71f835966b7adcbe4b2847986292032e9e61d
+size 1327260
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_0.mp4 b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..451d587ca03d9f836e79aca5cf622dd3bd27a6d4
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb63f6f43164e0249cafde304e05059167bd5f373a19d5addb6a033a10298865
+size 5670241
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..43bcf7f899092a84ca9ce398c227aa5b98758841
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96523cc4fd658cef0ec210cfeec9afe7b201acf1b79ef4b33b6dcf4e35351711
+size 1581737
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_1.mp4 b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..189f133e858e978a326588b8e8b2fa1b036fa717
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de5c3de9f476441036123b17f83c6d02dfdd68400955aebd62f1f9448cb88c12
+size 19548790
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dee2e543f31a2d66eaa489a78cd2a832a1b4cf0b
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32ce89ef20826a48f8fc4a7d26fabc91f631dbbe36a95c2cd14ca2113324caa9
+size 5320558
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_2.mp4 b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5dec26a5888584ce569d659b780acbec46ac1cf3
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c96db98aa89d3d7a718d98debaacda719fda0e4fe9bbbe028b48d004e9fa7df9
+size 2454435
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_2_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..509f67ab80f809ce31fafbe6a9f0f96a10cba856
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87ea01daf8535fb5f1aa9ae1fc4ee196b811b91acd87fce3221d36337adb9e08
+size 779372
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/env_cfg.json b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..6193f00c0ec8d84cff531c3885a920c9fd202590
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:5", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/mugs4_measuringcup_drill_bowl.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.19859051704406738, 0.02206825092434883, 0.05000218003988266], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.35782724618911743, 0.3763640522956848, 0.07732968032360077], "rot": [0.9999999403953552, -0.00012315334089582557, -0.00032254408073493655, 2.8029639881610967e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "ceramic_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "spawn": null, "init_state": {"pos": [0.5832740068435669, 0.22122739255428314, 0.07584488391876221], "rot": [-0.019453495740890895, -0.5853738101613162, 0.2856686370767541, 0.7585199362385887], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "red_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_mug", "spawn": null, "init_state": {"pos": [0.39194390177726746, 0.037837915122509, 0.09039348363876343], "rot": [-1.0925608876221141e-05, 4.451722368129039e-06, 0.9999998823001713, 0.0004850365519860139], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "measuring_cup": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/measuring_cup", "spawn": null, "init_state": {"pos": [0.3738410770893097, -0.1864493191242218, 0.06675710529088974], "rot": [-0.00888706091791396, 0.842426023697509, 0.538558437373867, 0.013936437093616624], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "cordless_drill": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "spawn": null, "init_state": {"pos": [0.6764830350875854, 0.03290592506527901, 0.07785587012767792], "rot": [0.9152725338935852, -0.0005974074681097348, -0.0002446923022473885, -0.4028346707149351], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sideways_white_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "spawn": null, "init_state": {"pos": [0.548629641532898, -0.04846367985010147, 0.08577942848205566], "rot": [0.7562733888626096, 0.5648941268000712, -0.327974609952878, 0.03711929459602575], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "upright_white_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "spawn": null, "init_state": {"pos": [0.3096252977848053, 0.2240147441625595, 0.050030045211315155], "rot": [0.9999956488609314, -0.002799682681416, 0.0008981943643202386, 0.0002393386138476552], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_mug", "/World/envs/env_.*/scene/bowl", "/World/envs/env_.*/scene/ceramic_mug", "/World/envs/env_.*/scene/upright_white_mug", "/World/envs/env_.*/scene/sideways_white_mug", "/World/envs/env_.*/scene/cordless_drill", "/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__red_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sideways_white_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sideways_white_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sideways_white_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "measuring_cup__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/measuring_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_upright", "params": {"object": ["red_mug"], "up_axis": "z", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"reorienting_red_mug": [["functools.partial(<function object_grabbed at 0x7fc6093a9120>, object='red_mug')", 0.5], ["functools.partial(<function object_upright at 0x7fc60b5d6480>, object='red_mug', require_gripper_detached=True)", 0.5]]}, "score": 1.0, "logical": "all", "K": null, "name": "reorient_red_mug"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["reorientation", "color", "moderate"], "_task_attributes": ["reorientation", "color", "moderate"], "_task_name": "ReorientRedMugTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the red mug upright so that the opening is facing upwards.", "contact_object_list": ["red_mug", "bowl", "ceramic_mug", "upright_white_mug", "sideways_white_mug", "cordless_drill", "measuring_cup", "table"], "_instruction_variants": {"default": "Put the red mug upright so that the opening is facing upwards.", "vague": "Fix the red cup", "specific": "Check the red ceramic mug and if it is tipped over or inverted, rotate it so the opening faces upward. Leave it if already upright."}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/log_0_env0.json b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9edb7a8228b710fe6b75f2521172313638e1b3f
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 0, "success": true, "final_step": 294, "events": [{"step": 46, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 89, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.422m", "score": 0.0}, {"step": 105, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.137m", "score": 0.0}, {"step": 129, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.210m", "score": 0.0}, {"step": 137, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['reorienting_red_mug'])", "score": 0.0}, {"step": 138, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 147, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 177, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.102m", "score": 0.0}, {"step": 185, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.174m", "score": 0.0}, {"step": 209, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.190m", "score": 0.0}, {"step": 210, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.248m", "score": 0.0}, {"step": 257, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.284m", "score": 0.0}, {"step": 288, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 288, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 288, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 289, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 294, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/log_1_env0.json b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8cc006f1403e83311b50324beff2136400eb4eb
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 23, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 23, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 41, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 49, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.171m", "score": 0.0}, {"step": 56, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 97, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 98, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 103, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.116m", "score": 0.5}, {"step": 121, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.270m", "score": 0.5}, {"step": 155, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.5}, {"step": 186, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.245m", "score": 0.5}, {"step": 194, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 194, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 196, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 234, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.154m", "score": 0.5}, {"step": 241, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.5}, {"step": 243, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.076m", "score": 0.5}, {"step": 266, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 266, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 303, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.108m", "score": 0.5}, {"step": 306, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.5}, {"step": 313, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 314, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 385, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 402, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.121m", "score": 0.5}, {"step": 404, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.057m", "score": 0.5}, {"step": 412, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.5}, {"step": 423, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.129m", "score": 0.5}, {"step": 425, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 426, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 434, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.5}, {"step": 450, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.114m", "score": 0.5}, {"step": 458, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 465, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.5}, {"step": 499, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 502, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.187m", "score": 0.5}, {"step": 505, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.5}, {"step": 510, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.102m", "score": 0.5}, {"step": 521, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.452m", "score": 0.5}, {"step": 537, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.054m", "score": 0.5}, {"step": 547, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 566, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.410m", "score": 0.0}, {"step": 755, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 0.0}, {"step": 772, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 817, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 833, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.306m", "score": 0.0}, {"step": 834, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.352m", "score": 0.0}, {"step": 836, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.458m", "score": 0.0}, {"step": 837, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'red_mug' displaced 0.536m", "score": 0.0}, {"step": 838, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.386m", "score": 0.0}, {"step": 841, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.358m", "score": 0.0}, {"step": 851, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.410m", "score": 0.0}, {"step": 852, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.067m", "score": 0.0}, {"step": 874, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 890, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/log_2_env0.json b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2acd654173f0b135092267be83aae9fba6cc53dd
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 2, "success": true, "final_step": 139, "events": [{"step": 46, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 60, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 60, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 60, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 60, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 103, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 103, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 104, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 104, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 105, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.393m", "score": 0.5}, {"step": 120, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 120, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 129, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'red_mug' displaced 0.503m", "score": 0.0}, {"step": 136, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'red_mug'", "score": 0.0}, {"step": 139, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/run_0.hdf5 b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9181d4cf39800ab8afbb8e91fbb2a95baea0b7ad
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b7a6dc787fdc7eec5ccabf6621d4592bbd8b6755af1236dc7c2555f96fb60d8
+size 423342
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/run_1.hdf5 b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f412f7e14bb685cfa8f70dc504e4235eb3390d57
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0cd89492c9d7f3b713a0f9c8cb17628efa0f68ddea2e6aa1dd6792f3cc171d1
+size 762007
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/run_2.hdf5 b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0787988e7de09428c32336b5b8a17f8dbcb634de
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/ReorientRedMugTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b295b27f834432f41b109fe3008751980427920ff80db3766c64b03774b5610
+size 330354
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/robolab/episode_results.jsonl b/harness_robolab_exploration/embo_sol/gpu_5/robolab/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fc400ed8c024bc20efcdc3b2680266bfb62db93c
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/robolab/episode_results.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40eac94e807bec83a8085cb392562664310765e5a18d03d400eabd6d81e1e8cd
+size 19848
diff --git a/harness_robolab_exploration/embo_sol/gpu_5/server.log b/harness_robolab_exploration/embo_sol/gpu_5/server.log
new file mode 100644
index 0000000000000000000000000000000000000000..3286ce293f11df078c573621bd7bc8ae2321edc8
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_5/server.log
@@ -0,0 +1,39 @@
+[2026-10-30T16:03:41Z] GPU 5: Starting worker at FruitsOnionToPlateTask/0 (resume=false)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6.1-sol; effort: medium; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_5/harness/20261030T160344.645045Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_5/harness/20261030T160344.645045Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: False; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8021
+INFO:websockets.server:server listening on 127.0.0.1:8021
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 51088) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode d06a89bd524140c3b7bc24e743bc4c30-0 (codex/gpt-6.1-sol) ended: wall=3244.801s harness=2655.840s tokens=8831357 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=1044.0441272333264 rate_limit_wait=0 rate_limit_count=0 excluded=1038.6561216190457 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_5/harness/20261030T160344.645045Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 3e217d6943944c269ffc5779ba5b8f48-1 (codex/gpt-6.1-sol) ended: wall=1848.908s harness=1265.745s tokens=5053505 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=529.1046655699611 rate_limit_wait=0 rate_limit_count=0 excluded=518.9310762956738 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_5/harness/20261030T160344.645045Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode a1c7d45afff24fd882899ed1efc09c9c-2 (codex/gpt-6.1-sol) ended: wall=3485.625s harness=2883.566s tokens=10486941 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=558.9731572493911 rate_limit_wait=0 rate_limit_count=0 excluded=558.9731572493911 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_5/harness/20261030T160344.645045Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 106f105f86a54273b83945e8876ae28c-0 (codex/gpt-6.1-sol) ended: wall=2509.927s harness=2241.326s tokens=12226370 usage_complete=False decisions=134 executed_steps=1072 steps_complete=True network_wait=631.9501143246889 rate_limit_wait=0 rate_limit_count=0 excluded=631.9501143246889 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_5/harness/20261030T160344.645045Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 0779875f723441699f69fb89112053bb-1 (codex/gpt-6.1-sol) ended: wall=4275.549s harness=3944.644s tokens=17295662 usage_complete=False decisions=169 executed_steps=1350 steps_complete=True network_wait=590.7863428071141 rate_limit_wait=0 rate_limit_count=0 excluded=590.7863428071141 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_5/harness/20261030T160344.645045Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 904b28a86345417e888e4d45aa4e76f8-2 (codex/gpt-6.1-sol) ended: wall=1419.228s harness=1101.916s tokens=5881829 usage_complete=True decisions=169 executed_steps=1350 steps_complete=True network_wait=11.1543253287673 rate_limit_wait=0 rate_limit_count=0 excluded=11.1543253287673 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_5/harness/20261030T160344.645045Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 193aacdb03e84afbb81d331bca79fc01-0 (codex/gpt-6.1-sol) ended: wall=577.368s harness=479.606s tokens=2758814 usage_complete=True decisions=37 executed_steps=294 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_5/harness/20261030T160344.645045Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode c11eee16fe554a4bb8ea043d7d53986d-1 (codex/gpt-6.1-sol) ended: wall=2434.139s harness=2146.759s tokens=7490750 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=122.0136393532157 rate_limit_wait=0 rate_limit_count=0 excluded=122.0136393532157 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_5/harness/20261030T160344.645045Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode c976563034d64525b40fcca721aebcaa-2 (codex/gpt-6.1-sol) ended: wall=207.321s harness=162.023s tokens=1366158 usage_complete=True decisions=18 executed_steps=139 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_5/harness/20261030T160344.645045Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 93c2b05b1fe6457c8ce1453f4c862db7-0 (codex/gpt-6.1-sol) ended: wall=1004.749s harness=888.823s tokens=4870164 usage_complete=False decisions=63 executed_steps=501 steps_complete=True network_wait=35.3103794157505 rate_limit_wait=0 rate_limit_count=0 excluded=35.3103794157505 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_5/harness/20261030T160344.645045Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode ecd0266a0f9a4acf90ab6ed3caa004d2-1 (codex/gpt-6.1-sol) ended: wall=2332.026s harness=2124.062s tokens=9601966 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=41.22810876369476 rate_limit_wait=0 rate_limit_count=0 excluded=41.22810876369476 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_5/harness/20261030T160344.645045Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 02bbbb82a11b4c7f9e2fe25a55342043-2 (codex/gpt-6.1-sol) ended: wall=1580.886s harness=1400.828s tokens=8303021 usage_complete=False decisions=97 executed_steps=774 steps_complete=True network_wait=103.31671258807182 rate_limit_wait=0 rate_limit_count=0 excluded=103.31671258807182 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_5/harness/20261030T160344.645045Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode b31079311a114e08b529fa57baeecf57-0 (codex/gpt-6.1-sol) ended: wall=213.923s harness=174.909s tokens=1502967 usage_complete=True decisions=20 executed_steps=157 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_5/harness/20261030T160344.645045Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 9f7e624814e343babb6e37bfb0a41111-1 (codex/gpt-6.1-sol) ended: wall=292.507s harness=244.300s tokens=1094684 usage_complete=True decisions=25 executed_steps=194 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_5/harness/20261030T160344.645045Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode a608031581f844bdb213d764f5b0f9e1-2 (codex/gpt-6.1-sol) ended: wall=575.557s harness=499.320s tokens=2859219 usage_complete=False decisions=40 executed_steps=313 steps_complete=True network_wait=67.3356350287795 rate_limit_wait=0 rate_limit_count=0 excluded=67.3356350287795 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_5/harness/20261030T160344.645045Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 51088) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/client.log b/harness_robolab_exploration/embo_sol/gpu_6/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..208a9fff296ec4e7daa7809c0b4e653788b9fd4b
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/client.log
@@ -0,0 +1,1167 @@
+[2026-10-30T16:03:41Z] GPU 6: Starting worker at MarkerInMugTask/0 (resume=false)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:6
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261030_160347.log
+2026-10-30T16:03:47Z [12ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-10-30T16:03:52Z [5,313ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-30T16:03:52Z [5,314ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-30T16:03:52Z [5,500ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-10-30T16:03:53Z [6,774ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-30T16:03:53Z [6,774ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-30T16:03:53Z [6,776ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 701584
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-10-30T16:03:58Z [11,170ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-10-30T16:03:58Z [11,171ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 915.13   3.60  13.52  12.42  12.62  12.80  10.16  10.34 
+     1  11.06 896.44  16.20  16.21  16.60  16.41  12.63  11.31 
+     2  13.44  12.20 900.06  16.67  17.44  16.88  15.83  15.80 
+     3  14.96  16.53  17.43 926.23  18.04   7.92  17.40  17.41 
+     4  20.23  19.80  17.75  19.76 924.28  17.28   6.29  15.07 
+     5  13.80  11.73  10.69  18.73   5.65 925.10   9.16   9.34 
+     6  11.31   9.67   9.62  10.35   4.12   4.63 940.70  12.59 
+     7  14.92  15.57  14.58  13.69  18.97  22.67   3.99 927.85 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.44  19.03  18.07  25.73  17.83  15.98  32.38  32.64 
+     1  35.58   1.37  11.93  11.75  35.37  17.73  33.93  19.55 
+     2  11.52  45.41   1.37  11.43  32.77  12.75  14.53  11.37 
+     3  12.45  12.22  13.21   1.41  11.36  34.04  29.98  27.26 
+     4  12.85  15.38  36.70  14.92   1.38  32.86  29.04  26.37 
+     5  18.43  16.50  44.94  10.44  17.10   1.42  14.49 431.90 
+     6  25.08  18.42  16.47  17.60  44.03  18.37   1.38 928.54 
+     7 500.99 125.37  14.30  14.32 202.79  12.43 175.74   1.41 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.63   8.48   8.28   8.21   7.41   7.35   7.48   7.52 
+     1   8.49   2.67   8.23   8.20   7.27   7.31   7.34   7.38 
+     2   8.42   8.20   2.50   8.12   7.37   7.36   7.38   7.43 
+     3   8.41   8.27   8.36   2.48   7.36   7.33   7.41   7.37 
+     4   7.68   7.50   7.82   7.72   2.28   6.83   7.05   6.93 
+     5   7.79   7.52   7.68   7.41   6.83   2.29   6.70   6.88 
+     6   7.77   7.43   7.50   7.55   6.67   6.63   2.23   6.95 
+     7   7.95   7.69   7.75   7.54   8.39   6.89   6.94   2.37 
+2026-10-30T16:04:02Z [15,823ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 3.6 GB/s.
+2026-10-30T16:04:02Z [15,823ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 928.5 us.
+2026-10-30T16:04:02Z [15,823ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-10-30T16:04:06Z [19,178ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-30T16:04:06Z [19,179ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-30T16:04:06Z [19,261ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-30T16:04:06Z [19,261ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-30T16:04:06Z [19,273ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-30T16:04:06Z [19,273ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-30T16:04:06Z [19,448ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-30T16:04:06Z [19,448ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-30T16:04:06Z [19,452ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-30T16:04:06Z [19,453ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-30T16:04:06Z [19,458ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-30T16:04:06Z [19,458ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-30T16:04:07Z [20,617ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-10-30T16:04:11Z [24,553ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-10-30T16:04:21Z [34,771ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-10-30T16:04:22Z [35,565ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-10-30T16:04:36Z [49,445ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-10-30T16:04:36Z [49,447ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-10-30T16:04:36Z [49,819ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-10-30T16:04:40Z [53,656ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-30T16:04:40Z [53,656ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-30T16:04:40Z [53,658ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-30T16:04:40Z [53,671ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-10-30T16:04:40Z [53,684ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-30T16:04:40Z [53,684ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 6 task(s): ['MarkerInMugTask', 'SpoonInMugTask', 'ClampInRightBinTask', 'FoodPacking1BoxesTask', 'RubiksCubeThenBananaTask', 'BananaInBowlTask']
+2026-10-30T16:04:56Z [69,371ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55cbf370aa60>)
+
+2026-10-30T16:04:56Z [69,372ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55cbf370aa60>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Environments   : MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Num Tasks      : 6
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab
+══════════════════════════════════════════════════════════════
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-30T16:05:04Z [76,986ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.524359 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-30T16:05:28Z [100,943ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-30T16:05:28Z [100,944ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T16:05:28Z [100,982ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-30T16:05:28Z [100,982ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T16:05:28Z [100,992ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T16:05:28Z [100,999ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-30T16:05:28Z [101,244ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-30T16:05:28Z [101,265ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-30T16:05:30Z [103,831ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((46))' not available in the MDL representation.
+2026-10-30T16:05:30Z [103,832ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((46))' not available in the MDL representation.
+2026-10-30T16:05:30Z [103,837ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((48))' not available in the MDL representation.
+2026-10-30T16:05:30Z [103,837ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((48))' not available in the MDL representation.
+2026-10-30T16:05:30Z [103,852ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((56))' not available in the MDL representation.
+2026-10-30T16:05:30Z [103,853ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((56))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,194ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((73))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,194ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((73))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,197ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((74))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,197ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((74))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,248ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((87))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,248ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((87))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,248ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((87))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,322ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((98))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,322ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((98))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,339ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,339ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,350ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((109))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,350ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((109))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,361ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,361ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,443ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,443ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,459ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((152))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,459ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((152))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,469ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,470ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+2026-10-30T16:05:33Z [106,454ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((199))' not available in the MDL representation.
+2026-10-30T16:05:33Z [106,454ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((199))' not available in the MDL representation.
+2026-10-30T16:05:34Z [107,711ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-10-30T16:05:35Z [108,022ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((46))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,023ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((46))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,023ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((48))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,023ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((48))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,024ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((56))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,024ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((56))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,026ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((73))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,026ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((73))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,026ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((74))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,026ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((74))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,027ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((87))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,028ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((87))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,028ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((87))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,029ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((98))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,029ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((98))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,030ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,030ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,030ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((109))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,030ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((109))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,031ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,031ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,033ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,033ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,034ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((152))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,034ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((152))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,034ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,035ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,037ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((199))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,037ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((199))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 28.643225 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : MarkerInMugTask                               │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the whiteboard marker in the mug          │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : MarkerInMugTaskSceneEnvCfg                    │
+│  Attributes  : affordance, moderate                          │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running MarkerInMugTask_0: 'Put the whiteboard marker in the mug' (run 0, 1 envs)
+
  0%|          | 0/600 [00:00<?, ?it/s]
  0%|          | 1/600 [00:25<4:13:20, 25.38s/it]
  0%|          | 2/600 [00:25<1:47:35, 10.80s/it]
  0%|          | 3/600 [00:26<1:00:51,  6.12s/it]
  1%|          | 4/600 [00:27<38:50,  3.91s/it]  
  1%|          | 5/600 [00:27<26:49,  2.71s/it]
  1%|          | 6/600 [00:28<19:34,  1.98s/it]
  1%|          | 7/600 [00:28<14:56,  1.51s/it]
  1%|▏         | 8/600 [00:29<11:55,  1.21s/it]
  2%|▏         | 9/600 [00:34<24:32,  2.49s/it]
  2%|▏         | 10/600 [00:35<18:34,  1.89s/it]
  2%|▏         | 11/600 [00:35<14:30,  1.48s/it]
  2%|▏         | 12/600 [00:36<11:43,  1.20s/it]
  2%|▏         | 13/600 [00:36<09:47,  1.00s/it]
  2%|▏         | 14/600 [00:37<08:31,  1.15it/s]
  2%|▎         | 15/600 [00:37<07:36,  1.28it/s]
  3%|▎         | 16/600 [00:38<06:52,  1.42it/s]
  3%|▎         | 17/600 [00:43<19:51,  2.04s/it]
  3%|▎         | 18/600 [00:44<15:27,  1.59s/it]
  3%|▎         | 19/600 [00:44<12:24,  1.28s/it]
  3%|▎         | 20/600 [00:45<10:13,  1.06s/it]
  4%|▎         | 21/600 [00:45<08:42,  1.11it/s]
  4%|▎         | 22/600 [00:46<07:39,  1.26it/s]
  4%|▍         | 23/600 [00:46<06:56,  1.39it/s]
  4%|▍         | 24/600 [00:47<06:25,  1.49it/s]
  4%|▍         | 25/600 [00:53<23:00,  2.40s/it]
  4%|▍         | 26/600 [00:54<17:39,  1.85s/it]
  4%|▍         | 27/600 [00:54<13:54,  1.46s/it]
  5%|▍         | 28/600 [00:55<11:21,  1.19s/it]2026-10-30T16:06:32Z [165,478ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+
  5%|▍         | 29/600 [00:56<09:28,  1.01it/s]
  5%|▌         | 30/600 [00:56<08:08,  1.17it/s]
  5%|▌         | 31/600 [00:57<07:11,  1.32it/s]
  5%|▌         | 32/600 [00:57<06:34,  1.44it/s]
  6%|▌         | 33/600 [01:09<38:52,  4.11s/it]
  6%|▌         | 34/600 [01:10<28:41,  3.04s/it]
  6%|▌         | 35/600 [01:10<21:31,  2.29s/it]
  6%|▌         | 36/600 [01:11<16:35,  1.76s/it]
  6%|▌         | 37/600 [01:11<13:09,  1.40s/it]
  6%|▋         | 38/600 [01:12<10:46,  1.15s/it]
  6%|▋         | 39/600 [01:13<09:05,  1.03it/s]
  7%|▋         | 40/600 [01:13<07:59,  1.17it/s]
  7%|▋         | 41/600 [01:20<23:18,  2.50s/it]
  7%|▋         | 42/600 [01:20<17:52,  1.92s/it]
  7%|▋         | 43/600 [01:21<14:00,  1.51s/it]
  7%|▋         | 44/600 [01:21<11:21,  1.23s/it]
  8%|▊         | 45/600 [01:22<09:27,  1.02s/it]
  8%|▊         | 46/600 [01:22<08:04,  1.14it/s]
  8%|▊         | 47/600 [01:23<07:08,  1.29it/s]
  8%|▊         | 48/600 [01:23<06:31,  1.41it/s]
  8%|▊         | 49/600 [01:29<19:34,  2.13s/it]
  8%|▊         | 50/600 [01:29<15:18,  1.67s/it]
  8%|▊         | 51/600 [01:30<12:17,  1.34s/it]
  9%|▊         | 52/600 [01:31<10:09,  1.11s/it]
  9%|▉         | 53/600 [01:31<08:37,  1.06it/s]
  9%|▉         | 54/600 [01:32<07:35,  1.20it/s]
  9%|▉         | 55/600 [01:32<06:48,  1.33it/s]
  9%|▉         | 56/600 [01:33<06:17,  1.44it/s]
 10%|▉         | 57/600 [01:55<1:03:22,  7.00s/it]
 10%|▉         | 58/600 [01:55<45:47,  5.07s/it]  
 10%|▉         | 59/600 [01:56<33:33,  3.72s/it]
 10%|█         | 60/600 [01:56<24:58,  2.78s/it]
 10%|█         | 61/600 [01:57<18:55,  2.11s/it]
 10%|█         | 62/600 [01:57<14:42,  1.64s/it]
 10%|█         | 63/600 [01:58<11:45,  1.31s/it]
 11%|█         | 64/600 [01:58<09:35,  1.07s/it]
 11%|█         | 65/600 [02:03<19:45,  2.22s/it]
 11%|█         | 66/600 [02:04<15:14,  1.71s/it]
 11%|█         | 67/600 [02:04<12:08,  1.37s/it]
 11%|█▏        | 68/600 [02:05<09:59,  1.13s/it]
 12%|█▏        | 69/600 [02:06<08:28,  1.04it/s]
 12%|█▏        | 70/600 [02:06<07:26,  1.19it/s]
 12%|█▏        | 71/600 [02:07<06:38,  1.33it/s]
 12%|█▏        | 72/600 [02:07<06:01,  1.46it/s]
 12%|█▏        | 73/600 [02:22<42:09,  4.80s/it]
 12%|█▏        | 74/600 [02:22<30:53,  3.52s/it]
 12%|█▎        | 75/600 [02:23<23:01,  2.63s/it]
 13%|█▎        | 76/600 [02:23<17:35,  2.01s/it]
 13%|█▎        | 77/600 [02:24<13:47,  1.58s/it]
 13%|█▎        | 78/600 [02:24<11:05,  1.28s/it]
 13%|█▎        | 79/600 [02:25<09:12,  1.06s/it]
 13%|█▎        | 80/600 [02:25<07:48,  1.11it/s]
 14%|█▎        | 81/600 [02:36<31:57,  3.70s/it]
 14%|█▎        | 82/600 [02:36<23:45,  2.75s/it]
 14%|█▍        | 83/600 [02:37<18:01,  2.09s/it]
 14%|█▍        | 84/600 [02:37<14:06,  1.64s/it]
 14%|█▍        | 85/600 [02:38<11:25,  1.33s/it]
 14%|█▍        | 86/600 [02:38<09:22,  1.09s/it]
 14%|█▍        | 87/600 [02:39<07:59,  1.07it/s]
 15%|█▍        | 88/600 [02:40<06:58,  1.22it/s]
 15%|█▍        | 89/600 [02:55<43:25,  5.10s/it]
 15%|█▌        | 90/600 [02:55<31:42,  3.73s/it]
 15%|█▌        | 91/600 [02:56<23:29,  2.77s/it]
 15%|█▌        | 92/600 [02:56<17:50,  2.11s/it]
 16%|█▌        | 93/600 [02:57<13:50,  1.64s/it]
 16%|█▌        | 94/600 [02:57<11:08,  1.32s/it]
 16%|█▌        | 95/600 [02:58<09:11,  1.09s/it]
 16%|█▌        | 96/600 [02:59<07:49,  1.07it/s]
 16%|█▌        | 97/600 [03:07<25:27,  3.04s/it]
 16%|█▋        | 98/600 [03:07<19:11,  2.29s/it]
 16%|█▋        | 99/600 [03:08<14:46,  1.77s/it]
 17%|█▋        | 100/600 [03:08<11:43,  1.41s/it]
 17%|█▋        | 101/600 [03:09<09:32,  1.15s/it]
 17%|█▋        | 102/600 [03:09<08:02,  1.03it/s]
 17%|█▋        | 103/600 [03:10<06:55,  1.20it/s]
 17%|█▋        | 104/600 [03:10<06:15,  1.32it/s]
 18%|█▊        | 105/600 [03:26<43:25,  5.26s/it]
 18%|█▊        | 106/600 [03:27<31:44,  3.86s/it]
 18%|█▊        | 107/600 [03:27<23:37,  2.88s/it]
 18%|█▊        | 108/600 [03:28<17:51,  2.18s/it]
 18%|█▊        | 109/600 [03:28<13:49,  1.69s/it]
 18%|█▊        | 110/600 [03:29<11:01,  1.35s/it]
 18%|█▊        | 111/600 [03:30<09:06,  1.12s/it]
 19%|█▊        | 112/600 [03:30<07:45,  1.05it/s]
 19%|█▉        | 113/600 [03:38<24:31,  3.02s/it]
 19%|█▉        | 114/600 [03:39<18:32,  2.29s/it]
 19%|█▉        | 115/600 [03:39<14:21,  1.78s/it]
 19%|█▉        | 116/600 [03:40<11:27,  1.42s/it]
 20%|█▉        | 117/600 [03:40<09:27,  1.17s/it]
 20%|█▉        | 118/600 [03:41<08:02,  1.00s/it]
 20%|█▉        | 119/600 [03:42<07:04,  1.13it/s]
 20%|██        | 120/600 [03:42<06:24,  1.25it/s]
 20%|██        | 121/600 [03:55<34:48,  4.36s/it]
 20%|██        | 122/600 [03:55<25:47,  3.24s/it]
 20%|██        | 123/600 [03:56<19:29,  2.45s/it]
 21%|██        | 124/600 [03:57<15:06,  1.90s/it]
 21%|██        | 125/600 [03:57<11:57,  1.51s/it]
 21%|██        | 126/600 [03:58<09:41,  1.23s/it]
 21%|██        | 127/600 [03:58<08:09,  1.03s/it]
 21%|██▏       | 128/600 [03:59<07:01,  1.12it/s]
 22%|██▏       | 129/600 [04:11<32:48,  4.18s/it]
 22%|██▏       | 130/600 [04:11<24:18,  3.10s/it]
 22%|██▏       | 131/600 [04:12<18:19,  2.35s/it]
 22%|██▏       | 132/600 [04:13<14:09,  1.82s/it]
 22%|██▏       | 133/600 [04:13<11:13,  1.44s/it]
 22%|██▏       | 134/600 [04:14<09:09,  1.18s/it]
 22%|██▎       | 135/600 [04:14<07:39,  1.01it/s]
 23%|██▎       | 136/600 [04:15<06:42,  1.15it/s]
 23%|██▎       | 137/600 [04:27<33:36,  4.36s/it]
 23%|██▎       | 138/600 [04:28<24:42,  3.21s/it]
 23%|██▎       | 139/600 [04:28<18:29,  2.41s/it]
 23%|██▎       | 140/600 [04:29<14:10,  1.85s/it]
 24%|██▎       | 141/600 [04:29<11:07,  1.45s/it]
 24%|██▎       | 142/600 [04:30<09:01,  1.18s/it]
 24%|██▍       | 143/600 [04:31<07:33,  1.01it/s]
 24%|██▍       | 144/600 [04:31<06:31,  1.17it/s]
 24%|██▍       | 145/600 [04:47<41:18,  5.45s/it]
 24%|██▍       | 146/600 [04:48<30:02,  3.97s/it]
 24%|██▍       | 147/600 [04:48<22:15,  2.95s/it]
 25%|██▍       | 148/600 [04:49<16:52,  2.24s/it]
 25%|██▍       | 149/600 [04:50<13:04,  1.74s/it]
 25%|██▌       | 150/600 [04:50<10:25,  1.39s/it]
 25%|██▌       | 151/600 [04:51<08:32,  1.14s/it]
 25%|██▌       | 152/600 [04:51<07:17,  1.02it/s]
 26%|██▌       | 153/600 [05:02<29:36,  3.97s/it]
 26%|██▌       | 154/600 [05:03<22:03,  2.97s/it]
 26%|██▌       | 155/600 [05:03<16:45,  2.26s/it]
 26%|██▌       | 156/600 [05:04<13:03,  1.77s/it]
 26%|██▌       | 157/600 [05:05<10:28,  1.42s/it]
 26%|██▋       | 158/600 [05:05<08:39,  1.18s/it]
 26%|██▋       | 159/600 [05:06<07:22,  1.00s/it]
 27%|██▋       | 160/600 [05:06<06:30,  1.13it/s]
 27%|██▋       | 161/600 [05:18<28:48,  3.94s/it]
 27%|██▋       | 162/600 [05:18<21:27,  2.94s/it]
 27%|██▋       | 163/600 [05:19<16:18,  2.24s/it]
 27%|██▋       | 164/600 [05:19<12:42,  1.75s/it]
 28%|██▊       | 165/600 [05:20<10:08,  1.40s/it]
 28%|██▊       | 166/600 [05:21<08:24,  1.16s/it]
 28%|██▊       | 167/600 [05:21<07:09,  1.01it/s]
 28%|██▊       | 168/600 [05:22<06:15,  1.15it/s]
 28%|██▊       | 169/600 [05:33<29:32,  4.11s/it]
 28%|██▊       | 170/600 [05:34<21:54,  3.06s/it]
 28%|██▊       | 171/600 [05:35<16:35,  2.32s/it]
 29%|██▊       | 172/600 [05:35<12:48,  1.80s/it]
 29%|██▉       | 173/600 [05:36<10:08,  1.43s/it]
 29%|██▉       | 174/600 [05:36<08:18,  1.17s/it]
 29%|██▉       | 175/600 [05:37<07:02,  1.01it/s]
 29%|██▉       | 176/600 [05:37<06:06,  1.16it/s]
 30%|██▉       | 177/600 [05:56<42:59,  6.10s/it]
 30%|██▉       | 178/600 [05:56<31:09,  4.43s/it]
 30%|██▉       | 179/600 [05:57<22:53,  3.26s/it]
 30%|███       | 180/600 [05:57<17:08,  2.45s/it]
 30%|███       | 181/600 [05:58<13:06,  1.88s/it]
 30%|███       | 182/600 [05:58<10:18,  1.48s/it]
 30%|███       | 183/600 [05:59<08:20,  1.20s/it]
 31%|███       | 184/600 [06:00<06:56,  1.00s/it]
 31%|███       | 185/600 [06:24<56:19,  8.14s/it]
 31%|███       | 186/600 [06:25<40:29,  5.87s/it]
 31%|███       | 187/600 [06:25<29:21,  4.27s/it]
 31%|███▏      | 188/600 [06:26<21:36,  3.15s/it]
 32%|███▏      | 189/600 [06:27<16:15,  2.37s/it]
 32%|███▏      | 190/600 [06:27<12:34,  1.84s/it]
 32%|███▏      | 191/600 [06:28<09:58,  1.46s/it]
 32%|███▏      | 192/600 [06:28<08:13,  1.21s/it]
 32%|███▏      | 193/600 [06:35<18:31,  2.73s/it]
 32%|███▏      | 194/600 [06:35<14:10,  2.10s/it]
 32%|███▎      | 195/600 [06:36<11:04,  1.64s/it]
 33%|███▎      | 196/600 [06:36<08:54,  1.32s/it]
 33%|███▎      | 197/600 [06:37<07:21,  1.10s/it]
 33%|███▎      | 198/600 [06:38<06:17,  1.06it/s]
 33%|███▎      | 199/600 [06:38<05:30,  1.21it/s]
 33%|███▎      | 200/600 [06:39<04:57,  1.34it/s]
 34%|███▎      | 201/600 [07:36<1:57:24, 17.66s/it]
 34%|███▎      | 202/600 [07:36<1:23:12, 12.54s/it]
 34%|███▍      | 203/600 [07:37<59:18,  8.96s/it]  
 34%|███▍      | 204/600 [07:38<42:35,  6.45s/it]
 34%|███▍      | 205/600 [07:38<30:54,  4.70s/it]
 34%|███▍      | 206/600 [07:39<22:44,  3.46s/it]
 34%|███▍      | 207/600 [07:39<17:01,  2.60s/it]
 35%|███▍      | 208/600 [07:40<13:04,  2.00s/it]
 35%|███▍      | 209/600 [07:52<31:53,  4.89s/it]
 35%|███▌      | 210/600 [07:52<23:25,  3.60s/it]
 35%|███▌      | 211/600 [07:53<17:30,  2.70s/it]
 35%|███▌      | 212/600 [07:53<13:21,  2.07s/it]
 36%|███▌      | 213/600 [07:54<10:26,  1.62s/it]
 36%|███▌      | 214/600 [07:55<08:22,  1.30s/it]
 36%|███▌      | 215/600 [07:55<06:56,  1.08s/it]
 36%|███▌      | 216/600 [07:56<05:58,  1.07it/s]
 36%|███▌      | 217/600 [08:07<26:02,  4.08s/it]
 36%|███▋      | 218/600 [08:08<19:22,  3.04s/it]
 36%|███▋      | 219/600 [08:08<14:39,  2.31s/it]
 37%|███▋      | 220/600 [08:09<11:21,  1.79s/it]
 37%|███▋      | 221/600 [08:10<09:03,  1.43s/it]
 37%|███▋      | 222/600 [08:10<07:26,  1.18s/it]
 37%|███▋      | 223/600 [08:11<06:18,  1.00s/it]
 37%|███▋      | 224/600 [08:11<05:32,  1.13it/s]
 38%|███▊      | 225/600 [08:23<25:42,  4.11s/it]
 38%|███▊      | 226/600 [08:24<19:04,  3.06s/it]
 38%|███▊      | 227/600 [08:24<14:25,  2.32s/it]
 38%|███▊      | 228/600 [08:25<11:10,  1.80s/it]
 38%|███▊      | 229/600 [08:25<08:53,  1.44s/it]
 38%|███▊      | 230/600 [08:26<07:17,  1.18s/it]
 38%|███▊      | 231/600 [08:26<06:10,  1.00s/it]
 39%|███▊      | 232/600 [08:27<05:23,  1.14it/s]
 39%|███▉      | 233/600 [09:05<1:13:08, 11.96s/it]
 39%|███▉      | 234/600 [09:05<52:08,  8.55s/it]  
 39%|███▉      | 235/600 [09:06<37:27,  6.16s/it]
 39%|███▉      | 236/600 [09:07<27:12,  4.49s/it]
 40%|███▉      | 237/600 [09:07<20:03,  3.31s/it]
 40%|███▉      | 238/600 [09:08<15:04,  2.50s/it]
 40%|███▉      | 239/600 [09:08<11:38,  1.93s/it]
 40%|████      | 240/600 [09:09<09:06,  1.52s/it]
 40%|████      | 241/600 [09:26<36:55,  6.17s/it]
 40%|████      | 242/600 [09:27<26:46,  4.49s/it]
 40%|████      | 243/600 [09:27<19:39,  3.30s/it]
 41%|████      | 244/600 [09:28<14:41,  2.48s/it]
 41%|████      | 245/600 [09:28<11:13,  1.90s/it]
 41%|████      | 246/600 [09:29<08:48,  1.49s/it]
 41%|████      | 247/600 [09:29<07:07,  1.21s/it]
 41%|████▏     | 248/600 [09:30<05:58,  1.02s/it]
 42%|████▏     | 249/600 [10:29<1:47:28, 18.37s/it]
 42%|████▏     | 250/600 [10:29<1:15:59, 13.03s/it]
 42%|████▏     | 251/600 [10:30<54:01,  9.29s/it]  
 42%|████▏     | 252/600 [10:30<38:44,  6.68s/it]
 42%|████▏     | 253/600 [10:31<28:02,  4.85s/it]
 42%|████▏     | 254/600 [10:32<20:34,  3.57s/it]
 42%|████▎     | 255/600 [10:32<15:20,  2.67s/it]
 43%|████▎     | 256/600 [10:33<11:41,  2.04s/it]
 43%|████▎     | 257/600 [11:01<57:16, 10.02s/it]
 43%|████▎     | 258/600 [11:02<40:58,  7.19s/it]
 43%|████▎     | 259/600 [11:03<29:36,  5.21s/it]
 43%|████▎     | 260/600 [11:03<21:40,  3.83s/it]
 44%|████▎     | 261/600 [11:04<16:11,  2.86s/it]
 44%|████▎     | 262/600 [11:04<12:18,  2.18s/it]
 44%|████▍     | 263/600 [11:05<09:35,  1.71s/it]
 44%|████▍     | 264/600 [11:06<07:40,  1.37s/it]
 44%|████▍     | 265/600 [11:39<1:01:08, 10.95s/it]
 44%|████▍     | 266/600 [11:39<43:36,  7.83s/it]  
 44%|████▍     | 267/600 [11:40<31:21,  5.65s/it]
 45%|████▍     | 268/600 [11:41<22:47,  4.12s/it]
 45%|████▍     | 269/600 [11:41<16:49,  3.05s/it]
 45%|████▌     | 270/600 [11:42<12:40,  2.30s/it]
 45%|████▌     | 271/600 [11:42<09:45,  1.78s/it]
 45%|████▌     | 272/600 [11:43<07:42,  1.41s/it]
 46%|████▌     | 273/600 [13:13<2:33:43, 28.21s/it]
 46%|████▌     | 274/600 [13:14<1:48:12, 19.92s/it]
 46%|████▌     | 275/600 [13:15<1:16:27, 14.12s/it]
 46%|████▌     | 276/600 [13:15<54:17, 10.05s/it]  
 46%|████▌     | 277/600 [13:16<38:49,  7.21s/it]
 46%|████▋     | 278/600 [13:16<28:00,  5.22s/it]
 46%|████▋     | 279/600 [13:17<20:27,  3.82s/it]
 47%|████▋     | 280/600 [13:17<15:11,  2.85s/it]
 47%|████▋     | 281/600 [15:31<3:43:31, 42.04s/it]
 47%|████▋     | 282/600 [15:32<2:36:57, 29.61s/it]
 47%|████▋     | 283/600 [15:32<1:50:27, 20.91s/it]
 47%|████▋     | 284/600 [15:33<1:18:03, 14.82s/it]
 48%|████▊     | 285/600 [15:33<55:24, 10.55s/it]  
 48%|████▊     | 286/600 [15:34<39:36,  7.57s/it]
 48%|████▊     | 287/600 [15:35<28:34,  5.48s/it]
 48%|████▊     | 288/600 [15:35<20:52,  4.01s/it]
 48%|████▊     | 289/600 [15:49<35:51,  6.92s/it]
 48%|████▊     | 290/600 [15:50<25:56,  5.02s/it]
 48%|████▊     | 291/600 [15:50<19:01,  3.69s/it]
 49%|████▊     | 292/600 [15:51<14:13,  2.77s/it]
 49%|████▉     | 293/600 [15:51<10:50,  2.12s/it]
 49%|████▉     | 294/600 [15:52<08:29,  1.67s/it]
 49%|████▉     | 295/600 [15:53<06:50,  1.35s/it]
 49%|████▉     | 296/600 [15:53<05:43,  1.13s/it]
 50%|████▉     | 297/600 [16:48<1:26:22, 17.10s/it]
 50%|████▉     | 298/600 [16:48<1:01:09, 12.15s/it]
 50%|████▉     | 299/600 [16:49<43:32,  8.68s/it]  
 50%|█████     | 300/600 [16:49<31:15,  6.25s/it]
 50%|█████     | 301/600 [16:50<22:36,  4.54s/it]
 50%|█████     | 302/600 [16:50<16:35,  3.34s/it]
 50%|█████     | 303/600 [16:51<12:22,  2.50s/it]
 51%|█████     | 304/600 [16:51<09:28,  1.92s/it]
 51%|█████     | 305/600 [17:33<1:07:07, 13.65s/it]
 51%|█████     | 306/600 [17:33<47:41,  9.73s/it]  
 51%|█████     | 307/600 [17:34<34:09,  7.00s/it]
 51%|█████▏    | 308/600 [17:34<24:42,  5.08s/it]
 52%|█████▏    | 309/600 [17:35<18:01,  3.72s/it]
 52%|█████▏    | 310/600 [17:35<13:26,  2.78s/it]
 52%|█████▏    | 311/600 [17:36<10:14,  2.13s/it]
 52%|█████▏    | 312/600 [17:37<07:59,  1.67s/it]
 52%|█████▏    | 313/600 [17:55<32:17,  6.75s/it]
 52%|█████▏    | 314/600 [17:56<23:22,  4.90s/it]
 52%|█████▎    | 315/600 [17:56<17:09,  3.61s/it]
 53%|█████▎    | 316/600 [17:57<12:48,  2.71s/it]
 53%|█████▎    | 317/600 [17:58<09:44,  2.07s/it]
 53%|█████▎    | 318/600 [17:58<07:38,  1.63s/it]
 53%|█████▎    | 319/600 [17:59<06:09,  1.32s/it]
 53%|█████▎    | 320/600 [17:59<05:06,  1.10s/it]
 54%|█████▎    | 321/600 [18:19<30:22,  6.53s/it]
 54%|█████▎    | 322/600 [18:19<22:00,  4.75s/it]
 54%|█████▍    | 323/600 [18:20<16:09,  3.50s/it]
 54%|█████▍    | 324/600 [18:20<12:01,  2.61s/it]
 54%|█████▍    | 325/600 [18:21<09:07,  1.99s/it]
 54%|█████▍    | 326/600 [18:21<07:07,  1.56s/it]
 55%|█████▍    | 327/600 [18:22<05:43,  1.26s/it]
 55%|█████▍    | 328/600 [18:23<04:44,  1.04s/it]
 55%|█████▍    | 329/600 [18:46<35:31,  7.87s/it]
 55%|█████▌    | 330/600 [18:47<25:32,  5.68s/it]
 55%|█████▌    | 331/600 [18:47<18:34,  4.14s/it]
 55%|█████▌    | 332/600 [18:48<13:42,  3.07s/it]
 56%|█████▌    | 333/600 [18:49<10:16,  2.31s/it]
 56%|█████▌    | 334/600 [18:49<07:55,  1.79s/it]
 56%|█████▌    | 335/600 [18:50<06:15,  1.42s/it]
 56%|█████▌    | 336/600 [18:50<05:06,  1.16s/it]
 56%|█████▌    | 337/600 [19:16<37:34,  8.57s/it]
 56%|█████▋    | 338/600 [19:17<26:57,  6.17s/it]
 56%|█████▋    | 339/600 [19:17<19:31,  4.49s/it]
 57%|█████▋    | 340/600 [19:18<14:19,  3.30s/it]
 57%|█████▋    | 341/600 [19:18<10:41,  2.48s/it]
 57%|█████▋    | 342/600 [19:19<08:10,  1.90s/it]
 57%|█████▋    | 343/600 [19:19<06:23,  1.49s/it]
 57%|█████▋    | 344/600 [19:20<05:09,  1.21s/it]
 57%|█████▊    | 345/600 [19:29<15:25,  3.63s/it]
 58%|█████▊    | 346/600 [19:30<11:28,  2.71s/it]
 58%|█████▊    | 347/600 [19:30<08:44,  2.07s/it]
 58%|█████▊    | 348/600 [19:31<06:47,  1.62s/it]
 58%|█████▊    | 349/600 [19:31<05:25,  1.30s/it]
 58%|█████▊    | 350/600 [19:32<04:29,  1.08s/it]
 58%|█████▊    | 351/600 [19:33<03:51,  1.08it/s]
 59%|█████▊    | 352/600 [19:33<03:23,  1.22it/s]
 59%|█████▉    | 353/600 [19:50<22:32,  5.48s/it]
 59%|█████▉    | 354/600 [19:50<16:23,  4.00s/it]
 59%|█████▉    | 355/600 [19:51<12:06,  2.97s/it]
 59%|█████▉    | 356/600 [19:51<09:05,  2.24s/it]
 60%|█████▉    | 357/600 [19:52<06:58,  1.72s/it]
 60%|█████▉    | 358/600 [19:52<05:32,  1.37s/it]
 60%|█████▉    | 359/600 [19:53<04:31,  1.12s/it]
 60%|██████    | 360/600 [19:53<03:48,  1.05it/s]
 60%|██████    | 361/600 [20:44<1:03:24, 15.92s/it]
 60%|██████    | 362/600 [20:45<44:52, 11.31s/it]  
 60%|██████    | 363/600 [20:45<31:56,  8.09s/it]
 61%|██████    | 364/600 [20:46<22:58,  5.84s/it]
 61%|██████    | 365/600 [20:46<16:39,  4.25s/it]
 61%|██████    | 366/600 [20:47<12:15,  3.14s/it]
 61%|██████    | 367/600 [20:48<09:13,  2.38s/it]
 61%|██████▏   | 368/600 [20:48<07:03,  1.83s/it]
 62%|██████▏   | 369/600 [21:07<27:12,  7.07s/it]
 62%|██████▏   | 370/600 [21:08<19:36,  5.11s/it]
 62%|██████▏   | 371/600 [21:09<14:17,  3.74s/it]
 62%|██████▏   | 372/600 [21:09<10:36,  2.79s/it]
 62%|██████▏   | 373/600 [21:10<08:01,  2.12s/it]
 62%|██████▏   | 374/600 [21:10<06:14,  1.66s/it]
 62%|██████▎   | 375/600 [21:11<05:01,  1.34s/it]
 63%|██████▎   | 376/600 [21:11<04:06,  1.10s/it]
 63%|██████▎   | 377/600 [21:28<21:54,  5.89s/it]
 63%|██████▎   | 378/600 [21:29<15:52,  4.29s/it]
 63%|██████▎   | 379/600 [21:30<11:40,  3.17s/it]
 63%|██████▎   | 380/600 [21:30<08:43,  2.38s/it]
 64%|██████▎   | 381/600 [21:31<06:44,  1.85s/it]
 64%|██████▎   | 382/600 [21:31<05:20,  1.47s/it]
 64%|██████▍   | 383/600 [21:32<04:18,  1.19s/it]
 64%|██████▍   | 384/600 [21:32<03:37,  1.01s/it]
 64%|██████▍   | 385/600 [22:08<40:59, 11.44s/it]
 64%|██████▍   | 386/600 [22:09<29:10,  8.18s/it]
 64%|██████▍   | 387/600 [22:09<20:54,  5.89s/it]
 65%|██████▍   | 388/600 [22:10<15:09,  4.29s/it]
 65%|██████▍   | 389/600 [22:10<11:09,  3.17s/it]
 65%|██████▌   | 390/600 [22:11<08:21,  2.39s/it]
 65%|██████▌   | 391/600 [22:12<06:23,  1.84s/it]
 65%|██████▌   | 392/600 [22:12<05:02,  1.45s/it]
 66%|██████▌   | 393/600 [22:33<24:37,  7.14s/it]
 66%|██████▌   | 394/600 [22:33<17:45,  5.17s/it]
 66%|██████▌   | 395/600 [22:34<12:56,  3.79s/it]
 66%|██████▌   | 396/600 [22:34<09:33,  2.81s/it]
 66%|██████▌   | 397/600 [22:35<07:12,  2.13s/it]
 66%|██████▋   | 398/600 [22:35<05:34,  1.66s/it]
 66%|██████▋   | 399/600 [22:36<04:26,  1.33s/it]
 67%|██████▋   | 400/600 [22:36<03:38,  1.09s/it]
 67%|██████▋   | 401/600 [23:35<1:00:45, 18.32s/it]
 67%|██████▋   | 402/600 [23:35<42:53, 13.00s/it]  
 67%|██████▋   | 403/600 [23:36<30:25,  9.27s/it]
 67%|██████▋   | 404/600 [23:37<21:45,  6.66s/it]
 68%|██████▊   | 405/600 [23:37<15:42,  4.83s/it]
 68%|██████▊   | 406/600 [23:38<11:28,  3.55s/it]
 68%|██████▊   | 407/600 [23:38<08:31,  2.65s/it]
 68%|██████▊   | 408/600 [23:39<06:28,  2.02s/it]
 68%|██████▊   | 409/600 [24:00<24:26,  7.68s/it]
 68%|██████▊   | 410/600 [24:00<17:32,  5.54s/it]
 68%|██████▊   | 411/600 [24:01<12:44,  4.04s/it]
 69%|██████▊   | 412/600 [24:01<09:24,  3.00s/it]
 69%|██████▉   | 413/600 [24:02<07:03,  2.27s/it]
 69%|██████▉   | 414/600 [24:03<05:26,  1.76s/it]
 69%|██████▉   | 415/600 [24:03<04:18,  1.40s/it]
 69%|██████▉   | 416/600 [24:04<03:32,  1.15s/it]
 70%|██████▉   | 417/600 [24:25<22:18,  7.32s/it]
 70%|██████▉   | 418/600 [24:26<16:01,  5.28s/it]
 70%|██████▉   | 419/600 [24:26<11:39,  3.87s/it]
 70%|███████   | 420/600 [24:27<08:37,  2.87s/it]
 70%|███████   | 421/600 [24:28<06:30,  2.18s/it]
 70%|███████   | 422/600 [24:28<05:01,  1.69s/it]
 70%|███████   | 423/600 [24:29<03:59,  1.35s/it]
 71%|███████   | 424/600 [24:29<03:15,  1.11s/it]
 71%|███████   | 425/600 [24:50<20:32,  7.05s/it]
 71%|███████   | 426/600 [24:51<14:46,  5.10s/it]
 71%|███████   | 427/600 [24:51<10:46,  3.73s/it]
 71%|███████▏  | 428/600 [24:52<07:58,  2.78s/it]
 72%|███████▏  | 429/600 [24:52<06:00,  2.11s/it]
 72%|███████▏  | 430/600 [24:53<04:39,  1.64s/it]
 72%|███████▏  | 431/600 [24:53<03:41,  1.31s/it]
 72%|███████▏  | 432/600 [24:54<03:01,  1.08s/it]
 72%|███████▏  | 433/600 [25:24<27:05,  9.73s/it]
 72%|███████▏  | 434/600 [25:24<19:18,  6.98s/it]
 72%|███████▎  | 435/600 [25:25<13:52,  5.05s/it]
 73%|███████▎  | 436/600 [25:25<10:05,  3.69s/it]
 73%|███████▎  | 437/600 [25:26<07:27,  2.75s/it]
 73%|███████▎  | 438/600 [25:27<05:36,  2.08s/it]
 73%|███████▎  | 439/600 [25:27<04:20,  1.62s/it]
 73%|███████▎  | 440/600 [25:28<03:26,  1.29s/it]
 74%|███████▎  | 441/600 [26:27<49:56, 18.85s/it]
 74%|███████▎  | 442/600 [26:28<35:10, 13.36s/it]
 74%|███████▍  | 443/600 [26:29<24:53,  9.51s/it]
 74%|███████▍  | 444/600 [26:29<17:44,  6.82s/it]
 74%|███████▍  | 445/600 [26:30<12:46,  4.95s/it]
 74%|███████▍  | 446/600 [26:30<09:19,  3.63s/it]
 74%|███████▍  | 447/600 [26:31<06:54,  2.71s/it]
 75%|███████▍  | 448/600 [26:31<05:13,  2.06s/it]
 75%|███████▍  | 449/600 [28:01<1:11:07, 28.26s/it]
 75%|███████▌  | 450/600 [28:01<49:54, 19.96s/it]  
 75%|███████▌  | 451/600 [28:02<35:07, 14.14s/it]
 75%|███████▌  | 452/600 [28:02<24:49, 10.07s/it]
 76%|███████▌  | 453/600 [28:03<17:39,  7.21s/it]
 76%|███████▌  | 454/600 [28:04<12:40,  5.21s/it]
 76%|███████▌  | 455/600 [28:04<09:12,  3.81s/it]
 76%|███████▌  | 456/600 [28:05<06:47,  2.83s/it]
 76%|███████▌  | 457/600 [29:54<1:22:59, 34.82s/it]
 76%|███████▋  | 458/600 [29:55<58:05, 24.55s/it]  
 76%|███████▋  | 459/600 [29:55<40:46, 17.35s/it]
 77%|███████▋  | 460/600 [29:56<28:44, 12.32s/it]
 77%|███████▋  | 461/600 [29:56<20:21,  8.79s/it]
 77%|███████▋  | 462/600 [29:57<14:32,  6.32s/it]
 77%|███████▋  | 463/600 [29:57<10:30,  4.60s/it]
 77%|███████▋  | 464/600 [29:58<07:41,  3.39s/it]
 78%|███████▊  | 465/600 [30:35<30:09, 13.40s/it]
 78%|███████▊  | 466/600 [30:35<21:19,  9.55s/it]
 78%|███████▊  | 467/600 [30:36<15:10,  6.84s/it]
 78%|███████▊  | 468/600 [30:36<10:55,  4.97s/it]
 78%|███████▊  | 469/600 [30:37<07:57,  3.65s/it]
 78%|███████▊  | 470/600 [30:38<05:52,  2.71s/it]
 78%|███████▊  | 471/600 [30:38<04:25,  2.06s/it]
 79%|███████▊  | 472/600 [30:39<03:25,  1.60s/it]
 79%|███████▉  | 473/600 [30:51<09:57,  4.71s/it]
 79%|███████▉  | 474/600 [30:51<07:15,  3.46s/it]
 79%|███████▉  | 475/600 [30:52<05:24,  2.60s/it]
 79%|███████▉  | 476/600 [30:52<04:06,  1.99s/it]
 80%|███████▉  | 477/600 [30:53<03:12,  1.57s/it]
 80%|███████▉  | 478/600 [30:53<02:34,  1.27s/it]
 80%|███████▉  | 479/600 [30:54<02:08,  1.06s/it]
 80%|████████  | 480/600 [30:55<01:49,  1.10it/s]
 80%|████████  | 481/600 [32:22<53:04, 26.76s/it]
 80%|████████  | 482/600 [32:22<37:10, 18.90s/it]
 80%|████████  | 483/600 [32:23<26:08, 13.40s/it]
 81%|████████  | 484/600 [32:23<18:28,  9.56s/it]
 81%|████████  | 485/600 [32:24<13:08,  6.86s/it]
 81%|████████  | 486/600 [32:25<09:26,  4.97s/it]
 81%|████████  | 487/600 [32:25<06:52,  3.65s/it]
 81%|████████▏ | 488/600 [32:26<05:04,  2.72s/it]
 82%|████████▏ | 489/600 [34:32<1:13:23, 39.67s/it]
 82%|████████▏ | 490/600 [34:32<51:13, 27.94s/it]  
 82%|████████▏ | 491/600 [34:33<35:50, 19.73s/it]
 82%|████████▏ | 492/600 [34:33<25:10, 13.98s/it]
 82%|████████▏ | 493/600 [34:34<17:45,  9.96s/it]
 82%|████████▏ | 494/600 [34:34<12:37,  7.14s/it]
 82%|████████▎ | 495/600 [34:35<09:03,  5.17s/it]
 83%|████████▎ | 496/600 [34:36<06:34,  3.79s/it]
 83%|████████▎ | 497/600 [37:34<1:36:41, 56.32s/it]
 83%|████████▎ | 498/600 [37:35<1:07:19, 39.60s/it]
 83%|████████▎ | 499/600 [37:36<46:57, 27.90s/it]  
 83%|████████▎ | 500/600 [37:37<33:09, 19.90s/it]
 84%|████████▎ | 501/600 [37:37<23:16, 14.11s/it]
 84%|████████▎ | 502/600 [37:38<16:24, 10.05s/it]
 84%|████████▍ | 503/600 [37:39<11:38,  7.20s/it]
 84%|████████▍ | 504/600 [37:39<08:19,  5.20s/it]
 84%|████████▍ | 505/600 [38:04<17:48, 11.25s/it]
 84%|████████▍ | 506/600 [38:05<12:35,  8.04s/it]
 84%|████████▍ | 507/600 [38:06<08:58,  5.79s/it]
 85%|████████▍ | 508/600 [38:06<06:28,  4.22s/it]
 85%|████████▍ | 509/600 [38:07<04:44,  3.12s/it]
 85%|████████▌ | 510/600 [38:07<03:32,  2.36s/it]
 85%|████████▌ | 511/600 [38:08<02:41,  1.82s/it]
 85%|████████▌ | 512/600 [38:08<02:06,  1.44s/it]
 86%|████████▌ | 513/600 [38:31<11:28,  7.91s/it]
 86%|████████▌ | 514/600 [38:32<08:11,  5.71s/it]
 86%|████████▌ | 515/600 [38:33<05:55,  4.18s/it]
 86%|████████▌ | 516/600 [38:33<04:19,  3.09s/it]
 86%|████████▌ | 517/600 [38:34<03:13,  2.33s/it]
 86%|████████▋ | 518/600 [38:34<02:28,  1.81s/it]
 86%|████████▋ | 519/600 [38:35<01:56,  1.44s/it]
 87%|████████▋ | 520/600 [38:35<01:33,  1.17s/it]
 87%|████████▋ | 521/600 [40:12<39:18, 29.85s/it]
 87%|████████▋ | 522/600 [40:13<27:23, 21.07s/it]
 87%|████████▋ | 523/600 [40:13<19:08, 14.91s/it]
 87%|████████▋ | 524/600 [40:14<13:25, 10.60s/it]
 88%|████████▊ | 525/600 [40:14<09:29,  7.59s/it]
 88%|████████▊ | 526/600 [40:15<06:46,  5.49s/it]
 88%|████████▊ | 527/600 [40:16<04:52,  4.01s/it]
 88%|████████▊ | 528/600 [40:16<03:34,  2.98s/it]
 88%|████████▊ | 529/600 [40:35<09:15,  7.83s/it]
 88%|████████▊ | 530/600 [40:36<06:35,  5.65s/it]
 88%|████████▊ | 531/600 [40:36<04:44,  4.13s/it]
 89%|████████▊ | 532/600 [40:37<03:27,  3.05s/it]
 89%|████████▉ | 533/600 [40:38<02:34,  2.31s/it]
 89%|████████▉ | 534/600 [40:38<01:57,  1.78s/it]
 89%|████████▉ | 535/600 [40:39<01:32,  1.42s/it]
 89%|████████▉ | 536/600 [40:39<01:14,  1.16s/it]
 90%|████████▉ | 537/600 [40:50<04:20,  4.14s/it]
 90%|████████▉ | 538/600 [40:51<03:10,  3.07s/it]
 90%|████████▉ | 539/600 [40:51<02:22,  2.33s/it]
 90%|█████████ | 540/600 [40:52<01:48,  1.80s/it]
 90%|█████████ | 541/600 [40:53<01:25,  1.44s/it]
 90%|█████████ | 542/600 [40:53<01:08,  1.19s/it]
 90%|█████████ | 543/600 [40:54<00:57,  1.00s/it]
 91%|█████████ | 544/600 [40:54<00:48,  1.15it/s]
 91%|█████████ | 545/600 [42:10<21:28, 23.43s/it]
 91%|█████████ | 546/600 [42:11<14:54, 16.57s/it]
 91%|█████████ | 547/600 [42:12<10:23, 11.77s/it]
 91%|█████████▏| 548/600 [42:12<07:17,  8.41s/it]
 92%|█████████▏| 549/600 [42:13<05:08,  6.06s/it]
 92%|█████████▏| 550/600 [42:13<03:40,  4.41s/it]
 92%|█████████▏| 551/600 [42:14<02:39,  3.25s/it]
 92%|█████████▏| 552/600 [42:14<01:57,  2.44s/it]
 92%|█████████▏| 553/600 [43:26<18:12, 23.24s/it]
 92%|█████████▏| 554/600 [43:27<12:36, 16.44s/it]
 92%|█████████▎| 555/600 [43:27<08:45, 11.68s/it]
 93%|█████████▎| 556/600 [43:28<06:07,  8.34s/it]
 93%|█████████▎| 557/600 [43:28<04:18,  6.01s/it]
 93%|█████████▎| 558/600 [43:29<03:03,  4.37s/it]
 93%|█████████▎| 559/600 [43:30<02:12,  3.23s/it]
 93%|█████████▎| 560/600 [43:30<01:37,  2.44s/it]
 94%|█████████▎| 561/600 [43:31<01:14,  1.90s/it]
 94%|█████████▎| 562/600 [43:31<00:56,  1.49s/it]
 94%|█████████▍| 563/600 [43:32<00:44,  1.20s/it]
 94%|█████████▍| 564/600 [43:32<00:35,  1.00it/s]
 94%|█████████▍| 565/600 [43:33<00:30,  1.16it/s]
 94%|█████████▍| 566/600 [43:33<00:25,  1.31it/s]
 94%|█████████▍| 567/600 [43:34<00:22,  1.44it/s]
 95%|█████████▍| 568/600 [43:34<00:20,  1.55it/s]
 95%|█████████▍| 569/600 [43:35<00:20,  1.54it/s]
 95%|█████████▌| 570/600 [43:36<00:18,  1.60it/s]
 95%|█████████▌| 571/600 [43:36<00:17,  1.63it/s]
 95%|█████████▌| 572/600 [43:37<00:16,  1.68it/s]
 96%|█████████▌| 573/600 [43:37<00:15,  1.71it/s]
 96%|█████████▌| 574/600 [43:38<00:14,  1.75it/s]
 96%|█████████▌| 575/600 [43:38<00:14,  1.78it/s]
 96%|█████████▌| 576/600 [43:39<00:13,  1.79it/s]
 96%|█████████▌| 577/600 [43:40<00:13,  1.67it/s]
 96%|█████████▋| 578/600 [43:40<00:12,  1.70it/s]
 96%|█████████▋| 579/600 [43:41<00:11,  1.75it/s]
 97%|█████████▋| 580/600 [43:41<00:11,  1.79it/s]
 97%|█████████▋| 581/600 [43:42<00:10,  1.82it/s]
 97%|█████████▋| 582/600 [43:42<00:09,  1.81it/s]
 97%|█████████▋| 583/600 [43:43<00:09,  1.82it/s]
 97%|█████████▋| 584/600 [43:44<00:08,  1.82it/s]
 98%|█████████▊| 585/600 [43:44<00:08,  1.72it/s]
 98%|█████████▊| 586/600 [43:45<00:07,  1.75it/s]
 98%|█████████▊| 587/600 [43:45<00:07,  1.75it/s]
 98%|█████████▊| 588/600 [43:46<00:06,  1.77it/s]
 98%|█████████▊| 589/600 [43:46<00:06,  1.75it/s]
 98%|█████████▊| 590/600 [43:47<00:05,  1.74it/s]
 98%|█████████▊| 591/600 [43:48<00:05,  1.75it/s]
 99%|█████████▊| 592/600 [43:48<00:04,  1.76it/s]
 99%|█████████▉| 593/600 [43:49<00:04,  1.59it/s]
 99%|█████████▉| 594/600 [43:49<00:03,  1.63it/s]
 99%|█████████▉| 595/600 [43:50<00:03,  1.64it/s]
 99%|█████████▉| 596/600 [43:51<00:02,  1.66it/s]
100%|█████████▉| 597/600 [43:51<00:01,  1.70it/s]
100%|█████████▉| 598/600 [43:52<00:01,  1.75it/s]
100%|█████████▉| 599/600 [43:52<00:00,  1.78it/s]
100%|█████████▉| 599/600 [43:53<00:04,  4.40s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/log_0_env0.json.
+MarkerInMugTask_0 complete: task_name: MarkerInMugTask, run_name: MarkerInMugTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the whiteboard marker in the mug, attributes: ['affordance', 'moderate'], success: False, episode_step: 600, duration: 40.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.539822302452123, 'joint_sparc_mean': -12.835101806390771, 'ee_isj': 1617288.1786743656, 'joint_isj': 14925166.502872182, 'ee_path_length': 29.64187594364054, 'joint_rmse_mean': 1.7908845800253714, 'ee_speed_max': 10.677054405212402, 'ee_speed_mean': 0.7893720269203186}, events: {'GRIPPER_HIT_TABLE': 3, 'GRIPPER_FULLY_CLOSED': 4, 'OBJECT_BUMPED': 3, 'TARGET_OBJECT_DROPPED': 1, 'OBJECT_OUT_OF_SCENE': 3, 'OBJECT_MOVED': 3}, instruction_type: default, timing: {'policy_inference_s': 2298.364, 'policy_inference_avg_ms': 3830.6, 'env_step_s': 328.9, 'env_step_avg_ms': 548.2, 'video_write_s': 5.757, 'video_write_avg_ms': 9.6, 'wall_total_s': 2633.022, 'it_per_sec': 0.23}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=marker) (step 1/2), harness_episode_id: 6ff0c866fdd546bbaef5f2aec49eb5b2-0
+[RoboLab] Running MarkerInMugTask_1: 'Put the whiteboard marker in the mug' (run 1, 1 envs)
+
  0%|          | 0/600 [00:00<?, ?it/s]
  0%|          | 1/600 [00:30<5:01:17, 30.18s/it]
  0%|          | 2/600 [00:30<2:07:04, 12.75s/it]
  0%|          | 3/600 [00:31<1:11:27,  7.18s/it]
  1%|          | 4/600 [00:31<45:17,  4.56s/it]  
  1%|          | 5/600 [00:32<30:51,  3.11s/it]
  1%|          | 6/600 [00:32<22:14,  2.25s/it]
  1%|          | 7/600 [00:33<16:40,  1.69s/it]
  1%|▏         | 8/600 [00:33<12:59,  1.32s/it]
  2%|▏         | 9/600 [00:37<20:44,  2.11s/it]
  2%|▏         | 10/600 [00:38<15:57,  1.62s/it]
  2%|▏         | 11/600 [00:38<12:40,  1.29s/it]
  2%|▏         | 12/600 [00:39<10:27,  1.07s/it]
  2%|▏         | 13/600 [00:40<08:54,  1.10it/s]
  2%|▏         | 14/600 [00:40<07:47,  1.25it/s]
  2%|▎         | 15/600 [00:41<07:01,  1.39it/s]
  3%|▎         | 16/600 [00:41<06:27,  1.51it/s]
  3%|▎         | 17/600 [00:50<31:25,  3.23s/it]
  3%|▎         | 18/600 [00:51<23:30,  2.42s/it]
  3%|▎         | 19/600 [00:51<18:03,  1.87s/it]
  3%|▎         | 20/600 [00:52<14:15,  1.47s/it]
  4%|▎         | 21/600 [00:53<11:33,  1.20s/it]
  4%|▎         | 22/600 [00:53<09:38,  1.00s/it]
  4%|▍         | 23/600 [00:54<08:19,  1.16it/s]
  4%|▍         | 24/600 [00:54<07:24,  1.29it/s]
  4%|▍         | 25/600 [00:59<17:43,  1.85s/it]
  4%|▍         | 26/600 [00:59<14:01,  1.47s/it]
  4%|▍         | 27/600 [01:00<11:26,  1.20s/it]
  5%|▍         | 28/600 [01:00<09:39,  1.01s/it]
  5%|▍         | 29/600 [01:01<08:23,  1.14it/s]
  5%|▌         | 30/600 [01:01<07:26,  1.28it/s]
  5%|▌         | 31/600 [01:02<06:50,  1.39it/s]
  5%|▌         | 32/600 [01:03<06:20,  1.49it/s]
  6%|▌         | 33/600 [01:15<38:53,  4.12s/it]
  6%|▌         | 34/600 [01:15<28:46,  3.05s/it]
  6%|▌         | 35/600 [01:16<21:39,  2.30s/it]
  6%|▌         | 36/600 [01:16<16:38,  1.77s/it]
  6%|▌         | 37/600 [01:17<13:11,  1.41s/it]
  6%|▋         | 38/600 [01:17<10:46,  1.15s/it]
  6%|▋         | 39/600 [01:18<09:03,  1.03it/s]
  7%|▋         | 40/600 [01:19<07:52,  1.18it/s]
  7%|▋         | 41/600 [01:28<31:05,  3.34s/it]
  7%|▋         | 42/600 [01:28<23:15,  2.50s/it]
  7%|▋         | 43/600 [01:29<17:49,  1.92s/it]
  7%|▋         | 44/600 [01:29<13:59,  1.51s/it]
  8%|▊         | 45/600 [01:30<11:17,  1.22s/it]
  8%|▊         | 46/600 [01:30<09:26,  1.02s/it]
  8%|▊         | 47/600 [01:31<08:07,  1.13it/s]
  8%|▊         | 48/600 [01:32<07:12,  1.28it/s]
  8%|▊         | 49/600 [01:45<42:22,  4.61s/it]
  8%|▊         | 50/600 [01:46<31:07,  3.40s/it]
  8%|▊         | 51/600 [01:46<23:12,  2.54s/it]
  9%|▊         | 52/600 [01:47<17:42,  1.94s/it]
  9%|▉         | 53/600 [01:47<13:54,  1.53s/it]
  9%|▉         | 54/600 [01:48<11:10,  1.23s/it]
  9%|▉         | 55/600 [01:48<09:15,  1.02s/it]
  9%|▉         | 56/600 [01:49<07:57,  1.14it/s]
 10%|▉         | 57/600 [01:54<18:38,  2.06s/it]
 10%|▉         | 58/600 [01:54<14:33,  1.61s/it]
 10%|▉         | 59/600 [01:55<11:39,  1.29s/it]
 10%|█         | 60/600 [01:55<09:37,  1.07s/it]
 10%|█         | 61/600 [01:56<08:13,  1.09it/s]
 10%|█         | 62/600 [01:57<07:12,  1.24it/s]
 10%|█         | 63/600 [01:57<06:29,  1.38it/s]
 11%|█         | 64/600 [01:58<06:00,  1.49it/s]
 11%|█         | 65/600 [02:11<41:06,  4.61s/it]
 11%|█         | 66/600 [02:12<30:13,  3.40s/it]
 11%|█         | 67/600 [02:13<22:34,  2.54s/it]
 11%|█▏        | 68/600 [02:13<17:14,  1.94s/it]
 12%|█▏        | 69/600 [02:14<13:29,  1.52s/it]
 12%|█▏        | 70/600 [02:14<10:53,  1.23s/it]
 12%|█▏        | 71/600 [02:15<09:02,  1.03s/it]
 12%|█▏        | 72/600 [02:15<07:44,  1.14it/s]
 12%|█▏        | 73/600 [02:25<31:10,  3.55s/it]
 12%|█▏        | 74/600 [02:26<23:13,  2.65s/it]
 12%|█▎        | 75/600 [02:26<17:42,  2.02s/it]
 13%|█▎        | 76/600 [02:27<13:49,  1.58s/it]
 13%|█▎        | 77/600 [02:27<11:03,  1.27s/it]
 13%|█▎        | 78/600 [02:28<09:09,  1.05s/it]
 13%|█▎        | 79/600 [02:28<07:49,  1.11it/s]
 13%|█▎        | 80/600 [02:29<06:53,  1.26it/s]
 14%|█▎        | 81/600 [02:37<26:58,  3.12s/it]
 14%|█▎        | 82/600 [02:38<20:17,  2.35s/it]
 14%|█▍        | 83/600 [02:39<15:36,  1.81s/it]
 14%|█▍        | 84/600 [02:39<12:24,  1.44s/it]
 14%|█▍        | 85/600 [02:40<10:09,  1.18s/it]
 14%|█▍        | 86/600 [02:40<08:35,  1.00s/it]
 14%|█▍        | 87/600 [02:41<07:27,  1.15it/s]
 15%|█▍        | 88/600 [02:41<06:37,  1.29it/s]
 15%|█▍        | 89/600 [02:51<28:11,  3.31s/it]
 15%|█▌        | 90/600 [02:51<21:04,  2.48s/it]
 15%|█▌        | 91/600 [02:52<16:05,  1.90s/it]
 15%|█▌        | 92/600 [02:52<12:38,  1.49s/it]
 16%|█▌        | 93/600 [02:53<10:13,  1.21s/it]
 16%|█▌        | 94/600 [02:53<08:31,  1.01s/it]
 16%|█▌        | 95/600 [02:54<07:19,  1.15it/s]
 16%|█▌        | 96/600 [02:54<06:30,  1.29it/s]
 16%|█▌        | 97/600 [03:30<1:32:45, 11.06s/it]
 16%|█▋        | 98/600 [03:30<1:06:10,  7.91s/it]
 16%|█▋        | 99/600 [03:31<47:34,  5.70s/it]  
 17%|█▋        | 100/600 [03:31<34:37,  4.15s/it]
 17%|█▋        | 101/600 [03:32<25:36,  3.08s/it]
 17%|█▋        | 102/600 [03:32<19:14,  2.32s/it]
 17%|█▋        | 103/600 [03:33<14:45,  1.78s/it]
 17%|█▋        | 104/600 [03:33<11:40,  1.41s/it]
 18%|█▊        | 105/600 [03:50<48:58,  5.94s/it]
 18%|█▊        | 106/600 [03:50<35:32,  4.32s/it]
 18%|█▊        | 107/600 [03:51<26:10,  3.19s/it]
 18%|█▊        | 108/600 [03:51<19:36,  2.39s/it]
 18%|█▊        | 109/600 [03:52<14:59,  1.83s/it]
 18%|█▊        | 110/600 [03:53<11:47,  1.44s/it]
 18%|█▊        | 111/600 [03:53<09:36,  1.18s/it]
 19%|█▊        | 112/600 [03:54<08:02,  1.01it/s]
 19%|█▉        | 113/600 [04:33<1:41:47, 12.54s/it]
 19%|█▉        | 114/600 [04:34<1:12:26,  8.94s/it]
 19%|█▉        | 115/600 [04:34<51:57,  6.43s/it]  
 19%|█▉        | 116/600 [04:35<37:39,  4.67s/it]
 20%|█▉        | 117/600 [04:35<27:38,  3.43s/it]
 20%|█▉        | 118/600 [04:36<20:39,  2.57s/it]
 20%|█▉        | 119/600 [04:36<15:45,  1.97s/it]
 20%|██        | 120/600 [04:37<12:19,  1.54s/it]
 20%|██        | 121/600 [05:05<1:16:24,  9.57s/it]
 20%|██        | 122/600 [05:06<54:45,  6.87s/it]  
 20%|██        | 123/600 [05:06<39:34,  4.98s/it]
 21%|██        | 124/600 [05:07<28:57,  3.65s/it]
 21%|██        | 125/600 [05:08<21:31,  2.72s/it]
 21%|██        | 126/600 [05:08<16:20,  2.07s/it]
 21%|██        | 127/600 [05:09<12:41,  1.61s/it]
 21%|██▏       | 128/600 [05:09<10:12,  1.30s/it]
 22%|██▏       | 129/600 [05:35<1:07:04,  8.54s/it]
 22%|██▏       | 130/600 [05:35<48:07,  6.14s/it]  
 22%|██▏       | 131/600 [05:36<34:53,  4.46s/it]
 22%|██▏       | 132/600 [05:36<25:39,  3.29s/it]
 22%|██▏       | 133/600 [05:37<19:11,  2.47s/it]
 22%|██▏       | 134/600 [05:37<14:40,  1.89s/it]
 22%|██▎       | 135/600 [05:38<11:31,  1.49s/it]
 23%|██▎       | 136/600 [05:38<09:18,  1.20s/it]
 23%|██▎       | 137/600 [06:04<1:05:04,  8.43s/it]
 23%|██▎       | 138/600 [06:04<46:41,  6.06s/it]  
 23%|██▎       | 139/600 [06:05<33:50,  4.40s/it]
 23%|██▎       | 140/600 [06:05<24:52,  3.24s/it]
 24%|██▎       | 141/600 [06:06<18:37,  2.44s/it]
 24%|██▎       | 142/600 [06:06<14:19,  1.88s/it]
 24%|██▍       | 143/600 [06:07<11:16,  1.48s/it]
 24%|██▍       | 144/600 [06:08<09:12,  1.21s/it]
 24%|██▍       | 145/600 [06:18<30:25,  4.01s/it]
 24%|██▍       | 146/600 [06:19<22:35,  2.99s/it]
 24%|██▍       | 147/600 [06:19<17:04,  2.26s/it]
 25%|██▍       | 148/600 [06:20<13:16,  1.76s/it]
 25%|██▍       | 149/600 [06:21<10:35,  1.41s/it]
 25%|██▌       | 150/600 [06:21<08:43,  1.16s/it]
 25%|██▌       | 151/600 [06:22<07:22,  1.02it/s]
 25%|██▌       | 152/600 [06:22<06:26,  1.16it/s]
 26%|██▌       | 153/600 [06:46<57:12,  7.68s/it]
 26%|██▌       | 154/600 [06:46<41:14,  5.55s/it]
 26%|██▌       | 155/600 [06:47<30:06,  4.06s/it]
 26%|██▌       | 156/600 [06:48<22:17,  3.01s/it]
 26%|██▌       | 157/600 [06:48<16:49,  2.28s/it]
 26%|██▋       | 158/600 [06:49<12:59,  1.76s/it]
 26%|██▋       | 159/600 [06:49<10:21,  1.41s/it]
 27%|██▋       | 160/600 [06:50<08:31,  1.16s/it]
 27%|██▋       | 161/600 [06:55<18:16,  2.50s/it]
 27%|██▋       | 162/600 [06:56<14:01,  1.92s/it]
 27%|██▋       | 163/600 [06:57<11:04,  1.52s/it]
 27%|██▋       | 164/600 [06:57<09:01,  1.24s/it]
 28%|██▊       | 165/600 [06:58<07:34,  1.04s/it]
 28%|██▊       | 166/600 [06:58<06:35,  1.10it/s]
 28%|██▊       | 167/600 [06:59<05:52,  1.23it/s]
 28%|██▊       | 168/600 [07:00<05:22,  1.34it/s]
 28%|██▊       | 169/600 [07:15<36:31,  5.09s/it]
 28%|██▊       | 170/600 [07:15<26:46,  3.74s/it]
 28%|██▊       | 171/600 [07:16<19:57,  2.79s/it]
 29%|██▊       | 172/600 [07:17<15:11,  2.13s/it]
 29%|██▉       | 173/600 [07:17<11:50,  1.66s/it]
 29%|██▉       | 174/600 [07:18<09:30,  1.34s/it]
 29%|██▉       | 175/600 [07:18<07:52,  1.11s/it]
 29%|██▉       | 176/600 [07:19<06:44,  1.05it/s]
 30%|██▉       | 177/600 [07:28<24:55,  3.54s/it]
 30%|██▉       | 178/600 [07:29<18:37,  2.65s/it]
 30%|██▉       | 179/600 [07:30<14:12,  2.03s/it]
 30%|███       | 180/600 [07:30<11:09,  1.59s/it]
 30%|███       | 181/600 [07:31<09:01,  1.29s/it]
 30%|███       | 182/600 [07:31<07:29,  1.08s/it]
 30%|███       | 183/600 [07:32<06:26,  1.08it/s]
 31%|███       | 184/600 [07:33<05:43,  1.21it/s]
 31%|███       | 185/600 [07:45<30:12,  4.37s/it]
 31%|███       | 186/600 [07:46<22:18,  3.23s/it]
 31%|███       | 187/600 [07:46<16:44,  2.43s/it]
 31%|███▏      | 188/600 [07:47<12:54,  1.88s/it]
 32%|███▏      | 189/600 [07:47<10:13,  1.49s/it]
 32%|███▏      | 190/600 [07:48<08:19,  1.22s/it]
 32%|███▏      | 191/600 [07:49<06:59,  1.03s/it]
 32%|███▏      | 192/600 [07:49<06:05,  1.12it/s]
 32%|███▏      | 193/600 [08:03<32:41,  4.82s/it]
 32%|███▏      | 194/600 [08:04<24:00,  3.55s/it]
 32%|███▎      | 195/600 [08:04<17:57,  2.66s/it]
 33%|███▎      | 196/600 [08:05<13:44,  2.04s/it]
 33%|███▎      | 197/600 [08:06<10:47,  1.61s/it]
 33%|███▎      | 198/600 [08:06<08:44,  1.30s/it]
 33%|███▎      | 199/600 [08:07<07:16,  1.09s/it]
 33%|███▎      | 200/600 [08:07<06:15,  1.07it/s]
 34%|███▎      | 201/600 [08:31<51:38,  7.77s/it]
 34%|███▎      | 202/600 [08:32<37:14,  5.61s/it]
 34%|███▍      | 203/600 [08:32<27:12,  4.11s/it]
 34%|███▍      | 204/600 [08:33<20:13,  3.06s/it]
 34%|███▍      | 205/600 [08:33<15:17,  2.32s/it]
 34%|███▍      | 206/600 [08:34<11:51,  1.81s/it]
 34%|███▍      | 207/600 [08:35<09:27,  1.44s/it]
 35%|███▍      | 208/600 [08:35<07:45,  1.19s/it]
 35%|███▍      | 209/600 [08:49<32:49,  5.04s/it]
 35%|███▌      | 210/600 [08:50<24:03,  3.70s/it]
 35%|███▌      | 211/600 [08:50<17:56,  2.77s/it]
 35%|███▌      | 212/600 [08:51<13:42,  2.12s/it]
 36%|███▌      | 213/600 [08:52<10:41,  1.66s/it]
 36%|███▌      | 214/600 [08:52<08:37,  1.34s/it]
 36%|███▌      | 215/600 [08:53<07:08,  1.11s/it]
 36%|███▌      | 216/600 [08:53<06:07,  1.05it/s]
 36%|███▌      | 217/600 [09:13<42:21,  6.64s/it]
 36%|███▋      | 218/600 [09:14<30:42,  4.82s/it]
 36%|███▋      | 219/600 [09:14<22:32,  3.55s/it]
 37%|███▋      | 220/600 [09:15<16:50,  2.66s/it]
 37%|███▋      | 221/600 [09:16<12:50,  2.03s/it]
 37%|███▋      | 222/600 [09:16<10:01,  1.59s/it]
 37%|███▋      | 223/600 [09:17<08:06,  1.29s/it]
 37%|███▋      | 224/600 [09:17<06:48,  1.09s/it]
 38%|███▊      | 225/600 [09:45<56:13,  9.00s/it]
 38%|███▊      | 226/600 [09:45<40:19,  6.47s/it]
 38%|███▊      | 227/600 [09:46<29:13,  4.70s/it]
 38%|███▊      | 228/600 [09:47<21:29,  3.47s/it]
 38%|███▊      | 229/600 [09:47<16:05,  2.60s/it]
 38%|███▊      | 230/600 [09:48<12:18,  1.99s/it]
 38%|███▊      | 231/600 [09:48<09:38,  1.57s/it]
 39%|███▊      | 232/600 [09:49<07:49,  1.28s/it]
 39%|███▉      | 233/600 [10:22<1:05:37, 10.73s/it]
 39%|███▉      | 234/600 [10:22<46:57,  7.70s/it]  
 39%|███▉      | 235/600 [10:23<33:52,  5.57s/it]
 39%|███▉      | 236/600 [10:23<24:42,  4.07s/it]
 40%|███▉      | 237/600 [10:24<18:19,  3.03s/it]
 40%|███▉      | 238/600 [10:25<13:52,  2.30s/it]
 40%|███▉      | 239/600 [10:25<10:44,  1.79s/it]
 40%|████      | 240/600 [10:26<08:29,  1.42s/it]
 40%|████      | 241/600 [10:53<53:53,  9.01s/it]
 40%|████      | 242/600 [10:53<38:40,  6.48s/it]
 40%|████      | 243/600 [10:54<28:01,  4.71s/it]
 41%|████      | 244/600 [10:54<20:35,  3.47s/it]
 41%|████      | 245/600 [10:55<15:24,  2.60s/it]
 41%|████      | 246/600 [10:55<11:46,  1.99s/it]
 41%|████      | 247/600 [10:56<09:12,  1.57s/it]
 41%|████▏     | 248/600 [10:57<07:26,  1.27s/it]
 42%|████▏     | 249/600 [11:16<39:18,  6.72s/it]
 42%|████▏     | 250/600 [11:17<28:27,  4.88s/it]
 42%|████▏     | 251/600 [11:17<20:54,  3.60s/it]
 42%|████▏     | 252/600 [11:18<15:39,  2.70s/it]
 42%|████▏     | 253/600 [11:18<11:59,  2.07s/it]
 42%|████▏     | 254/600 [11:19<09:22,  1.63s/it]
 42%|████▎     | 255/600 [11:20<07:33,  1.32s/it]
 43%|████▎     | 256/600 [11:20<06:17,  1.10s/it]
 43%|████▎     | 257/600 [11:36<31:33,  5.52s/it]
 43%|████▎     | 258/600 [11:37<22:58,  4.03s/it]
 43%|████▎     | 259/600 [11:37<17:04,  3.00s/it]
 43%|████▎     | 260/600 [11:38<12:55,  2.28s/it]
 44%|████▎     | 261/600 [11:38<10:00,  1.77s/it]
 44%|████▎     | 262/600 [11:39<07:57,  1.41s/it]
 44%|████▍     | 263/600 [11:39<06:29,  1.16s/it]
 44%|████▍     | 264/600 [11:40<05:29,  1.02it/s]
 44%|████▍     | 265/600 [12:14<1:00:16, 10.79s/it]
 44%|████▍     | 266/600 [12:14<43:03,  7.74s/it]  
 44%|████▍     | 267/600 [12:15<30:59,  5.59s/it]
 45%|████▍     | 268/600 [12:15<22:35,  4.08s/it]
 45%|████▍     | 269/600 [12:16<16:44,  3.04s/it]
 45%|████▌     | 270/600 [12:17<12:41,  2.31s/it]
 45%|████▌     | 271/600 [12:17<09:49,  1.79s/it]
 45%|████▌     | 272/600 [12:18<07:48,  1.43s/it]
 46%|████▌     | 273/600 [12:35<33:03,  6.07s/it]
 46%|████▌     | 274/600 [12:35<23:59,  4.42s/it]
 46%|████▌     | 275/600 [12:36<17:42,  3.27s/it]
 46%|████▌     | 276/600 [12:36<13:17,  2.46s/it]
 46%|████▌     | 277/600 [12:37<10:11,  1.89s/it]
 46%|████▋     | 278/600 [12:38<08:03,  1.50s/it]
 46%|████▋     | 279/600 [12:38<06:32,  1.22s/it]
 47%|████▋     | 280/600 [12:39<05:28,  1.03s/it]
 47%|████▋     | 281/600 [12:58<33:43,  6.34s/it]
 47%|████▋     | 282/600 [12:58<24:29,  4.62s/it]
 47%|████▋     | 283/600 [12:59<18:02,  3.42s/it]
 47%|████▋     | 284/600 [12:59<13:32,  2.57s/it]
 48%|████▊     | 285/600 [13:00<10:21,  1.97s/it]
 48%|████▊     | 286/600 [13:01<08:09,  1.56s/it]
 48%|████▊     | 287/600 [13:01<06:36,  1.27s/it]
 48%|████▊     | 288/600 [13:02<05:31,  1.06s/it]
 48%|████▊     | 289/600 [13:17<28:23,  5.48s/it]
 48%|████▊     | 290/600 [13:18<20:43,  4.01s/it]
 48%|████▊     | 291/600 [13:19<15:21,  2.98s/it]
 49%|████▊     | 292/600 [13:19<11:38,  2.27s/it]
 49%|████▉     | 293/600 [13:20<09:01,  1.76s/it]
 49%|████▉     | 294/600 [13:20<07:13,  1.42s/it]
 49%|████▉     | 295/600 [13:21<05:57,  1.17s/it]
 49%|████▉     | 296/600 [13:22<05:03,  1.00it/s]
 50%|████▉     | 297/600 [13:55<53:28, 10.59s/it]
 50%|████▉     | 298/600 [13:55<38:12,  7.59s/it]
 50%|████▉     | 299/600 [13:56<27:33,  5.49s/it]
 50%|█████     | 300/600 [13:56<20:05,  4.02s/it]
 50%|█████     | 301/600 [13:57<14:54,  2.99s/it]
 50%|█████     | 302/600 [13:58<11:17,  2.27s/it]
 50%|█████     | 303/600 [13:58<08:44,  1.77s/it]
 51%|█████     | 304/600 [13:59<06:58,  1.41s/it]
 51%|█████     | 305/600 [14:44<1:12:19, 14.71s/it]
 51%|█████     | 306/600 [14:45<51:19, 10.48s/it]  
 51%|█████     | 307/600 [14:46<36:41,  7.51s/it]
 51%|█████▏    | 308/600 [14:46<26:27,  5.44s/it]
 52%|█████▏    | 309/600 [14:47<19:17,  3.98s/it]
 52%|█████▏    | 310/600 [14:47<14:17,  2.96s/it]
 52%|█████▏    | 311/600 [14:48<10:49,  2.25s/it]
 52%|█████▏    | 312/600 [14:49<08:23,  1.75s/it]
 52%|█████▏    | 313/600 [15:20<51:22, 10.74s/it]
 52%|█████▏    | 314/600 [15:21<36:40,  7.69s/it]
 52%|█████▎    | 315/600 [15:21<26:24,  5.56s/it]
 53%|█████▎    | 316/600 [15:22<19:15,  4.07s/it]
 53%|█████▎    | 317/600 [15:23<14:15,  3.02s/it]
 53%|█████▎    | 318/600 [15:23<10:46,  2.29s/it]
 53%|█████▎    | 319/600 [15:24<08:19,  1.78s/it]
 53%|█████▎    | 320/600 [15:24<06:35,  1.41s/it]
 54%|█████▎    | 321/600 [16:23<1:26:44, 18.65s/it]
 54%|█████▎    | 322/600 [16:24<1:01:19, 13.24s/it]
 54%|█████▍    | 323/600 [16:24<43:36,  9.45s/it]  
 54%|█████▍    | 324/600 [16:25<31:14,  6.79s/it]
 54%|█████▍    | 325/600 [16:26<22:36,  4.93s/it]
 54%|█████▍    | 326/600 [16:26<16:34,  3.63s/it]
 55%|█████▍    | 327/600 [16:27<12:20,  2.71s/it]
 55%|█████▍    | 328/600 [16:27<09:23,  2.07s/it]
 55%|█████▍    | 329/600 [17:06<58:55, 13.05s/it]
 55%|█████▌    | 330/600 [17:07<41:53,  9.31s/it]
 55%|█████▌    | 331/600 [17:07<30:00,  6.69s/it]
 55%|█████▌    | 332/600 [17:08<21:43,  4.86s/it]
 56%|█████▌    | 333/600 [17:08<15:57,  3.58s/it]
 56%|█████▌    | 334/600 [17:09<11:55,  2.69s/it]
 56%|█████▌    | 335/600 [17:10<09:06,  2.06s/it]
 56%|█████▌    | 336/600 [17:10<07:07,  1.62s/it]
 56%|█████▌    | 337/600 [17:32<34:04,  7.77s/it]
 56%|█████▋    | 338/600 [17:33<24:32,  5.62s/it]
 56%|█████▋    | 339/600 [17:34<17:52,  4.11s/it]
 57%|█████▋    | 340/600 [17:34<13:13,  3.05s/it]
 57%|█████▋    | 341/600 [17:35<09:58,  2.31s/it]
 57%|█████▋    | 342/600 [17:35<07:42,  1.79s/it]
 57%|█████▋    | 343/600 [17:36<06:08,  1.43s/it]
 57%|█████▋    | 344/600 [17:36<04:59,  1.17s/it]
 57%|█████▊    | 345/600 [18:08<44:05, 10.37s/it]
 58%|█████▊    | 346/600 [18:09<31:29,  7.44s/it]
 58%|█████▊    | 347/600 [18:09<22:41,  5.38s/it]
 58%|█████▊    | 348/600 [18:10<16:34,  3.95s/it]
 58%|█████▊    | 349/600 [18:11<12:17,  2.94s/it]
 58%|█████▊    | 350/600 [18:11<09:17,  2.23s/it]
 58%|█████▊    | 351/600 [18:12<07:13,  1.74s/it]
 59%|█████▊    | 352/600 [18:12<05:45,  1.39s/it]
 59%|█████▉    | 353/600 [18:50<51:05, 12.41s/it]
 59%|█████▉    | 354/600 [18:51<36:20,  8.87s/it]
 59%|█████▉    | 355/600 [18:52<26:02,  6.38s/it]
 59%|█████▉    | 356/600 [18:52<18:51,  4.64s/it]
 60%|█████▉    | 357/600 [18:53<13:51,  3.42s/it]
 60%|█████▉    | 358/600 [18:53<10:22,  2.57s/it]
 60%|█████▉    | 359/600 [18:54<07:56,  1.98s/it]
 60%|██████    | 360/600 [18:55<06:14,  1.56s/it]
 60%|██████    | 361/600 [19:09<21:11,  5.32s/it]
 60%|██████    | 362/600 [19:09<15:27,  3.90s/it]
 60%|██████    | 363/600 [19:10<11:28,  2.90s/it]
 61%|██████    | 364/600 [19:10<08:41,  2.21s/it]
 61%|██████    | 365/600 [19:11<06:45,  1.72s/it]
 61%|██████    | 366/600 [19:12<05:23,  1.38s/it]
 61%|██████    | 367/600 [19:12<04:26,  1.14s/it]
 61%|██████▏   | 368/600 [19:13<03:46,  1.03it/s]
 62%|██████▏   | 369/600 [19:29<21:03,  5.47s/it]
 62%|██████▏   | 370/600 [19:29<15:20,  4.00s/it]
 62%|██████▏   | 371/600 [19:30<11:20,  2.97s/it]
 62%|██████▏   | 372/600 [19:30<08:33,  2.25s/it]
 62%|██████▏   | 373/600 [19:31<06:37,  1.75s/it]
 62%|██████▏   | 374/600 [19:32<05:14,  1.39s/it]
 62%|██████▎   | 375/600 [19:32<04:17,  1.14s/it]
 63%|██████▎   | 376/600 [19:33<03:40,  1.02it/s]
 63%|██████▎   | 377/600 [21:27<2:09:24, 34.82s/it]
 63%|██████▎   | 378/600 [21:27<1:30:48, 24.54s/it]
 63%|██████▎   | 379/600 [21:28<1:03:54, 17.35s/it]
 63%|██████▎   | 380/600 [21:28<45:09, 12.32s/it]  
 64%|██████▎   | 381/600 [21:29<32:05,  8.79s/it]
 64%|██████▎   | 382/600 [21:29<22:58,  6.32s/it]
 64%|██████▍   | 383/600 [21:30<16:37,  4.60s/it]
 64%|██████▍   | 384/600 [21:30<12:12,  3.39s/it]
 64%|██████▍   | 385/600 [22:24<1:05:57, 18.41s/it]
 64%|██████▍   | 386/600 [22:25<46:35, 13.06s/it]  
 64%|██████▍   | 387/600 [22:25<33:04,  9.32s/it]
 65%|██████▍   | 388/600 [22:26<23:39,  6.70s/it]
 65%|██████▍   | 389/600 [22:26<17:05,  4.86s/it]
 65%|██████▌   | 390/600 [22:27<12:30,  3.57s/it]
 65%|██████▌   | 391/600 [22:27<09:19,  2.68s/it]
 65%|██████▌   | 392/600 [22:28<07:06,  2.05s/it]
 66%|██████▌   | 393/600 [22:42<19:34,  5.67s/it]
 66%|██████▌   | 394/600 [22:43<14:14,  4.15s/it]
 66%|██████▌   | 395/600 [22:43<10:31,  3.08s/it]
 66%|██████▌   | 396/600 [22:44<07:55,  2.33s/it]
 66%|██████▌   | 397/600 [22:44<06:07,  1.81s/it]
 66%|██████▋   | 398/600 [22:45<04:52,  1.45s/it]
 66%|██████▋   | 399/600 [22:46<04:02,  1.21s/it]
 67%|██████▋   | 400/600 [22:46<03:25,  1.03s/it]
 67%|██████▋   | 401/600 [23:02<17:36,  5.31s/it]
 67%|██████▋   | 402/600 [23:02<12:50,  3.89s/it]
 67%|██████▋   | 403/600 [23:03<09:30,  2.90s/it]
 67%|██████▋   | 404/600 [23:03<07:11,  2.20s/it]
 68%|██████▊   | 405/600 [23:04<05:33,  1.71s/it]
 68%|██████▊   | 406/600 [23:05<04:26,  1.37s/it]
 68%|██████▊   | 407/600 [23:05<03:39,  1.14s/it]
 68%|██████▊   | 408/600 [23:06<03:06,  1.03it/s]
 68%|██████▊   | 409/600 [23:32<26:55,  8.46s/it]
 68%|██████▊   | 410/600 [23:32<19:18,  6.10s/it]
 68%|██████▊   | 411/600 [23:33<14:00,  4.44s/it]
 69%|██████▊   | 412/600 [23:33<10:17,  3.29s/it]
 69%|██████▉   | 413/600 [23:34<07:43,  2.48s/it]
 69%|██████▉   | 414/600 [23:35<05:55,  1.91s/it]
 69%|██████▉   | 415/600 [23:35<04:39,  1.51s/it]
 69%|██████▉   | 416/600 [23:36<03:45,  1.23s/it]
 70%|██████▉   | 417/600 [23:47<12:31,  4.10s/it]
 70%|██████▉   | 418/600 [23:47<09:14,  3.05s/it]
 70%|██████▉   | 419/600 [23:48<06:57,  2.31s/it]
 70%|███████   | 420/600 [23:48<05:21,  1.79s/it]
 70%|███████   | 421/600 [23:49<04:16,  1.43s/it]
 70%|███████   | 422/600 [23:49<03:29,  1.18s/it]
 70%|███████   | 423/600 [23:50<02:57,  1.00s/it]
 71%|███████   | 424/600 [23:51<02:33,  1.15it/s]
 71%|███████   | 425/600 [24:09<17:58,  6.16s/it]
 71%|███████   | 426/600 [24:10<13:00,  4.48s/it]
 71%|███████   | 427/600 [24:10<09:32,  3.31s/it]
 71%|███████▏  | 428/600 [24:11<07:08,  2.49s/it]
 72%|███████▏  | 429/600 [24:11<05:27,  1.91s/it]
 72%|███████▏  | 430/600 [24:12<04:17,  1.51s/it]
 72%|███████▏  | 431/600 [24:13<03:28,  1.24s/it]
 72%|███████▏  | 432/600 [24:13<02:55,  1.04s/it]
 72%|███████▏  | 433/600 [24:41<25:27,  9.15s/it]
 72%|███████▏  | 434/600 [24:42<18:11,  6.57s/it]
 72%|███████▎  | 435/600 [24:42<13:06,  4.77s/it]
 73%|███████▎  | 436/600 [24:43<09:33,  3.50s/it]
 73%|███████▎  | 437/600 [24:43<07:06,  2.62s/it]
 73%|███████▎  | 438/600 [24:44<05:25,  2.01s/it]
 73%|███████▎  | 439/600 [24:45<04:12,  1.57s/it]
 73%|███████▎  | 440/600 [24:45<03:22,  1.27s/it]
 74%|███████▎  | 441/600 [25:36<42:43, 16.13s/it]
 74%|███████▎  | 442/600 [25:37<30:10, 11.46s/it]
 74%|███████▍  | 443/600 [25:37<21:27,  8.20s/it]
 74%|███████▍  | 444/600 [25:38<15:23,  5.92s/it]
 74%|███████▍  | 445/600 [25:38<11:08,  4.32s/it]
 74%|███████▍  | 446/600 [25:39<08:11,  3.19s/it]
 74%|███████▍  | 447/600 [25:39<06:08,  2.41s/it]
 75%|███████▍  | 448/600 [25:40<04:42,  1.86s/it]
 75%|███████▍  | 449/600 [26:04<21:17,  8.46s/it]
 75%|███████▌  | 450/600 [26:04<15:15,  6.10s/it]
 75%|███████▌  | 451/600 [26:05<11:02,  4.45s/it]
 75%|███████▌  | 452/600 [26:06<08:07,  3.29s/it]
 76%|███████▌  | 453/600 [26:06<06:04,  2.48s/it]
 76%|███████▌  | 454/600 [26:07<04:39,  1.92s/it]
 76%|███████▌  | 455/600 [26:07<03:39,  1.52s/it]
 76%|███████▌  | 456/600 [26:08<02:58,  1.24s/it]
 76%|███████▌  | 457/600 [26:36<21:56,  9.21s/it]
 76%|███████▋  | 458/600 [26:36<15:40,  6.62s/it]
 76%|███████▋  | 459/600 [26:37<11:19,  4.82s/it]
 77%|███████▋  | 460/600 [26:38<08:17,  3.55s/it]
 77%|███████▋  | 461/600 [26:38<06:10,  2.66s/it]
 77%|███████▋  | 462/600 [26:39<04:41,  2.04s/it]
 77%|███████▋  | 463/600 [26:39<03:39,  1.60s/it]
 77%|███████▋  | 464/600 [26:40<02:57,  1.30s/it]
 78%|███████▊  | 465/600 [28:38<1:21:42, 36.31s/it]
 78%|███████▊  | 466/600 [28:39<57:10, 25.60s/it]  
 78%|███████▊  | 467/600 [28:39<40:07, 18.10s/it]
 78%|███████▊  | 468/600 [28:40<28:16, 12.85s/it]
 78%|███████▊  | 469/600 [28:40<20:01,  9.17s/it]
 78%|███████▊  | 470/600 [28:41<14:17,  6.59s/it]
 78%|███████▊  | 471/600 [28:42<10:17,  4.79s/it]
 79%|███████▊  | 472/600 [28:42<07:32,  3.54s/it]
 79%|███████▉  | 473/600 [29:11<23:46, 11.23s/it]
 79%|███████▉  | 474/600 [29:12<16:53,  8.04s/it]
 79%|███████▉  | 475/600 [29:12<12:05,  5.80s/it]
 79%|███████▉  | 476/600 [29:13<08:45,  4.24s/it]
 80%|███████▉  | 477/600 [29:14<06:26,  3.14s/it]
 80%|███████▉  | 478/600 [29:14<04:49,  2.37s/it]
 80%|███████▉  | 479/600 [29:15<03:41,  1.83s/it]
 80%|████████  | 480/600 [29:15<02:55,  1.46s/it]
 80%|████████  | 481/600 [30:07<32:39, 16.47s/it]
 80%|████████  | 482/600 [30:07<23:01, 11.71s/it]
 80%|████████  | 483/600 [30:08<16:19,  8.37s/it]
 81%|████████  | 484/600 [30:09<11:40,  6.03s/it]
 81%|████████  | 485/600 [30:09<08:25,  4.40s/it]
 81%|████████  | 486/600 [30:10<06:11,  3.26s/it]
 81%|████████  | 487/600 [30:10<04:37,  2.46s/it]
 81%|████████▏ | 488/600 [30:11<03:32,  1.90s/it]
 82%|████████▏ | 489/600 [31:26<43:58, 23.77s/it]
 82%|████████▏ | 490/600 [31:26<30:50, 16.83s/it]
 82%|████████▏ | 491/600 [31:27<21:44, 11.96s/it]
 82%|████████▏ | 492/600 [31:28<15:24,  8.56s/it]
 82%|████████▏ | 493/600 [31:28<11:01,  6.19s/it]
 82%|████████▏ | 494/600 [31:29<07:59,  4.52s/it]
 82%|████████▎ | 495/600 [31:30<05:51,  3.35s/it]
 83%|████████▎ | 496/600 [31:30<04:21,  2.52s/it]
 83%|████████▎ | 497/600 [32:02<19:10, 11.17s/it]
 83%|████████▎ | 498/600 [32:02<13:35,  8.00s/it]
 83%|████████▎ | 499/600 [32:03<09:43,  5.77s/it]
 83%|████████▎ | 500/600 [32:04<07:22,  4.42s/it]
 84%|████████▎ | 501/600 [32:05<05:23,  3.27s/it]
 84%|████████▎ | 502/600 [32:05<04:01,  2.46s/it]
 84%|████████▍ | 503/600 [32:06<03:05,  1.91s/it]
 84%|████████▍ | 504/600 [32:06<02:24,  1.51s/it]
 84%|████████▍ | 505/600 [32:21<08:49,  5.58s/it]
 84%|████████▍ | 506/600 [32:22<06:23,  4.08s/it]
 84%|████████▍ | 507/600 [32:23<04:42,  3.04s/it]
 85%|████████▍ | 508/600 [32:23<03:31,  2.30s/it]
 85%|████████▍ | 509/600 [32:24<02:43,  1.79s/it]
 85%|████████▌ | 510/600 [32:24<02:08,  1.43s/it]
 85%|████████▌ | 511/600 [32:25<01:45,  1.18s/it]
 85%|████████▌ | 512/600 [32:26<01:28,  1.01s/it]
 86%|████████▌ | 513/600 [32:39<06:44,  4.65s/it]
 86%|████████▌ | 514/600 [32:39<04:55,  3.43s/it]
 86%|████████▌ | 515/600 [32:40<03:39,  2.58s/it]
 86%|████████▌ | 516/600 [32:41<02:46,  1.99s/it]
 86%|████████▌ | 517/600 [32:41<02:09,  1.56s/it]
 86%|████████▋ | 518/600 [32:42<01:44,  1.27s/it]
 86%|████████▋ | 519/600 [32:42<01:26,  1.07s/it]
 87%|████████▋ | 520/600 [32:43<01:13,  1.09it/s]
 87%|████████▋ | 521/600 [33:30<19:24, 14.74s/it]
 87%|████████▋ | 522/600 [33:30<13:39, 10.50s/it]
 87%|████████▋ | 523/600 [33:31<09:41,  7.55s/it]
 87%|████████▋ | 524/600 [33:32<06:55,  5.46s/it]
 88%|████████▊ | 525/600 [33:32<05:00,  4.01s/it]
 88%|████████▊ | 526/600 [33:33<03:40,  2.99s/it]
 88%|████████▊ | 527/600 [33:33<02:45,  2.27s/it]
 88%|████████▊ | 528/600 [33:34<02:07,  1.77s/it]
 88%|████████▊ | 529/600 [33:49<06:40,  5.64s/it]
 88%|████████▊ | 530/600 [33:49<04:48,  4.12s/it]
 88%|████████▊ | 531/600 [33:50<03:31,  3.06s/it]
 89%|████████▊ | 532/600 [33:51<02:37,  2.32s/it]
 89%|████████▉ | 533/600 [33:51<02:00,  1.80s/it]
 89%|████████▉ | 534/600 [33:52<01:34,  1.44s/it]
 89%|████████▉ | 535/600 [33:52<01:16,  1.18s/it]
 89%|████████▉ | 536/600 [33:53<01:04,  1.01s/it]
 90%|████████▉ | 537/600 [34:15<07:51,  7.49s/it]
 90%|████████▉ | 538/600 [34:16<05:35,  5.41s/it]
 90%|████████▉ | 539/600 [34:17<04:01,  3.96s/it]
 90%|█████████ | 540/600 [34:17<02:56,  2.95s/it]
 90%|█████████ | 541/600 [34:18<02:12,  2.24s/it]
 90%|█████████ | 542/600 [34:18<01:41,  1.74s/it]
 90%|█████████ | 543/600 [34:19<01:19,  1.39s/it]
 91%|█████████ | 544/600 [34:20<01:04,  1.15s/it]
 91%|█████████ | 545/600 [34:34<04:42,  5.13s/it]
 91%|█████████ | 546/600 [34:35<03:23,  3.77s/it]
 91%|█████████ | 547/600 [34:35<02:29,  2.81s/it]
 91%|█████████▏| 548/600 [34:36<01:51,  2.15s/it]
 92%|█████████▏| 549/600 [34:36<01:25,  1.69s/it]
 92%|█████████▏| 550/600 [34:37<01:07,  1.36s/it]
 92%|█████████▏| 551/600 [34:38<00:55,  1.12s/it]
 92%|█████████▏| 552/600 [34:38<00:46,  1.04it/s]
 92%|█████████▏| 553/600 [35:01<05:53,  7.53s/it]
 92%|█████████▏| 554/600 [35:02<04:10,  5.45s/it]
 92%|█████████▎| 555/600 [35:02<02:59,  3.99s/it]
 93%|█████████▎| 556/600 [35:03<02:10,  2.98s/it]
 93%|█████████▎| 557/600 [35:03<01:37,  2.26s/it]
 93%|█████████▎| 558/600 [35:04<01:13,  1.76s/it]
 93%|█████████▎| 559/600 [35:05<00:57,  1.41s/it]
 93%|█████████▎| 560/600 [35:05<00:46,  1.17s/it]
 94%|█████████▎| 561/600 [35:31<05:35,  8.61s/it]
 94%|█████████▎| 562/600 [35:32<03:55,  6.21s/it]
 94%|█████████▍| 563/600 [35:32<02:47,  4.52s/it]
 94%|█████████▍| 564/600 [35:33<02:00,  3.35s/it]
 94%|█████████▍| 565/600 [35:33<01:28,  2.52s/it]
 94%|█████████▍| 566/600 [35:34<01:06,  1.94s/it]
 94%|█████████▍| 567/600 [35:35<00:50,  1.54s/it]
 95%|█████████▍| 568/600 [35:35<00:40,  1.25s/it]
 95%|█████████▍| 569/600 [35:48<02:25,  4.69s/it]
 95%|█████████▌| 570/600 [35:49<01:43,  3.45s/it]
 95%|█████████▌| 571/600 [35:49<01:14,  2.58s/it]
 95%|█████████▌| 572/600 [35:50<00:55,  1.98s/it]
 96%|█████████▌| 573/600 [35:50<00:42,  1.56s/it]
 96%|█████████▌| 574/600 [35:51<00:33,  1.27s/it]
 96%|█████████▌| 575/600 [35:51<00:26,  1.07s/it]
 96%|█████████▌| 576/600 [35:52<00:22,  1.08it/s]
 96%|█████████▌| 577/600 [36:09<02:09,  5.64s/it]
 96%|█████████▋| 578/600 [36:09<01:30,  4.13s/it]
 96%|█████████▋| 579/600 [36:10<01:04,  3.07s/it]
 97%|█████████▋| 580/600 [36:10<00:46,  2.33s/it]
 97%|█████████▋| 581/600 [36:11<00:34,  1.81s/it]
 97%|█████████▋| 582/600 [36:12<00:25,  1.44s/it]
 97%|█████████▋| 583/600 [36:12<00:20,  1.19s/it]
 97%|█████████▋| 584/600 [36:13<00:16,  1.01s/it]
 98%|█████████▊| 585/600 [36:29<01:24,  5.61s/it]
 98%|█████████▊| 586/600 [36:30<00:57,  4.11s/it]
 98%|█████████▊| 587/600 [36:30<00:39,  3.05s/it]
 98%|█████████▊| 588/600 [36:31<00:27,  2.32s/it]
 98%|█████████▊| 589/600 [36:32<00:19,  1.82s/it]
 98%|█████████▊| 590/600 [36:32<00:14,  1.47s/it]
 98%|█████████▊| 591/600 [36:33<00:10,  1.21s/it]
 99%|█████████▊| 592/600 [36:33<00:08,  1.02s/it]
 99%|█████████▉| 593/600 [36:46<00:30,  4.34s/it]
 99%|█████████▉| 594/600 [36:46<00:19,  3.22s/it]
 99%|█████████▉| 595/600 [36:47<00:12,  2.43s/it]
 99%|█████████▉| 596/600 [36:47<00:07,  1.88s/it]
100%|█████████▉| 597/600 [36:48<00:04,  1.49s/it]
100%|█████████▉| 598/600 [36:49<00:02,  1.22s/it]
100%|█████████▉| 599/600 [36:49<00:01,  1.03s/it]
100%|█████████▉| 599/600 [36:50<00:03,  3.69s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/log_1_env0.json.
+MarkerInMugTask_1 complete: task_name: MarkerInMugTask, run_name: MarkerInMugTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the whiteboard marker in the mug, attributes: ['affordance', 'moderate'], success: False, episode_step: 600, duration: 40.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -13.823961029311743, 'joint_sparc_mean': -17.274292617493057, 'ee_isj': 9438.77167168952, 'joint_isj': 767338.2633231017, 'ee_path_length': 6.984518605958925, 'joint_rmse_mean': 1.5073133640184977, 'ee_speed_max': 1.1854206323623657, 'ee_speed_mean': 0.16129033267498016}, events: {'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 7, 'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_HIT_OBJECT': 1, 'MULTIPLE_OBJECTS_GRABBED': 1, 'OBJECT_BUMPED': 3, 'OBJECT_OUT_OF_SCENE': 1, 'OBJECT_MOVED': 1, 'wrong_objects_grabbed': ['ceramic_mug', 'ceramic_mug', 'ceramic_mug']}, instruction_type: default, timing: {'policy_inference_s': 1868.106, 'policy_inference_avg_ms': 3113.5, 'env_step_s': 336.965, 'env_step_avg_ms': 561.6, 'video_write_s': 4.883, 'video_write_avg_ms': 8.1, 'wall_total_s': 2209.953, 'it_per_sec': 0.27}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=marker) (step 1/2), harness_episode_id: 23ff8804fbfe408a8a4c85ae9a92a49d-1
+[RoboLab] Running MarkerInMugTask_2: 'Put the whiteboard marker in the mug' (run 2, 1 envs)
+
  0%|          | 0/600 [00:00<?, ?it/s]
  0%|          | 1/600 [00:36<6:07:47, 36.84s/it]
  0%|          | 2/600 [00:37<2:34:28, 15.50s/it]
  0%|          | 3/600 [00:37<1:26:19,  8.68s/it]
  1%|          | 4/600 [00:38<54:20,  5.47s/it]  
  1%|          | 5/600 [00:39<36:44,  3.71s/it]
  1%|          | 6/600 [00:39<26:08,  2.64s/it]
  1%|          | 7/600 [00:40<19:21,  1.96s/it]
  1%|▏         | 8/600 [00:40<14:54,  1.51s/it]
  2%|▏         | 9/600 [00:50<40:19,  4.09s/it]
  2%|▏         | 10/600 [00:51<29:28,  3.00s/it]
  2%|▏         | 11/600 [00:51<22:09,  2.26s/it]
  2%|▏         | 12/600 [00:52<17:10,  1.75s/it]
  2%|▏         | 13/600 [00:52<13:37,  1.39s/it]
  2%|▏         | 14/600 [00:53<11:10,  1.14s/it]
  2%|▎         | 15/600 [00:53<09:28,  1.03it/s]
  3%|▎         | 16/600 [00:54<08:15,  1.18it/s]
  3%|▎         | 17/600 [01:05<37:57,  3.91s/it]
  3%|▎         | 18/600 [01:06<28:06,  2.90s/it]
  3%|▎         | 19/600 [01:06<21:12,  2.19s/it]
  3%|▎         | 20/600 [01:07<16:22,  1.69s/it]
  4%|▎         | 21/600 [01:07<12:58,  1.34s/it]
  4%|▎         | 22/600 [01:08<10:37,  1.10s/it]
  4%|▍         | 23/600 [01:08<08:59,  1.07it/s]
  4%|▍         | 24/600 [01:09<07:50,  1.22it/s]
  4%|▍         | 25/600 [01:29<1:02:15,  6.50s/it]
  4%|▍         | 26/600 [01:29<45:09,  4.72s/it]  
  4%|▍         | 27/600 [01:30<33:08,  3.47s/it]
  5%|▍         | 28/600 [01:30<24:47,  2.60s/it]
  5%|▍         | 29/600 [01:31<18:55,  1.99s/it]
  5%|▌         | 30/600 [01:31<14:49,  1.56s/it]
  5%|▌         | 31/600 [01:32<11:59,  1.27s/it]
  5%|▌         | 32/600 [01:33<10:00,  1.06s/it]
  6%|▌         | 33/600 [01:40<28:04,  2.97s/it]
  6%|▌         | 34/600 [01:41<21:11,  2.25s/it]
  6%|▌         | 35/600 [01:41<16:23,  1.74s/it]
  6%|▌         | 36/600 [01:42<13:01,  1.39s/it]
  6%|▌         | 37/600 [01:42<10:40,  1.14s/it]
  6%|▋         | 38/600 [01:43<09:01,  1.04it/s]
  6%|▋         | 39/600 [01:43<07:53,  1.18it/s]
  7%|▋         | 40/600 [01:44<07:05,  1.31it/s]
  7%|▋         | 41/600 [01:57<41:42,  4.48s/it]
  7%|▋         | 42/600 [01:58<30:45,  3.31s/it]
  7%|▋         | 43/600 [01:58<23:02,  2.48s/it]
  7%|▋         | 44/600 [01:59<17:39,  1.90s/it]
  8%|▊         | 45/600 [01:59<13:52,  1.50s/it]
  8%|▊         | 46/600 [02:00<11:12,  1.21s/it]
  8%|▊         | 47/600 [02:00<09:20,  1.01s/it]
  8%|▊         | 48/600 [02:01<08:03,  1.14it/s]
  8%|▊         | 49/600 [02:26<1:15:34,  8.23s/it]
  8%|▊         | 50/600 [02:27<54:24,  5.93s/it]  
  8%|▊         | 51/600 [02:27<39:31,  4.32s/it]
  9%|▊         | 52/600 [02:28<29:08,  3.19s/it]
  9%|▉         | 53/600 [02:29<21:51,  2.40s/it]
  9%|▉         | 54/600 [02:29<16:49,  1.85s/it]
  9%|▉         | 55/600 [02:30<13:18,  1.46s/it]
  9%|▉         | 56/600 [02:30<10:47,  1.19s/it]
 10%|▉         | 57/600 [02:36<22:45,  2.51s/it]
 10%|▉         | 58/600 [02:36<17:25,  1.93s/it]
 10%|▉         | 59/600 [02:37<13:42,  1.52s/it]
 10%|█         | 60/600 [02:38<11:05,  1.23s/it]
 10%|█         | 61/600 [02:38<09:17,  1.03s/it]
 10%|█         | 62/600 [02:39<07:57,  1.13it/s]
 10%|█         | 63/600 [02:39<07:04,  1.26it/s]
 11%|█         | 64/600 [02:40<06:27,  1.38it/s]
 11%|█         | 65/600 [02:53<40:41,  4.56s/it]
 11%|█         | 66/600 [02:54<29:53,  3.36s/it]
 11%|█         | 67/600 [02:54<22:20,  2.51s/it]
 11%|█▏        | 68/600 [02:55<17:05,  1.93s/it]
 12%|█▏        | 69/600 [02:56<13:23,  1.51s/it]
 12%|█▏        | 70/600 [02:56<10:49,  1.23s/it]
 12%|█▏        | 71/600 [02:57<09:02,  1.03s/it]
 12%|█▏        | 72/600 [02:57<07:48,  1.13it/s]
 12%|█▏        | 73/600 [03:02<17:50,  2.03s/it]
 12%|█▏        | 74/600 [03:02<13:54,  1.59s/it]
 12%|█▎        | 75/600 [03:03<11:10,  1.28s/it]
 13%|█▎        | 76/600 [03:04<09:13,  1.06s/it]
 13%|█▎        | 77/600 [03:04<07:51,  1.11it/s]
 13%|█▎        | 78/600 [03:05<07:01,  1.24it/s]
 13%|█▎        | 79/600 [03:05<06:18,  1.38it/s]
 13%|█▎        | 80/600 [03:06<05:48,  1.49it/s]
 14%|█▎        | 81/600 [03:21<43:29,  5.03s/it]
 14%|█▎        | 82/600 [03:22<31:49,  3.69s/it]
 14%|█▍        | 83/600 [03:22<23:39,  2.75s/it]
 14%|█▍        | 84/600 [03:23<17:55,  2.08s/it]
 14%|█▍        | 85/600 [03:23<13:59,  1.63s/it]
 14%|█▍        | 86/600 [03:24<11:13,  1.31s/it]
 14%|█▍        | 87/600 [03:24<09:20,  1.09s/it]
 15%|█▍        | 88/600 [03:25<08:02,  1.06it/s]
 15%|█▍        | 89/600 [03:35<30:22,  3.57s/it]
 15%|█▌        | 90/600 [03:35<22:36,  2.66s/it]
 15%|█▌        | 91/600 [03:36<17:13,  2.03s/it]
 15%|█▌        | 92/600 [03:36<13:23,  1.58s/it]
 16%|█▌        | 93/600 [03:37<10:43,  1.27s/it]
 16%|█▌        | 94/600 [03:37<08:54,  1.06s/it]
 16%|█▌        | 95/600 [03:38<07:41,  1.10it/s]
 16%|█▌        | 96/600 [03:38<06:46,  1.24it/s]
 16%|█▌        | 97/600 [03:45<21:10,  2.53s/it]
 16%|█▋        | 98/600 [03:46<16:13,  1.94s/it]
 16%|█▋        | 99/600 [03:46<12:52,  1.54s/it]
 17%|█▋        | 100/600 [03:47<10:22,  1.24s/it]
 17%|█▋        | 101/600 [03:47<08:33,  1.03s/it]
 17%|█▋        | 102/600 [03:48<07:17,  1.14it/s]
 17%|█▋        | 103/600 [03:48<06:24,  1.29it/s]
 17%|█▋        | 104/600 [03:49<05:47,  1.43it/s]
 18%|█▊        | 105/600 [04:08<50:42,  6.15s/it]
 18%|█▊        | 106/600 [04:08<36:53,  4.48s/it]
 18%|█▊        | 107/600 [04:09<27:09,  3.31s/it]
 18%|█▊        | 108/600 [04:09<20:20,  2.48s/it]
 18%|█▊        | 109/600 [04:10<15:35,  1.91s/it]
 18%|█▊        | 110/600 [04:11<12:20,  1.51s/it]
 18%|█▊        | 111/600 [04:11<09:59,  1.23s/it]
 19%|█▊        | 112/600 [04:12<08:27,  1.04s/it]
 19%|█▉        | 113/600 [04:20<25:12,  3.11s/it]
 19%|█▉        | 114/600 [04:20<19:02,  2.35s/it]
 19%|█▉        | 115/600 [04:21<14:44,  1.82s/it]
 19%|█▉        | 116/600 [04:21<11:43,  1.45s/it]
 20%|█▉        | 117/600 [04:22<09:36,  1.19s/it]
 20%|█▉        | 118/600 [04:23<08:06,  1.01s/it]
 20%|█▉        | 119/600 [04:23<07:06,  1.13it/s]
 20%|██        | 120/600 [04:24<06:25,  1.25it/s]
 20%|██        | 121/600 [04:43<50:41,  6.35s/it]
 20%|██        | 122/600 [04:44<36:47,  4.62s/it]
 20%|██        | 123/600 [04:44<27:08,  3.41s/it]
 21%|██        | 124/600 [04:45<20:23,  2.57s/it]
 21%|██        | 125/600 [04:45<15:38,  1.98s/it]
 21%|██        | 126/600 [04:46<12:21,  1.56s/it]
 21%|██        | 127/600 [04:47<10:04,  1.28s/it]
 21%|██▏       | 128/600 [04:47<08:25,  1.07s/it]
 22%|██▏       | 129/600 [04:56<26:00,  3.31s/it]
 22%|██▏       | 130/600 [04:56<19:31,  2.49s/it]
 22%|██▏       | 131/600 [04:57<14:59,  1.92s/it]
 22%|██▏       | 132/600 [04:58<11:48,  1.51s/it]
 22%|██▏       | 133/600 [04:58<09:33,  1.23s/it]
 22%|██▏       | 134/600 [04:59<08:01,  1.03s/it]
 22%|██▎       | 135/600 [04:59<06:57,  1.12it/s]
 23%|██▎       | 136/600 [05:00<06:10,  1.25it/s]
 23%|██▎       | 137/600 [05:09<26:29,  3.43s/it]
 23%|██▎       | 138/600 [05:10<19:48,  2.57s/it]
 23%|██▎       | 139/600 [05:11<15:06,  1.97s/it]
 23%|██▎       | 140/600 [05:11<11:58,  1.56s/it]
 24%|██▎       | 141/600 [05:12<09:39,  1.26s/it]
 24%|██▎       | 142/600 [05:12<08:00,  1.05s/it]
 24%|██▍       | 143/600 [05:13<06:51,  1.11it/s]
 24%|██▍       | 144/600 [05:13<06:03,  1.25it/s]
 24%|██▍       | 145/600 [05:34<51:56,  6.85s/it]
 24%|██▍       | 146/600 [05:35<37:31,  4.96s/it]
 24%|██▍       | 147/600 [05:35<27:28,  3.64s/it]
 25%|██▍       | 148/600 [05:36<20:27,  2.72s/it]
 25%|██▍       | 149/600 [05:37<15:39,  2.08s/it]
 25%|██▌       | 150/600 [05:37<12:10,  1.62s/it]
 25%|██▌       | 151/600 [05:38<09:43,  1.30s/it]
 25%|██▌       | 152/600 [05:38<08:00,  1.07s/it]
 26%|██▌       | 153/600 [05:58<49:02,  6.58s/it]
 26%|██▌       | 154/600 [05:58<35:28,  4.77s/it]
 26%|██▌       | 155/600 [05:59<25:59,  3.50s/it]
 26%|██▌       | 156/600 [05:59<19:22,  2.62s/it]
 26%|██▌       | 157/600 [06:00<14:44,  2.00s/it]
 26%|██▋       | 158/600 [06:00<11:29,  1.56s/it]
 26%|██▋       | 159/600 [06:01<09:15,  1.26s/it]
 27%|██▋       | 160/600 [06:02<07:39,  1.05s/it]
 27%|██▋       | 161/600 [06:29<1:06:27,  9.08s/it]
 27%|██▋       | 162/600 [06:30<47:37,  6.52s/it]  
 27%|██▋       | 163/600 [06:30<34:29,  4.74s/it]
 27%|██▋       | 164/600 [06:31<25:17,  3.48s/it]
 28%|██▊       | 165/600 [06:32<18:52,  2.60s/it]
 28%|██▊       | 166/600 [06:32<14:26,  2.00s/it]
 28%|██▊       | 167/600 [06:33<11:16,  1.56s/it]
 28%|██▊       | 168/600 [06:33<09:02,  1.26s/it]
 28%|██▊       | 169/600 [07:09<1:23:11, 11.58s/it]
 28%|██▊       | 170/600 [07:10<59:19,  8.28s/it]  
 28%|██▊       | 171/600 [07:10<42:36,  5.96s/it]
 29%|██▊       | 172/600 [07:11<30:57,  4.34s/it]
 29%|██▉       | 173/600 [07:11<22:45,  3.20s/it]
 29%|██▉       | 174/600 [07:12<17:01,  2.40s/it]
 29%|██▉       | 175/600 [07:12<13:00,  1.84s/it]
 29%|██▉       | 176/600 [07:13<10:12,  1.45s/it]
 30%|██▉       | 177/600 [07:21<24:49,  3.52s/it]
 30%|██▉       | 178/600 [07:22<18:26,  2.62s/it]
 30%|██▉       | 179/600 [07:22<14:00,  2.00s/it]
 30%|███       | 180/600 [07:23<10:54,  1.56s/it]
 30%|███       | 181/600 [07:23<08:42,  1.25s/it]
 30%|███       | 182/600 [07:24<07:10,  1.03s/it]
 30%|███       | 183/600 [07:24<06:09,  1.13it/s]
 31%|███       | 184/600 [07:25<05:25,  1.28it/s]
 31%|███       | 185/600 [07:58<1:13:16, 10.59s/it]
 31%|███       | 186/600 [07:59<52:16,  7.58s/it]  
 31%|███       | 187/600 [07:59<37:35,  5.46s/it]
 31%|███▏      | 188/600 [08:00<27:19,  3.98s/it]
 32%|███▏      | 189/600 [08:00<20:07,  2.94s/it]
 32%|███▏      | 190/600 [08:01<15:05,  2.21s/it]
 32%|███▏      | 191/600 [08:01<11:35,  1.70s/it]
 32%|███▏      | 192/600 [08:02<09:07,  1.34s/it]
 32%|███▏      | 193/600 [08:13<29:36,  4.36s/it]
 32%|███▏      | 194/600 [08:14<21:44,  3.21s/it]
 32%|███▎      | 195/600 [08:14<16:12,  2.40s/it]
 33%|███▎      | 196/600 [08:15<12:24,  1.84s/it]
 33%|███▎      | 197/600 [08:15<09:42,  1.44s/it]
 33%|███▎      | 198/600 [08:16<07:48,  1.17s/it]
 33%|███▎      | 199/600 [08:17<06:33,  1.02it/s]
 33%|███▎      | 200/600 [08:17<05:39,  1.18it/s]
 34%|███▎      | 201/600 [11:04<5:36:13, 50.56s/it]
 34%|███▎      | 202/600 [11:04<3:55:50, 35.55s/it]
 34%|███▍      | 203/600 [11:05<2:45:44, 25.05s/it]
 34%|███▍      | 204/600 [11:05<1:56:47, 17.70s/it]
 34%|███▍      | 205/600 [11:06<1:22:36, 12.55s/it]
 34%|███▍      | 206/600 [11:06<58:44,  8.95s/it]  
 34%|███▍      | 207/600 [11:07<42:04,  6.42s/it]
 35%|███▍      | 208/600 [11:07<30:27,  4.66s/it]
 35%|███▍      | 209/600 [12:05<2:13:04, 20.42s/it]
 35%|███▌      | 210/600 [12:05<1:33:58, 14.46s/it]
 35%|███▌      | 211/600 [12:06<1:06:40, 10.28s/it]
 35%|███▌      | 212/600 [12:06<47:38,  7.37s/it]  
 36%|███▌      | 213/600 [12:07<34:20,  5.33s/it]
 36%|███▌      | 214/600 [12:07<25:05,  3.90s/it]
 36%|███▌      | 215/600 [12:08<18:37,  2.90s/it]
 36%|███▌      | 216/600 [12:09<14:06,  2.21s/it]
 36%|███▌      | 217/600 [12:15<22:58,  3.60s/it]
 36%|███▋      | 218/600 [12:16<17:06,  2.69s/it]
 36%|███▋      | 219/600 [12:16<12:57,  2.04s/it]
 37%|███▋      | 220/600 [12:17<10:05,  1.59s/it]
 37%|███▋      | 221/600 [12:18<08:08,  1.29s/it]
 37%|███▋      | 222/600 [12:18<06:46,  1.07s/it]
 37%|███▋      | 223/600 [12:19<05:46,  1.09it/s]
 37%|███▋      | 224/600 [12:19<05:07,  1.22it/s]
 38%|███▊      | 225/600 [12:36<34:10,  5.47s/it]
 38%|███▊      | 226/600 [12:36<24:56,  4.00s/it]
 38%|███▊      | 227/600 [12:37<18:27,  2.97s/it]
 38%|███▊      | 228/600 [12:37<13:53,  2.24s/it]
 38%|███▊      | 229/600 [12:38<10:42,  1.73s/it]
 38%|███▊      | 230/600 [12:38<08:30,  1.38s/it]
 38%|███▊      | 231/600 [12:39<07:00,  1.14s/it]
 39%|███▊      | 232/600 [12:40<05:54,  1.04it/s]
 39%|███▉      | 233/600 [13:19<1:16:07, 12.44s/it]
 39%|███▉      | 234/600 [13:19<54:10,  8.88s/it]  
 39%|███▉      | 235/600 [13:20<38:51,  6.39s/it]
 39%|███▉      | 236/600 [13:20<28:09,  4.64s/it]
 40%|███▉      | 237/600 [13:21<20:39,  3.41s/it]
 40%|███▉      | 238/600 [13:22<15:26,  2.56s/it]
 40%|███▉      | 239/600 [13:22<11:46,  1.96s/it]
 40%|████      | 240/600 [13:23<09:17,  1.55s/it]
 40%|████      | 241/600 [13:57<1:07:47, 11.33s/it]
 40%|████      | 242/600 [13:57<48:17,  8.09s/it]  
 40%|████      | 243/600 [13:58<34:40,  5.83s/it]
 41%|████      | 244/600 [13:59<25:10,  4.24s/it]
 41%|████      | 245/600 [13:59<18:34,  3.14s/it]
 41%|████      | 246/600 [14:00<13:59,  2.37s/it]
 41%|████      | 247/600 [14:00<10:47,  1.83s/it]
 41%|████▏     | 248/600 [14:01<08:33,  1.46s/it]
 42%|████▏     | 249/600 [14:09<19:56,  3.41s/it]
 42%|████▏     | 250/600 [14:09<14:56,  2.56s/it]
 42%|████▏     | 251/600 [14:10<11:28,  1.97s/it]
 42%|████▏     | 252/600 [14:11<09:01,  1.56s/it]
 42%|████▏     | 253/600 [14:11<07:18,  1.26s/it]
 42%|████▏     | 254/600 [14:12<06:04,  1.05s/it]
 42%|████▎     | 255/600 [14:12<05:14,  1.10it/s]
 43%|████▎     | 256/600 [14:13<04:41,  1.22it/s]
 43%|████▎     | 257/600 [14:36<42:04,  7.36s/it]
 43%|████▎     | 258/600 [14:36<30:21,  5.32s/it]
 43%|████▎     | 259/600 [14:37<22:06,  3.89s/it]
 43%|████▎     | 260/600 [14:37<16:22,  2.89s/it]
 44%|████▎     | 261/600 [14:38<12:22,  2.19s/it]
 44%|████▎     | 262/600 [14:38<09:35,  1.70s/it]
 44%|████▍     | 263/600 [14:39<07:35,  1.35s/it]
 44%|████▍     | 264/600 [14:39<06:11,  1.10s/it]
 44%|████▍     | 265/600 [15:00<38:07,  6.83s/it]
 44%|████▍     | 266/600 [15:00<27:29,  4.94s/it]
 44%|████▍     | 267/600 [15:01<20:05,  3.62s/it]
 45%|████▍     | 268/600 [15:01<14:54,  2.69s/it]
 45%|████▍     | 269/600 [15:02<11:19,  2.05s/it]
 45%|████▌     | 270/600 [15:02<08:49,  1.60s/it]
 45%|████▌     | 271/600 [15:03<07:04,  1.29s/it]
 45%|████▌     | 272/600 [15:03<05:50,  1.07s/it]
 46%|████▌     | 273/600 [17:08<3:27:31, 38.08s/it]
 46%|████▌     | 274/600 [17:08<2:25:41, 26.82s/it]
 46%|████▌     | 275/600 [17:09<1:42:32, 18.93s/it]
 46%|████▌     | 276/600 [17:09<1:12:26, 13.41s/it]
 46%|████▌     | 277/600 [17:10<51:24,  9.55s/it]  
 46%|████▋     | 278/600 [17:11<36:44,  6.85s/it]
 46%|████▋     | 279/600 [17:11<26:30,  4.95s/it]
 47%|████▋     | 280/600 [17:12<19:22,  3.63s/it]
 47%|████▋     | 281/600 [17:44<1:05:51, 12.39s/it]
 47%|████▋     | 282/600 [17:45<46:50,  8.84s/it]  
 47%|████▋     | 283/600 [17:46<33:33,  6.35s/it]
 47%|████▋     | 284/600 [17:46<24:17,  4.61s/it]
 48%|████▊     | 285/600 [17:47<17:46,  3.39s/it]
 48%|████▊     | 286/600 [17:47<13:16,  2.54s/it]
 48%|████▊     | 287/600 [17:48<10:06,  1.94s/it]
 48%|████▊     | 288/600 [17:48<07:54,  1.52s/it]
 48%|████▊     | 289/600 [19:59<3:29:25, 40.40s/it]
 48%|████▊     | 290/600 [20:00<2:27:01, 28.46s/it]
 48%|████▊     | 291/600 [20:01<1:43:27, 20.09s/it]
 49%|████▊     | 292/600 [20:01<1:13:03, 14.23s/it]
 49%|████▉     | 293/600 [20:02<51:51, 10.13s/it]  
 49%|████▉     | 294/600 [20:02<37:01,  7.26s/it]
 49%|████▉     | 295/600 [20:03<26:40,  5.25s/it]
 49%|████▉     | 296/600 [20:03<19:27,  3.84s/it]
 50%|████▉     | 297/600 [20:17<33:34,  6.65s/it]
 50%|████▉     | 298/600 [20:17<24:15,  4.82s/it]
 50%|████▉     | 299/600 [20:18<17:47,  3.55s/it]
 50%|█████     | 300/600 [20:18<13:13,  2.65s/it]
 50%|█████     | 301/600 [20:19<10:03,  2.02s/it]
 50%|█████     | 302/600 [20:19<07:51,  1.58s/it]
 50%|█████     | 303/600 [20:20<06:20,  1.28s/it]
 51%|█████     | 304/600 [20:20<05:15,  1.07s/it]
 51%|█████     | 305/600 [20:51<48:15,  9.81s/it]
 51%|█████     | 306/600 [20:51<34:30,  7.04s/it]
 51%|█████     | 307/600 [20:52<25:00,  5.12s/it]
 51%|█████▏    | 308/600 [20:53<18:20,  3.77s/it]
 52%|█████▏    | 309/600 [20:53<13:39,  2.82s/it]
 52%|█████▏    | 310/600 [20:54<10:22,  2.15s/it]
 52%|█████▏    | 311/600 [20:54<08:05,  1.68s/it]
 52%|█████▏    | 312/600 [20:55<06:30,  1.36s/it]
 52%|█████▏    | 313/600 [22:27<2:16:04, 28.45s/it]
 52%|█████▏    | 314/600 [22:27<1:35:44, 20.09s/it]
 52%|█████▎    | 315/600 [22:28<1:07:35, 14.23s/it]
 53%|█████▎    | 316/600 [22:28<47:54, 10.12s/it]  
 53%|█████▎    | 317/600 [22:29<34:11,  7.25s/it]
 53%|█████▎    | 318/600 [22:29<24:37,  5.24s/it]
 53%|█████▎    | 319/600 [22:30<17:56,  3.83s/it]
 53%|█████▎    | 320/600 [22:30<13:16,  2.85s/it]
 54%|█████▎    | 321/600 [22:49<35:12,  7.57s/it]
 54%|█████▎    | 322/600 [22:50<25:18,  5.46s/it]
 54%|█████▍    | 323/600 [22:50<18:29,  4.00s/it]
 54%|█████▍    | 324/600 [22:51<13:38,  2.96s/it]
 54%|█████▍    | 325/600 [22:51<10:15,  2.24s/it]
 54%|█████▍    | 326/600 [22:52<07:53,  1.73s/it]
 55%|█████▍    | 327/600 [22:52<06:15,  1.37s/it]
 55%|█████▍    | 328/600 [22:53<05:05,  1.12s/it]
 55%|█████▍    | 329/600 [23:00<13:49,  3.06s/it]
 55%|█████▌    | 330/600 [23:01<10:23,  2.31s/it]
 55%|█████▌    | 331/600 [23:02<08:01,  1.79s/it]
 55%|█████▌    | 332/600 [23:02<06:20,  1.42s/it]
 56%|█████▌    | 333/600 [23:03<05:10,  1.16s/it]
 56%|█████▌    | 334/600 [23:03<04:19,  1.02it/s]
 56%|█████▌    | 335/600 [23:04<03:48,  1.16it/s]
 56%|█████▌    | 336/600 [23:04<03:23,  1.30it/s]
 56%|█████▌    | 337/600 [24:56<2:29:13, 34.04s/it]
 56%|█████▋    | 338/600 [24:57<1:44:46, 24.00s/it]
 56%|█████▋    | 339/600 [24:57<1:13:45, 16.95s/it]
 57%|█████▋    | 340/600 [24:58<52:05, 12.02s/it]  
 57%|█████▋    | 341/600 [24:58<37:00,  8.57s/it]
 57%|█████▋    | 342/600 [24:59<26:28,  6.16s/it]
 57%|█████▋    | 343/600 [24:59<19:08,  4.47s/it]
 57%|█████▋    | 344/600 [25:00<14:00,  3.28s/it]
 57%|█████▊    | 345/600 [25:19<34:42,  8.17s/it]
 58%|█████▊    | 346/600 [25:20<24:52,  5.88s/it]
 58%|█████▊    | 347/600 [25:20<18:01,  4.28s/it]
 58%|█████▊    | 348/600 [25:21<13:17,  3.17s/it]
 58%|█████▊    | 349/600 [25:21<09:57,  2.38s/it]
 58%|█████▊    | 350/600 [25:22<07:36,  1.83s/it]
 58%|█████▊    | 351/600 [25:23<05:58,  1.44s/it]
 59%|█████▊    | 352/600 [25:23<04:49,  1.17s/it]
 59%|█████▉    | 353/600 [26:05<55:01, 13.37s/it]
 59%|█████▉    | 354/600 [26:05<39:01,  9.52s/it]
 59%|█████▉    | 355/600 [26:06<27:53,  6.83s/it]
 59%|█████▉    | 356/600 [26:07<20:06,  4.94s/it]
 60%|█████▉    | 357/600 [26:07<14:41,  3.63s/it]
 60%|█████▉    | 358/600 [26:08<10:54,  2.70s/it]
 60%|█████▉    | 359/600 [26:08<08:16,  2.06s/it]
 60%|██████    | 360/600 [26:09<06:26,  1.61s/it]
 60%|██████    | 361/600 [26:30<29:23,  7.38s/it]
 60%|██████    | 362/600 [26:30<21:09,  5.34s/it]
 60%|██████    | 363/600 [26:31<15:23,  3.90s/it]
 61%|██████    | 364/600 [26:31<11:24,  2.90s/it]
 61%|██████    | 365/600 [26:32<08:37,  2.20s/it]
 61%|██████    | 366/600 [26:32<06:41,  1.71s/it]
 61%|██████    | 367/600 [26:33<05:19,  1.37s/it]
 61%|██████▏   | 368/600 [26:34<04:22,  1.13s/it]
 62%|██████▏   | 369/600 [26:41<11:02,  2.87s/it]
 62%|██████▏   | 370/600 [26:41<08:22,  2.19s/it]
 62%|██████▏   | 371/600 [26:42<06:32,  1.71s/it]
 62%|██████▏   | 372/600 [26:42<05:13,  1.37s/it]
 62%|██████▏   | 373/600 [26:43<04:16,  1.13s/it]
 62%|██████▏   | 374/600 [26:43<03:37,  1.04it/s]
 62%|██████▎   | 375/600 [26:44<03:10,  1.18it/s]
 63%|██████▎   | 376/600 [26:45<02:52,  1.30it/s]
 63%|██████▎   | 377/600 [27:06<25:45,  6.93s/it]
 63%|██████▎   | 378/600 [27:06<18:34,  5.02s/it]
 63%|██████▎   | 379/600 [27:07<13:31,  3.67s/it]
 63%|██████▎   | 380/600 [27:08<10:00,  2.73s/it]
 64%|██████▎   | 381/600 [27:08<07:33,  2.07s/it]
 64%|██████▎   | 382/600 [27:09<05:51,  1.61s/it]
 64%|██████▍   | 383/600 [27:09<04:40,  1.29s/it]
 64%|██████▍   | 384/600 [27:10<03:51,  1.07s/it]
 64%|██████▍   | 385/600 [27:23<16:52,  4.71s/it]
 64%|██████▍   | 386/600 [27:23<12:20,  3.46s/it]
 64%|██████▍   | 387/600 [27:24<09:10,  2.59s/it]
 65%|██████▍   | 388/600 [27:25<06:58,  1.97s/it]
 65%|██████▍   | 389/600 [27:25<05:26,  1.55s/it]
 65%|██████▌   | 390/600 [27:26<04:22,  1.25s/it]
 65%|██████▌   | 391/600 [27:26<03:37,  1.04s/it]
 65%|██████▌   | 392/600 [27:27<03:08,  1.11it/s]
 66%|██████▌   | 393/600 [27:36<12:02,  3.49s/it]
 66%|██████▌   | 394/600 [27:37<09:00,  2.62s/it]
 66%|██████▌   | 395/600 [27:37<06:51,  2.01s/it]
 66%|██████▌   | 396/600 [27:38<05:20,  1.57s/it]
 66%|██████▌   | 397/600 [27:39<04:17,  1.27s/it]
 66%|██████▋   | 398/600 [27:39<03:34,  1.06s/it]
 66%|██████▋   | 399/600 [27:40<03:05,  1.08it/s]
 67%|██████▋   | 400/600 [27:40<02:44,  1.22it/s]
 67%|██████▋   | 401/600 [28:03<24:46,  7.47s/it]
 67%|██████▋   | 402/600 [28:04<17:49,  5.40s/it]
 67%|██████▋   | 403/600 [28:05<12:59,  3.96s/it]
 67%|██████▋   | 404/600 [28:05<09:36,  2.94s/it]
 68%|██████▊   | 405/600 [28:06<07:13,  2.22s/it]
 68%|██████▊   | 406/600 [28:06<05:33,  1.72s/it]
 68%|██████▊   | 407/600 [28:07<04:23,  1.37s/it]
 68%|██████▊   | 408/600 [28:07<03:34,  1.12s/it]
 68%|██████▊   | 409/600 [28:19<13:55,  4.37s/it]
 68%|██████▊   | 410/600 [28:20<10:13,  3.23s/it]
 68%|██████▊   | 411/600 [28:20<07:39,  2.43s/it]
 69%|██████▊   | 412/600 [28:21<05:52,  1.87s/it]
 69%|██████▉   | 413/600 [28:22<04:37,  1.49s/it]
 69%|██████▉   | 414/600 [28:22<03:45,  1.21s/it]
 69%|██████▉   | 415/600 [28:23<03:09,  1.02s/it]
 69%|██████▉   | 416/600 [28:23<02:44,  1.12it/s]
 70%|██████▉   | 417/600 [28:42<18:43,  6.14s/it]
 70%|██████▉   | 418/600 [28:42<13:33,  4.47s/it]
 70%|██████▉   | 419/600 [28:43<09:57,  3.30s/it]
 70%|███████   | 420/600 [28:43<07:26,  2.48s/it]
 70%|███████   | 421/600 [28:44<05:41,  1.91s/it]
 70%|███████   | 422/600 [28:44<04:27,  1.51s/it]
 70%|███████   | 423/600 [28:45<03:36,  1.22s/it]
 71%|███████   | 424/600 [28:46<03:02,  1.04s/it]
 71%|███████   | 425/600 [29:15<28:00,  9.61s/it]
 71%|███████   | 426/600 [29:16<20:00,  6.90s/it]
 71%|███████   | 427/600 [29:16<14:25,  5.00s/it]
 71%|███████▏  | 428/600 [29:17<10:30,  3.67s/it]
 72%|███████▏  | 429/600 [29:18<07:47,  2.74s/it]
 72%|███████▏  | 430/600 [29:18<05:54,  2.09s/it]
 72%|███████▏  | 431/600 [29:19<04:35,  1.63s/it]
 72%|███████▏  | 432/600 [29:19<03:40,  1.31s/it]
 72%|███████▏  | 433/600 [29:56<32:58, 11.84s/it]
 72%|███████▏  | 434/600 [29:56<23:23,  8.45s/it]
 72%|███████▎  | 435/600 [29:57<16:42,  6.08s/it]
 73%|███████▎  | 436/600 [29:57<12:03,  4.41s/it]
 73%|███████▎  | 437/600 [29:58<08:49,  3.25s/it]
 73%|███████▎  | 438/600 [29:58<06:34,  2.44s/it]
 73%|███████▎  | 439/600 [29:59<05:00,  1.86s/it]
 73%|███████▎  | 440/600 [29:59<03:54,  1.47s/it]
 74%|███████▎  | 441/600 [30:27<24:46,  9.35s/it]
 74%|███████▎  | 442/600 [30:28<17:39,  6.71s/it]
 74%|███████▍  | 443/600 [30:28<12:45,  4.87s/it]
 74%|███████▍  | 444/600 [30:29<09:17,  3.57s/it]
 74%|███████▍  | 445/600 [30:29<06:54,  2.67s/it]
 74%|███████▍  | 446/600 [30:30<05:13,  2.04s/it]
 74%|███████▍  | 447/600 [30:31<04:03,  1.59s/it]
 75%|███████▍  | 448/600 [30:31<03:15,  1.29s/it]
 75%|███████▍  | 449/600 [30:48<15:12,  6.04s/it]
 75%|███████▌  | 450/600 [30:49<10:59,  4.40s/it]
 75%|███████▌  | 451/600 [30:49<08:03,  3.24s/it]
 75%|███████▌  | 452/600 [30:50<05:59,  2.43s/it]
 76%|███████▌  | 453/600 [30:50<04:33,  1.86s/it]
 76%|███████▌  | 454/600 [30:51<03:33,  1.46s/it]
 76%|███████▌  | 455/600 [30:51<02:51,  1.18s/it]
 76%|███████▌  | 456/600 [30:52<02:22,  1.01it/s]
 76%|███████▌  | 457/600 [31:03<09:51,  4.14s/it]
 76%|███████▋  | 458/600 [31:04<07:13,  3.05s/it]
 76%|███████▋  | 459/600 [31:05<05:23,  2.30s/it]
 77%|███████▋  | 460/600 [31:05<04:07,  1.77s/it]
 77%|███████▋  | 461/600 [31:06<03:14,  1.40s/it]
 77%|███████▋  | 462/600 [31:06<02:37,  1.14s/it]
 77%|███████▋  | 463/600 [31:07<02:13,  1.03it/s]
 77%|███████▋  | 464/600 [31:07<01:54,  1.19it/s]
 78%|███████▊  | 465/600 [31:16<07:28,  3.33s/it]
 78%|███████▊  | 466/600 [31:17<05:32,  2.49s/it]
 78%|███████▊  | 467/600 [31:17<04:13,  1.90s/it]
 78%|███████▊  | 468/600 [31:18<03:17,  1.49s/it]
 78%|███████▊  | 469/600 [31:19<02:38,  1.21s/it]
 78%|███████▊  | 470/600 [31:19<02:11,  1.01s/it]
 78%|███████▊  | 471/600 [31:20<01:52,  1.14it/s]
 79%|███████▊  | 472/600 [31:20<01:39,  1.28it/s]
 79%|███████▉  | 473/600 [31:48<18:33,  8.77s/it]
 79%|███████▉  | 474/600 [31:48<13:14,  6.31s/it]
 79%|███████▉  | 475/600 [31:49<09:32,  4.58s/it]
 79%|███████▉  | 476/600 [31:49<06:57,  3.37s/it]
 80%|███████▉  | 477/600 [31:50<05:09,  2.52s/it]
 80%|███████▉  | 478/600 [31:50<03:56,  1.93s/it]
 80%|███████▉  | 479/600 [31:51<03:04,  1.52s/it]
 80%|████████  | 480/600 [31:51<02:27,  1.23s/it]
 80%|████████  | 481/600 [32:48<35:06, 17.70s/it]
 80%|████████  | 482/600 [32:48<24:41, 12.56s/it]
 80%|████████  | 483/600 [32:49<17:27,  8.96s/it]
 81%|████████  | 484/600 [32:49<12:26,  6.43s/it]
 81%|████████  | 485/600 [32:50<08:56,  4.67s/it]
 81%|████████  | 486/600 [32:50<06:31,  3.43s/it]
 81%|████████  | 487/600 [32:51<04:50,  2.57s/it]
 81%|████████▏ | 488/600 [32:51<03:40,  1.97s/it]
 82%|████████▏ | 489/600 [33:07<10:58,  5.93s/it]
 82%|████████▏ | 490/600 [33:07<07:55,  4.32s/it]
 82%|████████▏ | 491/600 [33:08<05:47,  3.19s/it]
 82%|████████▏ | 492/600 [33:08<04:19,  2.41s/it]
 82%|████████▏ | 493/600 [33:09<03:17,  1.84s/it]
 82%|████████▏ | 494/600 [33:09<02:34,  1.46s/it]
 82%|████████▎ | 495/600 [33:10<02:04,  1.19s/it]
 83%|████████▎ | 496/600 [33:11<01:43,  1.01it/s]
 83%|████████▎ | 497/600 [33:32<12:22,  7.21s/it]
 83%|████████▎ | 498/600 [33:33<08:51,  5.21s/it]
 83%|████████▎ | 499/600 [33:33<06:24,  3.81s/it]
 83%|████████▎ | 500/600 [33:34<05:00,  3.01s/it]
 84%|████████▎ | 501/600 [33:35<03:44,  2.27s/it]
 84%|████████▎ | 502/600 [33:36<02:51,  1.75s/it]
 84%|████████▍ | 503/600 [33:36<02:15,  1.39s/it]
 84%|████████▍ | 504/600 [33:37<01:49,  1.14s/it]
 84%|████████▍ | 505/600 [33:49<07:07,  4.50s/it]
 84%|████████▍ | 506/600 [33:50<05:11,  3.31s/it]
 84%|████████▍ | 507/600 [33:50<03:50,  2.48s/it]
 85%|████████▍ | 508/600 [33:51<02:54,  1.90s/it]
 85%|████████▍ | 509/600 [33:51<02:15,  1.49s/it]
 85%|████████▌ | 510/600 [33:52<01:49,  1.22s/it]
 85%|████████▌ | 511/600 [33:52<01:30,  1.02s/it]
 85%|████████▌ | 512/600 [33:53<01:18,  1.12it/s]
 86%|████████▌ | 513/600 [34:03<05:28,  3.78s/it]
 86%|████████▌ | 514/600 [34:04<04:02,  2.82s/it]
 86%|████████▌ | 515/600 [34:05<03:02,  2.15s/it]
 86%|████████▌ | 516/600 [34:05<02:21,  1.68s/it]
 86%|████████▌ | 517/600 [34:06<01:53,  1.36s/it]
 86%|████████▋ | 518/600 [34:06<01:32,  1.13s/it]
 86%|████████▋ | 519/600 [34:07<01:18,  1.04it/s]
 87%|████████▋ | 520/600 [34:08<01:08,  1.17it/s]
 87%|████████▋ | 521/600 [34:22<06:40,  5.08s/it]
 87%|████████▋ | 522/600 [34:23<04:50,  3.72s/it]
 87%|████████▋ | 523/600 [34:24<03:34,  2.78s/it]
 87%|████████▋ | 524/600 [34:24<02:41,  2.12s/it]
 88%|████████▊ | 525/600 [34:25<02:03,  1.65s/it]
 88%|████████▊ | 526/600 [34:25<01:38,  1.33s/it]
 88%|████████▊ | 527/600 [34:26<01:20,  1.11s/it]
 88%|████████▊ | 528/600 [34:26<01:08,  1.06it/s]
 88%|████████▊ | 529/600 [34:36<04:04,  3.45s/it]
 88%|████████▊ | 530/600 [34:36<03:01,  2.59s/it]
 88%|████████▊ | 531/600 [34:37<02:17,  1.99s/it]
 89%|████████▊ | 532/600 [34:38<01:46,  1.56s/it]
 89%|████████▉ | 533/600 [34:38<01:24,  1.27s/it]
 89%|████████▉ | 534/600 [34:39<01:09,  1.06s/it]
 89%|████████▉ | 535/600 [34:39<00:59,  1.09it/s]
 89%|████████▉ | 536/600 [34:40<00:52,  1.22it/s]
 90%|████████▉ | 537/600 [35:06<08:48,  8.39s/it]
 90%|████████▉ | 538/600 [35:06<06:15,  6.05s/it]
 90%|████████▉ | 539/600 [35:07<04:29,  4.41s/it]
 90%|█████████ | 540/600 [35:08<03:16,  3.27s/it]
 90%|█████████ | 541/600 [35:08<02:26,  2.48s/it]
 90%|█████████ | 542/600 [35:09<01:50,  1.91s/it]
 90%|█████████ | 543/600 [35:10<01:26,  1.52s/it]
 91%|█████████ | 544/600 [35:10<01:10,  1.25s/it]
 91%|█████████ | 545/600 [36:11<17:29, 19.09s/it]
 91%|█████████ | 546/600 [36:11<12:11, 13.54s/it]
 91%|█████████ | 547/600 [36:12<08:31,  9.65s/it]
 91%|█████████▏| 548/600 [36:13<06:00,  6.93s/it]
 92%|█████████▏| 549/600 [36:13<04:16,  5.02s/it]
 92%|█████████▏| 550/600 [36:14<03:04,  3.68s/it]
 92%|█████████▏| 551/600 [36:14<02:14,  2.74s/it]
 92%|█████████▏| 552/600 [36:15<01:39,  2.08s/it]
 92%|█████████▏| 553/600 [36:50<09:25, 12.04s/it]
 92%|█████████▏| 554/600 [36:51<06:35,  8.60s/it]
 92%|█████████▎| 555/600 [36:51<04:38,  6.20s/it]
 93%|█████████▎| 556/600 [36:52<03:18,  4.51s/it]
 93%|█████████▎| 557/600 [36:52<02:22,  3.32s/it]
 93%|█████████▎| 558/600 [36:53<01:44,  2.50s/it]
 93%|█████████▎| 559/600 [36:54<01:18,  1.92s/it]
 93%|█████████▎| 560/600 [36:54<01:00,  1.51s/it]
 94%|█████████▎| 561/600 [37:11<03:54,  6.02s/it]
 94%|█████████▎| 562/600 [37:11<02:46,  4.38s/it]
 94%|█████████▍| 563/600 [37:12<01:59,  3.24s/it]
 94%|█████████▍| 564/600 [37:12<01:27,  2.43s/it]
 94%|█████████▍| 565/600 [37:13<01:05,  1.87s/it]
 94%|█████████▍| 566/600 [37:13<00:50,  1.48s/it]
 94%|█████████▍| 567/600 [37:14<00:39,  1.20s/it]
 95%|█████████▍| 568/600 [37:15<00:32,  1.00s/it]
 95%|█████████▍| 569/600 [37:29<02:38,  5.12s/it]
 95%|█████████▌| 570/600 [37:30<01:52,  3.75s/it]
 95%|█████████▌| 571/600 [37:30<01:21,  2.79s/it]
 95%|█████████▌| 572/600 [37:31<00:59,  2.12s/it]
 96%|█████████▌| 573/600 [37:31<00:44,  1.65s/it]
 96%|█████████▌| 574/600 [37:32<00:34,  1.32s/it]
 96%|█████████▌| 575/600 [37:33<00:27,  1.09s/it]
 96%|█████████▌| 576/600 [37:33<00:22,  1.08it/s]
 96%|█████████▌| 577/600 [37:52<02:27,  6.40s/it]
 96%|█████████▋| 578/600 [37:53<01:42,  4.64s/it]
 96%|█████████▋| 579/600 [37:53<01:11,  3.41s/it]
 97%|█████████▋| 580/600 [37:54<00:50,  2.55s/it]
 97%|█████████▋| 581/600 [37:54<00:37,  1.96s/it]
 97%|█████████▋| 582/600 [37:55<00:27,  1.53s/it]
 97%|█████████▋| 583/600 [37:56<00:21,  1.24s/it]
 97%|█████████▋| 584/600 [37:56<00:16,  1.03s/it]
 98%|█████████▊| 585/600 [38:06<00:57,  3.81s/it]
 98%|█████████▊| 586/600 [38:07<00:39,  2.83s/it]
 98%|█████████▊| 587/600 [38:07<00:27,  2.15s/it]
 98%|█████████▊| 588/600 [38:08<00:20,  1.67s/it]
 98%|█████████▊| 589/600 [38:09<00:14,  1.33s/it]
 98%|█████████▊| 590/600 [38:09<00:10,  1.10s/it]
 98%|█████████▊| 591/600 [38:10<00:08,  1.07it/s]
 99%|█████████▊| 592/600 [38:10<00:06,  1.21it/s]
 99%|█████████▉| 593/600 [38:20<00:25,  3.59s/it]
 99%|█████████▉| 594/600 [38:21<00:16,  2.68s/it]
 99%|█████████▉| 595/600 [38:21<00:10,  2.04s/it]
 99%|█████████▉| 596/600 [38:22<00:06,  1.60s/it]
100%|█████████▉| 597/600 [38:23<00:03,  1.28s/it]
100%|█████████▉| 598/600 [38:23<00:02,  1.07s/it]
100%|█████████▉| 599/600 [38:24<00:00,  1.09it/s]
100%|█████████▉| 599/600 [38:24<00:03,  3.85s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/log_2_env0.json.
+MarkerInMugTask_2 complete: task_name: MarkerInMugTask, run_name: MarkerInMugTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the whiteboard marker in the mug, attributes: ['affordance', 'moderate'], success: False, episode_step: 600, duration: 40.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -13.19966066266149, 'joint_sparc_mean': -20.50798083970523, 'ee_isj': 28355.28611246724, 'joint_isj': 2996851.1943462575, 'ee_path_length': 7.754252117169544, 'joint_rmse_mean': 1.5437802236167604, 'ee_speed_max': 2.7772269248962402, 'ee_speed_mean': 0.17942073941230774}, events: {'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_HIT_TABLE': 3, 'GRIPPER_FULLY_CLOSED': 7, 'OBJECT_BUMPED': 1, 'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 1974.795, 'policy_inference_avg_ms': 3291.3, 'env_step_s': 324.501, 'env_step_avg_ms': 540.8, 'video_write_s': 5.086, 'video_write_avg_ms': 8.5, 'wall_total_s': 2304.382, 'it_per_sec': 0.26}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=marker) (step 1/2), harness_episode_id: d3bdfbd51d734f79a035f30ab43898ce-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-30T18:06:10Z [7,343,613ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.173935 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-30T18:06:16Z [7,349,331ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-30T18:06:16Z [7,349,332ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T18:06:16Z [7,349,341ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-30T18:06:16Z [7,349,341ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T18:06:16Z [7,349,349ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T18:06:16Z [7,349,356ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-30T18:06:16Z [7,349,374ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-30T18:06:17Z [7,350,034ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((372))' not available in the MDL representation.
+2026-10-30T18:06:17Z [7,350,034ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((372))' not available in the MDL representation.
+2026-10-30T18:06:17Z [7,350,070ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((389))' not available in the MDL representation.
+2026-10-30T18:06:17Z [7,350,071ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((389))' not available in the MDL representation.
+2026-10-30T18:06:17Z [7,350,090ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((394))' not available in the MDL representation.
+2026-10-30T18:06:17Z [7,350,090ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((394))' not available in the MDL representation.
+2026-10-30T18:06:17Z [7,350,108ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((399))' not available in the MDL representation.
+2026-10-30T18:06:17Z [7,350,108ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((399))' not available in the MDL representation.
+2026-10-30T18:06:17Z [7,350,116ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((402))' not available in the MDL representation.
+2026-10-30T18:06:17Z [7,350,117ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((402))' not available in the MDL representation.
+2026-10-30T18:06:17Z [7,350,132ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-10-30T18:06:17Z [7,350,133ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-10-30T18:06:17Z [7,350,143ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((411))' not available in the MDL representation.
+2026-10-30T18:06:17Z [7,350,143ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((411))' not available in the MDL representation.
+2026-10-30T18:06:17Z [7,350,188ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((428))' not available in the MDL representation.
+2026-10-30T18:06:17Z [7,350,188ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((428))' not available in the MDL representation.
+2026-10-30T18:06:17Z [7,350,251ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((443))' not available in the MDL representation.
+2026-10-30T18:06:17Z [7,350,251ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((443))' not available in the MDL representation.
+2026-10-30T18:06:17Z [7,350,252ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((443))' not available in the MDL representation.
+2026-10-30T18:06:17Z [7,350,259ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((446))' not available in the MDL representation.
+2026-10-30T18:06:17Z [7,350,260ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((446))' not available in the MDL representation.
+2026-10-30T18:06:17Z [7,350,267ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((447))' not available in the MDL representation.
+2026-10-30T18:06:17Z [7,350,267ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((447))' not available in the MDL representation.
+2026-10-30T18:06:17Z [7,350,341ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((471))' not available in the MDL representation.
+2026-10-30T18:06:17Z [7,350,341ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((471))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,965ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((372))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,965ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((372))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,967ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((389))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,967ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((389))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,968ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((394))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,968ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((394))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,968ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((399))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,968ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((399))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,969ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((402))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,969ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((402))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,970ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,970ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,970ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((411))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,970ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((411))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,971ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((428))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,972ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((428))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,973ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((443))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,973ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((443))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,973ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((443))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,974ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((446))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,974ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((446))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,975ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((447))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,975ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((447))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,980ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((471))' not available in the MDL representation.
+2026-10-30T18:06:18Z [7,350,980ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((471))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 5.322117 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : SpoonInMugTask                                │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the metal spoon that's in the wooden bowl in the mug │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : SpoonInMugTaskSceneEnvCfg                     │
+│  Attributes  : affordance, spatial, moderate                 │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running SpoonInMugTask_0: 'Put the metal spoon that's in the wooden bowl in the mug' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:42<10:36:39, 42.49s/it]
  0%|          | 2/900 [00:43<4:26:22, 17.80s/it] 
  0%|          | 3/900 [00:43<2:28:00,  9.90s/it]
  0%|          | 4/900 [00:44<1:32:32,  6.20s/it]
  1%|          | 5/900 [00:44<1:01:48,  4.14s/it]
  1%|          | 6/900 [00:45<43:22,  2.91s/it]  
  1%|          | 7/900 [00:45<31:42,  2.13s/it]
  1%|          | 8/900 [00:46<23:58,  1.61s/it]
  1%|          | 9/900 [00:56<1:03:20,  4.26s/it]
  1%|          | 10/900 [00:56<46:02,  3.10s/it] 
  1%|          | 11/900 [00:57<34:14,  2.31s/it]
  1%|▏         | 12/900 [00:57<26:07,  1.76s/it]
  1%|▏         | 13/900 [00:58<20:29,  1.39s/it]
  2%|▏         | 14/900 [00:58<16:32,  1.12s/it]
  2%|▏         | 15/900 [00:59<13:46,  1.07it/s]
  2%|▏         | 16/900 [00:59<11:49,  1.25it/s]
  2%|▏         | 17/900 [01:12<1:05:57,  4.48s/it]
  2%|▏         | 18/900 [01:13<48:18,  3.29s/it]  
  2%|▏         | 19/900 [01:13<35:58,  2.45s/it]
  2%|▏         | 20/900 [01:14<27:20,  1.86s/it]
  2%|▏         | 21/900 [01:14<21:21,  1.46s/it]
  2%|▏         | 22/900 [01:15<17:20,  1.19s/it]
  3%|▎         | 23/900 [01:15<14:20,  1.02it/s]
  3%|▎         | 24/900 [01:16<12:14,  1.19it/s]
  3%|▎         | 25/900 [02:26<5:16:17, 21.69s/it]
  3%|▎         | 26/900 [02:27<3:43:18, 15.33s/it]
  3%|▎         | 27/900 [02:27<2:38:21, 10.88s/it]
  3%|▎         | 28/900 [02:28<1:52:55,  7.77s/it]
  3%|▎         | 29/900 [02:28<1:21:07,  5.59s/it]
  3%|▎         | 30/900 [02:29<58:54,  4.06s/it]  
  3%|▎         | 31/900 [02:29<43:21,  2.99s/it]
  4%|▎         | 32/900 [02:30<32:29,  2.25s/it]
  4%|▎         | 33/900 [02:40<1:05:40,  4.55s/it]
  4%|▍         | 34/900 [02:40<48:02,  3.33s/it]  
  4%|▍         | 35/900 [02:41<35:44,  2.48s/it]
  4%|▍         | 36/900 [02:41<27:09,  1.89s/it]
  4%|▍         | 37/900 [02:42<21:08,  1.47s/it]
  4%|▍         | 38/900 [02:42<16:59,  1.18s/it]
  4%|▍         | 39/900 [02:43<14:04,  1.02it/s]
  4%|▍         | 40/900 [02:43<12:00,  1.19it/s]
  5%|▍         | 41/900 [02:51<43:36,  3.05s/it]
  5%|▍         | 42/900 [02:52<32:40,  2.29s/it]
  5%|▍         | 43/900 [02:52<25:03,  1.75s/it]
  5%|▍         | 44/900 [02:53<19:37,  1.38s/it]
  5%|▌         | 45/900 [02:53<15:50,  1.11s/it]
  5%|▌         | 46/900 [02:54<13:12,  1.08it/s]
  5%|▌         | 47/900 [02:54<11:22,  1.25it/s]
  5%|▌         | 48/900 [02:55<10:13,  1.39it/s]
  5%|▌         | 49/900 [03:48<3:52:12, 16.37s/it]
  6%|▌         | 50/900 [03:48<2:44:38, 11.62s/it]
  6%|▌         | 51/900 [03:49<1:57:10,  8.28s/it]
  6%|▌         | 52/900 [03:49<1:23:57,  5.94s/it]
  6%|▌         | 53/900 [03:50<1:00:44,  4.30s/it]
  6%|▌         | 54/900 [03:50<44:35,  3.16s/it]  
  6%|▌         | 55/900 [03:51<33:16,  2.36s/it]
  6%|▌         | 56/900 [03:51<25:23,  1.81s/it]
  6%|▋         | 57/900 [03:57<44:09,  3.14s/it]
  6%|▋         | 58/900 [03:58<32:58,  2.35s/it]
  7%|▋         | 59/900 [03:58<25:07,  1.79s/it]
  7%|▋         | 60/900 [03:59<19:38,  1.40s/it]
  7%|▋         | 61/900 [03:59<15:49,  1.13s/it]
  7%|▋         | 62/900 [04:00<13:14,  1.05it/s]
  7%|▋         | 63/900 [04:01<11:23,  1.23it/s]
  7%|▋         | 64/900 [04:01<10:02,  1.39it/s]
  7%|▋         | 65/900 [04:14<1:00:03,  4.32s/it]
  7%|▋         | 66/900 [04:14<44:05,  3.17s/it]  
  7%|▋         | 67/900 [04:15<32:55,  2.37s/it]
  8%|▊         | 68/900 [04:15<25:04,  1.81s/it]
  8%|▊         | 69/900 [04:16<19:32,  1.41s/it]
  8%|▊         | 70/900 [04:16<15:43,  1.14s/it]
  8%|▊         | 71/900 [04:17<13:04,  1.06it/s]
  8%|▊         | 72/900 [04:17<11:11,  1.23it/s]
  8%|▊         | 73/900 [04:27<49:11,  3.57s/it]
  8%|▊         | 74/900 [04:28<36:31,  2.65s/it]
  8%|▊         | 75/900 [04:28<27:39,  2.01s/it]
  8%|▊         | 76/900 [04:29<21:23,  1.56s/it]
  9%|▊         | 77/900 [04:29<17:04,  1.25s/it]
  9%|▊         | 78/900 [04:30<14:08,  1.03s/it]
  9%|▉         | 79/900 [04:30<11:54,  1.15it/s]
  9%|▉         | 80/900 [04:31<10:25,  1.31it/s]
  9%|▉         | 81/900 [04:50<1:27:33,  6.41s/it]
  9%|▉         | 82/900 [04:51<1:03:20,  4.65s/it]
  9%|▉         | 83/900 [04:51<46:23,  3.41s/it]  
  9%|▉         | 84/900 [04:52<34:29,  2.54s/it]
  9%|▉         | 85/900 [04:52<26:14,  1.93s/it]
 10%|▉         | 86/900 [04:53<20:27,  1.51s/it]
 10%|▉         | 87/900 [04:53<16:25,  1.21s/it]
 10%|▉         | 88/900 [04:54<13:32,  1.00s/it]
 10%|▉         | 89/900 [05:03<46:05,  3.41s/it]
 10%|█         | 90/900 [05:04<34:13,  2.54s/it]
 10%|█         | 91/900 [05:04<25:57,  1.93s/it]
 10%|█         | 92/900 [05:05<20:13,  1.50s/it]
 10%|█         | 93/900 [05:05<16:11,  1.20s/it]
 10%|█         | 94/900 [05:06<13:20,  1.01it/s]
 11%|█         | 95/900 [05:06<11:22,  1.18it/s]
 11%|█         | 96/900 [05:07<10:00,  1.34it/s]
 11%|█         | 97/900 [05:22<1:10:50,  5.29s/it]
 11%|█         | 98/900 [05:23<51:38,  3.86s/it]  
 11%|█         | 99/900 [05:24<38:12,  2.86s/it]
 11%|█         | 100/900 [05:24<28:40,  2.15s/it]
 11%|█         | 101/900 [05:25<22:04,  1.66s/it]
 11%|█▏        | 102/900 [05:25<17:25,  1.31s/it]
 11%|█▏        | 103/900 [05:26<14:11,  1.07s/it]
 12%|█▏        | 104/900 [05:26<11:55,  1.11it/s]
 12%|█▏        | 105/900 [05:34<41:14,  3.11s/it]
 12%|█▏        | 106/900 [05:35<30:48,  2.33s/it]
 12%|█▏        | 107/900 [05:35<23:31,  1.78s/it]
 12%|█▏        | 108/900 [05:36<18:26,  1.40s/it]
 12%|█▏        | 109/900 [05:36<14:54,  1.13s/it]
 12%|█▏        | 110/900 [05:37<12:27,  1.06it/s]
 12%|█▏        | 111/900 [05:37<10:44,  1.22it/s]
 12%|█▏        | 112/900 [05:38<09:32,  1.38it/s]
 13%|█▎        | 113/900 [06:13<2:24:48, 11.04s/it]
 13%|█▎        | 114/900 [06:13<1:43:11,  7.88s/it]
 13%|█▎        | 115/900 [06:14<1:14:06,  5.66s/it]
 13%|█▎        | 116/900 [06:14<53:46,  4.12s/it]  
 13%|█▎        | 117/900 [06:15<39:32,  3.03s/it]
 13%|█▎        | 118/900 [06:15<29:34,  2.27s/it]
 13%|█▎        | 119/900 [06:16<22:36,  1.74s/it]
 13%|█▎        | 120/900 [06:16<17:45,  1.37s/it]
 13%|█▎        | 121/900 [06:38<1:37:59,  7.55s/it]
 14%|█▎        | 122/900 [06:39<1:10:27,  5.43s/it]
 14%|█▎        | 123/900 [06:39<51:09,  3.95s/it]  
 14%|█▍        | 124/900 [06:40<37:40,  2.91s/it]
 14%|█▍        | 125/900 [06:40<28:18,  2.19s/it]
 14%|█▍        | 126/900 [06:41<21:43,  1.68s/it]
 14%|█▍        | 127/900 [06:41<17:07,  1.33s/it]
 14%|█▍        | 128/900 [06:42<13:53,  1.08s/it]
 14%|█▍        | 129/900 [06:49<38:14,  2.98s/it]
 14%|█▍        | 130/900 [06:50<28:47,  2.24s/it]
 15%|█▍        | 131/900 [06:50<22:08,  1.73s/it]
 15%|█▍        | 132/900 [06:51<17:30,  1.37s/it]
 15%|█▍        | 133/900 [06:51<14:15,  1.12s/it]
 15%|█▍        | 134/900 [06:52<11:59,  1.06it/s]
 15%|█▌        | 135/900 [06:52<10:23,  1.23it/s]
 15%|█▌        | 136/900 [06:53<09:17,  1.37it/s]
 15%|█▌        | 137/900 [07:20<1:48:27,  8.53s/it]
 15%|█▌        | 138/900 [07:20<1:17:49,  6.13s/it]
 15%|█▌        | 139/900 [07:21<56:25,  4.45s/it]  
 16%|█▌        | 140/900 [07:21<41:26,  3.27s/it]
 16%|█▌        | 141/900 [07:22<30:56,  2.45s/it]
 16%|█▌        | 142/900 [07:22<23:35,  1.87s/it]
 16%|█▌        | 143/900 [07:23<18:27,  1.46s/it]
 16%|█▌        | 144/900 [07:23<14:50,  1.18s/it]
 16%|█▌        | 145/900 [07:30<34:34,  2.75s/it]
 16%|█▌        | 146/900 [07:30<26:13,  2.09s/it]
 16%|█▋        | 147/900 [07:31<20:27,  1.63s/it]
 16%|█▋        | 148/900 [07:31<16:20,  1.30s/it]
 17%|█▋        | 149/900 [07:32<13:28,  1.08s/it]
 17%|█▋        | 150/900 [07:33<11:27,  1.09it/s]
 17%|█▋        | 151/900 [07:33<10:02,  1.24it/s]
 17%|█▋        | 152/900 [07:34<09:00,  1.38it/s]
 17%|█▋        | 153/900 [08:08<2:14:39, 10.82s/it]
 17%|█▋        | 154/900 [08:08<1:36:02,  7.72s/it]
 17%|█▋        | 155/900 [08:09<1:09:00,  5.56s/it]
 17%|█▋        | 156/900 [08:10<50:09,  4.04s/it]  
 17%|█▋        | 157/900 [08:10<36:53,  2.98s/it]
 18%|█▊        | 158/900 [08:11<27:43,  2.24s/it]
 18%|█▊        | 159/900 [08:11<21:19,  1.73s/it]
 18%|█▊        | 160/900 [08:12<16:52,  1.37s/it]
 18%|█▊        | 161/900 [08:33<1:29:52,  7.30s/it]
 18%|█▊        | 162/900 [08:33<1:04:44,  5.26s/it]
 18%|█▊        | 163/900 [08:34<47:07,  3.84s/it]  
 18%|█▊        | 164/900 [08:34<34:49,  2.84s/it]
 18%|█▊        | 165/900 [08:35<26:17,  2.15s/it]
 18%|█▊        | 166/900 [08:35<20:15,  1.66s/it]
 19%|█▊        | 167/900 [08:36<16:02,  1.31s/it]
 19%|█▊        | 168/900 [08:36<13:03,  1.07s/it]
 19%|█▉        | 169/900 [08:46<42:51,  3.52s/it]
 19%|█▉        | 170/900 [08:46<31:52,  2.62s/it]
 19%|█▉        | 171/900 [08:47<24:08,  1.99s/it]
 19%|█▉        | 172/900 [08:47<18:48,  1.55s/it]
 19%|█▉        | 173/900 [08:48<15:04,  1.24s/it]
 19%|█▉        | 174/900 [08:48<12:27,  1.03s/it]
 19%|█▉        | 175/900 [08:49<10:33,  1.14it/s]
 20%|█▉        | 176/900 [08:49<09:15,  1.30it/s]
 20%|█▉        | 177/900 [09:14<1:34:32,  7.85s/it]
 20%|█▉        | 178/900 [09:14<1:08:00,  5.65s/it]
 20%|█▉        | 179/900 [09:15<49:30,  4.12s/it]  
 20%|██        | 180/900 [09:15<36:29,  3.04s/it]
 20%|██        | 181/900 [09:16<27:22,  2.28s/it]
 20%|██        | 182/900 [09:16<21:05,  1.76s/it]
 20%|██        | 183/900 [09:17<16:42,  1.40s/it]
 20%|██        | 184/900 [09:17<13:34,  1.14s/it]
 21%|██        | 185/900 [09:39<1:27:53,  7.37s/it]
 21%|██        | 186/900 [09:40<1:03:20,  5.32s/it]
 21%|██        | 187/900 [09:40<46:09,  3.88s/it]  
 21%|██        | 188/900 [09:41<34:09,  2.88s/it]
 21%|██        | 189/900 [09:41<25:44,  2.17s/it]
 21%|██        | 190/900 [09:42<19:52,  1.68s/it]
 21%|██        | 191/900 [09:42<15:47,  1.34s/it]
 21%|██▏       | 192/900 [09:43<12:55,  1.10s/it]
 21%|██▏       | 193/900 [10:12<1:53:19,  9.62s/it]
 22%|██▏       | 194/900 [10:13<1:21:08,  6.90s/it]
 22%|██▏       | 195/900 [10:14<58:40,  4.99s/it]  
 22%|██▏       | 196/900 [10:14<42:53,  3.66s/it]
 22%|██▏       | 197/900 [10:15<31:54,  2.72s/it]
 22%|██▏       | 198/900 [10:15<24:12,  2.07s/it]
 22%|██▏       | 199/900 [10:16<18:46,  1.61s/it]
 22%|██▏       | 200/900 [10:16<14:59,  1.29s/it]
 22%|██▏       | 201/900 [10:39<1:31:27,  7.85s/it]
 22%|██▏       | 202/900 [10:40<1:05:47,  5.66s/it]
 23%|██▎       | 203/900 [10:40<47:56,  4.13s/it]  
 23%|██▎       | 204/900 [10:41<35:28,  3.06s/it]
 23%|██▎       | 205/900 [10:42<26:44,  2.31s/it]
 23%|██▎       | 206/900 [10:42<20:35,  1.78s/it]
 23%|██▎       | 207/900 [10:43<16:16,  1.41s/it]
 23%|██▎       | 208/900 [10:43<13:13,  1.15s/it]
 23%|██▎       | 209/900 [11:01<1:09:05,  6.00s/it]
 23%|██▎       | 210/900 [11:01<50:06,  4.36s/it]  
 23%|██▎       | 211/900 [11:02<36:50,  3.21s/it]
 24%|██▎       | 212/900 [11:02<27:34,  2.40s/it]
 24%|██▎       | 213/900 [11:03<21:03,  1.84s/it]
 24%|██▍       | 214/900 [11:03<16:30,  1.44s/it]
 24%|██▍       | 215/900 [11:04<13:23,  1.17s/it]
 24%|██▍       | 216/900 [11:04<11:12,  1.02it/s]
 24%|██▍       | 217/900 [11:27<1:26:59,  7.64s/it]
 24%|██▍       | 218/900 [11:28<1:02:34,  5.51s/it]
 24%|██▍       | 219/900 [11:28<45:31,  4.01s/it]  
 24%|██▍       | 220/900 [11:29<33:35,  2.96s/it]
 25%|██▍       | 221/900 [11:30<25:15,  2.23s/it]
 25%|██▍       | 222/900 [11:30<19:26,  1.72s/it]
 25%|██▍       | 223/900 [11:31<15:22,  1.36s/it]
 25%|██▍       | 224/900 [11:31<12:33,  1.11s/it]
 25%|██▌       | 225/900 [13:35<7:05:31, 37.82s/it]
 25%|██▌       | 226/900 [13:35<4:59:13, 26.64s/it]
 25%|██▌       | 227/900 [13:36<3:30:56, 18.81s/it]
 25%|██▌       | 228/900 [13:36<2:29:12, 13.32s/it]
 25%|██▌       | 229/900 [13:37<1:46:08,  9.49s/it]
 26%|██▌       | 230/900 [13:37<1:16:02,  6.81s/it]
 26%|██▌       | 231/900 [13:38<54:58,  4.93s/it]  
 26%|██▌       | 232/900 [13:38<40:13,  3.61s/it]
 26%|██▌       | 233/900 [14:07<2:04:18, 11.18s/it]
 26%|██▌       | 234/900 [14:08<1:28:39,  7.99s/it]
 26%|██▌       | 235/900 [14:08<1:03:42,  5.75s/it]
 26%|██▌       | 236/900 [14:09<46:16,  4.18s/it]  
 26%|██▋       | 237/900 [14:09<34:04,  3.08s/it]
 26%|██▋       | 238/900 [14:10<25:34,  2.32s/it]
 27%|██▋       | 239/900 [14:10<19:36,  1.78s/it]
 27%|██▋       | 240/900 [14:11<15:26,  1.40s/it]
 27%|██▋       | 241/900 [14:32<1:20:44,  7.35s/it]
 27%|██▋       | 242/900 [14:33<58:12,  5.31s/it]  
 27%|██▋       | 243/900 [14:33<42:26,  3.88s/it]
 27%|██▋       | 244/900 [14:34<31:25,  2.87s/it]
 27%|██▋       | 245/900 [14:34<23:44,  2.17s/it]
 27%|██▋       | 246/900 [14:35<18:28,  1.69s/it]
 27%|██▋       | 247/900 [14:35<14:38,  1.35s/it]
 28%|██▊       | 248/900 [14:36<11:55,  1.10s/it]
 28%|██▊       | 249/900 [14:51<58:00,  5.35s/it]
 28%|██▊       | 250/900 [14:52<42:19,  3.91s/it]
 28%|██▊       | 251/900 [14:52<31:19,  2.90s/it]
 28%|██▊       | 252/900 [14:53<23:37,  2.19s/it]
 28%|██▊       | 253/900 [14:53<18:19,  1.70s/it]
 28%|██▊       | 254/900 [14:54<14:31,  1.35s/it]
 28%|██▊       | 255/900 [14:54<11:50,  1.10s/it]
 28%|██▊       | 256/900 [14:55<09:58,  1.08it/s]
 29%|██▊       | 257/900 [15:11<58:23,  5.45s/it]
 29%|██▊       | 258/900 [15:11<42:33,  3.98s/it]
 29%|██▉       | 259/900 [15:12<31:28,  2.95s/it]
 29%|██▉       | 260/900 [15:13<23:44,  2.23s/it]
 29%|██▉       | 261/900 [15:13<18:20,  1.72s/it]
 29%|██▉       | 262/900 [15:14<14:32,  1.37s/it]
 29%|██▉       | 263/900 [15:14<11:53,  1.12s/it]
 29%|██▉       | 264/900 [15:15<10:03,  1.05it/s]
 29%|██▉       | 265/900 [15:41<1:30:34,  8.56s/it]
 30%|██▉       | 266/900 [15:42<1:05:01,  6.15s/it]
 30%|██▉       | 267/900 [15:42<47:10,  4.47s/it]  
 30%|██▉       | 268/900 [15:43<34:35,  3.28s/it]
 30%|██▉       | 269/900 [15:43<25:48,  2.45s/it]
 30%|███       | 270/900 [15:44<19:41,  1.88s/it]
 30%|███       | 271/900 [15:44<15:26,  1.47s/it]
 30%|███       | 272/900 [15:45<12:27,  1.19s/it]
 30%|███       | 273/900 [16:11<1:29:34,  8.57s/it]
 30%|███       | 274/900 [16:11<1:04:16,  6.16s/it]
 31%|███       | 275/900 [16:12<46:35,  4.47s/it]  
 31%|███       | 276/900 [16:12<34:13,  3.29s/it]
 31%|███       | 277/900 [16:13<25:36,  2.47s/it]
 31%|███       | 278/900 [16:13<19:34,  1.89s/it]
 31%|███       | 279/900 [16:14<15:22,  1.49s/it]
 31%|███       | 280/900 [16:14<12:24,  1.20s/it]
 31%|███       | 281/900 [16:41<1:32:26,  8.96s/it]
 31%|███▏      | 282/900 [16:42<1:06:15,  6.43s/it]
 31%|███▏      | 283/900 [16:42<47:56,  4.66s/it]  
 32%|███▏      | 284/900 [16:43<35:09,  3.42s/it]
 32%|███▏      | 285/900 [16:44<26:13,  2.56s/it]
 32%|███▏      | 286/900 [16:44<20:01,  1.96s/it]
 32%|███▏      | 287/900 [16:45<15:42,  1.54s/it]
 32%|███▏      | 288/900 [16:45<12:38,  1.24s/it]
 32%|███▏      | 289/900 [20:01<10:08:25, 59.75s/it]
 32%|███▏      | 290/900 [20:02<7:06:50, 41.98s/it] 
 32%|███▏      | 291/900 [20:03<4:59:56, 29.55s/it]
 32%|███▏      | 292/900 [20:03<3:31:16, 20.85s/it]
 33%|███▎      | 293/900 [20:04<2:29:19, 14.76s/it]
 33%|███▎      | 294/900 [20:04<1:46:00, 10.50s/it]
 33%|███▎      | 295/900 [20:05<1:15:44,  7.51s/it]
 33%|███▎      | 296/900 [20:05<54:35,  5.42s/it]  
 33%|███▎      | 297/900 [21:20<4:21:58, 26.07s/it]
 33%|███▎      | 298/900 [21:20<3:04:41, 18.41s/it]
 33%|███▎      | 299/900 [21:21<2:10:43, 13.05s/it]
 33%|███▎      | 300/900 [21:21<1:32:58,  9.30s/it]
 33%|███▎      | 301/900 [21:22<1:06:34,  6.67s/it]
 34%|███▎      | 302/900 [21:22<48:08,  4.83s/it]  
 34%|███▎      | 303/900 [21:23<35:16,  3.54s/it]
 34%|███▍      | 304/900 [21:23<26:15,  2.64s/it]
 34%|███▍      | 305/900 [21:44<1:19:37,  8.03s/it]
 34%|███▍      | 306/900 [21:44<57:15,  5.78s/it]  
 34%|███▍      | 307/900 [21:45<41:37,  4.21s/it]
 34%|███▍      | 308/900 [21:46<30:41,  3.11s/it]
 34%|███▍      | 309/900 [21:46<23:03,  2.34s/it]
 34%|███▍      | 310/900 [21:47<17:41,  1.80s/it]
 35%|███▍      | 311/900 [21:47<13:54,  1.42s/it]
 35%|███▍      | 312/900 [21:48<11:16,  1.15s/it]
 35%|███▍      | 313/900 [22:29<2:09:41, 13.26s/it]
 35%|███▍      | 314/900 [22:30<1:32:10,  9.44s/it]
 35%|███▌      | 315/900 [22:30<1:05:57,  6.77s/it]
 35%|███▌      | 316/900 [22:31<47:39,  4.90s/it]  
 35%|███▌      | 317/900 [22:31<34:50,  3.59s/it]
 35%|███▌      | 318/900 [22:32<25:55,  2.67s/it]
 35%|███▌      | 319/900 [22:32<19:40,  2.03s/it]
 36%|███▌      | 320/900 [22:33<15:17,  1.58s/it]
 36%|███▌      | 321/900 [23:11<2:02:03, 12.65s/it]
 36%|███▌      | 322/900 [23:12<1:26:51,  9.02s/it]
 36%|███▌      | 323/900 [23:12<1:02:15,  6.47s/it]
 36%|███▌      | 324/900 [23:13<45:02,  4.69s/it]  
 36%|███▌      | 325/900 [23:14<33:01,  3.45s/it]
 36%|███▌      | 326/900 [23:14<24:37,  2.57s/it]
 36%|███▋      | 327/900 [23:15<18:46,  1.97s/it]
 36%|███▋      | 328/900 [23:15<14:39,  1.54s/it]
 37%|███▋      | 329/900 [23:17<15:27,  1.62s/it]
 37%|███▋      | 330/900 [23:18<12:21,  1.30s/it]
 37%|███▋      | 331/900 [23:18<10:11,  1.07s/it]
 37%|███▋      | 332/900 [23:19<08:39,  1.09it/s]
 37%|███▋      | 333/900 [23:19<07:37,  1.24it/s]
 37%|███▋      | 334/900 [23:20<06:50,  1.38it/s]
 37%|███▋      | 335/900 [23:20<06:19,  1.49it/s]
 37%|███▋      | 336/900 [23:21<05:57,  1.58it/s]
 37%|███▋      | 337/900 [23:23<10:08,  1.08s/it]
 38%|███▊      | 338/900 [23:23<08:36,  1.09it/s]
 38%|███▊      | 339/900 [23:24<07:32,  1.24it/s]
 38%|███▊      | 340/900 [23:25<06:45,  1.38it/s]
 38%|███▊      | 341/900 [23:25<06:14,  1.49it/s]
 38%|███▊      | 342/900 [23:26<05:54,  1.58it/s]
 38%|███▊      | 343/900 [23:26<05:38,  1.65it/s]
 38%|███▊      | 344/900 [23:27<05:25,  1.71it/s]
 38%|███▊      | 345/900 [23:28<08:26,  1.09it/s]
 38%|███▊      | 346/900 [23:29<07:22,  1.25it/s]
 39%|███▊      | 347/900 [23:29<06:40,  1.38it/s]
 39%|███▊      | 348/900 [23:30<06:08,  1.50it/s]
 39%|███▉      | 349/900 [23:31<05:46,  1.59it/s]
 39%|███▉      | 350/900 [23:31<05:31,  1.66it/s]
 39%|███▉      | 351/900 [23:32<05:19,  1.72it/s]
 39%|███▉      | 352/900 [23:32<05:13,  1.75it/s]
 39%|███▉      | 353/900 [23:34<08:33,  1.06it/s]
 39%|███▉      | 354/900 [23:35<07:28,  1.22it/s]
 39%|███▉      | 355/900 [23:35<06:42,  1.35it/s]
 40%|███▉      | 356/900 [23:36<06:10,  1.47it/s]
 40%|███▉      | 357/900 [23:36<05:44,  1.57it/s]
 40%|███▉      | 358/900 [23:37<05:28,  1.65it/s]
 40%|███▉      | 359/900 [23:37<05:16,  1.71it/s]
 40%|████      | 360/900 [23:38<05:08,  1.75it/s]
 40%|████      | 361/900 [23:40<08:25,  1.07it/s]
 40%|████      | 362/900 [23:40<07:21,  1.22it/s]
 40%|████      | 363/900 [23:41<06:37,  1.35it/s]
 40%|████      | 364/900 [23:41<06:06,  1.46it/s]
 41%|████      | 365/900 [23:42<05:43,  1.56it/s]
 41%|████      | 366/900 [23:42<05:25,  1.64it/s]
 41%|████      | 367/900 [23:43<05:15,  1.69it/s]
 41%|████      | 368/900 [23:43<05:09,  1.72it/s]
 41%|████      | 369/900 [23:45<08:00,  1.10it/s]
 41%|████      | 370/900 [23:46<07:04,  1.25it/s]
 41%|████      | 371/900 [23:46<06:23,  1.38it/s]
 41%|████▏     | 372/900 [23:47<05:53,  1.49it/s]
 41%|████▏     | 373/900 [23:47<05:35,  1.57it/s]
 42%|████▏     | 374/900 [23:48<05:17,  1.66it/s]
 42%|████▏     | 375/900 [23:48<05:06,  1.72it/s]
 42%|████▏     | 376/900 [23:49<04:55,  1.77it/s]
 42%|████▏     | 377/900 [23:50<07:37,  1.14it/s]
 42%|████▏     | 378/900 [23:51<06:43,  1.29it/s]
 42%|████▏     | 379/900 [23:51<06:05,  1.42it/s]
 42%|████▏     | 380/900 [23:52<05:43,  1.51it/s]
 42%|████▏     | 381/900 [23:53<05:23,  1.61it/s]
 42%|████▏     | 382/900 [23:53<05:10,  1.67it/s]
 43%|████▎     | 383/900 [23:54<05:01,  1.71it/s]
 43%|████▎     | 384/900 [23:54<04:55,  1.74it/s]
 43%|████▎     | 385/900 [23:56<08:01,  1.07it/s]
 43%|████▎     | 386/900 [23:57<07:01,  1.22it/s]
 43%|████▎     | 387/900 [23:57<06:16,  1.36it/s]
 43%|████▎     | 388/900 [23:58<05:46,  1.48it/s]
 43%|████▎     | 389/900 [23:58<05:24,  1.57it/s]
 43%|████▎     | 390/900 [23:59<05:09,  1.65it/s]
 43%|████▎     | 391/900 [23:59<04:57,  1.71it/s]
 44%|████▎     | 392/900 [24:00<04:50,  1.75it/s]
 44%|████▎     | 393/900 [24:02<07:45,  1.09it/s]
 44%|████▍     | 394/900 [24:02<06:47,  1.24it/s]
 44%|████▍     | 395/900 [24:03<06:06,  1.38it/s]
 44%|████▍     | 396/900 [24:03<05:35,  1.50it/s]
 44%|████▍     | 397/900 [24:04<05:14,  1.60it/s]
 44%|████▍     | 398/900 [24:04<05:01,  1.67it/s]
 44%|████▍     | 399/900 [24:05<04:51,  1.72it/s]
 44%|████▍     | 400/900 [24:05<04:44,  1.76it/s]
 45%|████▍     | 401/900 [27:14<7:53:04, 56.88s/it]
 45%|████▍     | 402/900 [27:14<5:31:50, 39.98s/it]
 45%|████▍     | 403/900 [27:15<3:53:09, 28.15s/it]
 45%|████▍     | 404/900 [27:15<2:44:13, 19.87s/it]
 45%|████▌     | 405/900 [27:16<1:56:03, 14.07s/it]
 45%|████▌     | 406/900 [27:16<1:22:24, 10.01s/it]
 45%|████▌     | 407/900 [27:17<58:55,  7.17s/it]  
 45%|████▌     | 408/900 [27:17<42:30,  5.18s/it]
 45%|████▌     | 409/900 [27:19<33:40,  4.12s/it]
 46%|████▌     | 410/900 [27:20<24:48,  3.04s/it]
 46%|████▌     | 411/900 [27:20<18:37,  2.28s/it]
 46%|████▌     | 412/900 [27:21<14:17,  1.76s/it]
 46%|████▌     | 413/900 [27:21<11:15,  1.39s/it]
 46%|████▌     | 414/900 [27:22<09:11,  1.13s/it]
 46%|████▌     | 415/900 [27:22<07:43,  1.05it/s]
 46%|████▌     | 416/900 [27:23<06:42,  1.20it/s]
 46%|████▋     | 417/900 [27:24<08:29,  1.05s/it]
 46%|████▋     | 418/900 [27:25<07:12,  1.11it/s]
 47%|████▋     | 419/900 [27:25<06:17,  1.27it/s]
 47%|████▋     | 420/900 [27:26<05:41,  1.41it/s]
 47%|████▋     | 421/900 [27:26<05:13,  1.53it/s]
 47%|████▋     | 422/900 [27:27<04:54,  1.62it/s]
 47%|████▋     | 423/900 [27:27<04:41,  1.70it/s]
 47%|████▋     | 424/900 [27:28<04:31,  1.75it/s]
 47%|████▋     | 425/900 [27:30<07:11,  1.10it/s]
 47%|████▋     | 426/900 [27:30<06:17,  1.26it/s]
 47%|████▋     | 427/900 [27:31<05:39,  1.39it/s]
 48%|████▊     | 428/900 [27:31<05:12,  1.51it/s]
 48%|████▊     | 429/900 [27:32<04:55,  1.60it/s]
 48%|████▊     | 430/900 [27:32<04:44,  1.65it/s]
 48%|████▊     | 431/900 [27:33<04:32,  1.72it/s]
 48%|████▊     | 432/900 [27:33<04:23,  1.78it/s]
 48%|████▊     | 433/900 [27:35<06:42,  1.16it/s]
 48%|████▊     | 434/900 [27:36<05:54,  1.31it/s]
 48%|████▊     | 435/900 [27:36<05:21,  1.45it/s]
 48%|████▊     | 436/900 [27:37<05:03,  1.53it/s]
 49%|████▊     | 437/900 [27:37<04:47,  1.61it/s]
 49%|████▊     | 438/900 [27:38<04:32,  1.69it/s]
 49%|████▉     | 439/900 [27:38<04:24,  1.74it/s]
 49%|████▉     | 440/900 [27:39<04:19,  1.77it/s]
 49%|████▉     | 441/900 [27:41<07:04,  1.08it/s]
 49%|████▉     | 442/900 [27:41<06:10,  1.23it/s]
 49%|████▉     | 443/900 [27:42<05:33,  1.37it/s]
 49%|████▉     | 444/900 [27:42<05:06,  1.49it/s]
 49%|████▉     | 445/900 [27:43<04:47,  1.58it/s]
 50%|████▉     | 446/900 [27:43<04:36,  1.64it/s]
 50%|████▉     | 447/900 [27:44<04:25,  1.70it/s]
 50%|████▉     | 448/900 [27:44<04:18,  1.75it/s]
 50%|████▉     | 449/900 [27:46<06:48,  1.11it/s]
 50%|█████     | 450/900 [27:47<05:56,  1.26it/s]
 50%|█████     | 451/900 [27:47<05:22,  1.39it/s]
 50%|█████     | 452/900 [27:48<04:57,  1.51it/s]
 50%|█████     | 453/900 [27:48<04:37,  1.61it/s]
 50%|█████     | 454/900 [27:49<04:25,  1.68it/s]
 51%|█████     | 455/900 [27:49<04:17,  1.73it/s]
 51%|█████     | 456/900 [27:50<04:10,  1.77it/s]
 51%|█████     | 457/900 [27:52<06:54,  1.07it/s]
 51%|█████     | 458/900 [27:52<06:00,  1.23it/s]
 51%|█████     | 459/900 [27:53<05:20,  1.37it/s]
 51%|█████     | 460/900 [27:53<04:56,  1.49it/s]
 51%|█████     | 461/900 [27:54<04:37,  1.58it/s]
 51%|█████▏    | 462/900 [27:54<04:22,  1.67it/s]
 51%|█████▏    | 463/900 [27:55<04:14,  1.72it/s]
 52%|█████▏    | 464/900 [27:55<04:08,  1.75it/s]
 52%|█████▏    | 465/900 [27:57<06:24,  1.13it/s]
 52%|█████▏    | 466/900 [27:57<05:35,  1.29it/s]
 52%|█████▏    | 467/900 [27:58<05:02,  1.43it/s]
 52%|█████▏    | 468/900 [27:58<04:37,  1.56it/s]
 52%|█████▏    | 469/900 [27:59<04:21,  1.65it/s]
 52%|█████▏    | 470/900 [27:59<04:12,  1.70it/s]
 52%|█████▏    | 471/900 [28:00<04:04,  1.76it/s]
 52%|█████▏    | 472/900 [28:01<03:57,  1.80it/s]
 53%|█████▎    | 473/900 [28:02<06:20,  1.12it/s]
 53%|█████▎    | 474/900 [28:03<05:33,  1.28it/s]
 53%|█████▎    | 475/900 [28:03<05:00,  1.42it/s]
 53%|█████▎    | 476/900 [28:04<04:35,  1.54it/s]
 53%|█████▎    | 477/900 [28:04<04:21,  1.62it/s]
 53%|█████▎    | 478/900 [28:05<04:07,  1.70it/s]
 53%|█████▎    | 479/900 [28:05<04:01,  1.74it/s]
 53%|█████▎    | 480/900 [28:06<03:55,  1.78it/s]
 53%|█████▎    | 481/900 [28:27<46:03,  6.60s/it]
 54%|█████▎    | 482/900 [28:27<33:16,  4.78s/it]
 54%|█████▎    | 483/900 [28:28<24:20,  3.50s/it]
 54%|█████▍    | 484/900 [28:28<18:06,  2.61s/it]
 54%|█████▍    | 485/900 [28:29<13:44,  1.99s/it]
 54%|█████▍    | 486/900 [28:29<10:41,  1.55s/it]
 54%|█████▍    | 487/900 [28:30<08:32,  1.24s/it]
 54%|█████▍    | 488/900 [28:30<07:04,  1.03s/it]
 54%|█████▍    | 489/900 [29:30<2:06:57, 18.53s/it]
 54%|█████▍    | 490/900 [29:30<1:29:44, 13.13s/it]
 55%|█████▍    | 491/900 [29:31<1:03:46,  9.36s/it]
 55%|█████▍    | 492/900 [29:31<45:36,  6.71s/it]  
 55%|█████▍    | 493/900 [29:32<32:57,  4.86s/it]
 55%|█████▍    | 494/900 [29:32<24:08,  3.57s/it]
 55%|█████▌    | 495/900 [29:33<17:56,  2.66s/it]
 55%|█████▌    | 496/900 [29:33<13:34,  2.02s/it]
 55%|█████▌    | 497/900 [29:48<39:05,  5.82s/it]
 55%|█████▌    | 498/900 [29:49<28:22,  4.24s/it]
 55%|█████▌    | 499/900 [29:49<20:53,  3.13s/it]
 56%|█████▌    | 500/900 [29:50<16:39,  2.50s/it]
 56%|█████▌    | 501/900 [29:51<12:41,  1.91s/it]
 56%|█████▌    | 502/900 [29:51<09:55,  1.50s/it]
 56%|█████▌    | 503/900 [29:52<07:58,  1.21s/it]
 56%|█████▌    | 504/900 [29:52<06:35,  1.00it/s]
 56%|█████▌    | 505/900 [30:24<1:07:11, 10.21s/it]
 56%|█████▌    | 506/900 [30:25<47:56,  7.30s/it]  
 56%|█████▋    | 507/900 [30:25<34:29,  5.27s/it]
 56%|█████▋    | 508/900 [30:26<25:07,  3.85s/it]
 57%|█████▋    | 509/900 [30:26<18:35,  2.85s/it]
 57%|█████▋    | 510/900 [30:27<14:01,  2.16s/it]
 57%|█████▋    | 511/900 [30:27<10:51,  1.68s/it]
 57%|█████▋    | 512/900 [30:28<08:38,  1.34s/it]
 57%|█████▋    | 513/900 [30:38<25:26,  3.95s/it]
 57%|█████▋    | 514/900 [30:38<18:48,  2.92s/it]
 57%|█████▋    | 515/900 [30:39<14:10,  2.21s/it]
 57%|█████▋    | 516/900 [30:39<10:53,  1.70s/it]
 57%|█████▋    | 517/900 [30:40<08:39,  1.36s/it]
 58%|█████▊    | 518/900 [30:41<07:05,  1.11s/it]
 58%|█████▊    | 519/900 [30:41<05:58,  1.06it/s]
 58%|█████▊    | 520/900 [30:42<05:11,  1.22it/s]
 58%|█████▊    | 521/900 [30:58<34:00,  5.38s/it]
 58%|█████▊    | 522/900 [30:58<24:44,  3.93s/it]
 58%|█████▊    | 523/900 [30:59<18:14,  2.90s/it]
 58%|█████▊    | 524/900 [30:59<13:43,  2.19s/it]
 58%|█████▊    | 525/900 [31:00<10:35,  1.69s/it]
 58%|█████▊    | 526/900 [31:00<08:24,  1.35s/it]
 59%|█████▊    | 527/900 [31:01<06:54,  1.11s/it]
 59%|█████▊    | 528/900 [31:01<05:48,  1.07it/s]
 59%|█████▉    | 529/900 [31:16<31:01,  5.02s/it]
 59%|█████▉    | 530/900 [31:16<22:38,  3.67s/it]
 59%|█████▉    | 531/900 [31:17<16:47,  2.73s/it]
 59%|█████▉    | 532/900 [31:18<12:42,  2.07s/it]
 59%|█████▉    | 533/900 [31:18<09:51,  1.61s/it]
 59%|█████▉    | 534/900 [31:19<07:50,  1.28s/it]
 59%|█████▉    | 535/900 [31:19<06:25,  1.06s/it]
 60%|█████▉    | 536/900 [31:20<05:27,  1.11it/s]
 60%|█████▉    | 537/900 [31:31<25:04,  4.14s/it]
 60%|█████▉    | 538/900 [31:32<18:26,  3.06s/it]
 60%|█████▉    | 539/900 [31:32<13:49,  2.30s/it]
 60%|██████    | 540/900 [31:33<10:35,  1.77s/it]
 60%|██████    | 541/900 [31:33<08:20,  1.39s/it]
 60%|██████    | 542/900 [31:34<06:46,  1.14s/it]
 60%|██████    | 543/900 [31:35<05:41,  1.05it/s]
 60%|██████    | 544/900 [31:35<04:54,  1.21it/s]
 61%|██████    | 545/900 [31:51<31:26,  5.31s/it]
 61%|██████    | 546/900 [31:51<22:53,  3.88s/it]
 61%|██████    | 547/900 [31:52<16:55,  2.88s/it]
 61%|██████    | 548/900 [31:52<12:45,  2.17s/it]
 61%|██████    | 549/900 [31:53<09:48,  1.68s/it]
 61%|██████    | 550/900 [31:53<07:46,  1.33s/it]
 61%|██████    | 551/900 [31:54<06:20,  1.09s/it]
 61%|██████▏   | 552/900 [31:55<05:20,  1.09it/s]
 61%|██████▏   | 553/900 [32:14<36:40,  6.34s/it]
 62%|██████▏   | 554/900 [32:14<26:30,  4.60s/it]
 62%|██████▏   | 555/900 [32:15<19:25,  3.38s/it]
 62%|██████▏   | 556/900 [32:15<14:29,  2.53s/it]
 62%|██████▏   | 557/900 [32:16<11:02,  1.93s/it]
 62%|██████▏   | 558/900 [32:16<08:37,  1.51s/it]
 62%|██████▏   | 559/900 [32:17<06:56,  1.22s/it]
 62%|██████▏   | 560/900 [32:17<05:45,  1.01s/it]
 62%|██████▏   | 561/900 [32:28<21:39,  3.83s/it]
 62%|██████▏   | 562/900 [32:28<15:58,  2.84s/it]
 63%|██████▎   | 563/900 [32:29<12:02,  2.14s/it]
 63%|██████▎   | 564/900 [32:29<09:16,  1.66s/it]
 63%|██████▎   | 565/900 [32:30<07:22,  1.32s/it]
 63%|██████▎   | 566/900 [32:30<06:04,  1.09s/it]
 63%|██████▎   | 567/900 [32:31<05:09,  1.08it/s]
 63%|██████▎   | 568/900 [32:31<04:30,  1.23it/s]
 63%|██████▎   | 569/900 [32:51<35:26,  6.42s/it]
 63%|██████▎   | 570/900 [32:51<25:38,  4.66s/it]
 63%|██████▎   | 571/900 [32:52<18:50,  3.44s/it]
 64%|██████▎   | 572/900 [32:53<14:03,  2.57s/it]
 64%|██████▎   | 573/900 [32:53<10:41,  1.96s/it]
 64%|██████▍   | 574/900 [32:54<08:19,  1.53s/it]
 64%|██████▍   | 575/900 [32:54<06:39,  1.23s/it]
 64%|██████▍   | 576/900 [32:55<05:30,  1.02s/it]
 64%|██████▍   | 577/900 [33:14<35:23,  6.58s/it]
 64%|██████▍   | 578/900 [33:15<25:32,  4.76s/it]
 64%|██████▍   | 579/900 [33:15<18:39,  3.49s/it]
 64%|██████▍   | 580/900 [33:16<13:52,  2.60s/it]
 65%|██████▍   | 581/900 [33:16<10:31,  1.98s/it]
 65%|██████▍   | 582/900 [33:17<08:10,  1.54s/it]
 65%|██████▍   | 583/900 [33:17<06:33,  1.24s/it]
 65%|██████▍   | 584/900 [33:18<05:24,  1.03s/it]
 65%|██████▌   | 585/900 [33:32<25:44,  4.90s/it]
 65%|██████▌   | 586/900 [33:32<18:48,  3.60s/it]
 65%|██████▌   | 587/900 [33:33<13:57,  2.68s/it]
 65%|██████▌   | 588/900 [33:34<10:33,  2.03s/it]
 65%|██████▌   | 589/900 [33:34<08:12,  1.58s/it]
 66%|██████▌   | 590/900 [33:35<06:32,  1.27s/it]
 66%|██████▌   | 591/900 [33:35<05:23,  1.05s/it]
 66%|██████▌   | 592/900 [33:36<04:34,  1.12it/s]
 66%|██████▌   | 593/900 [33:51<26:48,  5.24s/it]
 66%|██████▌   | 594/900 [33:52<19:31,  3.83s/it]
 66%|██████▌   | 595/900 [33:52<14:24,  2.84s/it]
 66%|██████▌   | 596/900 [33:53<10:51,  2.14s/it]
 66%|██████▋   | 597/900 [33:53<08:22,  1.66s/it]
 66%|██████▋   | 598/900 [33:54<06:38,  1.32s/it]
 67%|██████▋   | 599/900 [33:54<05:26,  1.08s/it]
 67%|██████▋   | 600/900 [33:55<04:36,  1.08it/s]
 67%|██████▋   | 601/900 [34:06<19:25,  3.90s/it]
 67%|██████▋   | 602/900 [34:06<14:20,  2.89s/it]
 67%|██████▋   | 603/900 [34:07<10:48,  2.18s/it]
 67%|██████▋   | 604/900 [34:07<08:20,  1.69s/it]
 67%|██████▋   | 605/900 [34:08<06:36,  1.35s/it]
 67%|██████▋   | 606/900 [34:08<05:25,  1.11s/it]
 67%|██████▋   | 607/900 [34:09<04:33,  1.07it/s]
 68%|██████▊   | 608/900 [34:09<03:57,  1.23it/s]
 68%|██████▊   | 609/900 [37:12<4:28:36, 55.38s/it]
 68%|██████▊   | 610/900 [37:13<3:08:10, 38.93s/it]
 68%|██████▊   | 611/900 [37:13<2:12:00, 27.41s/it]
 68%|██████▊   | 612/900 [37:14<1:32:50, 19.34s/it]
 68%|██████▊   | 613/900 [37:14<1:05:31, 13.70s/it]
 68%|██████▊   | 614/900 [37:15<46:27,  9.75s/it]  
 68%|██████▊   | 615/900 [37:15<33:10,  6.98s/it]
 68%|██████▊   | 616/900 [37:16<23:55,  5.06s/it]
 69%|██████▊   | 617/900 [38:38<2:12:59, 28.20s/it]
 69%|██████▊   | 618/900 [38:39<1:33:31, 19.90s/it]
 69%|██████▉   | 619/900 [38:39<1:05:58, 14.09s/it]
 69%|██████▉   | 620/900 [38:40<46:44, 10.02s/it]  
 69%|██████▉   | 621/900 [38:40<33:20,  7.17s/it]
 69%|██████▉   | 622/900 [38:41<23:59,  5.18s/it]
 69%|██████▉   | 623/900 [38:41<17:29,  3.79s/it]
 69%|██████▉   | 624/900 [38:42<12:56,  2.81s/it]
 69%|██████▉   | 625/900 [39:04<39:18,  8.58s/it]
 70%|██████▉   | 626/900 [39:04<28:08,  6.16s/it]
 70%|██████▉   | 627/900 [39:05<20:20,  4.47s/it]
 70%|██████▉   | 628/900 [39:05<14:54,  3.29s/it]
 70%|██████▉   | 629/900 [39:06<11:06,  2.46s/it]
 70%|███████   | 630/900 [39:06<08:26,  1.88s/it]
 70%|███████   | 631/900 [39:07<06:36,  1.47s/it]
 70%|███████   | 632/900 [39:07<05:17,  1.18s/it]
 70%|███████   | 633/900 [40:42<2:10:24, 29.31s/it]
 70%|███████   | 634/900 [40:43<1:31:38, 20.67s/it]
 71%|███████   | 635/900 [40:43<1:04:36, 14.63s/it]
 71%|███████   | 636/900 [40:44<45:45, 10.40s/it]  
 71%|███████   | 637/900 [40:44<32:35,  7.44s/it]
 71%|███████   | 638/900 [40:45<23:25,  5.37s/it]
 71%|███████   | 639/900 [40:45<17:00,  3.91s/it]
 71%|███████   | 640/900 [40:46<12:32,  2.90s/it]
 71%|███████   | 641/900 [41:26<1:00:38, 14.05s/it]
 71%|███████▏  | 642/900 [41:27<42:57,  9.99s/it]  
 71%|███████▏  | 643/900 [41:27<30:38,  7.15s/it]
 72%|███████▏  | 644/900 [41:28<22:02,  5.17s/it]
 72%|███████▏  | 645/900 [41:28<16:03,  3.78s/it]
 72%|███████▏  | 646/900 [41:29<11:51,  2.80s/it]
 72%|███████▏  | 647/900 [41:29<08:57,  2.12s/it]
 72%|███████▏  | 648/900 [41:30<06:54,  1.65s/it]
 72%|███████▏  | 649/900 [42:11<56:21, 13.47s/it]
 72%|███████▏  | 650/900 [42:11<39:57,  9.59s/it]
 72%|███████▏  | 651/900 [42:12<28:31,  6.87s/it]
 72%|███████▏  | 652/900 [42:12<20:33,  4.98s/it]
 73%|███████▎  | 653/900 [42:13<15:00,  3.65s/it]
 73%|███████▎  | 654/900 [42:14<11:07,  2.71s/it]
 73%|███████▎  | 655/900 [42:14<08:24,  2.06s/it]
 73%|███████▎  | 656/900 [42:15<06:30,  1.60s/it]
 73%|███████▎  | 657/900 [44:17<2:33:03, 37.79s/it]
 73%|███████▎  | 658/900 [44:17<1:47:20, 26.61s/it]
 73%|███████▎  | 659/900 [44:18<1:15:26, 18.78s/it]
 73%|███████▎  | 660/900 [44:18<53:13, 13.31s/it]  
 73%|███████▎  | 661/900 [44:19<37:43,  9.47s/it]
 74%|███████▎  | 662/900 [44:19<26:55,  6.79s/it]
 74%|███████▎  | 663/900 [44:20<19:23,  4.91s/it]
 74%|███████▍  | 664/900 [44:21<14:07,  3.59s/it]
 74%|███████▍  | 665/900 [44:51<45:14, 11.55s/it]
 74%|███████▍  | 666/900 [44:51<32:09,  8.24s/it]
 74%|███████▍  | 667/900 [44:52<23:01,  5.93s/it]
 74%|███████▍  | 668/900 [44:52<16:39,  4.31s/it]
 74%|███████▍  | 669/900 [44:53<12:13,  3.17s/it]
 74%|███████▍  | 670/900 [44:53<09:07,  2.38s/it]
 75%|███████▍  | 671/900 [44:54<06:57,  1.82s/it]
 75%|███████▍  | 672/900 [44:54<05:27,  1.44s/it]
 75%|███████▍  | 673/900 [45:24<37:22,  9.88s/it]
 75%|███████▍  | 674/900 [45:24<26:38,  7.08s/it]
 75%|███████▌  | 675/900 [45:25<19:09,  5.11s/it]
 75%|███████▌  | 676/900 [45:26<13:57,  3.74s/it]
 75%|███████▌  | 677/900 [45:26<10:18,  2.78s/it]
 75%|███████▌  | 678/900 [45:27<07:46,  2.10s/it]
 75%|███████▌  | 679/900 [45:27<06:00,  1.63s/it]
 76%|███████▌  | 680/900 [45:28<04:46,  1.30s/it]
 76%|███████▌  | 681/900 [45:40<17:01,  4.66s/it]
 76%|███████▌  | 682/900 [45:41<12:26,  3.43s/it]
 76%|███████▌  | 683/900 [45:41<09:15,  2.56s/it]
 76%|███████▌  | 684/900 [45:42<07:01,  1.95s/it]
 76%|███████▌  | 685/900 [45:42<05:27,  1.52s/it]
 76%|███████▌  | 686/900 [45:43<04:23,  1.23s/it]
 76%|███████▋  | 687/900 [45:43<03:37,  1.02s/it]
 76%|███████▋  | 688/900 [45:44<03:05,  1.14it/s]
 77%|███████▋  | 689/900 [46:08<27:25,  7.80s/it]
 77%|███████▋  | 690/900 [46:08<19:40,  5.62s/it]
 77%|███████▋  | 691/900 [46:09<14:16,  4.10s/it]
 77%|███████▋  | 692/900 [46:09<10:29,  3.03s/it]
 77%|███████▋  | 693/900 [46:10<07:52,  2.28s/it]
 77%|███████▋  | 694/900 [46:11<06:02,  1.76s/it]
 77%|███████▋  | 695/900 [46:11<04:45,  1.39s/it]
 77%|███████▋  | 696/900 [46:12<03:51,  1.13s/it]
 77%|███████▋  | 697/900 [46:43<34:39, 10.25s/it]
 78%|███████▊  | 698/900 [46:44<24:40,  7.33s/it]
 78%|███████▊  | 699/900 [46:44<17:44,  5.29s/it]
 78%|███████▊  | 700/900 [46:45<12:53,  3.87s/it]
 78%|███████▊  | 701/900 [46:45<09:29,  2.86s/it]
 78%|███████▊  | 702/900 [46:46<07:09,  2.17s/it]
 78%|███████▊  | 703/900 [46:46<05:31,  1.68s/it]
 78%|███████▊  | 704/900 [46:47<04:22,  1.34s/it]
 78%|███████▊  | 705/900 [47:22<37:32, 11.55s/it]
 78%|███████▊  | 706/900 [47:23<26:39,  8.24s/it]
 79%|███████▊  | 707/900 [47:23<19:05,  5.93s/it]
 79%|███████▊  | 708/900 [47:24<13:48,  4.32s/it]
 79%|███████▉  | 709/900 [47:24<10:07,  3.18s/it]
 79%|███████▉  | 710/900 [47:25<07:34,  2.39s/it]
 79%|███████▉  | 711/900 [47:25<05:46,  1.83s/it]
 79%|███████▉  | 712/900 [47:26<04:32,  1.45s/it]
 79%|███████▉  | 713/900 [47:40<16:04,  5.16s/it]
 79%|███████▉  | 714/900 [47:40<11:41,  3.77s/it]
 79%|███████▉  | 715/900 [47:41<08:38,  2.80s/it]
 80%|███████▉  | 716/900 [47:41<06:30,  2.12s/it]
 80%|███████▉  | 717/900 [47:42<05:00,  1.64s/it]
 80%|███████▉  | 718/900 [47:43<03:58,  1.31s/it]
 80%|███████▉  | 719/900 [47:43<03:14,  1.07s/it]
 80%|████████  | 720/900 [47:44<02:44,  1.09it/s]
 80%|████████  | 721/900 [48:14<29:10,  9.78s/it]
 80%|████████  | 722/900 [48:15<20:46,  7.01s/it]
 80%|████████  | 723/900 [48:15<14:56,  5.06s/it]
 80%|████████  | 724/900 [48:16<10:51,  3.70s/it]
 81%|████████  | 725/900 [48:16<08:01,  2.75s/it]
 81%|████████  | 726/900 [48:17<06:03,  2.09s/it]
 81%|████████  | 727/900 [48:17<04:40,  1.62s/it]
 81%|████████  | 728/900 [48:18<03:42,  1.30s/it]
 81%|████████  | 729/900 [50:31<1:56:47, 40.98s/it]
 81%|████████  | 730/900 [50:32<1:21:43, 28.84s/it]
 81%|████████  | 731/900 [50:32<57:19, 20.35s/it]  
 81%|████████▏ | 732/900 [50:33<40:20, 14.41s/it]
 81%|████████▏ | 733/900 [50:34<28:31, 10.25s/it]
 82%|████████▏ | 734/900 [50:34<20:17,  7.33s/it]
 82%|████████▏ | 735/900 [50:35<14:33,  5.29s/it]
 82%|████████▏ | 736/900 [50:35<10:33,  3.86s/it]
 82%|████████▏ | 737/900 [50:48<17:58,  6.62s/it]
 82%|████████▏ | 738/900 [50:49<12:56,  4.79s/it]
 82%|████████▏ | 739/900 [50:49<09:26,  3.52s/it]
 82%|████████▏ | 740/900 [50:50<07:01,  2.63s/it]
 82%|████████▏ | 741/900 [50:50<05:18,  2.00s/it]
 82%|████████▏ | 742/900 [50:51<04:06,  1.56s/it]
 83%|████████▎ | 743/900 [50:51<03:17,  1.26s/it]
 83%|████████▎ | 744/900 [50:52<02:44,  1.05s/it]
 83%|████████▎ | 745/900 [51:11<16:40,  6.45s/it]
 83%|████████▎ | 746/900 [51:12<11:59,  4.67s/it]
 83%|████████▎ | 747/900 [51:12<08:44,  3.43s/it]
 83%|████████▎ | 748/900 [51:13<06:29,  2.56s/it]
 83%|████████▎ | 749/900 [51:13<04:55,  1.96s/it]
 83%|████████▎ | 750/900 [51:14<03:52,  1.55s/it]
 83%|████████▎ | 751/900 [51:14<03:06,  1.25s/it]
 84%|████████▎ | 752/900 [51:15<02:35,  1.05s/it]
 84%|████████▎ | 753/900 [51:29<12:31,  5.11s/it]
 84%|████████▍ | 754/900 [51:30<09:08,  3.76s/it]
 84%|████████▍ | 755/900 [51:31<06:46,  2.81s/it]
 84%|████████▍ | 756/900 [51:31<05:06,  2.13s/it]
 84%|████████▍ | 757/900 [51:32<03:57,  1.66s/it]
 84%|████████▍ | 758/900 [51:32<03:08,  1.33s/it]
 84%|████████▍ | 759/900 [51:33<02:34,  1.09s/it]
 84%|████████▍ | 760/900 [51:33<02:10,  1.08it/s]
 85%|████████▍ | 761/900 [53:33<1:24:43, 36.57s/it]
 85%|████████▍ | 762/900 [53:34<59:15, 25.76s/it]  
 85%|████████▍ | 763/900 [53:34<41:33, 18.20s/it]
 85%|████████▍ | 764/900 [53:35<29:15, 12.90s/it]
 85%|████████▌ | 765/900 [53:35<20:41,  9.19s/it]
 85%|████████▌ | 766/900 [53:36<14:43,  6.59s/it]
 85%|████████▌ | 767/900 [53:36<10:35,  4.78s/it]
 85%|████████▌ | 768/900 [53:37<07:43,  3.51s/it]
 85%|████████▌ | 769/900 [53:57<18:15,  8.36s/it]
 86%|████████▌ | 770/900 [53:57<13:01,  6.01s/it]
 86%|████████▌ | 771/900 [53:58<09:23,  4.37s/it]
 86%|████████▌ | 772/900 [53:58<06:52,  3.22s/it]
 86%|████████▌ | 773/900 [53:59<05:06,  2.42s/it]
 86%|████████▌ | 774/900 [53:59<03:53,  1.85s/it]
 86%|████████▌ | 775/900 [54:00<03:02,  1.46s/it]
 86%|████████▌ | 776/900 [54:00<02:26,  1.18s/it]
 86%|████████▋ | 777/900 [54:18<12:34,  6.13s/it]
 86%|████████▋ | 778/900 [54:19<09:03,  4.45s/it]
 87%|████████▋ | 779/900 [54:19<06:36,  3.28s/it]
 87%|████████▋ | 780/900 [54:20<04:54,  2.45s/it]
 87%|████████▋ | 781/900 [54:20<03:43,  1.88s/it]
 87%|████████▋ | 782/900 [54:21<02:54,  1.48s/it]
 87%|████████▋ | 783/900 [54:21<02:19,  1.19s/it]
 87%|████████▋ | 784/900 [54:22<01:54,  1.01it/s]
 87%|████████▋ | 785/900 [54:36<09:26,  4.93s/it]
 87%|████████▋ | 786/900 [54:36<06:51,  3.61s/it]
 87%|████████▋ | 787/900 [54:37<05:03,  2.69s/it]
 88%|████████▊ | 788/900 [54:38<03:48,  2.04s/it]
 88%|████████▊ | 789/900 [54:38<02:56,  1.59s/it]
 88%|████████▊ | 790/900 [54:39<02:19,  1.27s/it]
 88%|████████▊ | 791/900 [54:39<01:54,  1.05s/it]
 88%|████████▊ | 792/900 [54:40<01:36,  1.12it/s]
 88%|████████▊ | 793/900 [55:09<16:59,  9.53s/it]
 88%|████████▊ | 794/900 [55:10<12:03,  6.82s/it]
 88%|████████▊ | 795/900 [55:10<08:38,  4.94s/it]
 88%|████████▊ | 796/900 [55:11<06:16,  3.62s/it]
 89%|████████▊ | 797/900 [55:11<04:37,  2.70s/it]
 89%|████████▊ | 798/900 [55:12<03:28,  2.05s/it]
 89%|████████▉ | 799/900 [55:13<02:41,  1.60s/it]
 89%|████████▉ | 800/900 [55:13<02:07,  1.28s/it]
 89%|████████▉ | 801/900 [55:32<11:03,  6.71s/it]
 89%|████████▉ | 802/900 [55:33<07:55,  4.86s/it]
 89%|████████▉ | 803/900 [55:34<05:45,  3.56s/it]
 89%|████████▉ | 804/900 [55:34<04:15,  2.66s/it]
 89%|████████▉ | 805/900 [55:35<03:12,  2.02s/it]
 90%|████████▉ | 806/900 [55:35<02:28,  1.57s/it]
 90%|████████▉ | 807/900 [55:36<01:57,  1.26s/it]
 90%|████████▉ | 808/900 [55:36<01:36,  1.05s/it]
 90%|████████▉ | 809/900 [55:54<09:04,  5.98s/it]
 90%|█████████ | 810/900 [55:54<06:31,  4.35s/it]
 90%|█████████ | 811/900 [55:55<04:45,  3.20s/it]
 90%|█████████ | 812/900 [55:55<03:31,  2.40s/it]
 90%|█████████ | 813/900 [55:56<02:40,  1.84s/it]
 90%|█████████ | 814/900 [55:56<02:04,  1.45s/it]
 91%|█████████ | 815/900 [55:57<01:40,  1.18s/it]
 91%|█████████ | 816/900 [55:57<01:23,  1.01it/s]
 91%|█████████ | 817/900 [57:47<46:18, 33.47s/it]
 91%|█████████ | 818/900 [57:47<32:14, 23.59s/it]
 91%|█████████ | 819/900 [57:48<22:30, 16.67s/it]
 91%|█████████ | 820/900 [57:48<15:46, 11.84s/it]
 91%|█████████ | 821/900 [57:49<11:07,  8.45s/it]
 91%|█████████▏| 822/900 [57:49<07:53,  6.07s/it]
 91%|█████████▏| 823/900 [57:50<05:39,  4.41s/it]
 92%|█████████▏| 824/900 [57:51<04:07,  3.25s/it]
 92%|█████████▏| 825/900 [59:08<31:51, 25.48s/it]
 92%|█████████▏| 826/900 [59:08<22:11, 18.00s/it]
 92%|█████████▏| 827/900 [59:09<15:31, 12.76s/it]
 92%|█████████▏| 828/900 [59:09<10:54,  9.09s/it]
 92%|█████████▏| 829/900 [59:10<07:43,  6.52s/it]
 92%|█████████▏| 830/900 [59:11<05:30,  4.73s/it]
 92%|█████████▏| 831/900 [59:11<03:59,  3.47s/it]
 92%|█████████▏| 832/900 [59:12<02:56,  2.59s/it]
 93%|█████████▎| 833/900 [59:39<11:14, 10.07s/it]
 93%|█████████▎| 834/900 [59:40<07:55,  7.20s/it]
 93%|█████████▎| 835/900 [59:40<05:39,  5.22s/it]
 93%|█████████▎| 836/900 [59:41<04:04,  3.82s/it]
 93%|█████████▎| 837/900 [59:41<02:58,  2.84s/it]
 93%|█████████▎| 838/900 [59:42<02:13,  2.15s/it]
 93%|█████████▎| 839/900 [59:42<01:41,  1.66s/it]
 93%|█████████▎| 840/900 [59:43<01:19,  1.33s/it]
 93%|█████████▎| 841/900 [1:00:30<14:42, 14.95s/it]
 94%|█████████▎| 842/900 [1:00:30<10:16, 10.63s/it]
 94%|█████████▎| 843/900 [1:00:31<07:13,  7.60s/it]
 94%|█████████▍| 844/900 [1:00:31<05:06,  5.48s/it]
 94%|█████████▍| 845/900 [1:00:32<03:39,  4.00s/it]
 94%|█████████▍| 846/900 [1:00:32<02:39,  2.96s/it]
 94%|█████████▍| 847/900 [1:00:33<01:58,  2.23s/it]
 94%|█████████▍| 848/900 [1:00:33<01:29,  1.72s/it]
 94%|█████████▍| 849/900 [1:01:19<12:35, 14.81s/it]
 94%|█████████▍| 850/900 [1:01:19<08:46, 10.53s/it]
 95%|█████████▍| 851/900 [1:01:20<06:09,  7.53s/it]
 95%|█████████▍| 852/900 [1:01:20<04:20,  5.43s/it]
 95%|█████████▍| 853/900 [1:01:21<03:06,  3.97s/it]
 95%|█████████▍| 854/900 [1:01:22<02:15,  2.94s/it]
 95%|█████████▌| 855/900 [1:01:22<01:39,  2.22s/it]
 95%|█████████▌| 856/900 [1:01:23<01:15,  1.71s/it]
 95%|█████████▌| 857/900 [1:02:05<10:01, 13.98s/it]
 95%|█████████▌| 858/900 [1:02:06<06:57,  9.95s/it]
 95%|█████████▌| 859/900 [1:02:06<04:52,  7.13s/it]
 96%|█████████▌| 860/900 [1:02:07<03:26,  5.15s/it]
 96%|█████████▌| 861/900 [1:02:07<02:27,  3.77s/it]
 96%|█████████▌| 862/900 [1:02:08<01:46,  2.80s/it]
 96%|█████████▌| 863/900 [1:02:08<01:18,  2.13s/it]
 96%|█████████▌| 864/900 [1:02:09<00:59,  1.65s/it]
 96%|█████████▌| 865/900 [1:02:31<04:30,  7.74s/it]
 96%|█████████▌| 866/900 [1:02:31<03:09,  5.58s/it]
 96%|█████████▋| 867/900 [1:02:32<02:14,  4.07s/it]
 96%|█████████▋| 868/900 [1:02:33<01:36,  3.01s/it]
 97%|█████████▋| 869/900 [1:02:33<01:10,  2.26s/it]
 97%|█████████▋| 870/900 [1:02:34<00:52,  1.74s/it]
 97%|█████████▋| 871/900 [1:02:34<00:39,  1.38s/it]
 97%|█████████▋| 872/900 [1:02:35<00:31,  1.13s/it]
 97%|█████████▋| 873/900 [1:03:01<03:51,  8.58s/it]
 97%|█████████▋| 874/900 [1:03:01<02:40,  6.16s/it]
 97%|█████████▋| 875/900 [1:03:02<01:51,  4.48s/it]
 97%|█████████▋| 876/900 [1:03:02<01:19,  3.29s/it]
 97%|█████████▋| 877/900 [1:03:03<00:56,  2.46s/it]
 98%|█████████▊| 878/900 [1:03:03<00:41,  1.88s/it]
 98%|█████████▊| 879/900 [1:03:04<00:31,  1.48s/it]
 98%|█████████▊| 880/900 [1:03:04<00:23,  1.20s/it]
 98%|█████████▊| 881/900 [1:03:20<01:47,  5.65s/it]
 98%|█████████▊| 882/900 [1:03:21<01:14,  4.12s/it]
 98%|█████████▊| 883/900 [1:03:21<00:51,  3.04s/it]
 98%|█████████▊| 884/900 [1:03:22<00:36,  2.29s/it]
 98%|█████████▊| 885/900 [1:03:23<00:26,  1.76s/it]
 98%|█████████▊| 886/900 [1:03:23<00:19,  1.39s/it]
 99%|█████████▊| 887/900 [1:03:24<00:14,  1.13s/it]
 99%|█████████▊| 888/900 [1:03:24<00:11,  1.05it/s]
 99%|█████████▉| 889/900 [1:03:52<01:40,  9.11s/it]
 99%|█████████▉| 890/900 [1:03:53<01:05,  6.54s/it]
 99%|█████████▉| 891/900 [1:03:53<00:42,  4.73s/it]
 99%|█████████▉| 892/900 [1:03:54<00:27,  3.47s/it]
 99%|█████████▉| 893/900 [1:03:54<00:18,  2.59s/it]
 99%|█████████▉| 894/900 [1:03:55<00:11,  1.98s/it]
 99%|█████████▉| 895/900 [1:03:55<00:07,  1.54s/it]
100%|█████████▉| 896/900 [1:03:56<00:04,  1.24s/it]
100%|█████████▉| 897/900 [1:04:21<00:24,  8.24s/it]
100%|█████████▉| 898/900 [1:04:21<00:11,  5.93s/it]
100%|█████████▉| 899/900 [1:04:22<00:04,  4.31s/it]
100%|█████████▉| 899/900 [1:04:22<00:04,  4.30s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/log_0_env0.json.
+SpoonInMugTask_0 complete: task_name: SpoonInMugTask, run_name: SpoonInMugTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the metal spoon that's in the wooden bowl in the mug, attributes: ['affordance', 'spatial', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.42077429100708, 'joint_sparc_mean': -13.927305683380386, 'ee_isj': 313181.690282275, 'joint_isj': 2626712.7047962854, 'ee_path_length': 15.23383790637726, 'joint_rmse_mean': 1.4303890811368911, 'ee_speed_max': 9.786510467529297, 'ee_speed_mean': 0.2566820979118347}, events: {'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 4, 'MULTIPLE_OBJECTS_GRABBED': 1, 'OBJECT_BUMPED': 14, 'GRIPPER_HIT_TABLE': 11, 'OBJECT_OUT_OF_SCENE': 4, 'OBJECT_MOVED': 3}, instruction_type: default, timing: {'policy_inference_s': 3392.936, 'policy_inference_avg_ms': 3769.9, 'env_step_s': 462.771, 'env_step_avg_ms': 514.2, 'video_write_s': 6.5, 'video_write_avg_ms': 7.2, 'wall_total_s': 3862.207, 'it_per_sec': 0.23}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spoon_big) (step 1/2), harness_episode_id: 67a71043d56549ffb38ee656e81b135f-0
+[RoboLab] Running SpoonInMugTask_1: 'Put the metal spoon that's in the wooden bowl in the mug' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:30<7:42:24, 30.86s/it]
  0%|          | 2/900 [00:31<3:14:42, 13.01s/it]
  0%|          | 3/900 [00:31<1:49:07,  7.30s/it]
  0%|          | 4/900 [00:32<1:08:55,  4.62s/it]
  1%|          | 5/900 [00:32<46:47,  3.14s/it]  
  1%|          | 6/900 [00:33<33:25,  2.24s/it]
  1%|          | 7/900 [00:33<24:53,  1.67s/it]
  1%|          | 8/900 [00:34<19:21,  1.30s/it]
  1%|          | 9/900 [00:42<52:39,  3.55s/it]
  1%|          | 10/900 [00:43<38:37,  2.60s/it]
  1%|          | 11/900 [00:43<29:03,  1.96s/it]
  1%|▏         | 12/900 [00:44<22:26,  1.52s/it]
  1%|▏         | 13/900 [00:44<17:52,  1.21s/it]
  2%|▏         | 14/900 [00:45<14:40,  1.01it/s]
  2%|▏         | 15/900 [00:45<12:28,  1.18it/s]
  2%|▏         | 16/900 [00:46<11:02,  1.33it/s]
  2%|▏         | 17/900 [00:55<48:16,  3.28s/it]
  2%|▏         | 18/900 [00:56<35:57,  2.45s/it]
  2%|▏         | 19/900 [00:56<27:23,  1.87s/it]
  2%|▏         | 20/900 [00:57<21:21,  1.46s/it]
  2%|▏         | 21/900 [00:57<17:10,  1.17s/it]
  2%|▏         | 22/900 [00:58<14:11,  1.03it/s]
  3%|▎         | 23/900 [00:58<12:11,  1.20it/s]
  3%|▎         | 24/900 [00:59<10:47,  1.35it/s]
  3%|▎         | 25/900 [01:10<55:43,  3.82s/it]
  3%|▎         | 26/900 [01:10<41:15,  2.83s/it]
  3%|▎         | 27/900 [01:11<31:09,  2.14s/it]
  3%|▎         | 28/900 [01:11<24:04,  1.66s/it]
  3%|▎         | 29/900 [01:12<19:06,  1.32s/it]
  3%|▎         | 30/900 [01:12<15:34,  1.07s/it]
  3%|▎         | 31/900 [01:13<13:04,  1.11it/s]
  4%|▎         | 32/900 [01:13<11:20,  1.28it/s]
  4%|▎         | 33/900 [01:22<45:45,  3.17s/it]
  4%|▍         | 34/900 [01:23<34:22,  2.38s/it]
  4%|▍         | 35/900 [01:23<26:25,  1.83s/it]
  4%|▍         | 36/900 [01:24<20:40,  1.44s/it]
  4%|▍         | 37/900 [01:24<16:33,  1.15s/it]
  4%|▍         | 38/900 [01:25<13:41,  1.05it/s]
  4%|▍         | 39/900 [01:25<11:43,  1.22it/s]
  4%|▍         | 40/900 [01:26<10:22,  1.38it/s]
  5%|▍         | 41/900 [01:30<26:52,  1.88s/it]
  5%|▍         | 42/900 [01:31<20:56,  1.46s/it]
  5%|▍         | 43/900 [01:31<16:45,  1.17s/it]
  5%|▍         | 44/900 [01:32<14:03,  1.01it/s]
  5%|▌         | 45/900 [01:32<11:58,  1.19it/s]
  5%|▌         | 46/900 [01:33<10:29,  1.36it/s]
  5%|▌         | 47/900 [01:33<09:28,  1.50it/s]
  5%|▌         | 48/900 [01:34<08:44,  1.63it/s]
  5%|▌         | 49/900 [01:51<1:19:43,  5.62s/it]
  6%|▌         | 50/900 [01:52<57:51,  4.08s/it]  
  6%|▌         | 51/900 [01:52<42:32,  3.01s/it]
  6%|▌         | 52/900 [01:53<31:53,  2.26s/it]
  6%|▌         | 53/900 [01:53<24:25,  1.73s/it]
  6%|▌         | 54/900 [01:54<19:10,  1.36s/it]
  6%|▌         | 55/900 [01:54<15:31,  1.10s/it]
  6%|▌         | 56/900 [01:55<13:00,  1.08it/s]
  6%|▋         | 57/900 [02:07<1:01:42,  4.39s/it]
  6%|▋         | 58/900 [02:08<45:17,  3.23s/it]  
  7%|▋         | 59/900 [02:08<33:45,  2.41s/it]
  7%|▋         | 60/900 [02:09<25:45,  1.84s/it]
  7%|▋         | 61/900 [02:09<20:07,  1.44s/it]
  7%|▋         | 62/900 [02:10<16:13,  1.16s/it]
  7%|▋         | 63/900 [02:10<13:29,  1.03it/s]
  7%|▋         | 64/900 [02:11<11:33,  1.21it/s]
  7%|▋         | 65/900 [02:17<36:19,  2.61s/it]
  7%|▋         | 66/900 [02:18<27:30,  1.98s/it]
  7%|▋         | 67/900 [02:18<21:19,  1.54s/it]
  8%|▊         | 68/900 [02:19<16:59,  1.23s/it]
  8%|▊         | 69/900 [02:19<13:59,  1.01s/it]
  8%|▊         | 70/900 [02:20<11:53,  1.16it/s]
  8%|▊         | 71/900 [02:20<10:27,  1.32it/s]
  8%|▊         | 72/900 [02:21<09:26,  1.46it/s]
  8%|▊         | 73/900 [02:33<56:42,  4.11s/it]
  8%|▊         | 74/900 [02:34<41:47,  3.04s/it]
  8%|▊         | 75/900 [02:34<31:19,  2.28s/it]
  8%|▊         | 76/900 [02:35<23:57,  1.74s/it]
  9%|▊         | 77/900 [02:35<18:48,  1.37s/it]
  9%|▊         | 78/900 [02:36<15:15,  1.11s/it]
  9%|▉         | 79/900 [02:36<12:47,  1.07it/s]
  9%|▉         | 80/900 [02:37<11:01,  1.24it/s]
  9%|▉         | 81/900 [02:43<34:28,  2.53s/it]
  9%|▉         | 82/900 [02:44<26:09,  1.92s/it]
  9%|▉         | 83/900 [02:44<20:19,  1.49s/it]
  9%|▉         | 84/900 [02:45<16:11,  1.19s/it]
  9%|▉         | 85/900 [02:45<13:25,  1.01it/s]
 10%|▉         | 86/900 [02:46<11:27,  1.18it/s]
 10%|▉         | 87/900 [02:46<10:02,  1.35it/s]
 10%|▉         | 88/900 [02:47<09:04,  1.49it/s]
 10%|▉         | 89/900 [02:54<34:48,  2.58s/it]
 10%|█         | 90/900 [02:54<26:19,  1.95s/it]
 10%|█         | 91/900 [02:55<20:25,  1.51s/it]
 10%|█         | 92/900 [02:55<16:13,  1.20s/it]
 10%|█         | 93/900 [02:56<13:24,  1.00it/s]
 10%|█         | 94/900 [02:56<11:26,  1.17it/s]
 11%|█         | 95/900 [02:57<09:59,  1.34it/s]
 11%|█         | 96/900 [02:57<09:06,  1.47it/s]
 11%|█         | 97/900 [03:10<56:37,  4.23s/it]
 11%|█         | 98/900 [03:10<41:37,  3.11s/it]
 11%|█         | 99/900 [03:11<31:02,  2.33s/it]
 11%|█         | 100/900 [03:11<23:39,  1.77s/it]
 11%|█         | 101/900 [03:12<18:30,  1.39s/it]
 11%|█▏        | 102/900 [03:12<14:57,  1.12s/it]
 11%|█▏        | 103/900 [03:13<12:24,  1.07it/s]
 12%|█▏        | 104/900 [03:13<10:37,  1.25it/s]
 12%|█▏        | 105/900 [03:20<36:23,  2.75s/it]
 12%|█▏        | 106/900 [03:21<27:25,  2.07s/it]
 12%|█▏        | 107/900 [03:21<21:09,  1.60s/it]
 12%|█▏        | 108/900 [03:22<16:47,  1.27s/it]
 12%|█▏        | 109/900 [03:22<13:44,  1.04s/it]
 12%|█▏        | 110/900 [03:23<11:32,  1.14it/s]
 12%|█▏        | 111/900 [03:23<10:05,  1.30it/s]
 12%|█▏        | 112/900 [03:24<08:59,  1.46it/s]
 13%|█▎        | 113/900 [03:32<39:55,  3.04s/it]
 13%|█▎        | 114/900 [03:33<29:51,  2.28s/it]
 13%|█▎        | 115/900 [03:33<22:48,  1.74s/it]
 13%|█▎        | 116/900 [03:34<17:49,  1.36s/it]
 13%|█▎        | 117/900 [03:34<14:21,  1.10s/it]
 13%|█▎        | 118/900 [03:35<11:58,  1.09it/s]
 13%|█▎        | 119/900 [03:35<10:18,  1.26it/s]
 13%|█▎        | 120/900 [03:36<09:07,  1.43it/s]
 13%|█▎        | 121/900 [03:44<37:54,  2.92s/it]
 14%|█▎        | 122/900 [03:44<28:24,  2.19s/it]
 14%|█▎        | 123/900 [03:45<21:44,  1.68s/it]
 14%|█▍        | 124/900 [03:45<17:05,  1.32s/it]
 14%|█▍        | 125/900 [03:46<13:56,  1.08s/it]
 14%|█▍        | 126/900 [03:46<11:41,  1.10it/s]
 14%|█▍        | 127/900 [03:47<10:10,  1.27it/s]
 14%|█▍        | 128/900 [03:48<09:05,  1.42it/s]
 14%|█▍        | 129/900 [03:59<51:20,  4.00s/it]
 14%|█▍        | 130/900 [04:00<37:50,  2.95s/it]
 15%|█▍        | 131/900 [04:00<28:29,  2.22s/it]
 15%|█▍        | 132/900 [04:01<21:50,  1.71s/it]
 15%|█▍        | 133/900 [04:01<17:12,  1.35s/it]
 15%|█▍        | 134/900 [04:02<13:57,  1.09s/it]
 15%|█▌        | 135/900 [04:02<11:42,  1.09it/s]
 15%|█▌        | 136/900 [04:03<10:07,  1.26it/s]
 15%|█▌        | 137/900 [04:13<47:10,  3.71s/it]
 15%|█▌        | 138/900 [04:14<34:57,  2.75s/it]
 15%|█▌        | 139/900 [04:14<26:26,  2.08s/it]
 16%|█▌        | 140/900 [04:15<20:25,  1.61s/it]
 16%|█▌        | 141/900 [04:15<16:13,  1.28s/it]
 16%|█▌        | 142/900 [04:16<13:12,  1.05s/it]
 16%|█▌        | 143/900 [04:16<11:09,  1.13it/s]
 16%|█▌        | 144/900 [04:17<09:43,  1.30it/s]
 16%|█▌        | 145/900 [04:41<1:38:59,  7.87s/it]
 16%|█▌        | 146/900 [04:42<1:11:02,  5.65s/it]
 16%|█▋        | 147/900 [04:42<51:32,  4.11s/it]  
 16%|█▋        | 148/900 [04:43<37:56,  3.03s/it]
 17%|█▋        | 149/900 [04:43<28:25,  2.27s/it]
 17%|█▋        | 150/900 [04:44<21:42,  1.74s/it]
 17%|█▋        | 151/900 [04:44<16:57,  1.36s/it]
 17%|█▋        | 152/900 [04:45<13:42,  1.10s/it]
 17%|█▋        | 153/900 [05:01<1:09:21,  5.57s/it]
 17%|█▋        | 154/900 [05:01<50:21,  4.05s/it]  
 17%|█▋        | 155/900 [05:02<37:07,  2.99s/it]
 17%|█▋        | 156/900 [05:02<27:46,  2.24s/it]
 17%|█▋        | 157/900 [05:03<21:16,  1.72s/it]
 18%|█▊        | 158/900 [05:03<16:43,  1.35s/it]
 18%|█▊        | 159/900 [05:04<13:31,  1.10s/it]
 18%|█▊        | 160/900 [05:04<11:16,  1.09it/s]
 18%|█▊        | 161/900 [05:13<41:06,  3.34s/it]
 18%|█▊        | 162/900 [05:14<30:36,  2.49s/it]
 18%|█▊        | 163/900 [05:14<23:15,  1.89s/it]
 18%|█▊        | 164/900 [05:15<18:05,  1.47s/it]
 18%|█▊        | 165/900 [05:15<14:27,  1.18s/it]
 18%|█▊        | 166/900 [05:16<11:56,  1.02it/s]
 19%|█▊        | 167/900 [05:16<10:10,  1.20it/s]
 19%|█▊        | 168/900 [05:17<08:57,  1.36it/s]
 19%|█▉        | 169/900 [05:31<56:46,  4.66s/it]
 19%|█▉        | 170/900 [05:31<41:32,  3.41s/it]
 19%|█▉        | 171/900 [05:32<30:52,  2.54s/it]
 19%|█▉        | 172/900 [05:32<23:24,  1.93s/it]
 19%|█▉        | 173/900 [05:33<18:08,  1.50s/it]
 19%|█▉        | 174/900 [05:33<14:32,  1.20s/it]
 19%|█▉        | 175/900 [05:34<11:56,  1.01it/s]
 20%|█▉        | 176/900 [05:34<10:08,  1.19it/s]
 20%|█▉        | 177/900 [05:50<1:03:12,  5.25s/it]
 20%|█▉        | 178/900 [05:50<45:52,  3.81s/it]  
 20%|█▉        | 179/900 [05:51<33:52,  2.82s/it]
 20%|██        | 180/900 [05:51<25:26,  2.12s/it]
 20%|██        | 181/900 [05:52<19:32,  1.63s/it]
 20%|██        | 182/900 [05:52<15:21,  1.28s/it]
 20%|██        | 183/900 [05:52<12:27,  1.04s/it]
 20%|██        | 184/900 [05:53<10:23,  1.15it/s]
 21%|██        | 185/900 [06:32<2:26:27, 12.29s/it]
 21%|██        | 186/900 [06:32<1:44:12,  8.76s/it]
 21%|██        | 187/900 [06:33<1:14:37,  6.28s/it]
 21%|██        | 188/900 [06:33<53:57,  4.55s/it]  
 21%|██        | 189/900 [06:34<39:28,  3.33s/it]
 21%|██        | 190/900 [06:34<29:17,  2.48s/it]
 21%|██        | 191/900 [06:35<22:10,  1.88s/it]
 21%|██▏       | 192/900 [06:35<17:12,  1.46s/it]
 21%|██▏       | 193/900 [06:50<1:03:53,  5.42s/it]
 22%|██▏       | 194/900 [06:50<46:25,  3.95s/it]  
 22%|██▏       | 195/900 [06:51<34:12,  2.91s/it]
 22%|██▏       | 196/900 [06:51<25:40,  2.19s/it]
 22%|██▏       | 197/900 [06:52<19:40,  1.68s/it]
 22%|██▏       | 198/900 [06:52<15:30,  1.33s/it]
 22%|██▏       | 199/900 [06:53<12:37,  1.08s/it]
 22%|██▏       | 200/900 [06:53<10:32,  1.11it/s]
 22%|██▏       | 201/900 [07:05<48:42,  4.18s/it]
 22%|██▏       | 202/900 [07:06<35:48,  3.08s/it]
 23%|██▎       | 203/900 [07:06<26:48,  2.31s/it]
 23%|██▎       | 204/900 [07:07<20:33,  1.77s/it]
 23%|██▎       | 205/900 [07:07<16:05,  1.39s/it]
 23%|██▎       | 206/900 [07:08<12:59,  1.12s/it]
 23%|██▎       | 207/900 [07:08<10:51,  1.06it/s]
 23%|██▎       | 208/900 [07:09<09:19,  1.24it/s]
 23%|██▎       | 209/900 [07:27<1:10:32,  6.13s/it]
 23%|██▎       | 210/900 [07:28<51:05,  4.44s/it]  
 23%|██▎       | 211/900 [07:28<37:26,  3.26s/it]
 24%|██▎       | 212/900 [07:29<27:57,  2.44s/it]
 24%|██▎       | 213/900 [07:29<21:16,  1.86s/it]
 24%|██▍       | 214/900 [07:30<16:35,  1.45s/it]
 24%|██▍       | 215/900 [07:30<13:19,  1.17s/it]
 24%|██▍       | 216/900 [07:31<11:01,  1.03it/s]
 24%|██▍       | 217/900 [07:32<09:49,  1.16it/s]
 24%|██▍       | 218/900 [07:32<08:34,  1.33it/s]
 24%|██▍       | 219/900 [07:33<07:40,  1.48it/s]
 24%|██▍       | 220/900 [07:33<07:01,  1.61it/s]
 25%|██▍       | 221/900 [07:34<06:34,  1.72it/s]
 25%|██▍       | 222/900 [07:34<06:15,  1.80it/s]
 25%|██▍       | 223/900 [07:35<06:03,  1.86it/s]
 25%|██▍       | 224/900 [07:35<05:55,  1.90it/s]
 25%|██▌       | 225/900 [07:36<06:15,  1.80it/s]
 25%|██▌       | 226/900 [07:36<06:08,  1.83it/s]
 25%|██▌       | 227/900 [07:37<06:02,  1.86it/s]
 25%|██▌       | 228/900 [07:37<05:54,  1.89it/s]
 25%|██▌       | 229/900 [07:38<05:47,  1.93it/s]
 26%|██▌       | 230/900 [07:38<05:44,  1.95it/s]
 26%|██▌       | 231/900 [07:39<05:42,  1.95it/s]
 26%|██▌       | 232/900 [07:39<05:41,  1.96it/s]
 26%|██▌       | 233/900 [07:40<06:01,  1.84it/s]
 26%|██▌       | 234/900 [07:40<05:52,  1.89it/s]
 26%|██▌       | 235/900 [07:41<05:47,  1.92it/s]
 26%|██▌       | 236/900 [07:41<05:42,  1.94it/s]
 26%|██▋       | 237/900 [07:42<05:38,  1.96it/s]
 26%|██▋       | 238/900 [07:42<05:37,  1.96it/s]
 27%|██▋       | 239/900 [07:43<05:34,  1.98it/s]
 27%|██▋       | 240/900 [07:43<05:31,  1.99it/s]
 27%|██▋       | 241/900 [07:44<05:56,  1.85it/s]
 27%|██▋       | 242/900 [07:44<05:47,  1.89it/s]
 27%|██▋       | 243/900 [07:45<05:42,  1.92it/s]
 27%|██▋       | 244/900 [07:45<05:33,  1.96it/s]
 27%|██▋       | 245/900 [07:46<05:30,  1.98it/s]
 27%|██▋       | 246/900 [07:46<05:31,  1.97it/s]
 27%|██▋       | 247/900 [07:47<05:30,  1.98it/s]
 28%|██▊       | 248/900 [07:47<05:34,  1.95it/s]
 28%|██▊       | 249/900 [07:48<05:59,  1.81it/s]
 28%|██▊       | 250/900 [07:49<05:52,  1.84it/s]
 28%|██▊       | 251/900 [07:49<05:45,  1.88it/s]
 28%|██▊       | 252/900 [07:50<05:40,  1.90it/s]
 28%|██▊       | 253/900 [07:50<05:37,  1.91it/s]
 28%|██▊       | 254/900 [07:51<05:44,  1.88it/s]
 28%|██▊       | 255/900 [07:51<05:37,  1.91it/s]
 28%|██▊       | 256/900 [07:52<05:32,  1.94it/s]
 29%|██▊       | 257/900 [07:52<05:51,  1.83it/s]
 29%|██▊       | 258/900 [07:53<05:38,  1.89it/s]
 29%|██▉       | 259/900 [07:53<05:36,  1.90it/s]
 29%|██▉       | 260/900 [07:54<05:29,  1.94it/s]
 29%|██▉       | 261/900 [07:54<05:25,  1.96it/s]
 29%|██▉       | 262/900 [07:55<05:21,  1.98it/s]
 29%|██▉       | 263/900 [07:55<05:21,  1.98it/s]
 29%|██▉       | 264/900 [07:56<05:25,  1.95it/s]
 29%|██▉       | 265/900 [07:57<05:59,  1.77it/s]
 30%|██▉       | 266/900 [07:57<05:48,  1.82it/s]
 30%|██▉       | 267/900 [07:58<05:39,  1.86it/s]
 30%|██▉       | 268/900 [07:58<05:30,  1.91it/s]
 30%|██▉       | 269/900 [07:59<05:24,  1.94it/s]
 30%|███       | 270/900 [07:59<05:22,  1.95it/s]
 30%|███       | 271/900 [08:00<05:17,  1.98it/s]
 30%|███       | 272/900 [08:00<05:15,  1.99it/s]
 30%|███       | 273/900 [08:23<1:16:17,  7.30s/it]
 30%|███       | 274/900 [08:24<54:52,  5.26s/it]  
 31%|███       | 275/900 [08:24<39:55,  3.83s/it]
 31%|███       | 276/900 [08:25<29:27,  2.83s/it]
 31%|███       | 277/900 [08:25<22:07,  2.13s/it]
 31%|███       | 278/900 [08:26<17:00,  1.64s/it]
 31%|███       | 279/900 [08:26<13:26,  1.30s/it]
 31%|███       | 280/900 [08:27<10:55,  1.06s/it]
 31%|███       | 281/900 [08:28<10:12,  1.01it/s]
 31%|███▏      | 282/900 [08:28<08:41,  1.19it/s]
 31%|███▏      | 283/900 [08:29<07:38,  1.35it/s]
 32%|███▏      | 284/900 [08:29<06:53,  1.49it/s]
 32%|███▏      | 285/900 [08:30<06:22,  1.61it/s]
 32%|███▏      | 286/900 [08:30<05:58,  1.71it/s]
 32%|███▏      | 287/900 [08:31<05:42,  1.79it/s]
 32%|███▏      | 288/900 [08:31<05:29,  1.86it/s]
 32%|███▏      | 289/900 [08:32<05:42,  1.79it/s]
 32%|███▏      | 290/900 [08:32<05:31,  1.84it/s]
 32%|███▏      | 291/900 [08:33<05:22,  1.89it/s]
 32%|███▏      | 292/900 [08:33<05:15,  1.93it/s]
 33%|███▎      | 293/900 [08:34<05:11,  1.95it/s]
 33%|███▎      | 294/900 [08:34<05:09,  1.96it/s]
 33%|███▎      | 295/900 [08:35<05:06,  1.97it/s]
 33%|███▎      | 296/900 [08:35<05:04,  1.98it/s]
 33%|███▎      | 297/900 [08:45<34:21,  3.42s/it]
 33%|███▎      | 298/900 [08:46<25:30,  2.54s/it]
 33%|███▎      | 299/900 [08:46<19:19,  1.93s/it]
 33%|███▎      | 300/900 [08:47<15:00,  1.50s/it]
 33%|███▎      | 301/900 [08:47<11:59,  1.20s/it]
 34%|███▎      | 302/900 [08:48<09:52,  1.01it/s]
 34%|███▎      | 303/900 [08:48<08:23,  1.19it/s]
 34%|███▍      | 304/900 [08:49<07:22,  1.35it/s]
 34%|███▍      | 305/900 [08:49<06:59,  1.42it/s]
 34%|███▍      | 306/900 [08:50<06:23,  1.55it/s]
 34%|███▍      | 307/900 [08:51<05:56,  1.66it/s]
 34%|███▍      | 308/900 [08:51<05:38,  1.75it/s]
 34%|███▍      | 309/900 [08:52<05:24,  1.82it/s]
 34%|███▍      | 310/900 [08:52<05:17,  1.86it/s]
 35%|███▍      | 311/900 [08:53<05:13,  1.88it/s]
 35%|███▍      | 312/900 [08:53<05:10,  1.90it/s]
 35%|███▍      | 313/900 [08:54<05:23,  1.81it/s]
 35%|███▍      | 314/900 [08:54<05:16,  1.85it/s]
 35%|███▌      | 315/900 [08:55<05:09,  1.89it/s]
 35%|███▌      | 316/900 [08:55<05:02,  1.93it/s]
 35%|███▌      | 317/900 [08:56<04:57,  1.96it/s]
 35%|███▌      | 318/900 [08:56<04:55,  1.97it/s]
 35%|███▌      | 319/900 [08:57<04:54,  1.97it/s]
 36%|███▌      | 320/900 [08:57<04:57,  1.95it/s]
 36%|███▌      | 321/900 [09:24<1:20:47,  8.37s/it]
 36%|███▌      | 322/900 [09:24<57:54,  6.01s/it]  
 36%|███▌      | 323/900 [09:25<41:55,  4.36s/it]
 36%|███▌      | 324/900 [09:25<30:45,  3.20s/it]
 36%|███▌      | 325/900 [09:26<22:58,  2.40s/it]
 36%|███▌      | 326/900 [09:26<17:31,  1.83s/it]
 36%|███▋      | 327/900 [09:27<13:40,  1.43s/it]
 36%|███▋      | 328/900 [09:27<10:59,  1.15s/it]
 37%|███▋      | 329/900 [09:28<09:27,  1.01it/s]
 37%|███▋      | 330/900 [09:29<08:04,  1.18it/s]
 37%|███▋      | 331/900 [09:29<07:05,  1.34it/s]
 37%|███▋      | 332/900 [09:30<06:23,  1.48it/s]
 37%|███▋      | 333/900 [09:30<05:57,  1.59it/s]
 37%|███▋      | 334/900 [09:31<05:35,  1.69it/s]
 37%|███▋      | 335/900 [09:31<05:19,  1.77it/s]
 37%|███▋      | 336/900 [09:32<05:10,  1.82it/s]
 37%|███▋      | 337/900 [09:46<43:14,  4.61s/it]
 38%|███▊      | 338/900 [09:46<31:36,  3.37s/it]
 38%|███▊      | 339/900 [09:47<23:30,  2.51s/it]
 38%|███▊      | 340/900 [09:47<17:51,  1.91s/it]
 38%|███▊      | 341/900 [09:48<13:55,  1.49s/it]
 38%|███▊      | 342/900 [09:48<11:07,  1.20s/it]
 38%|███▊      | 343/900 [09:49<09:10,  1.01it/s]
 38%|███▊      | 344/900 [09:49<07:48,  1.19it/s]
 38%|███▊      | 345/900 [09:50<07:11,  1.29it/s]
 38%|███▊      | 346/900 [09:50<06:23,  1.44it/s]
 39%|███▊      | 347/900 [09:51<05:53,  1.57it/s]
 39%|███▊      | 348/900 [09:51<05:30,  1.67it/s]
 39%|███▉      | 349/900 [09:52<05:14,  1.75it/s]
 39%|███▉      | 350/900 [09:52<05:02,  1.82it/s]
 39%|███▉      | 351/900 [09:53<04:52,  1.88it/s]
 39%|███▉      | 352/900 [09:53<04:49,  1.90it/s]
 39%|███▉      | 353/900 [10:04<32:00,  3.51s/it]
 39%|███▉      | 354/900 [10:04<23:48,  2.62s/it]
 39%|███▉      | 355/900 [10:05<18:00,  1.98s/it]
 40%|███▉      | 356/900 [10:05<13:58,  1.54s/it]
 40%|███▉      | 357/900 [10:06<11:10,  1.23s/it]
 40%|███▉      | 358/900 [10:06<09:09,  1.01s/it]
 40%|███▉      | 359/900 [10:07<07:45,  1.16it/s]
 40%|████      | 360/900 [10:07<06:48,  1.32it/s]
 40%|████      | 361/900 [10:16<28:27,  3.17s/it]
 40%|████      | 362/900 [10:17<21:16,  2.37s/it]
 40%|████      | 363/900 [10:17<16:14,  1.81s/it]
 40%|████      | 364/900 [10:18<12:43,  1.42s/it]
 41%|████      | 365/900 [10:18<10:14,  1.15s/it]
 41%|████      | 366/900 [10:19<08:32,  1.04it/s]
 41%|████      | 367/900 [10:19<07:17,  1.22it/s]
 41%|████      | 368/900 [10:20<06:25,  1.38it/s]
 41%|████      | 369/900 [10:38<53:23,  6.03s/it]
 41%|████      | 370/900 [10:39<38:41,  4.38s/it]
 41%|████      | 371/900 [10:39<28:22,  3.22s/it]
 41%|████▏     | 372/900 [10:40<21:09,  2.41s/it]
 41%|████▏     | 373/900 [10:40<16:06,  1.83s/it]
 42%|████▏     | 374/900 [10:41<12:34,  1.43s/it]
 42%|████▏     | 375/900 [10:41<10:11,  1.17s/it]
 42%|████▏     | 376/900 [10:42<08:24,  1.04it/s]
 42%|████▏     | 377/900 [10:42<07:31,  1.16it/s]
 42%|████▏     | 378/900 [10:43<06:35,  1.32it/s]
 42%|████▏     | 379/900 [10:43<05:55,  1.47it/s]
 42%|████▏     | 380/900 [10:44<05:26,  1.59it/s]
 42%|████▏     | 381/900 [10:44<05:08,  1.68it/s]
 42%|████▏     | 382/900 [10:45<04:52,  1.77it/s]
 43%|████▎     | 383/900 [10:45<04:41,  1.83it/s]
 43%|████▎     | 384/900 [10:46<04:36,  1.87it/s]
 43%|████▎     | 385/900 [10:59<36:49,  4.29s/it]
 43%|████▎     | 386/900 [11:00<27:00,  3.15s/it]
 43%|████▎     | 387/900 [11:00<20:09,  2.36s/it]
 43%|████▎     | 388/900 [11:01<15:22,  1.80s/it]
 43%|████▎     | 389/900 [11:01<11:59,  1.41s/it]
 43%|████▎     | 390/900 [11:02<09:38,  1.13s/it]
 43%|████▎     | 391/900 [11:02<08:01,  1.06it/s]
 44%|████▎     | 392/900 [11:03<06:52,  1.23it/s]
 44%|████▎     | 393/900 [11:03<06:20,  1.33it/s]
 44%|████▍     | 394/900 [11:04<05:40,  1.49it/s]
 44%|████▍     | 395/900 [11:04<05:12,  1.61it/s]
 44%|████▍     | 396/900 [11:05<04:53,  1.72it/s]
 44%|████▍     | 397/900 [11:05<04:37,  1.81it/s]
 44%|████▍     | 398/900 [11:06<04:29,  1.86it/s]
 44%|████▍     | 399/900 [11:06<04:24,  1.89it/s]
 44%|████▍     | 400/900 [11:07<04:19,  1.93it/s]
 45%|████▍     | 401/900 [11:17<29:00,  3.49s/it]
 45%|████▍     | 402/900 [11:18<21:29,  2.59s/it]
 45%|████▍     | 403/900 [11:18<16:11,  1.95s/it]
 45%|████▍     | 404/900 [11:19<12:33,  1.52s/it]
 45%|████▌     | 405/900 [11:19<10:00,  1.21s/it]
 45%|████▌     | 406/900 [11:19<08:13,  1.00it/s]
 45%|████▌     | 407/900 [11:20<06:57,  1.18it/s]
 45%|████▌     | 408/900 [11:20<06:05,  1.35it/s]
 45%|████▌     | 409/900 [11:28<21:31,  2.63s/it]
 46%|████▌     | 410/900 [11:28<16:15,  1.99s/it]
 46%|████▌     | 411/900 [11:29<12:32,  1.54s/it]
 46%|████▌     | 412/900 [11:29<09:58,  1.23s/it]
 46%|████▌     | 413/900 [11:29<08:10,  1.01s/it]
 46%|████▌     | 414/900 [11:30<06:55,  1.17it/s]
 46%|████▌     | 415/900 [11:30<06:00,  1.34it/s]
 46%|████▌     | 416/900 [11:31<05:22,  1.50it/s]
 46%|████▋     | 417/900 [11:55<1:02:23,  7.75s/it]
 46%|████▋     | 418/900 [11:56<44:46,  5.57s/it]  
 47%|████▋     | 419/900 [11:56<32:27,  4.05s/it]
 47%|████▋     | 420/900 [11:57<23:51,  2.98s/it]
 47%|████▋     | 421/900 [11:57<17:48,  2.23s/it]
 47%|████▋     | 422/900 [11:58<13:35,  1.71s/it]
 47%|████▋     | 423/900 [11:58<10:38,  1.34s/it]
 47%|████▋     | 424/900 [11:59<08:35,  1.08s/it]
 47%|████▋     | 425/900 [12:12<36:53,  4.66s/it]
 47%|████▋     | 426/900 [12:12<26:56,  3.41s/it]
 47%|████▋     | 427/900 [12:13<19:59,  2.54s/it]
 48%|████▊     | 428/900 [12:13<15:09,  1.93s/it]
 48%|████▊     | 429/900 [12:14<11:47,  1.50s/it]
 48%|████▊     | 430/900 [12:14<09:23,  1.20s/it]
 48%|████▊     | 431/900 [12:15<07:42,  1.01it/s]
 48%|████▊     | 432/900 [12:15<06:34,  1.19it/s]
 48%|████▊     | 433/900 [12:24<24:17,  3.12s/it]
 48%|████▊     | 434/900 [12:24<18:10,  2.34s/it]
 48%|████▊     | 435/900 [12:25<13:50,  1.79s/it]
 48%|████▊     | 436/900 [12:25<10:49,  1.40s/it]
 49%|████▊     | 437/900 [12:26<08:42,  1.13s/it]
 49%|████▊     | 438/900 [12:26<07:15,  1.06it/s]
 49%|████▉     | 439/900 [12:27<06:12,  1.24it/s]
 49%|████▉     | 440/900 [12:27<05:29,  1.40it/s]
 49%|████▉     | 441/900 [12:41<36:02,  4.71s/it]
 49%|████▉     | 442/900 [12:42<26:17,  3.45s/it]
 49%|████▉     | 443/900 [12:42<19:28,  2.56s/it]
 49%|████▉     | 444/900 [12:43<14:43,  1.94s/it]
 49%|████▉     | 445/900 [12:43<11:26,  1.51s/it]
 50%|████▉     | 446/900 [12:44<09:06,  1.20s/it]
 50%|████▉     | 447/900 [12:44<07:28,  1.01it/s]
 50%|████▉     | 448/900 [12:45<06:21,  1.19it/s]
 50%|████▉     | 449/900 [13:07<54:50,  7.30s/it]
 50%|█████     | 450/900 [13:07<39:26,  5.26s/it]
 50%|█████     | 451/900 [13:08<28:38,  3.83s/it]
 50%|█████     | 452/900 [13:08<21:03,  2.82s/it]
 50%|█████     | 453/900 [13:09<15:46,  2.12s/it]
 50%|█████     | 454/900 [13:09<12:05,  1.63s/it]
 51%|█████     | 455/900 [13:10<09:31,  1.28s/it]
 51%|█████     | 456/900 [13:10<07:43,  1.04s/it]
 51%|█████     | 457/900 [13:21<29:08,  3.95s/it]
 51%|█████     | 458/900 [13:22<21:30,  2.92s/it]
 51%|█████     | 459/900 [13:22<16:08,  2.20s/it]
 51%|█████     | 460/900 [13:23<12:20,  1.68s/it]
 51%|█████     | 461/900 [13:23<09:40,  1.32s/it]
 51%|█████▏    | 462/900 [13:24<07:52,  1.08s/it]
 51%|█████▏    | 463/900 [13:24<06:34,  1.11it/s]
 52%|█████▏    | 464/900 [13:25<05:41,  1.28it/s]
 52%|█████▏    | 465/900 [13:40<37:17,  5.14s/it]
 52%|█████▏    | 466/900 [13:40<27:08,  3.75s/it]
 52%|█████▏    | 467/900 [13:41<20:02,  2.78s/it]
 52%|█████▏    | 468/900 [13:41<15:04,  2.09s/it]
 52%|█████▏    | 469/900 [13:42<11:34,  1.61s/it]
 52%|█████▏    | 470/900 [13:42<09:07,  1.27s/it]
 52%|█████▏    | 471/900 [13:43<07:27,  1.04s/it]
 52%|█████▏    | 472/900 [13:43<06:17,  1.13it/s]
 53%|█████▎    | 473/900 [14:05<50:40,  7.12s/it]
 53%|█████▎    | 474/900 [14:06<36:27,  5.13s/it]
 53%|█████▎    | 475/900 [14:06<26:30,  3.74s/it]
 53%|█████▎    | 476/900 [14:07<19:33,  2.77s/it]
 53%|█████▎    | 477/900 [14:07<14:43,  2.09s/it]
 53%|█████▎    | 478/900 [14:08<11:21,  1.62s/it]
 53%|█████▎    | 479/900 [14:08<08:59,  1.28s/it]
 53%|█████▎    | 480/900 [14:09<07:20,  1.05s/it]
 53%|█████▎    | 481/900 [14:24<38:18,  5.49s/it]
 54%|█████▎    | 482/900 [14:25<27:47,  3.99s/it]
 54%|█████▎    | 483/900 [14:25<20:26,  2.94s/it]
 54%|█████▍    | 484/900 [14:26<15:19,  2.21s/it]
 54%|█████▍    | 485/900 [14:26<11:42,  1.69s/it]
 54%|█████▍    | 486/900 [14:27<09:13,  1.34s/it]
 54%|█████▍    | 487/900 [14:27<07:25,  1.08s/it]
 54%|█████▍    | 488/900 [14:28<06:10,  1.11it/s]
 54%|█████▍    | 489/900 [14:47<44:33,  6.50s/it]
 54%|█████▍    | 490/900 [14:48<32:07,  4.70s/it]
 55%|█████▍    | 491/900 [14:48<23:23,  3.43s/it]
 55%|█████▍    | 492/900 [14:49<17:20,  2.55s/it]
 55%|█████▍    | 493/900 [14:49<13:04,  1.93s/it]
 55%|█████▍    | 494/900 [14:50<10:09,  1.50s/it]
 55%|█████▌    | 495/900 [14:50<08:06,  1.20s/it]
 55%|█████▌    | 496/900 [14:51<06:40,  1.01it/s]
 55%|█████▌    | 497/900 [14:58<18:58,  2.83s/it]
 55%|█████▌    | 498/900 [14:58<14:14,  2.13s/it]
 55%|█████▌    | 499/900 [14:59<10:57,  1.64s/it]
 56%|█████▌    | 500/900 [15:00<09:38,  1.45s/it]
 56%|█████▌    | 501/900 [15:00<07:44,  1.16s/it]
 56%|█████▌    | 502/900 [15:01<06:23,  1.04it/s]
 56%|█████▌    | 503/900 [15:01<05:26,  1.22it/s]
 56%|█████▌    | 504/900 [15:02<04:47,  1.38it/s]
 56%|█████▌    | 505/900 [15:22<42:19,  6.43s/it]
 56%|█████▌    | 506/900 [15:22<30:33,  4.65s/it]
 56%|█████▋    | 507/900 [15:23<22:18,  3.41s/it]
 56%|█████▋    | 508/900 [15:23<16:32,  2.53s/it]
 57%|█████▋    | 509/900 [15:24<12:32,  1.92s/it]
 57%|█████▋    | 510/900 [15:24<09:43,  1.50s/it]
 57%|█████▋    | 511/900 [15:25<07:50,  1.21s/it]
 57%|█████▋    | 512/900 [15:25<06:28,  1.00s/it]
 57%|█████▋    | 513/900 [15:42<37:14,  5.78s/it]
 57%|█████▋    | 514/900 [15:43<26:58,  4.19s/it]
 57%|█████▋    | 515/900 [15:43<19:47,  3.09s/it]
 57%|█████▋    | 516/900 [15:44<14:47,  2.31s/it]
 57%|█████▋    | 517/900 [15:44<11:17,  1.77s/it]
 58%|█████▊    | 518/900 [15:45<08:49,  1.39s/it]
 58%|█████▊    | 519/900 [15:45<07:06,  1.12s/it]
 58%|█████▊    | 520/900 [15:46<05:55,  1.07it/s]
 58%|█████▊    | 521/900 [16:26<1:20:08, 12.69s/it]
 58%|█████▊    | 522/900 [16:26<56:54,  9.03s/it]  
 58%|█████▊    | 523/900 [16:27<40:41,  6.48s/it]
 58%|█████▊    | 524/900 [16:27<29:21,  4.69s/it]
 58%|█████▊    | 525/900 [16:28<21:30,  3.44s/it]
 58%|█████▊    | 526/900 [16:28<16:04,  2.58s/it]
 59%|█████▊    | 527/900 [16:29<12:11,  1.96s/it]
 59%|█████▊    | 528/900 [16:29<09:28,  1.53s/it]
 59%|█████▉    | 529/900 [17:52<2:39:11, 25.75s/it]
 59%|█████▉    | 530/900 [17:52<1:52:06, 18.18s/it]
 59%|█████▉    | 531/900 [17:53<1:19:12, 12.88s/it]
 59%|█████▉    | 532/900 [17:53<56:13,  9.17s/it]  
 59%|█████▉    | 533/900 [17:54<40:08,  6.56s/it]
 59%|█████▉    | 534/900 [17:54<28:54,  4.74s/it]
 59%|█████▉    | 535/900 [17:55<21:05,  3.47s/it]
 60%|█████▉    | 536/900 [17:55<15:37,  2.58s/it]
 60%|█████▉    | 537/900 [18:27<1:08:16, 11.28s/it]
 60%|█████▉    | 538/900 [18:27<48:33,  8.05s/it]  
 60%|█████▉    | 539/900 [18:28<34:48,  5.79s/it]
 60%|██████    | 540/900 [18:28<25:17,  4.21s/it]
 60%|██████    | 541/900 [18:29<18:33,  3.10s/it]
 60%|██████    | 542/900 [18:29<13:50,  2.32s/it]
 60%|██████    | 543/900 [18:30<10:32,  1.77s/it]
 60%|██████    | 544/900 [18:30<08:14,  1.39s/it]
 61%|██████    | 545/900 [18:52<43:39,  7.38s/it]
 61%|██████    | 546/900 [18:52<31:21,  5.32s/it]
 61%|██████    | 547/900 [18:53<22:47,  3.87s/it]
 61%|██████    | 548/900 [18:53<16:47,  2.86s/it]
 61%|██████    | 549/900 [18:54<12:34,  2.15s/it]
 61%|██████    | 550/900 [18:54<09:39,  1.66s/it]
 61%|██████    | 551/900 [18:55<07:35,  1.31s/it]
 61%|██████▏   | 552/900 [18:55<06:10,  1.06s/it]
 61%|██████▏   | 553/900 [19:34<1:12:04, 12.46s/it]
 62%|██████▏   | 554/900 [19:35<51:09,  8.87s/it]  
 62%|██████▏   | 555/900 [19:35<36:32,  6.36s/it]
 62%|██████▏   | 556/900 [19:36<26:19,  4.59s/it]
 62%|██████▏   | 557/900 [19:36<19:13,  3.36s/it]
 62%|██████▏   | 558/900 [19:37<14:16,  2.50s/it]
 62%|██████▏   | 559/900 [19:37<10:48,  1.90s/it]
 62%|██████▏   | 560/900 [19:38<08:22,  1.48s/it]
 62%|██████▏   | 561/900 [20:59<2:23:23, 25.38s/it]
 62%|██████▏   | 562/900 [20:59<1:40:57, 17.92s/it]
 63%|██████▎   | 563/900 [21:00<1:11:19, 12.70s/it]
 63%|██████▎   | 564/900 [21:00<50:39,  9.05s/it]  
 63%|██████▎   | 565/900 [21:01<36:13,  6.49s/it]
 63%|██████▎   | 566/900 [21:01<26:10,  4.70s/it]
 63%|██████▎   | 567/900 [21:02<19:06,  3.44s/it]
 63%|██████▎   | 568/900 [21:02<14:11,  2.56s/it]
 63%|██████▎   | 569/900 [22:13<2:06:55, 23.01s/it]
 63%|██████▎   | 570/900 [22:14<1:29:24, 16.26s/it]
 63%|██████▎   | 571/900 [22:14<1:03:12, 11.53s/it]
 64%|██████▎   | 572/900 [22:15<44:54,  8.22s/it]  
 64%|██████▎   | 573/900 [22:15<32:08,  5.90s/it]
 64%|██████▍   | 574/900 [22:16<23:14,  4.28s/it]
 64%|██████▍   | 575/900 [22:16<17:02,  3.15s/it]
 64%|██████▍   | 576/900 [22:17<12:44,  2.36s/it]
 64%|██████▍   | 577/900 [22:34<36:10,  6.72s/it]
 64%|██████▍   | 578/900 [22:34<26:04,  4.86s/it]
 64%|██████▍   | 579/900 [22:35<18:59,  3.55s/it]
 64%|██████▍   | 580/900 [22:35<14:03,  2.63s/it]
 65%|██████▍   | 581/900 [22:36<10:35,  1.99s/it]
 65%|██████▍   | 582/900 [22:36<08:11,  1.54s/it]
 65%|██████▍   | 583/900 [22:37<06:29,  1.23s/it]
 65%|██████▍   | 584/900 [22:37<05:18,  1.01s/it]
 65%|██████▌   | 585/900 [23:19<1:09:13, 13.19s/it]
 65%|██████▌   | 586/900 [23:19<49:05,  9.38s/it]  
 65%|██████▌   | 587/900 [23:20<35:01,  6.72s/it]
 65%|██████▌   | 588/900 [23:20<25:12,  4.85s/it]
 65%|██████▌   | 589/900 [23:21<18:23,  3.55s/it]
 66%|██████▌   | 590/900 [23:21<13:37,  2.64s/it]
 66%|██████▌   | 591/900 [23:22<10:19,  2.00s/it]
 66%|██████▌   | 592/900 [23:22<08:02,  1.56s/it]
 66%|██████▌   | 593/900 [23:32<21:11,  4.14s/it]
 66%|██████▌   | 594/900 [23:33<15:36,  3.06s/it]
 66%|██████▌   | 595/900 [23:33<11:41,  2.30s/it]
 66%|██████▌   | 596/900 [23:34<08:57,  1.77s/it]
 66%|██████▋   | 597/900 [23:35<07:02,  1.40s/it]
 66%|██████▋   | 598/900 [23:35<05:43,  1.14s/it]
 67%|██████▋   | 599/900 [23:36<04:49,  1.04it/s]
 67%|██████▋   | 600/900 [23:36<04:10,  1.20it/s]
 67%|██████▋   | 601/900 [23:58<35:12,  7.06s/it]
 67%|██████▋   | 602/900 [23:58<25:21,  5.11s/it]
 67%|██████▋   | 603/900 [23:59<18:31,  3.74s/it]
 67%|██████▋   | 604/900 [23:59<13:44,  2.78s/it]
 67%|██████▋   | 605/900 [24:00<10:22,  2.11s/it]
 67%|██████▋   | 606/900 [24:00<08:02,  1.64s/it]
 67%|██████▋   | 607/900 [24:01<06:24,  1.31s/it]
 68%|██████▊   | 608/900 [24:02<05:14,  1.08s/it]
 68%|██████▊   | 609/900 [24:34<51:03, 10.53s/it]
 68%|██████▊   | 610/900 [24:35<36:20,  7.52s/it]
 68%|██████▊   | 611/900 [24:35<26:05,  5.42s/it]
 68%|██████▊   | 612/900 [24:36<18:55,  3.94s/it]
 68%|██████▊   | 613/900 [24:36<13:56,  2.91s/it]
 68%|██████▊   | 614/900 [24:37<10:29,  2.20s/it]
 68%|██████▊   | 615/900 [24:37<08:02,  1.69s/it]
 68%|██████▊   | 616/900 [24:38<06:20,  1.34s/it]
 69%|██████▊   | 617/900 [24:58<33:39,  7.14s/it]
 69%|██████▊   | 618/900 [24:59<24:12,  5.15s/it]
 69%|██████▉   | 619/900 [24:59<17:34,  3.75s/it]
 69%|██████▉   | 620/900 [25:00<12:57,  2.78s/it]
 69%|██████▉   | 621/900 [25:00<09:44,  2.10s/it]
 69%|██████▉   | 622/900 [25:01<07:29,  1.62s/it]
 69%|██████▉   | 623/900 [25:01<05:55,  1.28s/it]
 69%|██████▉   | 624/900 [25:02<04:50,  1.05s/it]
 69%|██████▉   | 625/900 [25:15<21:01,  4.59s/it]
 70%|██████▉   | 626/900 [25:15<15:20,  3.36s/it]
 70%|██████▉   | 627/900 [25:16<11:24,  2.51s/it]
 70%|██████▉   | 628/900 [25:16<08:39,  1.91s/it]
 70%|██████▉   | 629/900 [25:17<06:43,  1.49s/it]
 70%|███████   | 630/900 [25:17<05:21,  1.19s/it]
 70%|███████   | 631/900 [25:18<04:23,  1.02it/s]
 70%|███████   | 632/900 [25:18<03:42,  1.21it/s]
 70%|███████   | 633/900 [25:32<21:22,  4.81s/it]
 70%|███████   | 634/900 [25:33<15:34,  3.51s/it]
 71%|███████   | 635/900 [25:33<11:32,  2.61s/it]
 71%|███████   | 636/900 [25:34<08:41,  1.98s/it]
 71%|███████   | 637/900 [25:34<06:43,  1.53s/it]
 71%|███████   | 638/900 [25:35<05:23,  1.23s/it]
 71%|███████   | 639/900 [25:35<04:25,  1.02s/it]
 71%|███████   | 640/900 [25:36<03:44,  1.16it/s]
 71%|███████   | 641/900 [25:51<22:30,  5.21s/it]
 71%|███████▏  | 642/900 [25:52<16:20,  3.80s/it]
 71%|███████▏  | 643/900 [25:52<12:02,  2.81s/it]
 72%|███████▏  | 644/900 [25:53<09:02,  2.12s/it]
 72%|███████▏  | 645/900 [25:53<06:57,  1.64s/it]
 72%|███████▏  | 646/900 [25:54<05:29,  1.30s/it]
 72%|███████▏  | 647/900 [25:54<04:28,  1.06s/it]
 72%|███████▏  | 648/900 [25:55<03:45,  1.12it/s]
 72%|███████▏  | 649/900 [26:19<32:55,  7.87s/it]
 72%|███████▏  | 650/900 [26:19<23:35,  5.66s/it]
 72%|███████▏  | 651/900 [26:20<17:04,  4.11s/it]
 72%|███████▏  | 652/900 [26:20<12:31,  3.03s/it]
 73%|███████▎  | 653/900 [26:21<09:20,  2.27s/it]
 73%|███████▎  | 654/900 [26:21<07:07,  1.74s/it]
 73%|███████▎  | 655/900 [26:22<05:35,  1.37s/it]
 73%|███████▎  | 656/900 [26:22<04:31,  1.11s/it]
 73%|███████▎  | 657/900 [26:57<45:39, 11.28s/it]
 73%|███████▎  | 658/900 [26:58<32:26,  8.04s/it]
 73%|███████▎  | 659/900 [26:58<23:12,  5.78s/it]
 73%|███████▎  | 660/900 [26:59<16:47,  4.20s/it]
 73%|███████▎  | 661/900 [26:59<12:17,  3.09s/it]
 74%|███████▎  | 662/900 [27:00<09:11,  2.32s/it]
 74%|███████▎  | 663/900 [27:00<06:58,  1.77s/it]
 74%|███████▍  | 664/900 [27:01<05:27,  1.39s/it]
 74%|███████▍  | 665/900 [27:29<36:31,  9.33s/it]
 74%|███████▍  | 666/900 [27:29<26:02,  6.68s/it]
 74%|███████▍  | 667/900 [27:30<18:44,  4.82s/it]
 74%|███████▍  | 668/900 [27:30<13:38,  3.53s/it]
 74%|███████▍  | 669/900 [27:31<10:04,  2.62s/it]
 74%|███████▍  | 670/900 [27:31<07:36,  1.98s/it]
 75%|███████▍  | 671/900 [27:32<05:52,  1.54s/it]
 75%|███████▍  | 672/900 [27:32<04:39,  1.23s/it]
 75%|███████▍  | 673/900 [28:01<35:59,  9.51s/it]
 75%|███████▍  | 674/900 [28:02<25:40,  6.81s/it]
 75%|███████▌  | 675/900 [28:02<18:27,  4.92s/it]
 75%|███████▌  | 676/900 [28:03<13:25,  3.60s/it]
 75%|███████▌  | 677/900 [28:03<09:55,  2.67s/it]
 75%|███████▌  | 678/900 [28:04<07:27,  2.02s/it]
 75%|███████▌  | 679/900 [28:04<05:45,  1.56s/it]
 76%|███████▌  | 680/900 [28:05<04:32,  1.24s/it]
 76%|███████▌  | 681/900 [28:25<25:36,  7.01s/it]
 76%|███████▌  | 682/900 [28:26<18:23,  5.06s/it]
 76%|███████▌  | 683/900 [28:26<13:21,  3.69s/it]
 76%|███████▌  | 684/900 [28:27<09:51,  2.74s/it]
 76%|███████▌  | 685/900 [28:27<07:23,  2.06s/it]
 76%|███████▌  | 686/900 [28:28<05:41,  1.59s/it]
 76%|███████▋  | 687/900 [28:28<04:28,  1.26s/it]
 76%|███████▋  | 688/900 [28:29<03:37,  1.03s/it]
 77%|███████▋  | 689/900 [28:43<17:47,  5.06s/it]
 77%|███████▋  | 690/900 [28:44<12:56,  3.70s/it]
 77%|███████▋  | 691/900 [28:44<09:31,  2.73s/it]
 77%|███████▋  | 692/900 [28:45<07:09,  2.07s/it]
 77%|███████▋  | 693/900 [28:45<05:31,  1.60s/it]
 77%|███████▋  | 694/900 [28:46<04:20,  1.26s/it]
 77%|███████▋  | 695/900 [28:46<03:31,  1.03s/it]
 77%|███████▋  | 696/900 [28:47<02:56,  1.15it/s]
 77%|███████▋  | 697/900 [30:12<1:28:32, 26.17s/it]
 78%|███████▊  | 698/900 [30:12<1:02:11, 18.47s/it]
 78%|███████▊  | 699/900 [30:13<43:49, 13.08s/it]  
 78%|███████▊  | 700/900 [30:13<31:01,  9.31s/it]
 78%|███████▊  | 701/900 [30:14<22:06,  6.67s/it]
 78%|███████▊  | 702/900 [30:14<15:54,  4.82s/it]
 78%|███████▊  | 703/900 [30:15<11:34,  3.52s/it]
 78%|███████▊  | 704/900 [30:15<08:33,  2.62s/it]
 78%|███████▊  | 705/900 [30:50<39:22, 12.12s/it]
 78%|███████▊  | 706/900 [30:50<27:55,  8.64s/it]
 79%|███████▊  | 707/900 [30:51<19:56,  6.20s/it]
 79%|███████▊  | 708/900 [30:51<14:23,  4.50s/it]
 79%|███████▉  | 709/900 [30:52<10:30,  3.30s/it]
 79%|███████▉  | 710/900 [30:52<07:51,  2.48s/it]
 79%|███████▉  | 711/900 [30:53<05:58,  1.90s/it]
 79%|███████▉  | 712/900 [30:53<04:39,  1.48s/it]
 79%|███████▉  | 713/900 [31:31<38:25, 12.33s/it]
 79%|███████▉  | 714/900 [31:31<27:14,  8.79s/it]
 79%|███████▉  | 715/900 [31:32<19:26,  6.31s/it]
 80%|███████▉  | 716/900 [31:33<14:00,  4.57s/it]
 80%|███████▉  | 717/900 [31:33<10:13,  3.35s/it]
 80%|███████▉  | 718/900 [31:34<07:34,  2.50s/it]
 80%|███████▉  | 719/900 [31:34<05:44,  1.90s/it]
 80%|████████  | 720/900 [31:35<04:27,  1.49s/it]
 80%|████████  | 721/900 [31:48<15:19,  5.14s/it]
 80%|████████  | 722/900 [31:49<11:08,  3.75s/it]
 80%|████████  | 723/900 [31:49<08:12,  2.78s/it]
 80%|████████  | 724/900 [31:50<06:10,  2.11s/it]
 81%|████████  | 725/900 [31:50<04:45,  1.63s/it]
 81%|████████  | 726/900 [31:51<03:46,  1.30s/it]
 81%|████████  | 727/900 [31:51<03:04,  1.06s/it]
 81%|████████  | 728/900 [31:52<02:35,  1.11it/s]
 81%|████████  | 729/900 [32:09<16:48,  5.90s/it]
 81%|████████  | 730/900 [32:10<12:08,  4.29s/it]
 81%|████████  | 731/900 [32:10<08:53,  3.16s/it]
 81%|████████▏ | 732/900 [32:11<06:38,  2.37s/it]
 81%|████████▏ | 733/900 [32:12<05:03,  1.82s/it]
 82%|████████▏ | 734/900 [32:12<03:58,  1.43s/it]
 82%|████████▏ | 735/900 [32:13<03:11,  1.16s/it]
 82%|████████▏ | 736/900 [32:13<02:39,  1.03it/s]
 82%|████████▏ | 737/900 [32:40<23:29,  8.65s/it]
 82%|████████▏ | 738/900 [32:40<16:45,  6.20s/it]
 82%|████████▏ | 739/900 [32:41<12:03,  4.49s/it]
 82%|████████▏ | 740/900 [32:41<08:46,  3.29s/it]
 82%|████████▏ | 741/900 [32:42<06:29,  2.45s/it]
 82%|████████▏ | 742/900 [32:42<04:54,  1.87s/it]
 83%|████████▎ | 743/900 [32:43<03:48,  1.46s/it]
 83%|████████▎ | 744/900 [32:43<03:02,  1.17s/it]
 83%|████████▎ | 745/900 [33:07<20:55,  8.10s/it]
 83%|████████▎ | 746/900 [33:08<14:56,  5.82s/it]
 83%|████████▎ | 747/900 [33:08<10:46,  4.23s/it]
 83%|████████▎ | 748/900 [33:09<07:52,  3.11s/it]
 83%|████████▎ | 749/900 [33:09<05:52,  2.33s/it]
 83%|████████▎ | 750/900 [33:10<04:27,  1.78s/it]
 83%|████████▎ | 751/900 [33:10<03:28,  1.40s/it]
 84%|████████▎ | 752/900 [33:11<02:47,  1.13s/it]
 84%|████████▎ | 753/900 [33:33<17:50,  7.28s/it]
 84%|████████▍ | 754/900 [33:33<12:45,  5.25s/it]
 84%|████████▍ | 755/900 [33:34<09:14,  3.82s/it]
 84%|████████▍ | 756/900 [33:34<06:47,  2.83s/it]
 84%|████████▍ | 757/900 [33:35<05:05,  2.13s/it]
 84%|████████▍ | 758/900 [33:35<03:53,  1.64s/it]
 84%|████████▍ | 759/900 [33:36<03:02,  1.30s/it]
 84%|████████▍ | 760/900 [33:36<02:28,  1.06s/it]
 85%|████████▍ | 761/900 [33:56<15:11,  6.56s/it]
 85%|████████▍ | 762/900 [33:56<10:56,  4.76s/it]
 85%|████████▍ | 763/900 [33:57<07:58,  3.49s/it]
 85%|████████▍ | 764/900 [33:57<05:57,  2.63s/it]
 85%|████████▌ | 765/900 [33:58<04:30,  2.00s/it]
 85%|████████▌ | 766/900 [33:58<03:28,  1.56s/it]
 85%|████████▌ | 767/900 [33:59<02:45,  1.25s/it]
 85%|████████▌ | 768/900 [33:59<02:15,  1.03s/it]
 85%|████████▌ | 769/900 [34:32<22:44, 10.42s/it]
 86%|████████▌ | 770/900 [34:32<16:08,  7.45s/it]
 86%|████████▌ | 771/900 [34:33<11:32,  5.37s/it]
 86%|████████▌ | 772/900 [34:33<08:20,  3.91s/it]
 86%|████████▌ | 773/900 [34:34<06:06,  2.89s/it]
 86%|████████▌ | 774/900 [34:34<04:33,  2.17s/it]
 86%|████████▌ | 775/900 [34:35<03:28,  1.67s/it]
 86%|████████▌ | 776/900 [34:35<02:42,  1.31s/it]
 86%|████████▋ | 777/900 [36:35<1:15:25, 36.79s/it]
 86%|████████▋ | 778/900 [36:35<52:40, 25.91s/it]  
 87%|████████▋ | 779/900 [36:36<36:52, 18.28s/it]
 87%|████████▋ | 780/900 [36:36<25:53, 12.95s/it]
 87%|████████▋ | 781/900 [36:37<18:16,  9.21s/it]
 87%|████████▋ | 782/900 [36:37<12:58,  6.60s/it]
 87%|████████▋ | 783/900 [36:38<09:18,  4.77s/it]
 87%|████████▋ | 784/900 [36:38<06:44,  3.49s/it]
 87%|████████▋ | 785/900 [37:06<20:44, 10.82s/it]
 87%|████████▋ | 786/900 [37:07<14:40,  7.72s/it]
 87%|████████▋ | 787/900 [37:07<10:28,  5.56s/it]
 88%|████████▊ | 788/900 [37:08<07:33,  4.05s/it]
 88%|████████▊ | 789/900 [37:08<05:31,  2.98s/it]
 88%|████████▊ | 790/900 [37:09<04:05,  2.23s/it]
 88%|████████▊ | 791/900 [37:09<03:06,  1.71s/it]
 88%|████████▊ | 792/900 [37:10<02:25,  1.34s/it]
 88%|████████▊ | 793/900 [37:30<12:26,  6.97s/it]
 88%|████████▊ | 794/900 [37:30<08:53,  5.03s/it]
 88%|████████▊ | 795/900 [37:31<06:25,  3.67s/it]
 88%|████████▊ | 796/900 [37:31<04:42,  2.71s/it]
 89%|████████▊ | 797/900 [37:32<03:31,  2.05s/it]
 89%|████████▊ | 798/900 [37:32<02:41,  1.59s/it]
 89%|████████▉ | 799/900 [37:33<02:07,  1.26s/it]
 89%|████████▉ | 800/900 [37:33<01:42,  1.02s/it]
 89%|████████▉ | 801/900 [37:45<07:10,  4.35s/it]
 89%|████████▉ | 802/900 [37:46<05:13,  3.20s/it]
 89%|████████▉ | 803/900 [37:46<03:51,  2.39s/it]
 89%|████████▉ | 804/900 [37:47<02:54,  1.82s/it]
 89%|████████▉ | 805/900 [37:47<02:15,  1.42s/it]
 90%|████████▉ | 806/900 [37:48<01:48,  1.15s/it]
 90%|████████▉ | 807/900 [37:48<01:28,  1.05it/s]
 90%|████████▉ | 808/900 [37:49<01:14,  1.23it/s]
 90%|████████▉ | 809/900 [38:30<19:40, 12.97s/it]
 90%|█████████ | 810/900 [38:31<13:50,  9.23s/it]
 90%|█████████ | 811/900 [38:31<09:47,  6.61s/it]
 90%|█████████ | 812/900 [38:32<06:59,  4.77s/it]
 90%|█████████ | 813/900 [38:32<05:03,  3.49s/it]
 90%|█████████ | 814/900 [38:33<03:43,  2.60s/it]
 91%|█████████ | 815/900 [38:33<02:47,  1.97s/it]
 91%|█████████ | 816/900 [38:34<02:08,  1.53s/it]
 91%|█████████ | 817/900 [39:07<15:24, 11.14s/it]
 91%|█████████ | 818/900 [39:08<10:52,  7.96s/it]
 91%|█████████ | 819/900 [39:08<07:43,  5.72s/it]
 91%|█████████ | 820/900 [39:09<05:32,  4.15s/it]
 91%|█████████ | 821/900 [39:09<04:01,  3.06s/it]
 91%|█████████▏| 822/900 [39:10<02:59,  2.30s/it]
 91%|█████████▏| 823/900 [39:10<02:15,  1.76s/it]
 92%|█████████▏| 824/900 [39:11<01:44,  1.38s/it]
 92%|█████████▏| 825/900 [39:38<11:23,  9.12s/it]
 92%|█████████▏| 826/900 [39:38<08:03,  6.54s/it]
 92%|█████████▏| 827/900 [39:39<05:45,  4.73s/it]
 92%|█████████▏| 828/900 [39:40<04:09,  3.47s/it]
 92%|█████████▏| 829/900 [39:40<03:03,  2.59s/it]
 92%|█████████▏| 830/900 [39:41<02:18,  1.97s/it]
 92%|█████████▏| 831/900 [39:41<01:46,  1.54s/it]
 92%|█████████▏| 832/900 [39:42<01:24,  1.24s/it]
 93%|█████████▎| 833/900 [40:28<16:23, 14.69s/it]
 93%|█████████▎| 834/900 [40:28<11:28, 10.43s/it]
 93%|█████████▎| 835/900 [40:29<08:04,  7.45s/it]
 93%|█████████▎| 836/900 [40:29<05:43,  5.36s/it]
 93%|█████████▎| 837/900 [40:30<04:05,  3.90s/it]
 93%|█████████▎| 838/900 [40:30<02:58,  2.88s/it]
 93%|█████████▎| 839/900 [40:31<02:12,  2.17s/it]
 93%|█████████▎| 840/900 [40:31<01:41,  1.69s/it]
 93%|█████████▎| 841/900 [40:44<04:52,  4.96s/it]
 94%|█████████▎| 842/900 [40:44<03:30,  3.63s/it]
 94%|█████████▎| 843/900 [40:45<02:33,  2.69s/it]
 94%|█████████▍| 844/900 [40:45<01:54,  2.04s/it]
 94%|█████████▍| 845/900 [40:46<01:26,  1.58s/it]
 94%|█████████▍| 846/900 [40:46<01:07,  1.25s/it]
 94%|█████████▍| 847/900 [40:47<00:53,  1.02s/it]
 94%|█████████▍| 848/900 [40:47<00:44,  1.16it/s]
 94%|█████████▍| 849/900 [41:06<05:11,  6.12s/it]
 94%|█████████▍| 850/900 [41:06<03:41,  4.44s/it]
 95%|█████████▍| 851/900 [41:07<02:39,  3.26s/it]
 95%|█████████▍| 852/900 [41:07<01:56,  2.43s/it]
 95%|█████████▍| 853/900 [41:08<01:26,  1.85s/it]
 95%|█████████▍| 854/900 [41:08<01:06,  1.43s/it]
 95%|█████████▌| 855/900 [41:09<00:51,  1.15s/it]
 95%|█████████▌| 856/900 [41:09<00:41,  1.06it/s]
 95%|█████████▌| 857/900 [41:27<04:23,  6.13s/it]
 95%|█████████▌| 858/900 [41:28<03:06,  4.45s/it]
 95%|█████████▌| 859/900 [41:28<02:14,  3.27s/it]
 96%|█████████▌| 860/900 [41:29<01:37,  2.44s/it]
 96%|█████████▌| 861/900 [41:29<01:12,  1.86s/it]
 96%|█████████▌| 862/900 [41:30<00:55,  1.46s/it]
 96%|█████████▌| 863/900 [41:31<00:43,  1.17s/it]
 96%|█████████▌| 864/900 [41:31<00:35,  1.02it/s]
 96%|█████████▌| 865/900 [41:47<03:15,  5.60s/it]
 96%|█████████▌| 866/900 [41:48<02:18,  4.06s/it]
 96%|█████████▋| 867/900 [41:48<01:38,  2.98s/it]
 96%|█████████▋| 868/900 [41:49<01:11,  2.23s/it]
 97%|█████████▋| 869/900 [41:49<00:52,  1.70s/it]
 97%|█████████▋| 870/900 [41:50<00:40,  1.34s/it]
 97%|█████████▋| 871/900 [41:50<00:31,  1.09s/it]
 97%|█████████▋| 872/900 [41:51<00:25,  1.10it/s]
 97%|█████████▋| 873/900 [42:08<02:34,  5.73s/it]
 97%|█████████▋| 874/900 [42:08<01:48,  4.16s/it]
 97%|█████████▋| 875/900 [42:09<01:16,  3.05s/it]
 97%|█████████▋| 876/900 [42:09<00:54,  2.28s/it]
 97%|█████████▋| 877/900 [42:10<00:40,  1.75s/it]
 98%|█████████▊| 878/900 [42:10<00:29,  1.36s/it]
 98%|█████████▊| 879/900 [42:11<00:23,  1.10s/it]
 98%|█████████▊| 880/900 [42:11<00:18,  1.10it/s]
 98%|█████████▊| 881/900 [42:36<02:35,  8.19s/it]
 98%|█████████▊| 882/900 [42:37<01:45,  5.89s/it]
 98%|█████████▊| 883/900 [42:37<01:12,  4.27s/it]
 98%|█████████▊| 884/900 [42:38<00:50,  3.14s/it]
 98%|█████████▊| 885/900 [42:38<00:35,  2.35s/it]
 98%|█████████▊| 886/900 [42:39<00:25,  1.79s/it]
 99%|█████████▊| 887/900 [42:39<00:18,  1.41s/it]
 99%|█████████▊| 888/900 [42:40<00:13,  1.13s/it]
 99%|█████████▉| 889/900 [43:13<01:58, 10.75s/it]
 99%|█████████▉| 890/900 [43:14<01:16,  7.68s/it]
 99%|█████████▉| 891/900 [43:14<00:49,  5.53s/it]
 99%|█████████▉| 892/900 [43:15<00:32,  4.01s/it]
 99%|█████████▉| 893/900 [43:15<00:20,  2.96s/it]
 99%|█████████▉| 894/900 [43:15<00:13,  2.21s/it]
 99%|█████████▉| 895/900 [43:16<00:08,  1.70s/it]
100%|█████████▉| 896/900 [43:17<00:05,  1.35s/it]
100%|█████████▉| 897/900 [43:56<00:38, 12.81s/it]
100%|█████████▉| 898/900 [43:57<00:18,  9.12s/it]
100%|█████████▉| 899/900 [43:57<00:06,  6.53s/it]
100%|█████████▉| 899/900 [43:58<00:02,  2.93s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/log_1_env0.json.
+SpoonInMugTask_1 complete: task_name: SpoonInMugTask, run_name: SpoonInMugTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the metal spoon that's in the wooden bowl in the mug, attributes: ['affordance', 'spatial', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -12.52036052154996, 'joint_sparc_mean': -16.625736487934173, 'ee_isj': 39847.176025463144, 'joint_isj': 2265230.2718135407, 'ee_path_length': 13.456239599407105, 'joint_rmse_mean': 1.803357524992086, 'ee_speed_max': 2.004058361053467, 'ee_speed_mean': 0.21701385080814362}, events: {'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 1, 'GRIPPER_FULLY_CLOSED': 3, 'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 2192.802, 'policy_inference_avg_ms': 2436.4, 'env_step_s': 437.686, 'env_step_avg_ms': 486.3, 'video_write_s': 7.118, 'video_write_avg_ms': 7.9, 'wall_total_s': 2637.606, 'it_per_sec': 0.34}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spoon_big) (step 1/2), harness_episode_id: ea330ca85696466cb8f9da9e57b056e3-1
+[RoboLab] Running SpoonInMugTask_2: 'Put the metal spoon that's in the wooden bowl in the mug' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:57<14:17:12, 57.21s/it]
  0%|          | 2/900 [00:57<5:56:58, 23.85s/it] 
  0%|          | 3/900 [00:58<3:17:07, 13.19s/it]
  0%|          | 4/900 [00:58<2:02:06,  8.18s/it]
  1%|          | 5/900 [00:59<1:20:40,  5.41s/it]
  1%|          | 6/900 [00:59<55:43,  3.74s/it]  
  1%|          | 7/900 [01:00<39:54,  2.68s/it]
  1%|          | 8/900 [01:00<29:33,  1.99s/it]
  1%|          | 9/900 [01:13<1:20:29,  5.42s/it]
  1%|          | 10/900 [01:14<57:49,  3.90s/it] 
  1%|          | 11/900 [01:14<42:23,  2.86s/it]
  1%|▏         | 12/900 [01:15<31:43,  2.14s/it]
  1%|▏         | 13/900 [01:15<24:17,  1.64s/it]
  2%|▏         | 14/900 [01:16<19:07,  1.30s/it]
  2%|▏         | 15/900 [01:16<15:42,  1.06s/it]
  2%|▏         | 16/900 [01:17<13:10,  1.12it/s]
  2%|▏         | 17/900 [01:24<42:08,  2.86s/it]
  2%|▏         | 18/900 [01:25<31:37,  2.15s/it]
  2%|▏         | 19/900 [01:25<24:21,  1.66s/it]
  2%|▏         | 20/900 [01:26<19:14,  1.31s/it]
  2%|▏         | 21/900 [01:26<15:37,  1.07s/it]
  2%|▏         | 22/900 [01:27<13:06,  1.12it/s]
  3%|▎         | 23/900 [01:27<11:17,  1.29it/s]
  3%|▎         | 24/900 [01:28<10:04,  1.45it/s]
  3%|▎         | 25/900 [01:49<1:38:31,  6.76s/it]
  3%|▎         | 26/900 [01:49<1:11:06,  4.88s/it]
  3%|▎         | 27/900 [01:50<51:57,  3.57s/it]  
  3%|▎         | 28/900 [01:50<38:31,  2.65s/it]
  3%|▎         | 29/900 [01:51<29:07,  2.01s/it]
  3%|▎         | 30/900 [01:51<22:32,  1.55s/it]
  3%|▎         | 31/900 [01:52<17:52,  1.23s/it]
  4%|▎         | 32/900 [01:52<14:40,  1.01s/it]
  4%|▎         | 33/900 [02:05<1:04:48,  4.49s/it]
  4%|▍         | 34/900 [02:05<47:32,  3.29s/it]  
  4%|▍         | 35/900 [02:06<35:24,  2.46s/it]
  4%|▍         | 36/900 [02:06<26:55,  1.87s/it]
  4%|▍         | 37/900 [02:07<21:00,  1.46s/it]
  4%|▍         | 38/900 [02:07<16:52,  1.17s/it]
  4%|▍         | 39/900 [02:08<13:56,  1.03it/s]
  4%|▍         | 40/900 [02:08<11:53,  1.21it/s]
  5%|▍         | 41/900 [02:16<43:09,  3.01s/it]
  5%|▍         | 42/900 [02:17<32:20,  2.26s/it]
  5%|▍         | 43/900 [02:17<24:41,  1.73s/it]
  5%|▍         | 44/900 [02:18<19:23,  1.36s/it]
  5%|▌         | 45/900 [02:18<15:42,  1.10s/it]
  5%|▌         | 46/900 [02:19<13:08,  1.08it/s]
  5%|▌         | 47/900 [02:19<11:19,  1.26it/s]
  5%|▌         | 48/900 [02:20<09:59,  1.42it/s]
  5%|▌         | 49/900 [02:25<27:30,  1.94s/it]
  6%|▌         | 50/900 [02:25<21:21,  1.51s/it]
  6%|▌         | 51/900 [02:26<17:04,  1.21s/it]
  6%|▌         | 52/900 [02:26<14:05,  1.00it/s]
  6%|▌         | 53/900 [02:27<11:57,  1.18it/s]
  6%|▌         | 54/900 [02:27<10:28,  1.35it/s]
  6%|▌         | 55/900 [02:28<09:26,  1.49it/s]
  6%|▌         | 56/900 [02:28<08:44,  1.61it/s]
  6%|▋         | 57/900 [02:35<33:30,  2.39s/it]
  6%|▋         | 58/900 [02:35<25:34,  1.82s/it]
  7%|▋         | 59/900 [02:36<19:59,  1.43s/it]
  7%|▋         | 60/900 [02:36<16:14,  1.16s/it]
  7%|▋         | 61/900 [02:37<13:30,  1.04it/s]
  7%|▋         | 62/900 [02:37<11:36,  1.20it/s]
  7%|▋         | 63/900 [02:38<10:14,  1.36it/s]
  7%|▋         | 64/900 [02:38<09:15,  1.51it/s]
  7%|▋         | 65/900 [02:46<38:14,  2.75s/it]
  7%|▋         | 66/900 [02:46<28:50,  2.07s/it]
  7%|▋         | 67/900 [02:47<22:12,  1.60s/it]
  8%|▊         | 68/900 [02:47<17:32,  1.27s/it]
  8%|▊         | 69/900 [02:48<14:28,  1.05s/it]
  8%|▊         | 70/900 [02:48<12:16,  1.13it/s]
  8%|▊         | 71/900 [02:49<10:42,  1.29it/s]
  8%|▊         | 72/900 [02:49<09:37,  1.43it/s]
  8%|▊         | 73/900 [03:08<1:21:51,  5.94s/it]
  8%|▊         | 74/900 [03:08<59:17,  4.31s/it]  
  8%|▊         | 75/900 [03:09<43:32,  3.17s/it]
  8%|▊         | 76/900 [03:09<32:31,  2.37s/it]
  9%|▊         | 77/900 [03:10<24:51,  1.81s/it]
  9%|▊         | 78/900 [03:10<19:31,  1.42s/it]
  9%|▉         | 79/900 [03:11<15:49,  1.16s/it]
  9%|▉         | 80/900 [03:11<13:13,  1.03it/s]
  9%|▉         | 81/900 [03:25<1:05:56,  4.83s/it]
  9%|▉         | 82/900 [03:25<48:09,  3.53s/it]  
  9%|▉         | 83/900 [03:26<35:44,  2.63s/it]
  9%|▉         | 84/900 [03:26<26:59,  1.99s/it]
  9%|▉         | 85/900 [03:27<20:51,  1.54s/it]
 10%|▉         | 86/900 [03:27<16:36,  1.22s/it]
 10%|▉         | 87/900 [03:28<13:36,  1.00s/it]
 10%|▉         | 88/900 [03:28<11:33,  1.17it/s]
 10%|▉         | 89/900 [03:37<41:11,  3.05s/it]
 10%|█         | 90/900 [03:37<30:52,  2.29s/it]
 10%|█         | 91/900 [03:38<23:41,  1.76s/it]
 10%|█         | 92/900 [03:38<18:40,  1.39s/it]
 10%|█         | 93/900 [03:39<15:10,  1.13s/it]
 10%|█         | 94/900 [03:39<12:38,  1.06it/s]
 11%|█         | 95/900 [03:40<10:56,  1.23it/s]
 11%|█         | 96/900 [03:40<09:48,  1.37it/s]
 11%|█         | 97/900 [03:48<39:53,  2.98s/it]
 11%|█         | 98/900 [03:49<29:58,  2.24s/it]
 11%|█         | 99/900 [03:50<23:00,  1.72s/it]
 11%|█         | 100/900 [03:50<18:05,  1.36s/it]
 11%|█         | 101/900 [03:51<14:39,  1.10s/it]
 11%|█▏        | 102/900 [03:51<12:14,  1.09it/s]
 11%|█▏        | 103/900 [03:52<10:33,  1.26it/s]
 12%|█▏        | 104/900 [03:52<09:21,  1.42it/s]
 12%|█▏        | 105/900 [04:39<3:13:40, 14.62s/it]
 12%|█▏        | 106/900 [04:40<2:17:22, 10.38s/it]
 12%|█▏        | 107/900 [04:40<1:38:02,  7.42s/it]
 12%|█▏        | 108/900 [04:41<1:10:31,  5.34s/it]
 12%|█▏        | 109/900 [04:41<51:17,  3.89s/it]  
 12%|█▏        | 110/900 [04:42<37:49,  2.87s/it]
 12%|█▏        | 111/900 [04:42<28:26,  2.16s/it]
 12%|█▏        | 112/900 [04:43<21:51,  1.66s/it]
 13%|█▎        | 113/900 [04:53<56:13,  4.29s/it]
 13%|█▎        | 114/900 [04:54<41:18,  3.15s/it]
 13%|█▎        | 115/900 [04:54<30:51,  2.36s/it]
 13%|█▎        | 116/900 [04:55<23:33,  1.80s/it]
 13%|█▎        | 117/900 [04:55<18:26,  1.41s/it]
 13%|█▎        | 118/900 [04:56<14:49,  1.14s/it]
 13%|█▎        | 119/900 [04:56<12:23,  1.05it/s]
 13%|█▎        | 120/900 [04:57<10:39,  1.22it/s]
 13%|█▎        | 121/900 [05:03<31:31,  2.43s/it]
 14%|█▎        | 122/900 [05:03<24:02,  1.85s/it]
 14%|█▎        | 123/900 [05:04<18:44,  1.45s/it]
 14%|█▍        | 124/900 [05:04<15:06,  1.17s/it]
 14%|█▍        | 125/900 [05:05<12:35,  1.03it/s]
 14%|█▍        | 126/900 [05:05<10:46,  1.20it/s]
 14%|█▍        | 127/900 [05:06<09:32,  1.35it/s]
 14%|█▍        | 128/900 [05:06<08:46,  1.47it/s]
 14%|█▍        | 129/900 [05:15<39:15,  3.06s/it]
 14%|█▍        | 130/900 [05:15<29:25,  2.29s/it]
 15%|█▍        | 131/900 [05:16<22:30,  1.76s/it]
 15%|█▍        | 132/900 [05:17<17:44,  1.39s/it]
 15%|█▍        | 133/900 [05:17<14:20,  1.12s/it]
 15%|█▍        | 134/900 [05:18<12:01,  1.06it/s]
 15%|█▌        | 135/900 [05:18<10:41,  1.19it/s]
 15%|█▌        | 136/900 [05:19<09:32,  1.33it/s]
 15%|█▌        | 137/900 [05:25<31:58,  2.51s/it]
 15%|█▌        | 138/900 [05:26<24:17,  1.91s/it]
 15%|█▌        | 139/900 [05:26<18:55,  1.49s/it]
 16%|█▌        | 140/900 [05:27<15:05,  1.19s/it]
 16%|█▌        | 141/900 [05:27<12:27,  1.02it/s]
 16%|█▌        | 142/900 [05:28<10:33,  1.20it/s]
 16%|█▌        | 143/900 [05:28<09:17,  1.36it/s]
 16%|█▌        | 144/900 [05:29<08:29,  1.48it/s]
 16%|█▌        | 145/900 [05:39<44:53,  3.57s/it]
 16%|█▌        | 146/900 [05:40<33:27,  2.66s/it]
 16%|█▋        | 147/900 [05:40<25:29,  2.03s/it]
 16%|█▋        | 148/900 [05:41<19:43,  1.57s/it]
 17%|█▋        | 149/900 [05:41<15:45,  1.26s/it]
 17%|█▋        | 150/900 [05:42<12:51,  1.03s/it]
 17%|█▋        | 151/900 [05:42<10:47,  1.16it/s]
 17%|█▋        | 152/900 [05:43<09:18,  1.34it/s]
 17%|█▋        | 153/900 [05:51<35:53,  2.88s/it]
 17%|█▋        | 154/900 [05:51<26:58,  2.17s/it]
 17%|█▋        | 155/900 [05:52<20:44,  1.67s/it]
 17%|█▋        | 156/900 [05:52<16:22,  1.32s/it]
 17%|█▋        | 157/900 [05:53<13:19,  1.08s/it]
 18%|█▊        | 158/900 [05:53<11:11,  1.11it/s]
 18%|█▊        | 159/900 [05:54<09:42,  1.27it/s]
 18%|█▊        | 160/900 [05:54<08:44,  1.41it/s]
 18%|█▊        | 161/900 [06:02<35:50,  2.91s/it]
 18%|█▊        | 162/900 [06:03<26:52,  2.19s/it]
 18%|█▊        | 163/900 [06:03<20:38,  1.68s/it]
 18%|█▊        | 164/900 [06:04<16:17,  1.33s/it]
 18%|█▊        | 165/900 [06:04<13:13,  1.08s/it]
 18%|█▊        | 166/900 [06:05<11:07,  1.10it/s]
 19%|█▊        | 167/900 [06:05<09:39,  1.26it/s]
 19%|█▊        | 168/900 [06:06<08:38,  1.41it/s]
 19%|█▉        | 169/900 [06:16<44:32,  3.66s/it]
 19%|█▉        | 170/900 [06:17<32:55,  2.71s/it]
 19%|█▉        | 171/900 [06:17<24:50,  2.04s/it]
 19%|█▉        | 172/900 [06:18<19:09,  1.58s/it]
 19%|█▉        | 173/900 [06:18<15:11,  1.25s/it]
 19%|█▉        | 174/900 [06:19<12:24,  1.03s/it]
 19%|█▉        | 175/900 [06:19<10:33,  1.14it/s]
 20%|█▉        | 176/900 [06:20<09:16,  1.30it/s]
 20%|█▉        | 177/900 [06:28<35:48,  2.97s/it]
 20%|█▉        | 178/900 [06:28<26:55,  2.24s/it]
 20%|█▉        | 179/900 [06:29<20:40,  1.72s/it]
 20%|██        | 180/900 [06:29<16:21,  1.36s/it]
 20%|██        | 181/900 [06:30<13:18,  1.11s/it]
 20%|██        | 182/900 [06:31<11:11,  1.07it/s]
 20%|██        | 183/900 [06:31<09:43,  1.23it/s]
 20%|██        | 184/900 [06:32<08:38,  1.38it/s]
 21%|██        | 185/900 [06:46<57:34,  4.83s/it]
 21%|██        | 186/900 [06:47<42:02,  3.53s/it]
 21%|██        | 187/900 [06:47<31:12,  2.63s/it]
 21%|██        | 188/900 [06:48<23:38,  1.99s/it]
 21%|██        | 189/900 [06:48<18:24,  1.55s/it]
 21%|██        | 190/900 [06:49<14:42,  1.24s/it]
 21%|██        | 191/900 [06:49<12:07,  1.03s/it]
 21%|██▏       | 192/900 [06:50<10:19,  1.14it/s]
 21%|██▏       | 193/900 [06:58<38:04,  3.23s/it]
 22%|██▏       | 194/900 [06:59<28:29,  2.42s/it]
 22%|██▏       | 195/900 [06:59<21:47,  1.86s/it]
 22%|██▏       | 196/900 [07:00<17:04,  1.46s/it]
 22%|██▏       | 197/900 [07:00<13:43,  1.17s/it]
 22%|██▏       | 198/900 [07:01<11:26,  1.02it/s]
 22%|██▏       | 199/900 [07:01<09:48,  1.19it/s]
 22%|██▏       | 200/900 [07:02<08:41,  1.34it/s]
 22%|██▏       | 201/900 [07:11<37:12,  3.19s/it]
 22%|██▏       | 202/900 [07:11<27:51,  2.39s/it]
 23%|██▎       | 203/900 [07:12<21:18,  1.83s/it]
 23%|██▎       | 204/900 [07:13<16:45,  1.44s/it]
 23%|██▎       | 205/900 [07:13<13:27,  1.16s/it]
 23%|██▎       | 206/900 [07:14<11:11,  1.03it/s]
 23%|██▎       | 207/900 [07:14<09:33,  1.21it/s]
 23%|██▎       | 208/900 [07:15<08:31,  1.35it/s]
 23%|██▎       | 209/900 [07:28<50:45,  4.41s/it]
 23%|██▎       | 210/900 [07:28<37:21,  3.25s/it]
 23%|██▎       | 211/900 [07:29<27:58,  2.44s/it]
 24%|██▎       | 212/900 [07:29<21:24,  1.87s/it]
 24%|██▎       | 213/900 [07:30<16:44,  1.46s/it]
 24%|██▍       | 214/900 [07:30<13:29,  1.18s/it]
 24%|██▍       | 215/900 [07:31<11:10,  1.02it/s]
 24%|██▍       | 216/900 [07:31<09:33,  1.19it/s]
 24%|██▍       | 217/900 [07:38<30:16,  2.66s/it]
 24%|██▍       | 218/900 [07:39<22:49,  2.01s/it]
 24%|██▍       | 219/900 [07:39<17:37,  1.55s/it]
 24%|██▍       | 220/900 [07:40<14:01,  1.24s/it]
 25%|██▍       | 221/900 [07:40<11:34,  1.02s/it]
 25%|██▍       | 222/900 [07:41<09:45,  1.16it/s]
 25%|██▍       | 223/900 [07:41<08:27,  1.33it/s]
 25%|██▍       | 224/900 [07:42<07:39,  1.47it/s]
 25%|██▌       | 225/900 [07:51<36:47,  3.27s/it]
 25%|██▌       | 226/900 [07:51<27:24,  2.44s/it]
 25%|██▌       | 227/900 [07:52<20:52,  1.86s/it]
 25%|██▌       | 228/900 [07:52<16:16,  1.45s/it]
 25%|██▌       | 229/900 [07:53<13:00,  1.16s/it]
 26%|██▌       | 230/900 [07:53<10:44,  1.04it/s]
 26%|██▌       | 231/900 [07:54<09:15,  1.20it/s]
 26%|██▌       | 232/900 [07:54<08:11,  1.36it/s]
 26%|██▌       | 233/900 [08:08<50:05,  4.51s/it]
 26%|██▌       | 234/900 [08:08<36:43,  3.31s/it]
 26%|██▌       | 235/900 [08:09<27:20,  2.47s/it]
 26%|██▌       | 236/900 [08:09<20:46,  1.88s/it]
 26%|██▋       | 237/900 [08:10<16:13,  1.47s/it]
 26%|██▋       | 238/900 [08:10<12:59,  1.18s/it]
 27%|██▋       | 239/900 [08:11<10:45,  1.02it/s]
 27%|██▋       | 240/900 [08:11<09:12,  1.19it/s]
 27%|██▋       | 241/900 [08:20<34:44,  3.16s/it]
 27%|██▋       | 242/900 [08:20<25:59,  2.37s/it]
 27%|██▋       | 243/900 [08:21<19:53,  1.82s/it]
 27%|██▋       | 244/900 [08:22<15:45,  1.44s/it]
 27%|██▋       | 245/900 [08:22<12:44,  1.17s/it]
 27%|██▋       | 246/900 [08:23<10:37,  1.03it/s]
 27%|██▋       | 247/900 [08:23<09:06,  1.19it/s]
 28%|██▊       | 248/900 [08:24<08:02,  1.35it/s]
 28%|██▊       | 249/900 [08:34<40:28,  3.73s/it]
 28%|██▊       | 250/900 [08:35<29:57,  2.77s/it]
 28%|██▊       | 251/900 [08:35<22:38,  2.09s/it]
 28%|██▊       | 252/900 [08:36<17:34,  1.63s/it]
 28%|██▊       | 253/900 [08:36<13:57,  1.29s/it]
 28%|██▊       | 254/900 [08:37<11:23,  1.06s/it]
 28%|██▊       | 255/900 [08:37<09:34,  1.12it/s]
 28%|██▊       | 256/900 [08:38<08:17,  1.29it/s]
 29%|██▊       | 257/900 [08:47<34:52,  3.25s/it]
 29%|██▊       | 258/900 [08:47<26:06,  2.44s/it]
 29%|██▉       | 259/900 [08:48<19:51,  1.86s/it]
 29%|██▉       | 260/900 [08:49<15:33,  1.46s/it]
 29%|██▉       | 261/900 [08:49<12:33,  1.18s/it]
 29%|██▉       | 262/900 [08:50<10:30,  1.01it/s]
 29%|██▉       | 263/900 [08:50<09:01,  1.18it/s]
 29%|██▉       | 264/900 [08:51<08:00,  1.32it/s]
 29%|██▉       | 265/900 [09:02<41:24,  3.91s/it]
 30%|██▉       | 266/900 [09:02<30:32,  2.89s/it]
 30%|██▉       | 267/900 [09:03<22:56,  2.18s/it]
 30%|██▉       | 268/900 [09:03<17:37,  1.67s/it]
 30%|██▉       | 269/900 [09:04<14:00,  1.33s/it]
 30%|███       | 270/900 [09:04<11:23,  1.08s/it]
 30%|███       | 271/900 [09:05<09:31,  1.10it/s]
 30%|███       | 272/900 [09:06<08:16,  1.26it/s]
 30%|███       | 273/900 [09:41<1:57:39, 11.26s/it]
 30%|███       | 274/900 [09:42<1:23:48,  8.03s/it]
 31%|███       | 275/900 [09:42<1:00:08,  5.77s/it]
 31%|███       | 276/900 [09:43<43:38,  4.20s/it]  
 31%|███       | 277/900 [09:43<32:10,  3.10s/it]
 31%|███       | 278/900 [09:44<24:04,  2.32s/it]
 31%|███       | 279/900 [09:44<18:23,  1.78s/it]
 31%|███       | 280/900 [09:45<14:29,  1.40s/it]
 31%|███       | 281/900 [10:28<2:25:02, 14.06s/it]
 31%|███▏      | 282/900 [10:29<1:42:57, 10.00s/it]
 31%|███▏      | 283/900 [10:29<1:13:30,  7.15s/it]
 32%|███▏      | 284/900 [10:30<52:55,  5.16s/it]  
 32%|███▏      | 285/900 [10:30<38:32,  3.76s/it]
 32%|███▏      | 286/900 [10:31<28:28,  2.78s/it]
 32%|███▏      | 287/900 [10:31<21:27,  2.10s/it]
 32%|███▏      | 288/900 [10:32<16:31,  1.62s/it]
 32%|███▏      | 289/900 [10:48<1:00:34,  5.95s/it]
 32%|███▏      | 290/900 [10:48<43:51,  4.31s/it]  
 32%|███▏      | 291/900 [10:49<32:11,  3.17s/it]
 32%|███▏      | 292/900 [10:50<24:07,  2.38s/it]
 33%|███▎      | 293/900 [10:50<18:23,  1.82s/it]
 33%|███▎      | 294/900 [10:51<14:24,  1.43s/it]
 33%|███▎      | 295/900 [10:51<11:37,  1.15s/it]
 33%|███▎      | 296/900 [10:52<09:41,  1.04it/s]
 33%|███▎      | 297/900 [10:58<26:54,  2.68s/it]
 33%|███▎      | 298/900 [10:59<20:21,  2.03s/it]
 33%|███▎      | 299/900 [10:59<15:52,  1.59s/it]
 33%|███▎      | 300/900 [11:00<12:40,  1.27s/it]
 33%|███▎      | 301/900 [11:00<10:23,  1.04s/it]
 34%|███▎      | 302/900 [11:01<08:46,  1.14it/s]
 34%|███▎      | 303/900 [11:01<07:37,  1.30it/s]
 34%|███▍      | 304/900 [11:02<06:49,  1.45it/s]
 34%|███▍      | 305/900 [11:13<38:56,  3.93s/it]
 34%|███▍      | 306/900 [11:14<28:40,  2.90s/it]
 34%|███▍      | 307/900 [11:14<21:32,  2.18s/it]
 34%|███▍      | 308/900 [11:15<16:33,  1.68s/it]
 34%|███▍      | 309/900 [11:15<13:02,  1.32s/it]
 34%|███▍      | 310/900 [11:16<10:36,  1.08s/it]
 35%|███▍      | 311/900 [11:16<08:52,  1.11it/s]
 35%|███▍      | 312/900 [11:17<07:40,  1.28it/s]
 35%|███▍      | 313/900 [11:27<33:54,  3.47s/it]
 35%|███▍      | 314/900 [11:27<25:09,  2.58s/it]
 35%|███▌      | 315/900 [11:28<19:00,  1.95s/it]
 35%|███▌      | 316/900 [11:28<14:47,  1.52s/it]
 35%|███▌      | 317/900 [11:29<11:48,  1.22s/it]
 35%|███▌      | 318/900 [11:29<09:46,  1.01s/it]
 35%|███▌      | 319/900 [11:30<08:19,  1.16it/s]
 36%|███▌      | 320/900 [11:30<07:17,  1.33it/s]
 36%|███▌      | 321/900 [11:51<1:04:24,  6.67s/it]
 36%|███▌      | 322/900 [11:51<46:26,  4.82s/it]  
 36%|███▌      | 323/900 [11:52<33:54,  3.53s/it]
 36%|███▌      | 324/900 [11:52<25:09,  2.62s/it]
 36%|███▌      | 325/900 [11:53<18:59,  1.98s/it]
 36%|███▌      | 326/900 [11:53<14:41,  1.54s/it]
 36%|███▋      | 327/900 [11:54<11:41,  1.22s/it]
 36%|███▋      | 328/900 [11:54<09:33,  1.00s/it]
 37%|███▋      | 329/900 [12:01<27:23,  2.88s/it]
 37%|███▋      | 330/900 [12:02<20:30,  2.16s/it]
 37%|███▋      | 331/900 [12:02<15:43,  1.66s/it]
 37%|███▋      | 332/900 [12:03<12:22,  1.31s/it]
 37%|███▋      | 333/900 [12:03<10:01,  1.06s/it]
 37%|███▋      | 334/900 [12:04<08:22,  1.13it/s]
 37%|███▋      | 335/900 [12:04<07:13,  1.30it/s]
 37%|███▋      | 336/900 [12:05<06:25,  1.46it/s]
 37%|███▋      | 337/900 [12:36<1:32:06,  9.82s/it]
 38%|███▊      | 338/900 [12:36<1:05:47,  7.02s/it]
 38%|███▊      | 339/900 [12:37<47:20,  5.06s/it]  
 38%|███▊      | 340/900 [12:37<34:25,  3.69s/it]
 38%|███▊      | 341/900 [12:38<25:23,  2.73s/it]
 38%|███▊      | 342/900 [12:38<19:06,  2.05s/it]
 38%|███▊      | 343/900 [12:39<14:44,  1.59s/it]
 38%|███▊      | 344/900 [12:39<11:38,  1.26s/it]
 38%|███▊      | 345/900 [12:51<41:30,  4.49s/it]
 38%|███▊      | 346/900 [12:52<30:33,  3.31s/it]
 39%|███▊      | 347/900 [12:52<22:44,  2.47s/it]
 39%|███▊      | 348/900 [12:53<17:15,  1.88s/it]
 39%|███▉      | 349/900 [12:53<13:25,  1.46s/it]
 39%|███▉      | 350/900 [12:54<10:49,  1.18s/it]
 39%|███▉      | 351/900 [12:54<08:55,  1.02it/s]
 39%|███▉      | 352/900 [12:55<07:34,  1.21it/s]
 39%|███▉      | 353/900 [13:14<56:18,  6.18s/it]
 39%|███▉      | 354/900 [13:14<40:45,  4.48s/it]
 39%|███▉      | 355/900 [13:15<29:55,  3.30s/it]
 40%|███▉      | 356/900 [13:15<22:16,  2.46s/it]
 40%|███▉      | 357/900 [13:16<16:57,  1.87s/it]
 40%|███▉      | 358/900 [13:16<13:12,  1.46s/it]
 40%|███▉      | 359/900 [13:17<10:40,  1.18s/it]
 40%|████      | 360/900 [13:17<08:52,  1.01it/s]
 40%|████      | 361/900 [13:42<1:14:01,  8.24s/it]
 40%|████      | 362/900 [13:43<53:07,  5.92s/it]  
 40%|████      | 363/900 [13:43<38:29,  4.30s/it]
 40%|████      | 364/900 [13:44<28:13,  3.16s/it]
 41%|████      | 365/900 [13:44<21:06,  2.37s/it]
 41%|████      | 366/900 [13:45<16:06,  1.81s/it]
 41%|████      | 367/900 [13:45<12:34,  1.42s/it]
 41%|████      | 368/900 [13:46<10:07,  1.14s/it]
 41%|████      | 369/900 [14:09<1:07:50,  7.67s/it]
 41%|████      | 370/900 [14:09<48:41,  5.51s/it]  
 41%|████      | 371/900 [14:10<35:19,  4.01s/it]
 41%|████▏     | 372/900 [14:10<26:00,  2.96s/it]
 41%|████▏     | 373/900 [14:11<19:29,  2.22s/it]
 42%|████▏     | 374/900 [14:11<14:57,  1.71s/it]
 42%|████▏     | 375/900 [14:12<11:46,  1.34s/it]
 42%|████▏     | 376/900 [14:12<09:32,  1.09s/it]
 42%|████▏     | 377/900 [14:38<1:14:05,  8.50s/it]
 42%|████▏     | 378/900 [14:39<53:09,  6.11s/it]  
 42%|████▏     | 379/900 [14:39<38:29,  4.43s/it]
 42%|████▏     | 380/900 [14:40<28:14,  3.26s/it]
 42%|████▏     | 381/900 [14:40<21:03,  2.43s/it]
 42%|████▏     | 382/900 [14:41<16:03,  1.86s/it]
 43%|████▎     | 383/900 [14:41<12:35,  1.46s/it]
 43%|████▎     | 384/900 [14:42<10:07,  1.18s/it]
 43%|████▎     | 385/900 [15:26<2:01:38, 14.17s/it]
 43%|████▎     | 386/900 [15:27<1:26:17, 10.07s/it]
 43%|████▎     | 387/900 [15:27<1:01:31,  7.20s/it]
 43%|████▎     | 388/900 [15:28<44:17,  5.19s/it]  
 43%|████▎     | 389/900 [15:28<32:16,  3.79s/it]
 43%|████▎     | 390/900 [15:29<23:53,  2.81s/it]
 43%|████▎     | 391/900 [15:29<18:01,  2.12s/it]
 44%|████▎     | 392/900 [15:30<13:49,  1.63s/it]
 44%|████▎     | 393/900 [15:56<1:15:11,  8.90s/it]
 44%|████▍     | 394/900 [15:56<53:51,  6.39s/it]  
 44%|████▍     | 395/900 [15:57<38:55,  4.63s/it]
 44%|████▍     | 396/900 [15:57<28:27,  3.39s/it]
 44%|████▍     | 397/900 [15:58<21:08,  2.52s/it]
 44%|████▍     | 398/900 [15:58<16:03,  1.92s/it]
 44%|████▍     | 399/900 [15:59<12:27,  1.49s/it]
 44%|████▍     | 400/900 [15:59<09:57,  1.19s/it]
 45%|████▍     | 401/900 [16:09<32:35,  3.92s/it]
 45%|████▍     | 402/900 [16:10<24:01,  2.89s/it]
 45%|████▍     | 403/900 [16:10<18:00,  2.17s/it]
 45%|████▍     | 404/900 [16:11<13:47,  1.67s/it]
 45%|████▌     | 405/900 [16:11<10:49,  1.31s/it]
 45%|████▌     | 406/900 [16:12<08:44,  1.06s/it]
 45%|████▌     | 407/900 [16:12<07:18,  1.12it/s]
 45%|████▌     | 408/900 [16:13<06:17,  1.30it/s]
 45%|████▌     | 409/900 [17:37<3:31:23, 25.83s/it]
 46%|████▌     | 410/900 [17:38<2:28:51, 18.23s/it]
 46%|████▌     | 411/900 [17:38<1:45:19, 12.92s/it]
 46%|████▌     | 412/900 [17:39<1:14:54,  9.21s/it]
 46%|████▌     | 413/900 [17:39<53:39,  6.61s/it]  
 46%|████▌     | 414/900 [17:40<38:44,  4.78s/it]
 46%|████▌     | 415/900 [17:40<28:19,  3.50s/it]
 46%|████▌     | 416/900 [17:41<21:02,  2.61s/it]
 46%|████▋     | 417/900 [18:15<1:37:54, 12.16s/it]
 46%|████▋     | 418/900 [18:16<1:09:33,  8.66s/it]
 47%|████▋     | 419/900 [18:16<49:52,  6.22s/it]  
 47%|████▋     | 420/900 [18:17<36:09,  4.52s/it]
 47%|████▋     | 421/900 [18:17<26:25,  3.31s/it]
 47%|████▋     | 422/900 [18:18<19:36,  2.46s/it]
 47%|████▋     | 423/900 [18:18<14:50,  1.87s/it]
 47%|████▋     | 424/900 [18:19<11:30,  1.45s/it]
 47%|████▋     | 425/900 [18:58<1:40:16, 12.67s/it]
 47%|████▋     | 426/900 [18:58<1:11:14,  9.02s/it]
 47%|████▋     | 427/900 [18:59<50:57,  6.46s/it]  
 48%|████▊     | 428/900 [18:59<36:48,  4.68s/it]
 48%|████▊     | 429/900 [19:00<26:58,  3.44s/it]
 48%|████▊     | 430/900 [19:00<20:02,  2.56s/it]
 48%|████▊     | 431/900 [19:01<15:13,  1.95s/it]
 48%|████▊     | 432/900 [19:01<11:49,  1.52s/it]
 48%|████▊     | 433/900 [19:31<1:16:39,  9.85s/it]
 48%|████▊     | 434/900 [19:31<54:43,  7.05s/it]  
 48%|████▊     | 435/900 [19:32<39:25,  5.09s/it]
 48%|████▊     | 436/900 [19:32<28:43,  3.71s/it]
 49%|████▊     | 437/900 [19:33<21:14,  2.75s/it]
 49%|████▊     | 438/900 [19:33<16:00,  2.08s/it]
 49%|████▉     | 439/900 [19:34<12:20,  1.61s/it]
 49%|████▉     | 440/900 [19:34<09:46,  1.28s/it]
 49%|████▉     | 441/900 [19:44<30:34,  4.00s/it]
 49%|████▉     | 442/900 [19:45<22:31,  2.95s/it]
 49%|████▉     | 443/900 [19:45<16:53,  2.22s/it]
 49%|████▉     | 444/900 [19:46<12:57,  1.71s/it]
 49%|████▉     | 445/900 [19:46<10:12,  1.35s/it]
 50%|████▉     | 446/900 [19:47<08:21,  1.10s/it]
 50%|████▉     | 447/900 [19:48<06:58,  1.08it/s]
 50%|████▉     | 448/900 [19:48<06:01,  1.25it/s]
 50%|████▉     | 449/900 [20:03<38:13,  5.09s/it]
 50%|█████     | 450/900 [20:04<27:50,  3.71s/it]
 50%|█████     | 451/900 [20:04<20:34,  2.75s/it]
 50%|█████     | 452/900 [20:05<15:31,  2.08s/it]
 50%|█████     | 453/900 [20:05<12:00,  1.61s/it]
 50%|█████     | 454/900 [20:06<09:33,  1.29s/it]
 51%|█████     | 455/900 [20:06<07:49,  1.06s/it]
 51%|█████     | 456/900 [20:07<06:34,  1.12it/s]
 51%|█████     | 457/900 [21:34<3:19:00, 26.95s/it]
 51%|█████     | 458/900 [21:35<2:20:05, 19.02s/it]
 51%|█████     | 459/900 [21:36<1:38:58, 13.47s/it]
 51%|█████     | 460/900 [21:36<1:10:14,  9.58s/it]
 51%|█████     | 461/900 [21:36<50:07,  6.85s/it]  
 51%|█████▏    | 462/900 [21:37<36:04,  4.94s/it]
 51%|█████▏    | 463/900 [21:37<26:17,  3.61s/it]
 52%|█████▏    | 464/900 [21:38<19:30,  2.68s/it]
 52%|█████▏    | 465/900 [21:49<37:28,  5.17s/it]
 52%|█████▏    | 466/900 [21:49<27:17,  3.77s/it]
 52%|█████▏    | 467/900 [21:50<20:10,  2.80s/it]
 52%|█████▏    | 468/900 [21:51<15:11,  2.11s/it]
 52%|█████▏    | 469/900 [21:51<11:43,  1.63s/it]
 52%|█████▏    | 470/900 [21:52<09:16,  1.29s/it]
 52%|█████▏    | 471/900 [21:52<07:34,  1.06s/it]
 52%|█████▏    | 472/900 [21:53<06:25,  1.11it/s]
 53%|█████▎    | 473/900 [22:13<47:59,  6.74s/it]
 53%|█████▎    | 474/900 [22:13<34:36,  4.87s/it]
 53%|█████▎    | 475/900 [22:14<25:13,  3.56s/it]
 53%|█████▎    | 476/900 [22:14<18:42,  2.65s/it]
 53%|█████▎    | 477/900 [22:15<14:08,  2.01s/it]
 53%|█████▎    | 478/900 [22:16<10:57,  1.56s/it]
 53%|█████▎    | 479/900 [22:16<08:42,  1.24s/it]
 53%|█████▎    | 480/900 [22:17<07:09,  1.02s/it]
 53%|█████▎    | 481/900 [23:16<2:10:00, 18.62s/it]
 54%|█████▎    | 482/900 [23:17<1:31:54, 13.19s/it]
 54%|█████▎    | 483/900 [23:17<1:05:14,  9.39s/it]
 54%|█████▍    | 484/900 [23:18<46:36,  6.72s/it]  
 54%|█████▍    | 485/900 [23:18<33:36,  4.86s/it]
 54%|█████▍    | 486/900 [23:19<24:34,  3.56s/it]
 54%|█████▍    | 487/900 [23:19<18:14,  2.65s/it]
 54%|█████▍    | 488/900 [23:20<13:49,  2.01s/it]
 54%|█████▍    | 489/900 [23:29<27:59,  4.09s/it]
 54%|█████▍    | 490/900 [23:29<20:32,  3.01s/it]
 55%|█████▍    | 491/900 [23:30<15:22,  2.25s/it]
 55%|█████▍    | 492/900 [23:30<11:46,  1.73s/it]
 55%|█████▍    | 493/900 [23:31<09:14,  1.36s/it]
 55%|█████▍    | 494/900 [23:31<07:29,  1.11s/it]
 55%|█████▌    | 495/900 [23:32<06:17,  1.07it/s]
 55%|█████▌    | 496/900 [23:32<05:25,  1.24it/s]
 55%|█████▌    | 497/900 [24:01<1:01:57,  9.22s/it]
 55%|█████▌    | 498/900 [24:02<44:18,  6.61s/it]  
 55%|█████▌    | 499/900 [24:02<31:58,  4.78s/it]
 56%|█████▌    | 500/900 [24:03<24:17,  3.64s/it]
 56%|█████▌    | 501/900 [24:04<17:58,  2.70s/it]
 56%|█████▌    | 502/900 [24:04<13:33,  2.04s/it]
 56%|█████▌    | 503/900 [24:05<10:29,  1.59s/it]
 56%|█████▌    | 504/900 [24:05<08:19,  1.26s/it]
 56%|█████▌    | 505/900 [24:43<1:19:59, 12.15s/it]
 56%|█████▌    | 506/900 [24:43<56:51,  8.66s/it]  
 56%|█████▋    | 507/900 [24:44<40:40,  6.21s/it]
 56%|█████▋    | 508/900 [24:44<29:25,  4.50s/it]
 57%|█████▋    | 509/900 [24:45<21:32,  3.30s/it]
 57%|█████▋    | 510/900 [24:45<16:01,  2.46s/it]
 57%|█████▋    | 511/900 [24:46<12:09,  1.87s/it]
 57%|█████▋    | 512/900 [24:46<09:27,  1.46s/it]
 57%|█████▋    | 513/900 [25:36<1:43:04, 15.98s/it]
 57%|█████▋    | 514/900 [25:37<1:12:55, 11.34s/it]
 57%|█████▋    | 515/900 [25:37<51:54,  8.09s/it]  
 57%|█████▋    | 516/900 [25:38<37:17,  5.83s/it]
 57%|█████▋    | 517/900 [25:38<27:04,  4.24s/it]
 58%|█████▊    | 518/900 [25:39<19:53,  3.12s/it]
 58%|█████▊    | 519/900 [25:39<14:51,  2.34s/it]
 58%|█████▊    | 520/900 [25:40<11:20,  1.79s/it]
 58%|█████▊    | 521/900 [26:40<2:02:12, 19.35s/it]
 58%|█████▊    | 522/900 [26:41<1:26:19, 13.70s/it]
 58%|█████▊    | 523/900 [26:41<1:01:15,  9.75s/it]
 58%|█████▊    | 524/900 [26:42<43:46,  6.98s/it]  
 58%|█████▊    | 525/900 [26:42<31:31,  5.04s/it]
 58%|█████▊    | 526/900 [26:43<22:58,  3.69s/it]
 59%|█████▊    | 527/900 [26:43<17:00,  2.74s/it]
 59%|█████▊    | 528/900 [26:44<12:49,  2.07s/it]
 59%|█████▉    | 529/900 [27:16<1:07:56, 10.99s/it]
 59%|█████▉    | 530/900 [27:16<48:23,  7.85s/it]  
 59%|█████▉    | 531/900 [27:17<34:45,  5.65s/it]
 59%|█████▉    | 532/900 [27:17<25:13,  4.11s/it]
 59%|█████▉    | 533/900 [27:18<18:33,  3.03s/it]
 59%|█████▉    | 534/900 [27:18<13:53,  2.28s/it]
 59%|█████▉    | 535/900 [27:19<10:37,  1.75s/it]
 60%|█████▉    | 536/900 [27:19<08:19,  1.37s/it]
 60%|█████▉    | 537/900 [28:02<1:23:38, 13.83s/it]
 60%|█████▉    | 538/900 [28:03<59:18,  9.83s/it]  
 60%|█████▉    | 539/900 [28:03<42:17,  7.03s/it]
 60%|██████    | 540/900 [28:04<30:25,  5.07s/it]
 60%|██████    | 541/900 [28:04<22:09,  3.70s/it]
 60%|██████    | 542/900 [28:05<16:21,  2.74s/it]
 60%|██████    | 543/900 [28:05<12:18,  2.07s/it]
 60%|██████    | 544/900 [28:06<09:31,  1.61s/it]
 61%|██████    | 545/900 [28:24<39:58,  6.76s/it]
 61%|██████    | 546/900 [28:25<28:47,  4.88s/it]
 61%|██████    | 547/900 [28:25<20:58,  3.57s/it]
 61%|██████    | 548/900 [28:26<15:32,  2.65s/it]
 61%|██████    | 549/900 [28:26<11:44,  2.01s/it]
 61%|██████    | 550/900 [28:27<09:06,  1.56s/it]
 61%|██████    | 551/900 [28:27<07:13,  1.24s/it]
 61%|██████▏   | 552/900 [28:28<05:55,  1.02s/it]
 61%|██████▏   | 553/900 [28:56<52:33,  9.09s/it]
 62%|██████▏   | 554/900 [28:56<37:34,  6.52s/it]
 62%|██████▏   | 555/900 [28:57<27:07,  4.72s/it]
 62%|██████▏   | 556/900 [28:57<19:50,  3.46s/it]
 62%|██████▏   | 557/900 [28:58<14:44,  2.58s/it]
 62%|██████▏   | 558/900 [28:58<11:11,  1.96s/it]
 62%|██████▏   | 559/900 [28:59<08:39,  1.52s/it]
 62%|██████▏   | 560/900 [28:59<06:53,  1.22s/it]
 62%|██████▏   | 561/900 [29:10<23:20,  4.13s/it]
 62%|██████▏   | 562/900 [29:11<17:08,  3.04s/it]
 63%|██████▎   | 563/900 [29:11<12:48,  2.28s/it]
 63%|██████▎   | 564/900 [29:12<09:46,  1.74s/it]
 63%|██████▎   | 565/900 [29:12<07:38,  1.37s/it]
 63%|██████▎   | 566/900 [29:13<06:11,  1.11s/it]
 63%|██████▎   | 567/900 [29:13<05:09,  1.07it/s]
 63%|██████▎   | 568/900 [29:14<04:24,  1.25it/s]
 63%|██████▎   | 569/900 [30:24<1:58:25, 21.47s/it]
 63%|██████▎   | 570/900 [30:24<1:23:30, 15.18s/it]
 63%|██████▎   | 571/900 [30:25<59:07, 10.78s/it]  
 64%|██████▎   | 572/900 [30:25<42:06,  7.70s/it]
 64%|██████▎   | 573/900 [30:26<30:14,  5.55s/it]
 64%|██████▍   | 574/900 [30:26<21:56,  4.04s/it]
 64%|██████▍   | 575/900 [30:27<16:09,  2.98s/it]
 64%|██████▍   | 576/900 [30:27<12:06,  2.24s/it]
 64%|██████▍   | 577/900 [32:24<3:17:49, 36.75s/it]
 64%|██████▍   | 578/900 [32:25<2:18:52, 25.88s/it]
 64%|██████▍   | 579/900 [32:25<1:37:43, 18.27s/it]
 64%|██████▍   | 580/900 [32:26<1:09:00, 12.94s/it]
 65%|██████▍   | 581/900 [32:26<48:58,  9.21s/it]  
 65%|██████▍   | 582/900 [32:27<34:57,  6.60s/it]
 65%|██████▍   | 583/900 [32:27<25:10,  4.77s/it]
 65%|██████▍   | 584/900 [32:28<18:22,  3.49s/it]
 65%|██████▌   | 585/900 [33:07<1:14:48, 14.25s/it]
 65%|██████▌   | 586/900 [33:08<53:00, 10.13s/it]  
 65%|██████▌   | 587/900 [33:08<37:47,  7.25s/it]
 65%|██████▌   | 588/900 [33:09<27:09,  5.22s/it]
 65%|██████▌   | 589/900 [33:09<19:43,  3.80s/it]
 66%|██████▌   | 590/900 [33:10<14:32,  2.81s/it]
 66%|██████▌   | 591/900 [33:10<10:54,  2.12s/it]
 66%|██████▌   | 592/900 [33:11<08:23,  1.63s/it]
 66%|██████▌   | 593/900 [33:46<1:00:01, 11.73s/it]
 66%|██████▌   | 594/900 [33:47<42:38,  8.36s/it]  
 66%|██████▌   | 595/900 [33:47<30:29,  6.00s/it]
 66%|██████▌   | 596/900 [33:48<22:02,  4.35s/it]
 66%|██████▋   | 597/900 [33:48<16:08,  3.20s/it]
 66%|██████▋   | 598/900 [33:49<12:02,  2.39s/it]
 67%|██████▋   | 599/900 [33:49<09:09,  1.83s/it]
 67%|██████▋   | 600/900 [33:50<07:09,  1.43s/it]
 67%|██████▋   | 601/900 [34:25<57:25, 11.52s/it]
 67%|██████▋   | 602/900 [34:25<40:49,  8.22s/it]
 67%|██████▋   | 603/900 [34:26<29:13,  5.90s/it]
 67%|██████▋   | 604/900 [34:26<21:08,  4.28s/it]
 67%|██████▋   | 605/900 [34:27<15:30,  3.16s/it]
 67%|██████▋   | 606/900 [34:27<11:34,  2.36s/it]
 67%|██████▋   | 607/900 [34:28<08:47,  1.80s/it]
 68%|██████▊   | 608/900 [34:28<06:52,  1.41s/it]
 68%|██████▊   | 609/900 [36:17<2:42:19, 33.47s/it]
 68%|██████▊   | 610/900 [36:17<1:53:58, 23.58s/it]
 68%|██████▊   | 611/900 [36:18<1:20:14, 16.66s/it]
 68%|██████▊   | 612/900 [36:18<56:41, 11.81s/it]  
 68%|██████▊   | 613/900 [36:19<40:15,  8.42s/it]
 68%|██████▊   | 614/900 [36:19<28:48,  6.04s/it]
 68%|██████▊   | 615/900 [36:20<20:49,  4.38s/it]
 68%|██████▊   | 616/900 [36:20<15:14,  3.22s/it]
 69%|██████▊   | 617/900 [37:29<1:48:25, 22.99s/it]
 69%|██████▊   | 618/900 [37:30<1:16:21, 16.24s/it]
 69%|██████▉   | 619/900 [37:30<53:57, 11.52s/it]  
 69%|██████▉   | 620/900 [37:31<38:20,  8.22s/it]
 69%|██████▉   | 621/900 [37:31<27:27,  5.91s/it]
 69%|██████▉   | 622/900 [37:32<19:52,  4.29s/it]
 69%|██████▉   | 623/900 [37:32<14:34,  3.16s/it]
 69%|██████▉   | 624/900 [37:33<10:51,  2.36s/it]
 69%|██████▉   | 625/900 [38:31<1:28:00, 19.20s/it]
 70%|██████▉   | 626/900 [38:32<1:02:04, 13.59s/it]
 70%|██████▉   | 627/900 [38:32<44:00,  9.67s/it]  
 70%|██████▉   | 628/900 [38:33<31:23,  6.93s/it]
 70%|██████▉   | 629/900 [38:33<22:35,  5.00s/it]
 70%|███████   | 630/900 [38:34<16:26,  3.66s/it]
 70%|███████   | 631/900 [38:34<12:09,  2.71s/it]
 70%|███████   | 632/900 [38:35<09:10,  2.05s/it]
 70%|███████   | 633/900 [39:19<1:05:35, 14.74s/it]
 70%|███████   | 634/900 [39:20<46:27, 10.48s/it]  
 71%|███████   | 635/900 [39:20<33:05,  7.49s/it]
 71%|███████   | 636/900 [39:21<23:46,  5.40s/it]
 71%|███████   | 637/900 [39:21<17:16,  3.94s/it]
 71%|███████   | 638/900 [39:22<12:45,  2.92s/it]
 71%|███████   | 639/900 [39:22<09:34,  2.20s/it]
 71%|███████   | 640/900 [39:23<07:25,  1.71s/it]
 71%|███████   | 641/900 [40:01<54:58, 12.74s/it]
 71%|███████▏  | 642/900 [40:02<39:01,  9.08s/it]
 71%|███████▏  | 643/900 [40:03<27:55,  6.52s/it]
 72%|███████▏  | 644/900 [40:03<20:09,  4.72s/it]
 72%|███████▏  | 645/900 [40:04<14:43,  3.47s/it]
 72%|███████▏  | 646/900 [40:04<10:56,  2.59s/it]
 72%|███████▏  | 647/900 [40:05<08:18,  1.97s/it]
 72%|███████▏  | 648/900 [40:05<06:27,  1.54s/it]
 72%|███████▏  | 649/900 [41:29<1:50:11, 26.34s/it]
 72%|███████▏  | 650/900 [41:30<1:17:26, 18.59s/it]
 72%|███████▏  | 651/900 [41:30<54:36, 13.16s/it]  
 72%|███████▏  | 652/900 [41:31<38:41,  9.36s/it]
 73%|███████▎  | 653/900 [41:31<27:37,  6.71s/it]
 73%|███████▎  | 654/900 [41:32<19:53,  4.85s/it]
 73%|███████▎  | 655/900 [41:32<14:29,  3.55s/it]
 73%|███████▎  | 656/900 [41:33<10:43,  2.64s/it]
 73%|███████▎  | 657/900 [41:47<24:38,  6.08s/it]
 73%|███████▎  | 658/900 [41:48<17:47,  4.41s/it]
 73%|███████▎  | 659/900 [41:48<13:00,  3.24s/it]
 73%|███████▎  | 660/900 [41:49<09:40,  2.42s/it]
 73%|███████▎  | 661/900 [41:49<07:21,  1.85s/it]
 74%|███████▎  | 662/900 [41:50<05:44,  1.45s/it]
 74%|███████▎  | 663/900 [41:50<04:34,  1.16s/it]
 74%|███████▍  | 664/900 [41:51<03:47,  1.04it/s]
 74%|███████▍  | 665/900 [42:37<57:03, 14.57s/it]
 74%|███████▍  | 666/900 [42:37<40:21, 10.35s/it]
 74%|███████▍  | 667/900 [42:38<28:43,  7.40s/it]
 74%|███████▍  | 668/900 [42:38<20:36,  5.33s/it]
 74%|███████▍  | 669/900 [42:39<14:56,  3.88s/it]
 74%|███████▍  | 670/900 [42:39<11:00,  2.87s/it]
 75%|███████▍  | 671/900 [42:40<08:15,  2.16s/it]
 75%|███████▍  | 672/900 [42:40<06:19,  1.67s/it]
 75%|███████▍  | 673/900 [42:59<24:57,  6.60s/it]
 75%|███████▍  | 674/900 [42:59<17:58,  4.77s/it]
 75%|███████▌  | 675/900 [43:00<13:04,  3.49s/it]
 75%|███████▌  | 676/900 [43:00<09:39,  2.59s/it]
 75%|███████▌  | 677/900 [43:01<07:16,  1.96s/it]
 75%|███████▌  | 678/900 [43:01<05:36,  1.51s/it]
 75%|███████▌  | 679/900 [43:02<04:26,  1.20s/it]
 76%|███████▌  | 680/900 [43:02<03:37,  1.01it/s]
 76%|███████▌  | 681/900 [43:26<29:11,  8.00s/it]
 76%|███████▌  | 682/900 [43:27<20:52,  5.75s/it]
 76%|███████▌  | 683/900 [43:27<15:03,  4.17s/it]
 76%|███████▌  | 684/900 [43:28<11:00,  3.06s/it]
 76%|███████▌  | 685/900 [43:28<08:11,  2.29s/it]
 76%|███████▌  | 686/900 [43:29<06:13,  1.74s/it]
 76%|███████▋  | 687/900 [43:29<04:53,  1.38s/it]
 76%|███████▋  | 688/900 [43:30<03:55,  1.11s/it]
 77%|███████▋  | 689/900 [44:28<1:04:04, 18.22s/it]
 77%|███████▋  | 690/900 [44:28<45:10, 12.91s/it]  
 77%|███████▋  | 691/900 [44:29<32:00,  9.19s/it]
 77%|███████▋  | 692/900 [44:29<22:48,  6.58s/it]
 77%|███████▋  | 693/900 [44:30<16:23,  4.75s/it]
 77%|███████▋  | 694/900 [44:30<11:54,  3.47s/it]
 77%|███████▋  | 695/900 [44:31<08:47,  2.57s/it]
 77%|███████▋  | 696/900 [44:31<06:37,  1.95s/it]
 77%|███████▋  | 697/900 [44:53<26:16,  7.77s/it]
 78%|███████▊  | 698/900 [44:53<18:47,  5.58s/it]
 78%|███████▊  | 699/900 [44:54<13:35,  4.06s/it]
 78%|███████▊  | 700/900 [44:54<09:57,  2.99s/it]
 78%|███████▊  | 701/900 [44:55<07:24,  2.24s/it]
 78%|███████▊  | 702/900 [44:55<05:39,  1.71s/it]
 78%|███████▊  | 703/900 [44:56<04:28,  1.36s/it]
 78%|███████▊  | 704/900 [44:56<03:38,  1.12s/it]
 78%|███████▊  | 705/900 [45:27<32:37, 10.04s/it]
 78%|███████▊  | 706/900 [45:28<23:11,  7.17s/it]
 79%|███████▊  | 707/900 [45:28<16:37,  5.17s/it]
 79%|███████▊  | 708/900 [45:29<12:02,  3.76s/it]
 79%|███████▉  | 709/900 [45:29<08:51,  2.78s/it]
 79%|███████▉  | 710/900 [45:30<06:39,  2.10s/it]
 79%|███████▉  | 711/900 [45:30<05:07,  1.62s/it]
 79%|███████▉  | 712/900 [45:31<04:01,  1.29s/it]
 79%|███████▉  | 713/900 [46:20<49:10, 15.78s/it]
 79%|███████▉  | 714/900 [46:21<34:43, 11.20s/it]
 79%|███████▉  | 715/900 [46:21<24:41,  8.01s/it]
 80%|███████▉  | 716/900 [46:22<17:42,  5.77s/it]
 80%|███████▉  | 717/900 [46:22<12:50,  4.21s/it]
 80%|███████▉  | 718/900 [46:23<09:24,  3.10s/it]
 80%|███████▉  | 719/900 [46:23<07:01,  2.33s/it]
 80%|████████  | 720/900 [46:24<05:21,  1.78s/it]
 80%|████████  | 721/900 [47:16<50:27, 16.92s/it]
 80%|████████  | 722/900 [47:17<35:36, 12.00s/it]
 80%|████████  | 723/900 [47:17<25:15,  8.56s/it]
 80%|████████  | 724/900 [47:18<18:02,  6.15s/it]
 81%|████████  | 725/900 [47:18<13:01,  4.47s/it]
 81%|████████  | 726/900 [47:19<09:31,  3.29s/it]
 81%|████████  | 727/900 [47:19<07:04,  2.45s/it]
 81%|████████  | 728/900 [47:20<05:22,  1.87s/it]
 81%|████████  | 729/900 [47:53<32:06, 11.27s/it]
 81%|████████  | 730/900 [47:54<22:46,  8.04s/it]
 81%|████████  | 731/900 [47:54<16:16,  5.78s/it]
 81%|████████▏ | 732/900 [47:55<11:45,  4.20s/it]
 81%|████████▏ | 733/900 [47:55<08:36,  3.09s/it]
 82%|████████▏ | 734/900 [47:56<06:24,  2.32s/it]
 82%|████████▏ | 735/900 [47:56<04:52,  1.78s/it]
 82%|████████▏ | 736/900 [47:57<03:49,  1.40s/it]
 82%|████████▏ | 737/900 [49:02<55:34, 20.45s/it]
 82%|████████▏ | 738/900 [49:02<39:04, 14.47s/it]
 82%|████████▏ | 739/900 [49:03<27:36, 10.29s/it]
 82%|████████▏ | 740/900 [49:03<19:37,  7.36s/it]
 82%|████████▏ | 741/900 [49:04<14:03,  5.31s/it]
 82%|████████▏ | 742/900 [49:04<10:11,  3.87s/it]
 83%|████████▎ | 743/900 [49:05<07:30,  2.87s/it]
 83%|████████▎ | 744/900 [49:05<05:36,  2.16s/it]
 83%|████████▎ | 745/900 [49:25<19:27,  7.53s/it]
 83%|████████▎ | 746/900 [49:26<13:56,  5.43s/it]
 83%|████████▎ | 747/900 [49:26<10:04,  3.95s/it]
 83%|████████▎ | 748/900 [49:27<07:22,  2.91s/it]
 83%|████████▎ | 749/900 [49:27<05:30,  2.19s/it]
 83%|████████▎ | 750/900 [49:28<04:12,  1.68s/it]
 83%|████████▎ | 751/900 [49:28<03:18,  1.33s/it]
 84%|████████▎ | 752/900 [49:29<02:39,  1.08s/it]
 84%|████████▎ | 753/900 [50:30<46:51, 19.12s/it]
 84%|████████▍ | 754/900 [50:31<32:57, 13.54s/it]
 84%|████████▍ | 755/900 [50:31<23:16,  9.63s/it]
 84%|████████▍ | 756/900 [50:32<16:33,  6.90s/it]
 84%|████████▍ | 757/900 [50:32<11:52,  4.98s/it]
 84%|████████▍ | 758/900 [50:33<08:35,  3.63s/it]
 84%|████████▍ | 759/900 [50:33<06:20,  2.70s/it]
 84%|████████▍ | 760/900 [50:34<04:45,  2.04s/it]
 85%|████████▍ | 761/900 [51:04<24:40, 10.65s/it]
 85%|████████▍ | 762/900 [51:05<17:30,  7.62s/it]
 85%|████████▍ | 763/900 [51:05<12:31,  5.49s/it]
 85%|████████▍ | 764/900 [51:06<09:03,  4.00s/it]
 85%|████████▌ | 765/900 [51:06<06:38,  2.95s/it]
 85%|████████▌ | 766/900 [51:07<04:57,  2.22s/it]
 85%|████████▌ | 767/900 [51:07<03:46,  1.70s/it]
 85%|████████▌ | 768/900 [51:08<02:57,  1.34s/it]
 85%|████████▌ | 769/900 [51:08<02:26,  1.12s/it]
 86%|████████▌ | 770/900 [51:09<02:01,  1.07it/s]
 86%|████████▌ | 771/900 [51:09<01:43,  1.25it/s]
 86%|████████▌ | 772/900 [51:10<01:31,  1.40it/s]
 86%|████████▌ | 773/900 [51:11<01:23,  1.52it/s]
 86%|████████▌ | 774/900 [51:11<01:17,  1.63it/s]
 86%|████████▌ | 775/900 [51:12<01:12,  1.72it/s]
 86%|████████▌ | 776/900 [51:12<01:10,  1.75it/s]
 86%|████████▋ | 777/900 [51:13<01:13,  1.67it/s]
 86%|████████▋ | 778/900 [51:13<01:10,  1.73it/s]
 87%|████████▋ | 779/900 [51:14<01:08,  1.77it/s]
 87%|████████▋ | 780/900 [51:14<01:05,  1.84it/s]
 87%|████████▋ | 781/900 [51:15<01:03,  1.87it/s]
 87%|████████▋ | 782/900 [51:15<01:01,  1.91it/s]
 87%|████████▋ | 783/900 [51:16<01:00,  1.92it/s]
 87%|████████▋ | 784/900 [51:16<00:59,  1.95it/s]
 87%|████████▋ | 785/900 [51:17<01:01,  1.86it/s]
 87%|████████▋ | 786/900 [51:17<00:59,  1.91it/s]
 87%|████████▋ | 787/900 [51:18<00:59,  1.91it/s]
 88%|████████▊ | 788/900 [51:18<00:58,  1.90it/s]
 88%|████████▊ | 789/900 [51:19<00:58,  1.90it/s]
 88%|████████▊ | 790/900 [51:20<00:57,  1.92it/s]
 88%|████████▊ | 791/900 [51:20<00:56,  1.92it/s]
 88%|████████▊ | 792/900 [51:21<00:56,  1.93it/s]
 88%|████████▊ | 793/900 [51:21<00:59,  1.81it/s]
 88%|████████▊ | 794/900 [51:22<00:57,  1.83it/s]
 88%|████████▊ | 795/900 [51:22<00:56,  1.87it/s]
 88%|████████▊ | 796/900 [51:23<00:54,  1.91it/s]
 89%|████████▊ | 797/900 [51:23<00:53,  1.92it/s]
 89%|████████▊ | 798/900 [51:24<00:52,  1.94it/s]
 89%|████████▉ | 799/900 [51:24<00:51,  1.96it/s]
 89%|████████▉ | 800/900 [51:25<00:50,  1.98it/s]
 89%|████████▉ | 801/900 [51:25<00:53,  1.85it/s]
 89%|████████▉ | 802/900 [51:26<00:51,  1.89it/s]
 89%|████████▉ | 803/900 [51:26<00:50,  1.93it/s]
 89%|████████▉ | 804/900 [51:27<00:48,  1.97it/s]
 89%|████████▉ | 805/900 [51:27<00:48,  1.97it/s]
 90%|████████▉ | 806/900 [51:28<00:47,  1.99it/s]
 90%|████████▉ | 807/900 [51:28<00:46,  2.00it/s]
 90%|████████▉ | 808/900 [51:29<00:46,  2.00it/s]
 90%|████████▉ | 809/900 [52:03<15:54, 10.49s/it]
 90%|█████████ | 810/900 [52:03<11:14,  7.50s/it]
 90%|█████████ | 811/900 [52:04<08:00,  5.40s/it]
 90%|█████████ | 812/900 [52:04<05:46,  3.93s/it]
 90%|█████████ | 813/900 [52:05<04:12,  2.91s/it]
 90%|█████████ | 814/900 [52:05<03:07,  2.18s/it]
 91%|█████████ | 815/900 [52:06<02:23,  1.68s/it]
 91%|█████████ | 816/900 [52:06<01:51,  1.33s/it]
 91%|█████████ | 817/900 [52:07<01:36,  1.16s/it]
 91%|█████████ | 818/900 [52:07<01:19,  1.04it/s]
 91%|█████████ | 819/900 [52:08<01:07,  1.20it/s]
 91%|█████████ | 820/900 [52:08<00:58,  1.36it/s]
 91%|█████████ | 821/900 [52:09<00:52,  1.49it/s]
 91%|█████████▏| 822/900 [52:10<00:48,  1.60it/s]
 91%|█████████▏| 823/900 [52:10<00:45,  1.69it/s]
 92%|█████████▏| 824/900 [52:11<00:43,  1.76it/s]
 92%|█████████▏| 825/900 [52:11<00:43,  1.72it/s]
 92%|█████████▏| 826/900 [52:12<00:41,  1.79it/s]
 92%|█████████▏| 827/900 [52:12<00:39,  1.85it/s]
 92%|█████████▏| 828/900 [52:13<00:38,  1.87it/s]
 92%|█████████▏| 829/900 [52:13<00:37,  1.89it/s]
 92%|█████████▏| 830/900 [52:14<00:36,  1.91it/s]
 92%|█████████▏| 831/900 [52:14<00:35,  1.92it/s]
 92%|█████████▏| 832/900 [52:15<00:35,  1.92it/s]
 93%|█████████▎| 833/900 [52:15<00:36,  1.81it/s]
 93%|█████████▎| 834/900 [52:16<00:36,  1.83it/s]
 93%|█████████▎| 835/900 [52:16<00:35,  1.86it/s]
 93%|█████████▎| 836/900 [52:17<00:33,  1.91it/s]
 93%|█████████▎| 837/900 [52:17<00:32,  1.94it/s]
 93%|█████████▎| 838/900 [52:18<00:31,  1.95it/s]
 93%|█████████▎| 839/900 [52:18<00:31,  1.95it/s]
 93%|█████████▎| 840/900 [52:19<00:30,  1.94it/s]
 93%|█████████▎| 841/900 [52:20<00:34,  1.73it/s]
 94%|█████████▎| 842/900 [52:20<00:32,  1.80it/s]
 94%|█████████▎| 843/900 [52:21<00:31,  1.84it/s]
 94%|█████████▍| 844/900 [52:21<00:29,  1.88it/s]
 94%|█████████▍| 845/900 [52:22<00:28,  1.91it/s]
 94%|█████████▍| 846/900 [52:22<00:28,  1.90it/s]
 94%|█████████▍| 847/900 [52:23<00:27,  1.93it/s]
 94%|█████████▍| 848/900 [52:23<00:26,  1.95it/s]
 94%|█████████▍| 849/900 [52:24<00:29,  1.74it/s]
 94%|█████████▍| 850/900 [52:24<00:27,  1.79it/s]
 95%|█████████▍| 851/900 [52:25<00:26,  1.83it/s]
 95%|█████████▍| 852/900 [52:26<00:25,  1.85it/s]
 95%|█████████▍| 853/900 [52:26<00:25,  1.87it/s]
 95%|█████████▍| 854/900 [52:27<00:24,  1.88it/s]
 95%|█████████▌| 855/900 [52:27<00:23,  1.88it/s]
 95%|█████████▌| 856/900 [52:28<00:23,  1.88it/s]
 95%|█████████▌| 857/900 [52:42<03:27,  4.83s/it]
 95%|█████████▌| 858/900 [52:43<02:28,  3.54s/it]
 95%|█████████▌| 859/900 [52:44<01:47,  2.63s/it]
 96%|█████████▌| 860/900 [52:44<01:19,  2.00s/it]
 96%|█████████▌| 861/900 [52:45<01:00,  1.56s/it]
 96%|█████████▌| 862/900 [52:45<00:47,  1.25s/it]
 96%|█████████▌| 863/900 [52:46<00:38,  1.03s/it]
 96%|█████████▌| 864/900 [52:46<00:31,  1.14it/s]
 96%|█████████▌| 865/900 [52:47<00:27,  1.26it/s]
 96%|█████████▌| 866/900 [52:47<00:24,  1.41it/s]
 96%|█████████▋| 867/900 [52:48<00:21,  1.53it/s]
 96%|█████████▋| 868/900 [52:48<00:19,  1.63it/s]
 97%|█████████▋| 869/900 [52:49<00:18,  1.72it/s]
 97%|█████████▋| 870/900 [52:49<00:16,  1.79it/s]
 97%|█████████▋| 871/900 [52:50<00:15,  1.86it/s]
 97%|█████████▋| 872/900 [52:50<00:14,  1.88it/s]
 97%|█████████▋| 873/900 [52:51<00:15,  1.78it/s]
 97%|█████████▋| 874/900 [52:51<00:14,  1.83it/s]
 97%|█████████▋| 875/900 [52:52<00:13,  1.86it/s]
 97%|█████████▋| 876/900 [52:52<00:12,  1.88it/s]
 97%|█████████▋| 877/900 [52:53<00:12,  1.91it/s]
 98%|█████████▊| 878/900 [52:54<00:11,  1.93it/s]
 98%|█████████▊| 879/900 [52:54<00:10,  1.95it/s]
 98%|█████████▊| 880/900 [52:55<00:10,  1.93it/s]
 98%|█████████▊| 881/900 [52:55<00:10,  1.82it/s]
 98%|█████████▊| 882/900 [52:56<00:09,  1.85it/s]
 98%|█████████▊| 883/900 [52:56<00:09,  1.87it/s]
 98%|█████████▊| 884/900 [52:57<00:08,  1.87it/s]
 98%|█████████▊| 885/900 [52:57<00:07,  1.90it/s]
 98%|█████████▊| 886/900 [52:58<00:07,  1.91it/s]
 99%|█████████▊| 887/900 [52:58<00:06,  1.93it/s]
 99%|█████████▊| 888/900 [52:59<00:06,  1.97it/s]
 99%|█████████▉| 889/900 [53:00<00:06,  1.71it/s]
 99%|█████████▉| 890/900 [53:00<00:05,  1.77it/s]
 99%|█████████▉| 891/900 [53:01<00:04,  1.81it/s]
 99%|█████████▉| 892/900 [53:01<00:04,  1.83it/s]
 99%|█████████▉| 893/900 [53:02<00:03,  1.86it/s]
 99%|█████████▉| 894/900 [53:02<00:03,  1.89it/s]
 99%|█████████▉| 895/900 [53:03<00:02,  1.90it/s]
100%|█████████▉| 896/900 [53:03<00:02,  1.89it/s]
100%|█████████▉| 897/900 [53:04<00:01,  1.75it/s]
100%|█████████▉| 898/900 [53:04<00:01,  1.80it/s]
100%|█████████▉| 899/900 [53:05<00:00,  1.85it/s]
100%|█████████▉| 899/900 [53:06<00:03,  3.54s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/log_2_env0.json.
+SpoonInMugTask_2 complete: task_name: SpoonInMugTask, run_name: SpoonInMugTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the metal spoon that's in the wooden bowl in the mug, attributes: ['affordance', 'spatial', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.154810290732543, 'joint_sparc_mean': -12.496961083580972, 'ee_isj': 474569.7537604382, 'joint_isj': 7928498.590961097, 'ee_path_length': 23.93186074829704, 'joint_rmse_mean': 1.8287794865570004, 'ee_speed_max': 7.6803412437438965, 'ee_speed_mean': 0.39956411719322205}, events: {'GRIPPER_HIT_OBJECT': 2, 'OBJECT_BUMPED': 2, 'OBJECT_OUT_OF_SCENE': 4, 'OBJECT_MOVED': 4, 'GRIPPER_HIT_TABLE': 1, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 2734.824, 'policy_inference_avg_ms': 3038.7, 'env_step_s': 443.342, 'env_step_avg_ms': 492.6, 'video_write_s': 7.267, 'video_write_avg_ms': 8.1, 'wall_total_s': 3185.433, 'it_per_sec': 0.28}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spoon_big) (step 1/2), harness_episode_id: 63e5d4c0004140179d4f3b7d020668b7-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-30T20:49:19Z [17,132,647ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.223546 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-30T20:49:24Z [17,137,026ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-30T20:49:24Z [17,137,138ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-30T20:49:24Z [17,137,138ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T20:49:24Z [17,137,149ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-30T20:49:24Z [17,137,149ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T20:49:24Z [17,137,158ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T20:49:24Z [17,137,166ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-30T20:49:25Z [17,138,097ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((599))' not available in the MDL representation.
+2026-10-30T20:49:25Z [17,138,097ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((599))' not available in the MDL representation.
+2026-10-30T20:49:25Z [17,138,904ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((626))' not available in the MDL representation.
+2026-10-30T20:49:25Z [17,138,905ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((626))' not available in the MDL representation.
+2026-10-30T20:49:27Z [17,140,590ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((655))' not available in the MDL representation.
+2026-10-30T20:49:27Z [17,140,591ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((655))' not available in the MDL representation.
+2026-10-30T20:49:27Z [17,140,854ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((661))' not available in the MDL representation.
+2026-10-30T20:49:27Z [17,140,855ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((661))' not available in the MDL representation.
+2026-10-30T20:49:27Z [17,140,883ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((670))' not available in the MDL representation.
+2026-10-30T20:49:27Z [17,140,883ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((670))' not available in the MDL representation.
+2026-10-30T20:49:28Z [17,141,160ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((689))' not available in the MDL representation.
+2026-10-30T20:49:28Z [17,141,161ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((689))' not available in the MDL representation.
+2026-10-30T20:49:28Z [17,141,170ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((693))' not available in the MDL representation.
+2026-10-30T20:49:28Z [17,141,170ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((693))' not available in the MDL representation.
+2026-10-30T20:49:28Z [17,141,188ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((700))' not available in the MDL representation.
+2026-10-30T20:49:28Z [17,141,189ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((700))' not available in the MDL representation.
+2026-10-30T20:49:28Z [17,141,455ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((739))' not available in the MDL representation.
+2026-10-30T20:49:28Z [17,141,456ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((739))' not available in the MDL representation.
+2026-10-30T20:49:29Z [17,142,270ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((626))' not available in the MDL representation.
+2026-10-30T20:49:29Z [17,142,270ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((626))' not available in the MDL representation.
+2026-10-30T20:49:29Z [17,142,272ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((655))' not available in the MDL representation.
+2026-10-30T20:49:29Z [17,142,273ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((655))' not available in the MDL representation.
+2026-10-30T20:49:29Z [17,142,273ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((661))' not available in the MDL representation.
+2026-10-30T20:49:29Z [17,142,273ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((661))' not available in the MDL representation.
+2026-10-30T20:49:29Z [17,142,275ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((670))' not available in the MDL representation.
+2026-10-30T20:49:29Z [17,142,275ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((670))' not available in the MDL representation.
+2026-10-30T20:49:29Z [17,142,277ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((700))' not available in the MDL representation.
+2026-10-30T20:49:29Z [17,142,277ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((700))' not available in the MDL representation.
+2026-10-30T20:49:29Z [17,142,279ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((739))' not available in the MDL representation.
+2026-10-30T20:49:29Z [17,142,279ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((739))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 9.510773 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ClampInRightBinTask                           │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the spring clamp in the right bin         │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ClampInRightBinTaskSceneEnvCfg                │
+│  Attributes  : semantics, spatial, simple                    │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running ClampInRightBinTask_0: 'Put the spring clamp in the right bin' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:28<7:14:18, 28.99s/it]
  0%|          | 2/900 [00:29<3:01:11, 12.11s/it]
  0%|          | 3/900 [00:29<1:40:12,  6.70s/it]
  0%|          | 4/900 [00:29<1:02:12,  4.17s/it]
  1%|          | 5/900 [00:30<41:13,  2.76s/it]  
  1%|          | 6/900 [00:30<28:34,  1.92s/it]
  1%|          | 7/900 [00:30<20:32,  1.38s/it]
  1%|          | 8/900 [00:30<15:16,  1.03s/it]
  1%|          | 9/900 [00:41<57:57,  3.90s/it]
  1%|          | 10/900 [00:41<41:17,  2.78s/it]
  1%|          | 11/900 [00:41<29:54,  2.02s/it]
  1%|▏         | 12/900 [00:41<22:02,  1.49s/it]
  1%|▏         | 13/900 [00:42<16:33,  1.12s/it]
  2%|▏         | 14/900 [00:42<12:45,  1.16it/s]
  2%|▏         | 15/900 [00:42<10:06,  1.46it/s]
  2%|▏         | 16/900 [00:43<08:16,  1.78it/s]
  2%|▏         | 17/900 [00:54<55:54,  3.80s/it]
  2%|▏         | 18/900 [00:54<40:17,  2.74s/it]
  2%|▏         | 19/900 [00:54<29:20,  2.00s/it]
  2%|▏         | 20/900 [00:55<21:42,  1.48s/it]
  2%|▏         | 21/900 [00:55<16:21,  1.12s/it]
  2%|▏         | 22/900 [00:55<12:38,  1.16it/s]
  3%|▎         | 23/900 [00:56<10:02,  1.45it/s]
  3%|▎         | 24/900 [00:56<08:21,  1.75it/s]
  3%|▎         | 25/900 [01:01<27:28,  1.88s/it]
  3%|▎         | 26/900 [01:01<20:26,  1.40s/it]
  3%|▎         | 27/900 [01:01<15:31,  1.07s/it]
  3%|▎         | 28/900 [01:02<12:02,  1.21it/s]
  3%|▎         | 29/900 [01:02<09:39,  1.50it/s]
  3%|▎         | 30/900 [01:02<07:59,  1.81it/s]
  3%|▎         | 31/900 [01:02<06:47,  2.13it/s]
  4%|▎         | 32/900 [01:03<05:59,  2.41it/s]
  4%|▎         | 33/900 [01:10<37:21,  2.59s/it]
  4%|▍         | 34/900 [01:11<27:17,  1.89s/it]
  4%|▍         | 35/900 [01:11<20:18,  1.41s/it]
  4%|▍         | 36/900 [01:11<15:24,  1.07s/it]
  4%|▍         | 37/900 [01:12<11:59,  1.20it/s]
  4%|▍         | 38/900 [01:12<09:33,  1.50it/s]
  4%|▍         | 39/900 [01:12<07:52,  1.82it/s]
  4%|▍         | 40/900 [01:12<06:41,  2.14it/s]
  5%|▍         | 41/900 [01:19<31:22,  2.19s/it]
  5%|▍         | 42/900 [01:19<23:05,  1.61s/it]
  5%|▍         | 43/900 [01:19<17:18,  1.21s/it]
  5%|▍         | 44/900 [01:19<13:19,  1.07it/s]
  5%|▌         | 45/900 [01:20<10:34,  1.35it/s]
  5%|▌         | 46/900 [01:20<08:34,  1.66it/s]
  5%|▌         | 47/900 [01:20<07:09,  1.99it/s]
  5%|▌         | 48/900 [01:21<06:07,  2.32it/s]
  5%|▌         | 49/900 [01:27<34:00,  2.40s/it]
  6%|▌         | 50/900 [01:28<24:54,  1.76s/it]
  6%|▌         | 51/900 [01:28<18:34,  1.31s/it]
  6%|▌         | 52/900 [01:28<14:08,  1.00s/it]
  6%|▌         | 53/900 [01:29<11:01,  1.28it/s]
  6%|▌         | 54/900 [01:29<08:51,  1.59it/s]
  6%|▌         | 55/900 [01:29<07:20,  1.92it/s]
  6%|▌         | 56/900 [01:29<06:18,  2.23it/s]
  6%|▋         | 57/900 [01:40<50:10,  3.57s/it]
  6%|▋         | 58/900 [01:41<36:14,  2.58s/it]
  7%|▋         | 59/900 [01:41<26:29,  1.89s/it]
  7%|▋         | 60/900 [01:41<19:41,  1.41s/it]
  7%|▋         | 61/900 [01:41<14:54,  1.07s/it]
  7%|▋         | 62/900 [01:42<11:31,  1.21it/s]
  7%|▋         | 63/900 [01:42<09:11,  1.52it/s]
  7%|▋         | 64/900 [01:42<07:33,  1.84it/s]
  7%|▋         | 65/900 [01:48<30:16,  2.18s/it]
  7%|▋         | 66/900 [01:48<22:19,  1.61s/it]
  7%|▋         | 67/900 [01:49<16:44,  1.21s/it]
  8%|▊         | 68/900 [01:49<12:50,  1.08it/s]
  8%|▊         | 69/900 [01:49<10:06,  1.37it/s]
  8%|▊         | 70/900 [01:50<08:11,  1.69it/s]
  8%|▊         | 71/900 [01:50<06:50,  2.02it/s]
  8%|▊         | 72/900 [01:50<05:55,  2.33it/s]
  8%|▊         | 73/900 [01:56<27:58,  2.03s/it]
  8%|▊         | 74/900 [01:56<20:42,  1.50s/it]
  8%|▊         | 75/900 [01:56<15:38,  1.14s/it]
  8%|▊         | 76/900 [01:57<12:08,  1.13it/s]
  9%|▊         | 77/900 [01:57<09:43,  1.41it/s]
  9%|▊         | 78/900 [01:57<08:03,  1.70it/s]
  9%|▉         | 79/900 [01:58<06:49,  2.00it/s]
  9%|▉         | 80/900 [01:58<05:59,  2.28it/s]
  9%|▉         | 81/900 [02:10<53:23,  3.91s/it]
  9%|▉         | 82/900 [02:10<38:33,  2.83s/it]
  9%|▉         | 83/900 [02:10<28:09,  2.07s/it]
  9%|▉         | 84/900 [02:11<20:52,  1.53s/it]
  9%|▉         | 85/900 [02:11<15:45,  1.16s/it]
 10%|▉         | 86/900 [02:11<12:10,  1.11it/s]
 10%|▉         | 87/900 [02:12<09:40,  1.40it/s]
 10%|▉         | 88/900 [02:12<07:57,  1.70it/s]
 10%|▉         | 89/900 [02:19<32:35,  2.41s/it]
 10%|█         | 90/900 [02:19<23:59,  1.78s/it]
 10%|█         | 91/900 [02:19<17:58,  1.33s/it]
 10%|█         | 92/900 [02:19<13:46,  1.02s/it]
 10%|█         | 93/900 [02:20<10:47,  1.25it/s]
 10%|█         | 94/900 [02:20<08:43,  1.54it/s]
 11%|█         | 95/900 [02:20<07:16,  1.84it/s]
 11%|█         | 96/900 [02:21<06:13,  2.15it/s]
 11%|█         | 97/900 [02:32<50:26,  3.77s/it]
 11%|█         | 98/900 [02:32<36:27,  2.73s/it]
 11%|█         | 99/900 [02:33<26:37,  1.99s/it]
 11%|█         | 100/900 [02:33<19:44,  1.48s/it]
 11%|█         | 101/900 [02:33<14:52,  1.12s/it]
 11%|█▏        | 102/900 [02:34<11:27,  1.16it/s]
 11%|█▏        | 103/900 [02:34<09:02,  1.47it/s]
 12%|█▏        | 104/900 [02:34<07:23,  1.80it/s]
 12%|█▏        | 105/900 [02:41<31:30,  2.38s/it]
 12%|█▏        | 106/900 [02:41<23:07,  1.75s/it]
 12%|█▏        | 107/900 [02:41<17:14,  1.30s/it]
 12%|█▏        | 108/900 [02:41<13:08,  1.00it/s]
 12%|█▏        | 109/900 [02:42<10:15,  1.29it/s]
 12%|█▏        | 110/900 [02:42<08:16,  1.59it/s]
 12%|█▏        | 111/900 [02:42<06:51,  1.92it/s]
 12%|█▏        | 112/900 [02:43<05:52,  2.24it/s]
 13%|█▎        | 113/900 [02:49<29:54,  2.28s/it]
 13%|█▎        | 114/900 [02:49<21:57,  1.68s/it]
 13%|█▎        | 115/900 [02:50<16:23,  1.25s/it]
 13%|█▎        | 116/900 [02:50<12:32,  1.04it/s]
 13%|█▎        | 117/900 [02:50<09:50,  1.33it/s]
 13%|█▎        | 118/900 [02:50<07:57,  1.64it/s]
 13%|█▎        | 119/900 [02:51<06:38,  1.96it/s]
 13%|█▎        | 120/900 [02:51<05:43,  2.27it/s]
 13%|█▎        | 121/900 [03:04<54:50,  4.22s/it]
 14%|█▎        | 122/900 [03:04<39:24,  3.04s/it]
 14%|█▎        | 123/900 [03:05<28:36,  2.21s/it]
 14%|█▍        | 124/900 [03:05<21:03,  1.63s/it]
 14%|█▍        | 125/900 [03:05<15:46,  1.22s/it]
 14%|█▍        | 126/900 [03:05<12:05,  1.07it/s]
 14%|█▍        | 127/900 [03:06<09:29,  1.36it/s]
 14%|█▍        | 128/900 [03:06<07:40,  1.68it/s]
 14%|█▍        | 129/900 [03:20<58:05,  4.52s/it]
 14%|█▍        | 130/900 [03:20<41:39,  3.25s/it]
 15%|█▍        | 131/900 [03:20<30:13,  2.36s/it]
 15%|█▍        | 132/900 [03:21<22:16,  1.74s/it]
 15%|█▍        | 133/900 [03:21<16:41,  1.31s/it]
 15%|█▍        | 134/900 [03:21<12:47,  1.00s/it]
 15%|█▌        | 135/900 [03:21<09:59,  1.28it/s]
 15%|█▌        | 136/900 [03:22<08:01,  1.59it/s]
 15%|█▌        | 137/900 [03:33<48:07,  3.78s/it]
 15%|█▌        | 138/900 [03:33<34:44,  2.74s/it]
 15%|█▌        | 139/900 [03:33<25:22,  2.00s/it]
 16%|█▌        | 140/900 [03:34<18:46,  1.48s/it]
 16%|█▌        | 141/900 [03:34<14:09,  1.12s/it]
 16%|█▌        | 142/900 [03:34<10:53,  1.16it/s]
 16%|█▌        | 143/900 [03:34<08:37,  1.46it/s]
 16%|█▌        | 144/900 [03:35<07:03,  1.78it/s]
 16%|█▌        | 145/900 [03:43<34:57,  2.78s/it]
 16%|█▌        | 146/900 [03:43<25:32,  2.03s/it]
 16%|█▋        | 147/900 [03:43<18:57,  1.51s/it]
 16%|█▋        | 148/900 [03:44<14:22,  1.15s/it]
 17%|█▋        | 149/900 [03:44<11:06,  1.13it/s]
 17%|█▋        | 150/900 [03:44<08:52,  1.41it/s]
 17%|█▋        | 151/900 [03:44<07:21,  1.70it/s]
 17%|█▋        | 152/900 [03:45<06:17,  1.98it/s]
 17%|█▋        | 153/900 [04:07<1:27:19,  7.01s/it]
 17%|█▋        | 154/900 [04:07<1:02:15,  5.01s/it]
 17%|█▋        | 155/900 [04:08<44:37,  3.59s/it]  
 17%|█▋        | 156/900 [04:08<32:11,  2.60s/it]
 17%|█▋        | 157/900 [04:08<23:31,  1.90s/it]
 18%|█▊        | 158/900 [04:08<17:26,  1.41s/it]
 18%|█▊        | 159/900 [04:09<13:10,  1.07s/it]
 18%|█▊        | 160/900 [04:09<10:12,  1.21it/s]
 18%|█▊        | 161/900 [04:19<45:50,  3.72s/it]
 18%|█▊        | 162/900 [04:20<33:01,  2.69s/it]
 18%|█▊        | 163/900 [04:20<24:03,  1.96s/it]
 18%|█▊        | 164/900 [04:20<17:50,  1.45s/it]
 18%|█▊        | 165/900 [04:20<13:28,  1.10s/it]
 18%|█▊        | 166/900 [04:21<10:25,  1.17it/s]
 19%|█▊        | 167/900 [04:21<08:18,  1.47it/s]
 19%|█▊        | 168/900 [04:21<06:52,  1.77it/s]
 19%|█▉        | 169/900 [04:38<1:05:04,  5.34s/it]
 19%|█▉        | 170/900 [04:38<46:32,  3.83s/it]  
 19%|█▉        | 171/900 [04:38<33:35,  2.76s/it]
 19%|█▉        | 172/900 [04:39<24:32,  2.02s/it]
 19%|█▉        | 173/900 [04:39<18:12,  1.50s/it]
 19%|█▉        | 174/900 [04:39<13:44,  1.14s/it]
 19%|█▉        | 175/900 [04:40<10:36,  1.14it/s]
 20%|█▉        | 176/900 [04:40<08:25,  1.43it/s]
 20%|█▉        | 177/900 [04:49<40:30,  3.36s/it]
 20%|█▉        | 178/900 [04:50<29:18,  2.44s/it]
 20%|█▉        | 179/900 [04:50<21:29,  1.79s/it]
 20%|██        | 180/900 [04:50<16:03,  1.34s/it]
 20%|██        | 181/900 [04:51<12:12,  1.02s/it]
 20%|██        | 182/900 [04:51<09:31,  1.26it/s]
 20%|██        | 183/900 [04:51<07:39,  1.56it/s]
 20%|██        | 184/900 [04:51<06:20,  1.88it/s]
 21%|██        | 185/900 [04:52<05:45,  2.07it/s]
 21%|██        | 186/900 [04:52<05:01,  2.37it/s]
 21%|██        | 187/900 [04:52<04:28,  2.66it/s]
 21%|██        | 188/900 [04:53<04:06,  2.89it/s]
 21%|██        | 189/900 [04:53<03:51,  3.07it/s]
 21%|██        | 190/900 [04:53<03:41,  3.20it/s]
 21%|██        | 191/900 [04:53<03:34,  3.30it/s]
 21%|██▏       | 192/900 [04:54<03:29,  3.38it/s]
 21%|██▏       | 193/900 [04:54<03:51,  3.06it/s]
 22%|██▏       | 194/900 [04:54<03:39,  3.21it/s]
 22%|██▏       | 195/900 [04:55<03:32,  3.32it/s]
 22%|██▏       | 196/900 [04:55<03:25,  3.43it/s]
 22%|██▏       | 197/900 [04:55<03:21,  3.48it/s]
 22%|██▏       | 198/900 [04:55<03:19,  3.51it/s]
 22%|██▏       | 199/900 [04:56<03:17,  3.56it/s]
 22%|██▏       | 200/900 [04:56<03:16,  3.56it/s]
 22%|██▏       | 201/900 [04:56<03:36,  3.23it/s]
 22%|██▏       | 202/900 [04:57<03:26,  3.38it/s]
 23%|██▎       | 203/900 [04:57<03:21,  3.46it/s]
 23%|██▎       | 204/900 [04:57<03:18,  3.51it/s]
 23%|██▎       | 205/900 [04:57<03:14,  3.57it/s]
 23%|██▎       | 206/900 [04:58<03:11,  3.62it/s]
 23%|██▎       | 207/900 [04:58<03:10,  3.63it/s]
 23%|██▎       | 208/900 [04:58<03:07,  3.68it/s]
 23%|██▎       | 209/900 [05:05<26:47,  2.33s/it]
 23%|██▎       | 210/900 [05:06<19:39,  1.71s/it]
 23%|██▎       | 211/900 [05:06<14:40,  1.28s/it]
 24%|██▎       | 212/900 [05:06<11:12,  1.02it/s]
 24%|██▎       | 213/900 [05:06<08:46,  1.30it/s]
 24%|██▍       | 214/900 [05:07<07:03,  1.62it/s]
 24%|██▍       | 215/900 [05:07<05:52,  1.95it/s]
 24%|██▍       | 216/900 [05:07<05:01,  2.27it/s]
 24%|██▍       | 217/900 [05:08<04:47,  2.38it/s]
 24%|██▍       | 218/900 [05:08<04:16,  2.66it/s]
 24%|██▍       | 219/900 [05:08<03:53,  2.91it/s]
 24%|██▍       | 220/900 [05:08<03:39,  3.10it/s]
 25%|██▍       | 221/900 [05:09<03:29,  3.24it/s]
 25%|██▍       | 222/900 [05:09<03:21,  3.37it/s]
 25%|██▍       | 223/900 [05:09<03:16,  3.44it/s]
 25%|██▍       | 224/900 [05:10<03:13,  3.50it/s]
 25%|██▌       | 225/900 [05:10<03:31,  3.18it/s]
 25%|██▌       | 226/900 [05:10<03:23,  3.31it/s]
 25%|██▌       | 227/900 [05:10<03:17,  3.41it/s]
 25%|██▌       | 228/900 [05:11<03:12,  3.49it/s]
 25%|██▌       | 229/900 [05:11<03:10,  3.53it/s]
 26%|██▌       | 230/900 [05:11<03:07,  3.57it/s]
 26%|██▌       | 231/900 [05:12<03:05,  3.60it/s]
 26%|██▌       | 232/900 [05:12<03:04,  3.62it/s]
 26%|██▌       | 233/900 [05:12<03:23,  3.27it/s]
 26%|██▌       | 234/900 [05:12<03:18,  3.35it/s]
 26%|██▌       | 235/900 [05:13<03:13,  3.44it/s]
 26%|██▌       | 236/900 [05:13<03:08,  3.51it/s]
 26%|██▋       | 237/900 [05:13<03:06,  3.56it/s]
 26%|██▋       | 238/900 [05:14<03:03,  3.62it/s]
 27%|██▋       | 239/900 [05:14<03:01,  3.64it/s]
 27%|██▋       | 240/900 [05:14<03:00,  3.65it/s]
 27%|██▋       | 241/900 [05:15<03:23,  3.23it/s]
 27%|██▋       | 242/900 [05:15<03:16,  3.35it/s]
 27%|██▋       | 243/900 [05:15<03:11,  3.44it/s]
 27%|██▋       | 244/900 [05:15<03:06,  3.52it/s]
 27%|██▋       | 245/900 [05:16<03:03,  3.56it/s]
 27%|██▋       | 246/900 [05:16<03:06,  3.50it/s]
 27%|██▋       | 247/900 [05:16<03:06,  3.50it/s]
 28%|██▊       | 248/900 [05:16<03:04,  3.53it/s]
 28%|██▊       | 249/900 [05:17<03:22,  3.22it/s]
 28%|██▊       | 250/900 [05:17<03:14,  3.35it/s]
 28%|██▊       | 251/900 [05:17<03:09,  3.42it/s]
 28%|██▊       | 252/900 [05:18<03:07,  3.46it/s]
 28%|██▊       | 253/900 [05:18<03:04,  3.52it/s]
 28%|██▊       | 254/900 [05:18<03:02,  3.55it/s]
 28%|██▊       | 255/900 [05:18<02:59,  3.60it/s]
 28%|██▊       | 256/900 [05:19<02:59,  3.60it/s]
 29%|██▊       | 257/900 [05:29<33:41,  3.14s/it]
 29%|██▊       | 258/900 [05:29<24:26,  2.28s/it]
 29%|██▉       | 259/900 [05:29<17:57,  1.68s/it]
 29%|██▉       | 260/900 [05:29<13:25,  1.26s/it]
 29%|██▉       | 261/900 [05:30<10:15,  1.04it/s]
 29%|██▉       | 262/900 [05:30<08:01,  1.32it/s]
 29%|██▉       | 263/900 [05:30<06:29,  1.64it/s]
 29%|██▉       | 264/900 [05:31<05:24,  1.96it/s]
 29%|██▉       | 265/900 [05:31<05:04,  2.09it/s]
 30%|██▉       | 266/900 [05:31<04:24,  2.39it/s]
 30%|██▉       | 267/900 [05:31<03:56,  2.68it/s]
 30%|██▉       | 268/900 [05:32<03:34,  2.94it/s]
 30%|██▉       | 269/900 [05:32<03:20,  3.14it/s]
 30%|███       | 270/900 [05:32<03:12,  3.28it/s]
 30%|███       | 271/900 [05:33<03:06,  3.38it/s]
 30%|███       | 272/900 [05:33<03:00,  3.47it/s]
 30%|███       | 273/900 [05:34<04:54,  2.13it/s]
 30%|███       | 274/900 [05:34<04:17,  2.43it/s]
 31%|███       | 275/900 [05:34<03:50,  2.71it/s]
 31%|███       | 276/900 [05:35<03:33,  2.92it/s]
 31%|███       | 277/900 [05:35<03:19,  3.12it/s]
 31%|███       | 278/900 [05:35<03:10,  3.27it/s]
 31%|███       | 279/900 [05:35<03:03,  3.39it/s]
 31%|███       | 280/900 [05:36<02:58,  3.47it/s]
 31%|███       | 281/900 [05:36<03:23,  3.04it/s]
 31%|███▏      | 282/900 [05:36<03:11,  3.22it/s]
 31%|███▏      | 283/900 [05:37<03:02,  3.37it/s]
 32%|███▏      | 284/900 [05:37<02:57,  3.46it/s]
 32%|███▏      | 285/900 [05:37<02:54,  3.52it/s]
 32%|███▏      | 286/900 [05:37<02:53,  3.54it/s]
 32%|███▏      | 287/900 [05:38<02:50,  3.59it/s]
 32%|███▏      | 288/900 [05:38<02:52,  3.55it/s]
 32%|███▏      | 289/900 [05:38<03:20,  3.05it/s]
 32%|███▏      | 290/900 [05:39<03:10,  3.21it/s]
 32%|███▏      | 291/900 [05:39<03:02,  3.33it/s]
 32%|███▏      | 292/900 [05:39<02:57,  3.43it/s]
 33%|███▎      | 293/900 [05:39<02:53,  3.49it/s]
 33%|███▎      | 294/900 [05:40<02:51,  3.54it/s]
 33%|███▎      | 295/900 [05:40<02:48,  3.59it/s]
 33%|███▎      | 296/900 [05:40<02:46,  3.62it/s]
 33%|███▎      | 297/900 [05:41<03:08,  3.19it/s]
 33%|███▎      | 298/900 [05:41<03:00,  3.33it/s]
 33%|███▎      | 299/900 [05:41<02:55,  3.43it/s]
 33%|███▎      | 300/900 [05:42<02:52,  3.48it/s]
 33%|███▎      | 301/900 [05:42<02:50,  3.52it/s]
 34%|███▎      | 302/900 [05:42<02:46,  3.60it/s]
 34%|███▎      | 303/900 [05:42<02:43,  3.65it/s]
 34%|███▍      | 304/900 [05:43<02:43,  3.65it/s]
 34%|███▍      | 305/900 [05:43<03:04,  3.23it/s]
 34%|███▍      | 306/900 [05:43<02:58,  3.33it/s]
 34%|███▍      | 307/900 [05:44<02:53,  3.42it/s]
 34%|███▍      | 308/900 [05:44<02:49,  3.49it/s]
 34%|███▍      | 309/900 [05:44<02:46,  3.55it/s]
 34%|███▍      | 310/900 [05:44<02:42,  3.62it/s]
 35%|███▍      | 311/900 [05:45<02:42,  3.63it/s]
 35%|███▍      | 312/900 [05:45<02:40,  3.67it/s]
 35%|███▍      | 313/900 [05:45<02:58,  3.29it/s]
 35%|███▍      | 314/900 [05:46<02:52,  3.40it/s]
 35%|███▌      | 315/900 [05:46<02:51,  3.42it/s]
 35%|███▌      | 316/900 [05:46<02:50,  3.42it/s]
 35%|███▌      | 317/900 [05:46<02:48,  3.45it/s]
 35%|███▌      | 318/900 [05:47<02:47,  3.48it/s]
 35%|███▌      | 319/900 [05:47<02:43,  3.56it/s]
 36%|███▌      | 320/900 [05:47<02:40,  3.61it/s]
 36%|███▌      | 321/900 [06:01<43:12,  4.48s/it]
 36%|███▌      | 322/900 [06:02<30:59,  3.22s/it]
 36%|███▌      | 323/900 [06:02<22:26,  2.33s/it]
 36%|███▌      | 324/900 [06:02<16:29,  1.72s/it]
 36%|███▌      | 325/900 [06:03<12:19,  1.29s/it]
 36%|███▌      | 326/900 [06:03<09:31,  1.00it/s]
 36%|███▋      | 327/900 [06:03<07:25,  1.29it/s]
 36%|███▋      | 328/900 [06:03<05:58,  1.60it/s]
 37%|███▋      | 329/900 [06:04<05:16,  1.80it/s]
 37%|███▋      | 330/900 [06:04<04:29,  2.12it/s]
 37%|███▋      | 331/900 [06:04<03:55,  2.42it/s]
 37%|███▋      | 332/900 [06:05<03:31,  2.68it/s]
 37%|███▋      | 333/900 [06:05<03:24,  2.78it/s]
 37%|███▋      | 334/900 [06:05<03:10,  2.97it/s]
 37%|███▋      | 335/900 [06:06<03:00,  3.13it/s]
 37%|███▋      | 336/900 [06:06<02:55,  3.22it/s]
 37%|███▋      | 337/900 [06:06<03:09,  2.96it/s]
 38%|███▊      | 338/900 [06:07<02:59,  3.13it/s]
 38%|███▊      | 339/900 [06:07<02:51,  3.27it/s]
 38%|███▊      | 340/900 [06:07<02:44,  3.40it/s]
 38%|███▊      | 341/900 [06:07<02:40,  3.48it/s]
 38%|███▊      | 342/900 [06:08<02:36,  3.56it/s]
 38%|███▊      | 343/900 [06:08<02:33,  3.62it/s]
 38%|███▊      | 344/900 [06:08<02:32,  3.64it/s]
 38%|███▊      | 345/900 [06:09<02:50,  3.26it/s]
 38%|███▊      | 346/900 [06:09<02:46,  3.33it/s]
 39%|███▊      | 347/900 [06:09<02:42,  3.41it/s]
 39%|███▊      | 348/900 [06:09<02:39,  3.45it/s]
 39%|███▉      | 349/900 [06:10<02:36,  3.51it/s]
 39%|███▉      | 350/900 [06:10<02:35,  3.53it/s]
 39%|███▉      | 351/900 [06:10<02:34,  3.55it/s]
 39%|███▉      | 352/900 [06:10<02:33,  3.57it/s]
 39%|███▉      | 353/900 [06:11<02:50,  3.21it/s]
 39%|███▉      | 354/900 [06:11<02:44,  3.33it/s]
 39%|███▉      | 355/900 [06:11<02:40,  3.40it/s]
 40%|███▉      | 356/900 [06:12<02:37,  3.46it/s]
 40%|███▉      | 357/900 [06:12<02:35,  3.50it/s]
 40%|███▉      | 358/900 [06:12<02:33,  3.54it/s]
 40%|███▉      | 359/900 [06:13<02:31,  3.57it/s]
 40%|████      | 360/900 [06:13<02:30,  3.59it/s]
 40%|████      | 361/900 [06:13<02:46,  3.24it/s]
 40%|████      | 362/900 [06:13<02:39,  3.37it/s]
 40%|████      | 363/900 [06:14<02:34,  3.47it/s]
 40%|████      | 364/900 [06:14<02:31,  3.55it/s]
 41%|████      | 365/900 [06:14<02:28,  3.59it/s]
 41%|████      | 366/900 [06:15<02:27,  3.63it/s]
 41%|████      | 367/900 [06:15<02:25,  3.65it/s]
 41%|████      | 368/900 [06:15<02:24,  3.68it/s]
 41%|████      | 369/900 [06:32<47:47,  5.40s/it]
 41%|████      | 370/900 [06:33<34:06,  3.86s/it]
 41%|████      | 371/900 [06:33<24:33,  2.78s/it]
 41%|████▏     | 372/900 [06:33<17:53,  2.03s/it]
 41%|████▏     | 373/900 [06:34<13:12,  1.50s/it]
 42%|████▏     | 374/900 [06:34<09:55,  1.13s/it]
 42%|████▏     | 375/900 [06:34<07:38,  1.14it/s]
 42%|████▏     | 376/900 [06:34<06:02,  1.45it/s]
 42%|████▏     | 377/900 [06:35<05:52,  1.48it/s]
 42%|████▏     | 378/900 [06:35<04:48,  1.81it/s]
 42%|████▏     | 379/900 [06:35<04:03,  2.14it/s]
 42%|████▏     | 380/900 [06:36<03:31,  2.46it/s]
 42%|████▏     | 381/900 [06:36<03:09,  2.73it/s]
 42%|████▏     | 382/900 [06:36<02:55,  2.96it/s]
 43%|████▎     | 383/900 [06:37<02:45,  3.12it/s]
 43%|████▎     | 384/900 [06:37<02:38,  3.26it/s]
 43%|████▎     | 385/900 [06:37<02:52,  2.98it/s]
 43%|████▎     | 386/900 [06:38<02:43,  3.14it/s]
 43%|████▎     | 387/900 [06:38<02:37,  3.26it/s]
 43%|████▎     | 388/900 [06:38<02:31,  3.38it/s]
 43%|████▎     | 389/900 [06:38<02:26,  3.49it/s]
 43%|████▎     | 390/900 [06:39<02:23,  3.56it/s]
 43%|████▎     | 391/900 [06:39<02:23,  3.56it/s]
 44%|████▎     | 392/900 [06:39<02:22,  3.55it/s]
 44%|████▎     | 393/900 [06:40<02:56,  2.87it/s]
 44%|████▍     | 394/900 [06:40<02:45,  3.06it/s]
 44%|████▍     | 395/900 [06:40<02:37,  3.20it/s]
 44%|████▍     | 396/900 [06:41<02:32,  3.31it/s]
 44%|████▍     | 397/900 [06:41<02:28,  3.39it/s]
 44%|████▍     | 398/900 [06:41<02:25,  3.45it/s]
 44%|████▍     | 399/900 [06:41<02:23,  3.49it/s]
 44%|████▍     | 400/900 [06:42<02:21,  3.54it/s]
 45%|████▍     | 401/900 [06:42<02:35,  3.21it/s]
 45%|████▍     | 402/900 [06:42<02:30,  3.31it/s]
 45%|████▍     | 403/900 [06:43<02:26,  3.39it/s]
 45%|████▍     | 404/900 [06:43<02:23,  3.45it/s]
 45%|████▌     | 405/900 [06:43<02:21,  3.49it/s]
 45%|████▌     | 406/900 [06:43<02:19,  3.53it/s]
 45%|████▌     | 407/900 [06:44<02:18,  3.55it/s]
 45%|████▌     | 408/900 [06:44<02:17,  3.57it/s]
 45%|████▌     | 409/900 [06:44<02:39,  3.09it/s]
 46%|████▌     | 410/900 [06:45<02:36,  3.13it/s]
 46%|████▌     | 411/900 [06:45<02:29,  3.27it/s]
 46%|████▌     | 412/900 [06:45<02:25,  3.36it/s]
 46%|████▌     | 413/900 [06:46<02:21,  3.45it/s]
 46%|████▌     | 414/900 [06:46<02:19,  3.48it/s]
 46%|████▌     | 415/900 [06:46<02:17,  3.52it/s]
 46%|████▌     | 416/900 [06:46<02:15,  3.56it/s]
 46%|████▋     | 417/900 [06:53<17:52,  2.22s/it]
 46%|████▋     | 418/900 [06:53<13:08,  1.64s/it]
 47%|████▋     | 419/900 [06:54<09:51,  1.23s/it]
 47%|████▋     | 420/900 [06:54<07:33,  1.06it/s]
 47%|████▋     | 421/900 [06:54<05:56,  1.34it/s]
 47%|████▋     | 422/900 [06:54<04:48,  1.66it/s]
 47%|████▋     | 423/900 [06:55<04:02,  1.97it/s]
 47%|████▋     | 424/900 [06:55<03:29,  2.27it/s]
 47%|████▋     | 425/900 [06:56<03:57,  2.00it/s]
 47%|████▋     | 426/900 [06:56<03:25,  2.31it/s]
 47%|████▋     | 427/900 [06:56<03:02,  2.59it/s]
 48%|████▊     | 428/900 [06:57<02:47,  2.82it/s]
 48%|████▊     | 429/900 [06:57<02:34,  3.05it/s]
 48%|████▊     | 430/900 [06:57<02:26,  3.20it/s]
 48%|████▊     | 431/900 [06:57<02:22,  3.30it/s]
 48%|████▊     | 432/900 [06:58<02:18,  3.38it/s]
 48%|████▊     | 433/900 [06:58<02:29,  3.12it/s]
 48%|████▊     | 434/900 [06:58<02:23,  3.26it/s]
 48%|████▊     | 435/900 [06:59<02:18,  3.35it/s]
 48%|████▊     | 436/900 [06:59<02:15,  3.42it/s]
 49%|████▊     | 437/900 [06:59<02:12,  3.49it/s]
 49%|████▊     | 438/900 [06:59<02:10,  3.53it/s]
 49%|████▉     | 439/900 [07:00<02:09,  3.56it/s]
 49%|████▉     | 440/900 [07:00<02:07,  3.61it/s]
 49%|████▉     | 441/900 [07:00<02:46,  2.76it/s]
 49%|████▉     | 442/900 [07:01<02:34,  2.97it/s]
 49%|████▉     | 443/900 [07:01<02:27,  3.11it/s]
 49%|████▉     | 444/900 [07:01<02:21,  3.23it/s]
 49%|████▉     | 445/900 [07:02<02:16,  3.33it/s]
 50%|████▉     | 446/900 [07:02<02:13,  3.39it/s]
 50%|████▉     | 447/900 [07:02<02:10,  3.47it/s]
 50%|████▉     | 448/900 [07:02<02:08,  3.52it/s]
 50%|████▉     | 449/900 [07:03<02:24,  3.11it/s]
 50%|█████     | 450/900 [07:03<02:17,  3.28it/s]
 50%|█████     | 451/900 [07:03<02:14,  3.34it/s]
 50%|█████     | 452/900 [07:04<02:11,  3.40it/s]
 50%|█████     | 453/900 [07:04<02:08,  3.47it/s]
 50%|█████     | 454/900 [07:04<02:07,  3.50it/s]
 51%|█████     | 455/900 [07:05<02:07,  3.49it/s]
 51%|█████     | 456/900 [07:05<02:06,  3.52it/s]
 51%|█████     | 457/900 [07:05<02:19,  3.18it/s]
 51%|█████     | 458/900 [07:05<02:13,  3.32it/s]
 51%|█████     | 459/900 [07:06<02:08,  3.43it/s]
 51%|█████     | 460/900 [07:06<02:06,  3.47it/s]
 51%|█████     | 461/900 [07:06<02:04,  3.52it/s]
 51%|█████▏    | 462/900 [07:07<02:02,  3.56it/s]
 51%|█████▏    | 463/900 [07:07<02:01,  3.60it/s]
 52%|█████▏    | 464/900 [07:07<02:00,  3.62it/s]
 52%|█████▏    | 465/900 [07:08<02:18,  3.14it/s]
 52%|█████▏    | 466/900 [07:08<02:11,  3.30it/s]
 52%|█████▏    | 467/900 [07:08<02:07,  3.41it/s]
 52%|█████▏    | 468/900 [07:08<02:05,  3.44it/s]
 52%|█████▏    | 469/900 [07:09<02:01,  3.54it/s]
 52%|█████▏    | 470/900 [07:09<01:59,  3.59it/s]
 52%|█████▏    | 471/900 [07:09<01:58,  3.61it/s]
 52%|█████▏    | 472/900 [07:09<01:59,  3.59it/s]
 53%|█████▎    | 473/900 [07:10<02:22,  2.99it/s]
 53%|█████▎    | 474/900 [07:10<02:15,  3.15it/s]
 53%|█████▎    | 475/900 [07:10<02:09,  3.29it/s]
 53%|█████▎    | 476/900 [07:11<02:03,  3.42it/s]
 53%|█████▎    | 477/900 [07:11<02:01,  3.49it/s]
 53%|█████▎    | 478/900 [07:11<01:59,  3.53it/s]
 53%|█████▎    | 479/900 [07:12<01:59,  3.53it/s]
 53%|█████▎    | 480/900 [07:12<01:58,  3.54it/s]
 53%|█████▎    | 481/900 [07:22<23:10,  3.32s/it]
 54%|█████▎    | 482/900 [07:22<16:45,  2.41s/it]
 54%|█████▎    | 483/900 [07:23<12:17,  1.77s/it]
 54%|█████▍    | 484/900 [07:23<09:09,  1.32s/it]
 54%|█████▍    | 485/900 [07:23<06:58,  1.01s/it]
 54%|█████▍    | 486/900 [07:24<05:26,  1.27it/s]
 54%|█████▍    | 487/900 [07:24<04:29,  1.53it/s]
 54%|█████▍    | 488/900 [07:24<03:42,  1.85it/s]
 54%|█████▍    | 489/900 [07:25<03:19,  2.06it/s]
 54%|█████▍    | 490/900 [07:25<02:53,  2.36it/s]
 55%|█████▍    | 491/900 [07:25<02:35,  2.64it/s]
 55%|█████▍    | 492/900 [07:25<02:22,  2.86it/s]
 55%|█████▍    | 493/900 [07:26<02:12,  3.07it/s]
 55%|█████▍    | 494/900 [07:26<02:06,  3.21it/s]
 55%|█████▌    | 495/900 [07:26<02:01,  3.33it/s]
 55%|█████▌    | 496/900 [07:27<01:58,  3.42it/s]
 55%|█████▌    | 497/900 [07:27<02:09,  3.12it/s]
 55%|█████▌    | 498/900 [07:27<02:02,  3.29it/s]
 55%|█████▌    | 499/900 [07:27<01:57,  3.41it/s]
 56%|█████▌    | 500/900 [07:28<02:51,  2.34it/s]
 56%|█████▌    | 501/900 [07:28<02:33,  2.61it/s]
 56%|█████▌    | 502/900 [07:29<02:19,  2.85it/s]
 56%|█████▌    | 503/900 [07:29<02:10,  3.03it/s]
 56%|█████▌    | 504/900 [07:29<02:03,  3.20it/s]
 56%|█████▌    | 505/900 [07:30<02:15,  2.92it/s]
 56%|█████▌    | 506/900 [07:30<02:07,  3.10it/s]
 56%|█████▋    | 507/900 [07:30<02:01,  3.23it/s]
 56%|█████▋    | 508/900 [07:31<01:57,  3.33it/s]
 57%|█████▋    | 509/900 [07:31<01:55,  3.40it/s]
 57%|█████▋    | 510/900 [07:31<01:53,  3.45it/s]
 57%|█████▋    | 511/900 [07:31<01:51,  3.48it/s]
 57%|█████▋    | 512/900 [07:32<01:49,  3.54it/s]
 57%|█████▋    | 513/900 [07:32<02:21,  2.73it/s]
 57%|█████▋    | 514/900 [07:32<02:11,  2.93it/s]
 57%|█████▋    | 515/900 [07:33<02:04,  3.09it/s]
 57%|█████▋    | 516/900 [07:33<01:59,  3.20it/s]
 57%|█████▋    | 517/900 [07:33<01:56,  3.30it/s]
 58%|█████▊    | 518/900 [07:34<01:51,  3.42it/s]
 58%|█████▊    | 519/900 [07:34<01:49,  3.49it/s]
 58%|█████▊    | 520/900 [07:34<01:47,  3.52it/s]
 58%|█████▊    | 521/900 [07:35<01:58,  3.19it/s]
 58%|█████▊    | 522/900 [07:35<01:54,  3.29it/s]
 58%|█████▊    | 523/900 [07:35<01:51,  3.39it/s]
 58%|█████▊    | 524/900 [07:35<01:48,  3.45it/s]
 58%|█████▊    | 525/900 [07:36<01:47,  3.48it/s]
 58%|█████▊    | 526/900 [07:36<01:48,  3.46it/s]
 59%|█████▊    | 527/900 [07:36<01:47,  3.46it/s]
 59%|█████▊    | 528/900 [07:37<01:46,  3.48it/s]
 59%|█████▉    | 529/900 [07:37<01:58,  3.12it/s]
 59%|█████▉    | 530/900 [07:37<01:54,  3.24it/s]
 59%|█████▉    | 531/900 [07:37<01:51,  3.31it/s]
 59%|█████▉    | 532/900 [07:38<01:47,  3.43it/s]
 59%|█████▉    | 533/900 [07:38<01:44,  3.51it/s]
 59%|█████▉    | 534/900 [07:38<01:43,  3.54it/s]
 59%|█████▉    | 535/900 [07:39<01:42,  3.56it/s]
 60%|█████▉    | 536/900 [07:39<01:41,  3.58it/s]
 60%|█████▉    | 537/900 [07:58<35:38,  5.89s/it]
 60%|█████▉    | 538/900 [07:58<25:22,  4.21s/it]
 60%|█████▉    | 539/900 [07:58<18:13,  3.03s/it]
 60%|██████    | 540/900 [07:59<13:12,  2.20s/it]
 60%|██████    | 541/900 [07:59<09:41,  1.62s/it]
 60%|██████    | 542/900 [07:59<07:15,  1.22s/it]
 60%|██████    | 543/900 [07:59<05:33,  1.07it/s]
 60%|██████    | 544/900 [08:00<04:22,  1.36it/s]
 61%|██████    | 545/900 [08:00<03:43,  1.59it/s]
 61%|██████    | 546/900 [08:00<03:05,  1.91it/s]
 61%|██████    | 547/900 [08:01<02:38,  2.22it/s]
 61%|██████    | 548/900 [08:01<02:20,  2.51it/s]
 61%|██████    | 549/900 [08:01<02:06,  2.78it/s]
 61%|██████    | 550/900 [08:02<01:56,  3.01it/s]
 61%|██████    | 551/900 [08:02<01:49,  3.18it/s]
 61%|██████▏   | 552/900 [08:02<01:44,  3.32it/s]
 61%|██████▏   | 553/900 [08:02<01:52,  3.07it/s]
 62%|██████▏   | 554/900 [08:03<01:46,  3.25it/s]
 62%|██████▏   | 555/900 [08:03<01:42,  3.37it/s]
 62%|██████▏   | 556/900 [08:03<01:39,  3.46it/s]
 62%|██████▏   | 557/900 [08:04<01:37,  3.53it/s]
 62%|██████▏   | 558/900 [08:04<01:35,  3.59it/s]
 62%|██████▏   | 559/900 [08:04<01:32,  3.67it/s]
 62%|██████▏   | 560/900 [08:04<01:31,  3.72it/s]
 62%|██████▏   | 561/900 [08:05<01:41,  3.35it/s]
 62%|██████▏   | 562/900 [08:05<01:38,  3.43it/s]
 63%|██████▎   | 563/900 [08:05<01:37,  3.46it/s]
 63%|██████▎   | 564/900 [08:06<01:36,  3.49it/s]
 63%|██████▎   | 565/900 [08:06<01:35,  3.51it/s]
 63%|██████▎   | 566/900 [08:06<01:35,  3.48it/s]
 63%|██████▎   | 567/900 [08:06<01:33,  3.57it/s]
 63%|██████▎   | 568/900 [08:07<01:31,  3.64it/s]
 63%|██████▎   | 569/900 [08:07<01:40,  3.29it/s]
 63%|██████▎   | 570/900 [08:07<01:37,  3.39it/s]
 63%|██████▎   | 571/900 [08:08<01:35,  3.44it/s]
 64%|██████▎   | 572/900 [08:08<01:33,  3.50it/s]
 64%|██████▎   | 573/900 [08:08<01:32,  3.55it/s]
 64%|██████▍   | 574/900 [08:08<01:31,  3.55it/s]
 64%|██████▍   | 575/900 [08:09<01:31,  3.56it/s]
 64%|██████▍   | 576/900 [08:09<01:30,  3.57it/s]
 64%|██████▍   | 577/900 [08:10<02:01,  2.65it/s]
 64%|██████▍   | 578/900 [08:10<01:51,  2.89it/s]
 64%|██████▍   | 579/900 [08:10<01:44,  3.08it/s]
 64%|██████▍   | 580/900 [08:10<01:39,  3.22it/s]
 65%|██████▍   | 581/900 [08:11<01:36,  3.31it/s]
 65%|██████▍   | 582/900 [08:11<01:33,  3.40it/s]
 65%|██████▍   | 583/900 [08:11<01:31,  3.45it/s]
 65%|██████▍   | 584/900 [08:11<01:30,  3.49it/s]
 65%|██████▌   | 585/900 [08:12<02:40,  1.96it/s]
 65%|██████▌   | 586/900 [08:13<02:18,  2.27it/s]
 65%|██████▌   | 587/900 [08:13<02:02,  2.56it/s]
 65%|██████▌   | 588/900 [08:13<01:50,  2.82it/s]
 65%|██████▌   | 589/900 [08:14<01:43,  3.02it/s]
 66%|██████▌   | 590/900 [08:14<01:37,  3.18it/s]
 66%|██████▌   | 591/900 [08:14<01:33,  3.32it/s]
 66%|██████▌   | 592/900 [08:14<01:29,  3.45it/s]
 66%|██████▌   | 593/900 [08:31<26:20,  5.15s/it]
 66%|██████▌   | 594/900 [08:31<18:48,  3.69s/it]
 66%|██████▌   | 595/900 [08:31<13:31,  2.66s/it]
 66%|██████▌   | 596/900 [08:32<09:51,  1.94s/it]
 66%|██████▋   | 597/900 [08:32<07:17,  1.44s/it]
 66%|██████▋   | 598/900 [08:32<05:30,  1.09s/it]
 67%|██████▋   | 599/900 [08:33<04:15,  1.18it/s]
 67%|██████▋   | 600/900 [08:33<03:22,  1.48it/s]
 67%|██████▋   | 601/900 [08:33<02:57,  1.68it/s]
 67%|██████▋   | 602/900 [08:33<02:29,  2.00it/s]
 67%|██████▋   | 603/900 [08:34<02:08,  2.31it/s]
 67%|██████▋   | 604/900 [08:34<01:54,  2.58it/s]
 67%|██████▋   | 605/900 [08:34<01:44,  2.82it/s]
 67%|██████▋   | 606/900 [08:35<01:37,  3.02it/s]
 67%|██████▋   | 607/900 [08:35<01:31,  3.20it/s]
 68%|██████▊   | 608/900 [08:35<01:27,  3.34it/s]
 68%|██████▊   | 609/900 [08:36<01:45,  2.75it/s]
 68%|██████▊   | 610/900 [08:36<01:38,  2.96it/s]
 68%|██████▊   | 611/900 [08:36<01:32,  3.13it/s]
 68%|██████▊   | 612/900 [08:36<01:27,  3.29it/s]
 68%|██████▊   | 613/900 [08:37<01:24,  3.38it/s]
 68%|██████▊   | 614/900 [08:37<01:22,  3.49it/s]
 68%|██████▊   | 615/900 [08:37<01:20,  3.53it/s]
 68%|██████▊   | 616/900 [08:38<01:19,  3.57it/s]
 69%|██████▊   | 617/900 [08:38<01:27,  3.22it/s]
 69%|██████▊   | 618/900 [08:38<01:25,  3.31it/s]
 69%|██████▉   | 619/900 [08:39<01:23,  3.38it/s]
 69%|██████▉   | 620/900 [08:39<01:21,  3.44it/s]
 69%|██████▉   | 621/900 [08:39<01:20,  3.45it/s]
 69%|██████▉   | 622/900 [08:39<01:19,  3.48it/s]
 69%|██████▉   | 623/900 [08:40<01:18,  3.53it/s]
 69%|██████▉   | 624/900 [08:40<01:17,  3.55it/s]
 69%|██████▉   | 625/900 [08:40<01:28,  3.10it/s]
 70%|██████▉   | 626/900 [08:41<01:24,  3.23it/s]
 70%|██████▉   | 627/900 [08:41<01:21,  3.36it/s]
 70%|██████▉   | 628/900 [08:41<01:18,  3.45it/s]
 70%|██████▉   | 629/900 [08:41<01:17,  3.49it/s]
 70%|███████   | 630/900 [08:42<01:15,  3.56it/s]
 70%|███████   | 631/900 [08:42<01:15,  3.56it/s]
 70%|███████   | 632/900 [08:42<01:14,  3.58it/s]
 70%|███████   | 633/900 [08:43<01:23,  3.19it/s]
 70%|███████   | 634/900 [08:43<01:20,  3.31it/s]
 71%|███████   | 635/900 [08:43<01:17,  3.42it/s]
 71%|███████   | 636/900 [08:43<01:16,  3.46it/s]
 71%|███████   | 637/900 [08:44<01:14,  3.53it/s]
 71%|███████   | 638/900 [08:44<01:13,  3.54it/s]
 71%|███████   | 639/900 [08:44<01:12,  3.58it/s]
 71%|███████   | 640/900 [08:45<01:12,  3.60it/s]
 71%|███████   | 641/900 [08:45<01:19,  3.28it/s]
 71%|███████▏  | 642/900 [08:45<01:16,  3.37it/s]
 71%|███████▏  | 643/900 [08:45<01:14,  3.44it/s]
 72%|███████▏  | 644/900 [08:46<01:12,  3.52it/s]
 72%|███████▏  | 645/900 [08:46<01:12,  3.53it/s]
 72%|███████▏  | 646/900 [08:46<01:11,  3.55it/s]
 72%|███████▏  | 647/900 [08:47<01:11,  3.56it/s]
 72%|███████▏  | 648/900 [08:47<01:09,  3.60it/s]
 72%|███████▏  | 649/900 [09:46<1:14:38, 17.84s/it]
 72%|███████▏  | 650/900 [09:46<52:22, 12.57s/it]  
 72%|███████▏  | 651/900 [09:46<36:51,  8.88s/it]
 72%|███████▏  | 652/900 [09:47<26:02,  6.30s/it]
 73%|███████▎  | 653/900 [09:47<18:29,  4.49s/it]
 73%|███████▎  | 654/900 [09:47<13:13,  3.23s/it]
 73%|███████▎  | 655/900 [09:47<09:33,  2.34s/it]
 73%|███████▎  | 656/900 [09:48<06:59,  1.72s/it]
 73%|███████▎  | 657/900 [10:03<23:12,  5.73s/it]
 73%|███████▎  | 658/900 [10:03<16:31,  4.10s/it]
 73%|███████▎  | 659/900 [10:03<11:50,  2.95s/it]
 73%|███████▎  | 660/900 [10:04<08:35,  2.15s/it]
 73%|███████▎  | 661/900 [10:04<06:19,  1.59s/it]
 74%|███████▎  | 662/900 [10:04<04:44,  1.20s/it]
 74%|███████▎  | 663/900 [10:04<03:38,  1.09it/s]
 74%|███████▍  | 664/900 [10:05<02:51,  1.38it/s]
 74%|███████▍  | 665/900 [10:19<19:23,  4.95s/it]
 74%|███████▍  | 666/900 [10:20<13:50,  3.55s/it]
 74%|███████▍  | 667/900 [10:20<09:57,  2.56s/it]
 74%|███████▍  | 668/900 [10:20<07:14,  1.87s/it]
 74%|███████▍  | 669/900 [10:21<05:22,  1.39s/it]
 74%|███████▍  | 670/900 [10:21<04:03,  1.06s/it]
 75%|███████▍  | 671/900 [10:21<03:08,  1.22it/s]
 75%|███████▍  | 672/900 [10:21<02:30,  1.52it/s]
 75%|███████▍  | 673/900 [10:38<20:04,  5.31s/it]
 75%|███████▍  | 674/900 [10:38<14:17,  3.80s/it]
 75%|███████▌  | 675/900 [10:38<10:16,  2.74s/it]
 75%|███████▌  | 676/900 [10:38<07:28,  2.00s/it]
 75%|███████▌  | 677/900 [10:39<05:31,  1.49s/it]
 75%|███████▌  | 678/900 [10:39<04:10,  1.13s/it]
 75%|███████▌  | 679/900 [10:39<03:13,  1.14it/s]
 76%|███████▌  | 680/900 [10:39<02:33,  1.43it/s]
 76%|███████▌  | 681/900 [11:05<30:09,  8.26s/it]
 76%|███████▌  | 682/900 [11:06<21:18,  5.87s/it]
 76%|███████▌  | 683/900 [11:06<15:08,  4.19s/it]
 76%|███████▌  | 684/900 [11:06<10:51,  3.01s/it]
 76%|███████▌  | 685/900 [11:06<07:51,  2.19s/it]
 76%|███████▌  | 686/900 [11:07<05:45,  1.62s/it]
 76%|███████▋  | 687/900 [11:07<04:18,  1.21s/it]
 76%|███████▋  | 688/900 [11:07<03:17,  1.07it/s]
 77%|███████▋  | 689/900 [11:24<19:44,  5.61s/it]
 77%|███████▋  | 690/900 [11:24<14:03,  4.02s/it]
 77%|███████▋  | 691/900 [11:24<10:04,  2.89s/it]
 77%|███████▋  | 692/900 [11:25<07:17,  2.11s/it]
 77%|███████▋  | 693/900 [11:25<05:22,  1.56s/it]
 77%|███████▋  | 694/900 [11:25<04:01,  1.17s/it]
 77%|███████▋  | 695/900 [11:26<03:04,  1.11it/s]
 77%|███████▋  | 696/900 [11:26<02:25,  1.40it/s]
 77%|███████▋  | 697/900 [11:37<13:29,  3.99s/it]
 78%|███████▊  | 698/900 [11:38<09:40,  2.88s/it]
 78%|███████▊  | 699/900 [11:38<07:01,  2.10s/it]
 78%|███████▊  | 700/900 [11:38<05:11,  1.56s/it]
 78%|███████▊  | 701/900 [11:39<03:54,  1.18s/it]
 78%|███████▊  | 702/900 [11:39<03:01,  1.09it/s]
 78%|███████▊  | 703/900 [11:39<02:23,  1.37it/s]
 78%|███████▊  | 704/900 [11:39<01:57,  1.67it/s]
 78%|███████▊  | 705/900 [12:01<22:16,  6.85s/it]
 78%|███████▊  | 706/900 [12:01<15:48,  4.89s/it]
 79%|███████▊  | 707/900 [12:01<11:17,  3.51s/it]
 79%|███████▊  | 708/900 [12:02<08:08,  2.54s/it]
 79%|███████▉  | 709/900 [12:02<05:56,  1.87s/it]
 79%|███████▉  | 710/900 [12:02<04:24,  1.39s/it]
 79%|███████▉  | 711/900 [12:03<03:20,  1.06s/it]
 79%|███████▉  | 712/900 [12:03<02:35,  1.21it/s]
 79%|███████▉  | 713/900 [12:14<12:36,  4.04s/it]
 79%|███████▉  | 714/900 [12:15<09:03,  2.92s/it]
 79%|███████▉  | 715/900 [12:15<06:35,  2.14s/it]
 80%|███████▉  | 716/900 [12:15<04:51,  1.58s/it]
 80%|███████▉  | 717/900 [12:16<03:39,  1.20s/it]
 80%|███████▉  | 718/900 [12:16<02:48,  1.08it/s]
 80%|███████▉  | 719/900 [12:16<02:12,  1.37it/s]
 80%|████████  | 720/900 [12:17<01:47,  1.68it/s]
 80%|████████  | 721/900 [12:29<12:48,  4.30s/it]
 80%|████████  | 722/900 [12:30<09:09,  3.09s/it]
 80%|████████  | 723/900 [12:30<06:36,  2.24s/it]
 80%|████████  | 724/900 [12:30<04:50,  1.65s/it]
 81%|████████  | 725/900 [12:31<03:36,  1.24s/it]
 81%|████████  | 726/900 [12:31<02:45,  1.05it/s]
 81%|████████  | 727/900 [12:31<02:09,  1.34it/s]
 81%|████████  | 728/900 [12:31<01:44,  1.65it/s]
 81%|████████  | 729/900 [12:40<08:53,  3.12s/it]
 81%|████████  | 730/900 [12:41<06:25,  2.27s/it]
 81%|████████  | 731/900 [12:41<04:41,  1.67s/it]
 81%|████████▏ | 732/900 [12:41<03:29,  1.24s/it]
 81%|████████▏ | 733/900 [12:41<02:39,  1.05it/s]
 82%|████████▏ | 734/900 [12:42<02:04,  1.33it/s]
 82%|████████▏ | 735/900 [12:42<01:39,  1.65it/s]
 82%|████████▏ | 736/900 [12:42<01:22,  1.98it/s]
 82%|████████▏ | 737/900 [12:54<10:15,  3.78s/it]
 82%|████████▏ | 738/900 [12:54<07:21,  2.73s/it]
 82%|████████▏ | 739/900 [12:54<05:20,  1.99s/it]
 82%|████████▏ | 740/900 [12:54<03:56,  1.48s/it]
 82%|████████▏ | 741/900 [12:55<02:57,  1.12s/it]
 82%|████████▏ | 742/900 [12:55<02:16,  1.16it/s]
 83%|████████▎ | 743/900 [12:55<01:47,  1.46it/s]
 83%|████████▎ | 744/900 [12:56<01:27,  1.78it/s]
 83%|████████▎ | 745/900 [13:05<08:15,  3.20s/it]
 83%|████████▎ | 746/900 [13:05<05:57,  2.32s/it]
 83%|████████▎ | 747/900 [13:05<04:21,  1.71s/it]
 83%|████████▎ | 748/900 [13:06<03:14,  1.28s/it]
 83%|████████▎ | 749/900 [13:06<02:28,  1.01it/s]
 83%|████████▎ | 750/900 [13:06<01:57,  1.28it/s]
 83%|████████▎ | 751/900 [13:07<01:34,  1.57it/s]
 84%|████████▎ | 752/900 [13:07<01:19,  1.87it/s]
 84%|████████▎ | 753/900 [13:16<07:24,  3.03s/it]
 84%|████████▍ | 754/900 [13:16<05:22,  2.21s/it]
 84%|████████▍ | 755/900 [13:16<03:56,  1.63s/it]
 84%|████████▍ | 756/900 [13:17<02:56,  1.23s/it]
 84%|████████▍ | 757/900 [13:17<02:15,  1.06it/s]
 84%|████████▍ | 758/900 [13:17<01:46,  1.33it/s]
 84%|████████▍ | 759/900 [13:18<01:26,  1.63it/s]
 84%|████████▍ | 760/900 [13:18<01:12,  1.94it/s]
 85%|████████▍ | 761/900 [13:25<05:57,  2.57s/it]
 85%|████████▍ | 762/900 [13:25<04:19,  1.88s/it]
 85%|████████▍ | 763/900 [13:26<03:11,  1.40s/it]
 85%|████████▍ | 764/900 [13:26<02:24,  1.06s/it]
 85%|████████▌ | 765/900 [13:26<01:52,  1.20it/s]
 85%|████████▌ | 766/900 [13:27<01:30,  1.49it/s]
 85%|████████▌ | 767/900 [13:27<01:14,  1.78it/s]
 85%|████████▌ | 768/900 [13:27<01:04,  2.05it/s]
 85%|████████▌ | 769/900 [13:35<06:03,  2.78s/it]
 86%|████████▌ | 770/900 [13:36<04:24,  2.03s/it]
 86%|████████▌ | 771/900 [13:36<03:15,  1.51s/it]
 86%|████████▌ | 772/900 [13:36<02:26,  1.14s/it]
 86%|████████▌ | 773/900 [13:37<01:52,  1.12it/s]
 86%|████████▌ | 774/900 [13:37<01:29,  1.41it/s]
 86%|████████▌ | 775/900 [13:37<01:12,  1.73it/s]
 86%|████████▌ | 776/900 [13:37<01:00,  2.06it/s]
 86%|████████▋ | 777/900 [13:51<09:20,  4.56s/it]
 86%|████████▋ | 778/900 [13:52<06:39,  3.27s/it]
 87%|████████▋ | 779/900 [13:52<04:47,  2.37s/it]
 87%|████████▋ | 780/900 [13:52<03:29,  1.74s/it]
 87%|████████▋ | 781/900 [13:53<02:35,  1.30s/it]
 87%|████████▋ | 782/900 [13:53<01:57,  1.01it/s]
 87%|████████▋ | 783/900 [13:53<01:31,  1.28it/s]
 87%|████████▋ | 784/900 [13:53<01:12,  1.59it/s]
 87%|████████▋ | 785/900 [14:08<09:17,  4.85s/it]
 87%|████████▋ | 786/900 [14:08<06:36,  3.48s/it]
 87%|████████▋ | 787/900 [14:09<04:44,  2.52s/it]
 88%|████████▊ | 788/900 [14:09<03:26,  1.85s/it]
 88%|████████▊ | 789/900 [14:09<02:33,  1.38s/it]
 88%|████████▊ | 790/900 [14:09<01:56,  1.06s/it]
 88%|████████▊ | 791/900 [14:10<01:30,  1.20it/s]
 88%|████████▊ | 792/900 [14:10<01:12,  1.49it/s]
 88%|████████▊ | 793/900 [14:36<14:46,  8.28s/it]
 88%|████████▊ | 794/900 [14:36<10:24,  5.89s/it]
 88%|████████▊ | 795/900 [14:37<07:22,  4.21s/it]
 88%|████████▊ | 796/900 [14:37<05:15,  3.04s/it]
 89%|████████▊ | 797/900 [14:37<03:47,  2.21s/it]
 89%|████████▊ | 798/900 [14:38<02:46,  1.64s/it]
 89%|████████▉ | 799/900 [14:38<02:04,  1.23s/it]
 89%|████████▉ | 800/900 [14:38<01:34,  1.06it/s]
 89%|████████▉ | 801/900 [14:51<07:37,  4.62s/it]
 89%|████████▉ | 802/900 [14:52<05:25,  3.32s/it]
 89%|████████▉ | 803/900 [14:52<03:53,  2.40s/it]
 89%|████████▉ | 804/900 [14:52<02:49,  1.76s/it]
 89%|████████▉ | 805/900 [14:52<02:05,  1.32s/it]
 90%|████████▉ | 806/900 [14:53<01:34,  1.00s/it]
 90%|████████▉ | 807/900 [14:53<01:12,  1.28it/s]
 90%|████████▉ | 808/900 [14:53<00:57,  1.59it/s]
 90%|████████▉ | 809/900 [15:12<09:11,  6.06s/it]
 90%|█████████ | 810/900 [15:12<06:29,  4.32s/it]
 90%|█████████ | 811/900 [15:13<04:36,  3.11s/it]
 90%|█████████ | 812/900 [15:13<03:18,  2.26s/it]
 90%|█████████ | 813/900 [15:13<02:25,  1.67s/it]
 90%|█████████ | 814/900 [15:13<01:47,  1.25s/it]
 91%|█████████ | 815/900 [15:14<01:21,  1.04it/s]
 91%|█████████ | 816/900 [15:14<01:03,  1.33it/s]
 91%|█████████ | 817/900 [15:48<14:54, 10.78s/it]
 91%|█████████ | 818/900 [15:48<10:25,  7.63s/it]
 91%|█████████ | 819/900 [15:49<07:18,  5.42s/it]
 91%|█████████ | 820/900 [15:49<05:09,  3.87s/it]
 91%|█████████ | 821/900 [15:49<03:40,  2.79s/it]
 91%|█████████▏| 822/900 [15:49<02:38,  2.04s/it]
 91%|█████████▏| 823/900 [15:50<01:56,  1.51s/it]
 92%|█████████▏| 824/900 [15:50<01:26,  1.14s/it]
 92%|█████████▏| 825/900 [16:08<07:43,  6.18s/it]
 92%|█████████▏| 826/900 [16:08<05:25,  4.41s/it]
 92%|█████████▏| 827/900 [16:08<03:51,  3.16s/it]
 92%|█████████▏| 828/900 [16:09<02:45,  2.30s/it]
 92%|█████████▏| 829/900 [16:09<02:00,  1.70s/it]
 92%|█████████▏| 830/900 [16:09<01:29,  1.28s/it]
 92%|█████████▏| 831/900 [16:10<01:07,  1.01it/s]
 92%|█████████▏| 832/900 [16:10<00:52,  1.29it/s]
 93%|█████████▎| 833/900 [17:12<21:29, 19.24s/it]
 93%|█████████▎| 834/900 [17:13<14:54, 13.56s/it]
 93%|█████████▎| 835/900 [17:13<10:22,  9.58s/it]
 93%|█████████▎| 836/900 [17:13<07:14,  6.79s/it]
 93%|█████████▎| 837/900 [17:13<05:05,  4.84s/it]
 93%|█████████▎| 838/900 [17:14<03:35,  3.48s/it]
 93%|█████████▎| 839/900 [17:14<02:34,  2.53s/it]
 93%|█████████▎| 840/900 [17:14<01:51,  1.86s/it]
 93%|█████████▎| 841/900 [17:36<07:39,  7.78s/it]
 94%|█████████▎| 842/900 [17:36<05:21,  5.54s/it]
 94%|█████████▎| 843/900 [17:37<03:45,  3.96s/it]
 94%|█████████▍| 844/900 [17:37<02:40,  2.86s/it]
 94%|█████████▍| 845/900 [17:37<01:54,  2.09s/it]
 94%|█████████▍| 846/900 [17:37<01:23,  1.54s/it]
 94%|█████████▍| 847/900 [17:38<01:01,  1.16s/it]
 94%|█████████▍| 848/900 [17:38<00:46,  1.11it/s]
 94%|█████████▍| 849/900 [17:59<05:52,  6.91s/it]
 94%|█████████▍| 850/900 [17:59<04:05,  4.92s/it]
 95%|█████████▍| 851/900 [17:59<02:52,  3.53s/it]
 95%|█████████▍| 852/900 [18:00<02:02,  2.55s/it]
 95%|█████████▍| 853/900 [18:00<01:27,  1.87s/it]
 95%|█████████▍| 854/900 [18:00<01:03,  1.39s/it]
 95%|█████████▌| 855/900 [18:01<00:47,  1.06s/it]
 95%|█████████▌| 856/900 [18:01<00:36,  1.21it/s]
 95%|█████████▌| 857/900 [18:43<09:27, 13.21s/it]
 95%|█████████▌| 858/900 [18:43<06:32,  9.33s/it]
 95%|█████████▌| 859/900 [18:43<04:31,  6.62s/it]
 96%|█████████▌| 860/900 [18:44<03:08,  4.72s/it]
 96%|█████████▌| 861/900 [18:44<02:12,  3.39s/it]
 96%|█████████▌| 862/900 [18:44<01:33,  2.46s/it]
 96%|█████████▌| 863/900 [18:45<01:06,  1.81s/it]
 96%|█████████▌| 864/900 [18:45<00:48,  1.35s/it]
 96%|█████████▌| 865/900 [19:02<03:31,  6.04s/it]
 96%|█████████▌| 866/900 [19:02<02:26,  4.32s/it]
 96%|█████████▋| 867/900 [19:03<01:42,  3.11s/it]
 96%|█████████▋| 868/900 [19:03<01:12,  2.27s/it]
 97%|█████████▋| 869/900 [19:03<00:51,  1.68s/it]
 97%|█████████▋| 870/900 [19:03<00:37,  1.26s/it]
 97%|█████████▋| 871/900 [19:04<00:28,  1.03it/s]
 97%|█████████▋| 872/900 [19:04<00:21,  1.30it/s]
 97%|█████████▋| 873/900 [19:18<02:05,  4.64s/it]
 97%|█████████▋| 874/900 [19:18<01:26,  3.33s/it]
 97%|█████████▋| 875/900 [19:18<01:00,  2.42s/it]
 97%|█████████▋| 876/900 [19:19<00:42,  1.78s/it]
 97%|█████████▋| 877/900 [19:19<00:30,  1.34s/it]
 98%|█████████▊| 878/900 [19:19<00:22,  1.02s/it]
 98%|█████████▊| 879/900 [19:19<00:16,  1.26it/s]
 98%|█████████▊| 880/900 [19:20<00:12,  1.56it/s]
 98%|█████████▊| 881/900 [19:50<02:59,  9.45s/it]
 98%|█████████▊| 882/900 [19:50<02:00,  6.70s/it]
 98%|█████████▊| 883/900 [19:50<01:21,  4.77s/it]
 98%|█████████▊| 884/900 [19:51<00:54,  3.42s/it]
 98%|█████████▊| 885/900 [19:51<00:37,  2.48s/it]
 98%|█████████▊| 886/900 [19:51<00:25,  1.82s/it]
 99%|█████████▊| 887/900 [19:51<00:17,  1.36s/it]
 99%|█████████▊| 888/900 [19:52<00:12,  1.04s/it]
 99%|█████████▉| 889/900 [20:15<01:25,  7.76s/it]
 99%|█████████▉| 890/900 [20:15<00:55,  5.52s/it]
 99%|█████████▉| 891/900 [20:16<00:35,  3.95s/it]
 99%|█████████▉| 892/900 [20:16<00:22,  2.86s/it]
 99%|█████████▉| 893/900 [20:16<00:14,  2.09s/it]
 99%|█████████▉| 894/900 [20:17<00:09,  1.55s/it]
 99%|█████████▉| 895/900 [20:17<00:05,  1.18s/it]
100%|█████████▉| 896/900 [20:17<00:03,  1.10it/s]
100%|█████████▉| 897/900 [20:34<00:16,  5.64s/it]
100%|█████████▉| 898/900 [20:34<00:08,  4.03s/it]
100%|█████████▉| 899/900 [20:34<00:02,  2.90s/it]
100%|█████████▉| 899/900 [20:35<00:01,  1.37s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/log_0_env0.json.
+ClampInRightBinTask_0 complete: task_name: ClampInRightBinTask, run_name: ClampInRightBinTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the spring clamp in the right bin, attributes: ['semantics', 'spatial', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.955678804588358, 'joint_sparc_mean': -11.775224669148125, 'ee_isj': 1309407.6921317289, 'joint_isj': 6881962.257003605, 'ee_path_length': 23.318144582883342, 'joint_rmse_mean': 1.804233145044453, 'ee_speed_max': 11.73681926727295, 'ee_speed_mean': 0.4084106385707855}, events: {'GRIPPER_HIT_TABLE': 2, 'OBJECT_BUMPED': 9, 'GRIPPER_HIT_OBJECT': 3, 'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_FULLY_CLOSED': 5, 'TARGET_OBJECT_DROPPED': 1, 'wrong_objects_grabbed': ['husky_hammer', 'red_hammer', 'husky_hammer']}, instruction_type: default, timing: {'policy_inference_s': 992.93, 'policy_inference_avg_ms': 1103.3, 'env_step_s': 232.315, 'env_step_avg_ms': 258.1, 'video_write_s': 9.48, 'video_write_avg_ms': 10.5, 'wall_total_s': 1234.725, 'it_per_sec': 0.73}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spring_clamp) (step 1/2), harness_episode_id: 20cf4271fa534902ac116b3a027c3378-0
+[RoboLab] Running ClampInRightBinTask_1: 'Put the spring clamp in the right bin' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:31<7:56:46, 31.82s/it]
  0%|          | 2/900 [00:32<3:18:35, 13.27s/it]
  0%|          | 3/900 [00:32<1:49:42,  7.34s/it]
  0%|          | 4/900 [00:32<1:07:57,  4.55s/it]
  1%|          | 5/900 [00:32<44:52,  3.01s/it]  
  1%|          | 6/900 [00:33<30:55,  2.08s/it]
  1%|          | 7/900 [00:33<22:06,  1.49s/it]
  1%|          | 8/900 [00:33<16:19,  1.10s/it]
  1%|          | 9/900 [00:41<45:50,  3.09s/it]
  1%|          | 10/900 [00:41<32:56,  2.22s/it]
  1%|          | 11/900 [00:41<24:08,  1.63s/it]
  1%|▏         | 12/900 [00:42<18:01,  1.22s/it]
  1%|▏         | 13/900 [00:42<13:46,  1.07it/s]
  2%|▏         | 14/900 [00:42<10:47,  1.37it/s]
  2%|▏         | 15/900 [00:42<08:41,  1.70it/s]
  2%|▏         | 16/900 [00:43<07:15,  2.03it/s]
  2%|▏         | 17/900 [00:56<1:04:29,  4.38s/it]
  2%|▏         | 18/900 [00:56<46:14,  3.15s/it]  
  2%|▏         | 19/900 [00:57<33:29,  2.28s/it]
  2%|▏         | 20/900 [00:57<24:34,  1.68s/it]
  2%|▏         | 21/900 [00:57<18:20,  1.25s/it]
  2%|▏         | 22/900 [00:57<13:59,  1.05it/s]
  3%|▎         | 23/900 [00:58<10:55,  1.34it/s]
  3%|▎         | 24/900 [00:58<08:47,  1.66it/s]
  3%|▎         | 25/900 [01:17<1:29:10,  6.11s/it]
  3%|▎         | 26/900 [01:17<1:03:30,  4.36s/it]
  3%|▎         | 27/900 [01:17<45:34,  3.13s/it]  
  3%|▎         | 28/900 [01:18<33:02,  2.27s/it]
  3%|▎         | 29/900 [01:18<24:21,  1.68s/it]
  3%|▎         | 30/900 [01:18<18:17,  1.26s/it]
  3%|▎         | 31/900 [01:19<14:01,  1.03it/s]
  4%|▎         | 32/900 [01:19<10:58,  1.32it/s]
  4%|▎         | 33/900 [01:33<1:10:29,  4.88s/it]
  4%|▍         | 34/900 [01:34<50:29,  3.50s/it]  
  4%|▍         | 35/900 [01:34<36:33,  2.54s/it]
  4%|▍         | 36/900 [01:34<26:50,  1.86s/it]
  4%|▍         | 37/900 [01:34<20:03,  1.39s/it]
  4%|▍         | 38/900 [01:35<15:18,  1.07s/it]
  4%|▍         | 39/900 [01:35<12:00,  1.19it/s]
  4%|▍         | 40/900 [01:35<09:38,  1.49it/s]
  5%|▍         | 41/900 [01:41<33:06,  2.31s/it]
  5%|▍         | 42/900 [01:42<24:30,  1.71s/it]
  5%|▍         | 43/900 [01:42<18:24,  1.29s/it]
  5%|▍         | 44/900 [01:42<14:08,  1.01it/s]
  5%|▌         | 45/900 [01:43<11:08,  1.28it/s]
  5%|▌         | 46/900 [01:43<09:04,  1.57it/s]
  5%|▌         | 47/900 [01:43<07:33,  1.88it/s]
  5%|▌         | 48/900 [01:44<06:30,  2.18it/s]
  5%|▌         | 49/900 [01:51<36:46,  2.59s/it]
  6%|▌         | 50/900 [01:51<27:06,  1.91s/it]
  6%|▌         | 51/900 [01:52<20:09,  1.43s/it]
  6%|▌         | 52/900 [01:52<15:16,  1.08s/it]
  6%|▌         | 53/900 [01:52<11:51,  1.19it/s]
  6%|▌         | 54/900 [01:53<09:29,  1.48it/s]
  6%|▌         | 55/900 [01:53<07:48,  1.80it/s]
  6%|▌         | 56/900 [01:53<06:36,  2.13it/s]
  6%|▋         | 57/900 [02:12<1:23:06,  5.92s/it]
  6%|▋         | 58/900 [02:12<59:15,  4.22s/it]  
  7%|▋         | 59/900 [02:12<42:33,  3.04s/it]
  7%|▋         | 60/900 [02:13<30:56,  2.21s/it]
  7%|▋         | 61/900 [02:13<22:46,  1.63s/it]
  7%|▋         | 62/900 [02:13<17:05,  1.22s/it]
  7%|▋         | 63/900 [02:13<13:06,  1.06it/s]
  7%|▋         | 64/900 [02:14<10:17,  1.35it/s]
  7%|▋         | 65/900 [02:23<47:58,  3.45s/it]
  7%|▋         | 66/900 [02:24<34:42,  2.50s/it]
  7%|▋         | 67/900 [02:24<25:24,  1.83s/it]
  8%|▊         | 68/900 [02:24<18:54,  1.36s/it]
  8%|▊         | 69/900 [02:25<14:24,  1.04s/it]
  8%|▊         | 70/900 [02:25<11:12,  1.23it/s]
  8%|▊         | 71/900 [02:25<09:04,  1.52it/s]
  8%|▊         | 72/900 [02:25<07:31,  1.83it/s]
  8%|▊         | 73/900 [02:41<1:11:27,  5.18s/it]
  8%|▊         | 74/900 [02:42<51:08,  3.71s/it]  
  8%|▊         | 75/900 [02:42<36:54,  2.68s/it]
  8%|▊         | 76/900 [02:42<26:56,  1.96s/it]
  9%|▊         | 77/900 [02:43<19:56,  1.45s/it]
  9%|▊         | 78/900 [02:43<15:02,  1.10s/it]
  9%|▉         | 79/900 [02:43<11:36,  1.18it/s]
  9%|▉         | 80/900 [02:43<09:13,  1.48it/s]
  9%|▉         | 81/900 [02:51<36:39,  2.69s/it]
  9%|▉         | 82/900 [02:51<26:44,  1.96s/it]
  9%|▉         | 83/900 [02:51<19:50,  1.46s/it]
  9%|▉         | 84/900 [02:52<14:59,  1.10s/it]
  9%|▉         | 85/900 [02:52<11:42,  1.16it/s]
 10%|▉         | 86/900 [02:52<09:23,  1.44it/s]
 10%|▉         | 87/900 [02:52<07:48,  1.73it/s]
 10%|▉         | 88/900 [02:53<06:42,  2.02it/s]
 10%|▉         | 89/900 [03:04<51:56,  3.84s/it]
 10%|█         | 90/900 [03:05<37:31,  2.78s/it]
 10%|█         | 91/900 [03:05<27:31,  2.04s/it]
 10%|█         | 92/900 [03:05<20:28,  1.52s/it]
 10%|█         | 93/900 [03:06<15:31,  1.15s/it]
 10%|█         | 94/900 [03:06<12:01,  1.12it/s]
 11%|█         | 95/900 [03:06<09:36,  1.40it/s]
 11%|█         | 96/900 [03:07<07:54,  1.69it/s]
 11%|█         | 97/900 [03:15<40:59,  3.06s/it]
 11%|█         | 98/900 [03:16<29:51,  2.23s/it]
 11%|█         | 99/900 [03:16<22:03,  1.65s/it]
 11%|█         | 100/900 [03:16<16:35,  1.24s/it]
 11%|█         | 101/900 [03:17<12:56,  1.03it/s]
 11%|█▏        | 102/900 [03:17<10:14,  1.30it/s]
 11%|█▏        | 103/900 [03:17<08:19,  1.60it/s]
 12%|█▏        | 104/900 [03:17<07:00,  1.89it/s]
 12%|█▏        | 105/900 [03:23<26:40,  2.01s/it]
 12%|█▏        | 106/900 [03:23<19:50,  1.50s/it]
 12%|█▏        | 107/900 [03:24<14:59,  1.13s/it]
 12%|█▏        | 108/900 [03:24<11:35,  1.14it/s]
 12%|█▏        | 109/900 [03:24<09:09,  1.44it/s]
 12%|█▏        | 110/900 [03:24<07:28,  1.76it/s]
 12%|█▏        | 111/900 [03:25<06:18,  2.09it/s]
 12%|█▏        | 112/900 [03:25<05:37,  2.33it/s]
 13%|█▎        | 113/900 [03:41<1:08:10,  5.20s/it]
 13%|█▎        | 114/900 [03:42<48:45,  3.72s/it]  
 13%|█▎        | 115/900 [03:42<35:08,  2.69s/it]
 13%|█▎        | 116/900 [03:42<25:39,  1.96s/it]
 13%|█▎        | 117/900 [03:42<19:02,  1.46s/it]
 13%|█▎        | 118/900 [03:43<14:23,  1.10s/it]
 13%|█▎        | 119/900 [03:43<11:08,  1.17it/s]
 13%|█▎        | 120/900 [03:43<08:51,  1.47it/s]
 13%|█▎        | 121/900 [03:49<28:58,  2.23s/it]
 14%|█▎        | 122/900 [03:49<21:19,  1.64s/it]
 14%|█▎        | 123/900 [03:50<15:57,  1.23s/it]
 14%|█▍        | 124/900 [03:50<12:13,  1.06it/s]
 14%|█▍        | 125/900 [03:50<09:36,  1.34it/s]
 14%|█▍        | 126/900 [03:50<07:46,  1.66it/s]
 14%|█▍        | 127/900 [03:51<06:32,  1.97it/s]
 14%|█▍        | 128/900 [03:51<05:38,  2.28it/s]
 14%|█▍        | 129/900 [04:04<53:02,  4.13s/it]
 14%|█▍        | 130/900 [04:04<38:08,  2.97s/it]
 15%|█▍        | 131/900 [04:04<27:43,  2.16s/it]
 15%|█▍        | 132/900 [04:05<20:28,  1.60s/it]
 15%|█▍        | 133/900 [04:05<15:22,  1.20s/it]
 15%|█▍        | 134/900 [04:05<11:48,  1.08it/s]
 15%|█▌        | 135/900 [04:05<09:18,  1.37it/s]
 15%|█▌        | 136/900 [04:06<07:32,  1.69it/s]
 15%|█▌        | 137/900 [04:15<39:20,  3.09s/it]
 15%|█▌        | 138/900 [04:15<28:34,  2.25s/it]
 15%|█▌        | 139/900 [04:15<21:02,  1.66s/it]
 16%|█▌        | 140/900 [04:15<15:45,  1.24s/it]
 16%|█▌        | 141/900 [04:16<12:04,  1.05it/s]
 16%|█▌        | 142/900 [04:16<09:32,  1.32it/s]
 16%|█▌        | 143/900 [04:16<07:43,  1.63it/s]
 16%|█▌        | 144/900 [04:17<06:26,  1.96it/s]
 16%|█▌        | 145/900 [04:29<53:19,  4.24s/it]
 16%|█▌        | 146/900 [04:30<38:17,  3.05s/it]
 16%|█▋        | 147/900 [04:30<27:45,  2.21s/it]
 16%|█▋        | 148/900 [04:30<20:24,  1.63s/it]
 17%|█▋        | 149/900 [04:31<15:14,  1.22s/it]
 17%|█▋        | 150/900 [04:31<11:38,  1.07it/s]
 17%|█▋        | 151/900 [04:31<09:07,  1.37it/s]
 17%|█▋        | 152/900 [04:31<07:21,  1.69it/s]
 17%|█▋        | 153/900 [04:38<30:05,  2.42s/it]
 17%|█▋        | 154/900 [04:38<22:01,  1.77s/it]
 17%|█▋        | 155/900 [04:39<16:23,  1.32s/it]
 17%|█▋        | 156/900 [04:39<12:26,  1.00s/it]
 17%|█▋        | 157/900 [04:39<09:41,  1.28it/s]
 18%|█▊        | 158/900 [04:39<07:50,  1.58it/s]
 18%|█▊        | 159/900 [04:40<06:30,  1.90it/s]
 18%|█▊        | 160/900 [04:40<05:31,  2.23it/s]
 18%|█▊        | 161/900 [04:45<24:27,  1.99s/it]
 18%|█▊        | 162/900 [04:46<18:12,  1.48s/it]
 18%|█▊        | 163/900 [04:46<13:47,  1.12s/it]
 18%|█▊        | 164/900 [04:46<10:44,  1.14it/s]
 18%|█▊        | 165/900 [04:47<08:32,  1.43it/s]
 18%|█▊        | 166/900 [04:47<07:01,  1.74it/s]
 19%|█▊        | 167/900 [04:47<05:57,  2.05it/s]
 19%|█▊        | 168/900 [04:47<05:15,  2.32it/s]
 19%|█▉        | 169/900 [04:56<35:04,  2.88s/it]
 19%|█▉        | 170/900 [04:56<25:28,  2.09s/it]
 19%|█▉        | 171/900 [04:57<18:46,  1.55s/it]
 19%|█▉        | 172/900 [04:57<14:06,  1.16s/it]
 19%|█▉        | 173/900 [04:57<10:52,  1.11it/s]
 19%|█▉        | 174/900 [04:57<08:36,  1.41it/s]
 19%|█▉        | 175/900 [04:58<06:58,  1.73it/s]
 20%|█▉        | 176/900 [04:58<05:53,  2.05it/s]
 20%|█▉        | 177/900 [05:14<1:03:35,  5.28s/it]
 20%|█▉        | 178/900 [05:15<45:27,  3.78s/it]  
 20%|█▉        | 179/900 [05:15<32:44,  2.73s/it]
 20%|██        | 180/900 [05:15<23:49,  1.99s/it]
 20%|██        | 181/900 [05:16<17:36,  1.47s/it]
 20%|██        | 182/900 [05:16<13:15,  1.11s/it]
 20%|██        | 183/900 [05:16<10:12,  1.17it/s]
 20%|██        | 184/900 [05:16<08:05,  1.48it/s]
 21%|██        | 185/900 [05:27<42:10,  3.54s/it]
 21%|██        | 186/900 [05:27<30:27,  2.56s/it]
 21%|██        | 187/900 [05:27<22:15,  1.87s/it]
 21%|██        | 188/900 [05:27<16:31,  1.39s/it]
 21%|██        | 189/900 [05:28<12:29,  1.05s/it]
 21%|██        | 190/900 [05:28<09:41,  1.22it/s]
 21%|██        | 191/900 [05:28<07:42,  1.53it/s]
 21%|██▏       | 192/900 [05:28<06:21,  1.86it/s]
 21%|██▏       | 193/900 [05:35<28:47,  2.44s/it]
 22%|██▏       | 194/900 [05:36<21:07,  1.80s/it]
 22%|██▏       | 195/900 [05:36<15:43,  1.34s/it]
 22%|██▏       | 196/900 [05:36<12:00,  1.02s/it]
 22%|██▏       | 197/900 [05:36<09:20,  1.26it/s]
 22%|██▏       | 198/900 [05:37<07:28,  1.57it/s]
 22%|██▏       | 199/900 [05:37<06:13,  1.88it/s]
 22%|██▏       | 200/900 [05:37<05:16,  2.21it/s]
 22%|██▏       | 201/900 [05:49<45:22,  3.89s/it]
 22%|██▏       | 202/900 [05:49<32:43,  2.81s/it]
 23%|██▎       | 203/900 [05:50<23:53,  2.06s/it]
 23%|██▎       | 204/900 [05:50<17:38,  1.52s/it]
 23%|██▎       | 205/900 [05:50<13:19,  1.15s/it]
 23%|██▎       | 206/900 [05:51<10:13,  1.13it/s]
 23%|██▎       | 207/900 [05:51<08:04,  1.43it/s]
 23%|██▎       | 208/900 [05:51<06:32,  1.76it/s]
 23%|██▎       | 209/900 [06:02<41:02,  3.56s/it]
 23%|██▎       | 210/900 [06:02<29:36,  2.57s/it]
 23%|██▎       | 211/900 [06:02<21:35,  1.88s/it]
 24%|██▎       | 212/900 [06:02<16:03,  1.40s/it]
 24%|██▎       | 213/900 [06:03<12:10,  1.06s/it]
 24%|██▍       | 214/900 [06:03<09:27,  1.21it/s]
 24%|██▍       | 215/900 [06:03<07:32,  1.51it/s]
 24%|██▍       | 216/900 [06:04<06:11,  1.84it/s]
 24%|██▍       | 217/900 [06:10<27:18,  2.40s/it]
 24%|██▍       | 218/900 [06:11<20:03,  1.76s/it]
 24%|██▍       | 219/900 [06:11<14:58,  1.32s/it]
 24%|██▍       | 220/900 [06:11<11:24,  1.01s/it]
 25%|██▍       | 221/900 [06:11<08:55,  1.27it/s]
 25%|██▍       | 222/900 [06:12<07:11,  1.57it/s]
 25%|██▍       | 223/900 [06:12<05:59,  1.88it/s]
 25%|██▍       | 224/900 [06:12<05:07,  2.20it/s]
 25%|██▌       | 225/900 [06:20<28:27,  2.53s/it]
 25%|██▌       | 226/900 [06:20<20:50,  1.86s/it]
 25%|██▌       | 227/900 [06:20<15:34,  1.39s/it]
 25%|██▌       | 228/900 [06:20<11:56,  1.07s/it]
 25%|██▌       | 229/900 [06:21<09:20,  1.20it/s]
 26%|██▌       | 230/900 [06:21<07:31,  1.48it/s]
 26%|██▌       | 231/900 [06:21<06:15,  1.78it/s]
 26%|██▌       | 232/900 [06:22<05:20,  2.08it/s]
 26%|██▌       | 233/900 [06:33<41:29,  3.73s/it]
 26%|██▌       | 234/900 [06:33<29:59,  2.70s/it]
 26%|██▌       | 235/900 [06:34<21:56,  1.98s/it]
 26%|██▌       | 236/900 [06:34<16:18,  1.47s/it]
 26%|██▋       | 237/900 [06:34<12:21,  1.12s/it]
 26%|██▋       | 238/900 [06:34<09:35,  1.15it/s]
 27%|██▋       | 239/900 [06:35<07:40,  1.43it/s]
 27%|██▋       | 240/900 [06:35<06:20,  1.73it/s]
 27%|██▋       | 241/900 [07:05<1:43:04,  9.39s/it]
 27%|██▋       | 242/900 [07:05<1:13:00,  6.66s/it]
 27%|██▋       | 243/900 [07:06<52:02,  4.75s/it]  
 27%|██▋       | 244/900 [07:06<37:17,  3.41s/it]
 27%|██▋       | 245/900 [07:06<26:58,  2.47s/it]
 27%|██▋       | 246/900 [07:06<19:48,  1.82s/it]
 27%|██▋       | 247/900 [07:07<14:42,  1.35s/it]
 28%|██▊       | 248/900 [07:07<11:09,  1.03s/it]
 28%|██▊       | 249/900 [07:25<1:06:29,  6.13s/it]
 28%|██▊       | 250/900 [07:25<47:21,  4.37s/it]  
 28%|██▊       | 251/900 [07:26<33:58,  3.14s/it]
 28%|██▊       | 252/900 [07:26<24:38,  2.28s/it]
 28%|██▊       | 253/900 [07:26<18:05,  1.68s/it]
 28%|██▊       | 254/900 [07:26<13:31,  1.26s/it]
 28%|██▊       | 255/900 [07:27<10:18,  1.04it/s]
 28%|██▊       | 256/900 [07:27<08:03,  1.33it/s]
 29%|██▊       | 257/900 [07:37<36:49,  3.44s/it]
 29%|██▊       | 258/900 [07:37<26:36,  2.49s/it]
 29%|██▉       | 259/900 [07:37<19:28,  1.82s/it]
 29%|██▉       | 260/900 [07:37<14:29,  1.36s/it]
 29%|██▉       | 261/900 [07:38<10:58,  1.03s/it]
 29%|██▉       | 262/900 [07:38<08:30,  1.25it/s]
 29%|██▉       | 263/900 [07:38<06:48,  1.56it/s]
 29%|██▉       | 264/900 [07:38<05:37,  1.88it/s]
 29%|██▉       | 265/900 [07:53<48:53,  4.62s/it]
 30%|██▉       | 266/900 [07:53<34:59,  3.31s/it]
 30%|██▉       | 267/900 [07:53<25:17,  2.40s/it]
 30%|██▉       | 268/900 [07:53<18:30,  1.76s/it]
 30%|██▉       | 269/900 [07:54<13:47,  1.31s/it]
 30%|███       | 270/900 [07:54<10:28,  1.00it/s]
 30%|███       | 271/900 [07:54<08:08,  1.29it/s]
 30%|███       | 272/900 [07:55<06:34,  1.59it/s]
 30%|███       | 273/900 [08:04<35:06,  3.36s/it]
 30%|███       | 274/900 [08:05<25:27,  2.44s/it]
 31%|███       | 275/900 [08:05<18:41,  1.79s/it]
 31%|███       | 276/900 [08:05<13:57,  1.34s/it]
 31%|███       | 277/900 [08:05<10:41,  1.03s/it]
 31%|███       | 278/900 [08:06<08:21,  1.24it/s]
 31%|███       | 279/900 [08:06<06:44,  1.54it/s]
 31%|███       | 280/900 [08:06<05:35,  1.85it/s]
 31%|███       | 281/900 [08:14<26:45,  2.59s/it]
 31%|███▏      | 282/900 [08:14<19:35,  1.90s/it]
 31%|███▏      | 283/900 [08:14<14:33,  1.42s/it]
 32%|███▏      | 284/900 [08:15<11:11,  1.09s/it]
 32%|███▏      | 285/900 [08:15<08:41,  1.18it/s]
 32%|███▏      | 286/900 [08:15<06:57,  1.47it/s]
 32%|███▏      | 287/900 [08:15<05:44,  1.78it/s]
 32%|███▏      | 288/900 [08:16<04:52,  2.09it/s]
 32%|███▏      | 289/900 [08:27<37:53,  3.72s/it]
 32%|███▏      | 290/900 [08:27<27:22,  2.69s/it]
 32%|███▏      | 291/900 [08:28<20:02,  1.97s/it]
 32%|███▏      | 292/900 [08:28<14:54,  1.47s/it]
 33%|███▎      | 293/900 [08:28<11:22,  1.12s/it]
 33%|███▎      | 294/900 [08:29<08:51,  1.14it/s]
 33%|███▎      | 295/900 [08:29<07:07,  1.42it/s]
 33%|███▎      | 296/900 [08:29<05:50,  1.73it/s]
 33%|███▎      | 297/900 [08:53<1:14:42,  7.43s/it]
 33%|███▎      | 298/900 [08:53<53:02,  5.29s/it]  
 33%|███▎      | 299/900 [08:53<37:51,  3.78s/it]
 33%|███▎      | 300/900 [08:53<27:14,  2.72s/it]
 33%|███▎      | 301/900 [08:54<19:49,  1.99s/it]
 34%|███▎      | 302/900 [08:54<14:40,  1.47s/it]
 34%|███▎      | 303/900 [08:54<11:03,  1.11s/it]
 34%|███▍      | 304/900 [08:54<08:32,  1.16it/s]
 34%|███▍      | 305/900 [09:13<1:01:52,  6.24s/it]
 34%|███▍      | 306/900 [09:13<44:02,  4.45s/it]  
 34%|███▍      | 307/900 [09:14<31:35,  3.20s/it]
 34%|███▍      | 308/900 [09:14<22:51,  2.32s/it]
 34%|███▍      | 309/900 [09:14<16:47,  1.70s/it]
 34%|███▍      | 310/900 [09:15<12:30,  1.27s/it]
 35%|███▍      | 311/900 [09:15<09:30,  1.03it/s]
 35%|███▍      | 312/900 [09:15<07:25,  1.32it/s]
 35%|███▍      | 313/900 [09:26<38:20,  3.92s/it]
 35%|███▍      | 314/900 [09:27<27:38,  2.83s/it]
 35%|███▌      | 315/900 [09:27<20:09,  2.07s/it]
 35%|███▌      | 316/900 [09:27<14:54,  1.53s/it]
 35%|███▌      | 317/900 [09:28<11:14,  1.16s/it]
 35%|███▌      | 318/900 [09:28<08:43,  1.11it/s]
 35%|███▌      | 319/900 [09:28<06:58,  1.39it/s]
 36%|███▌      | 320/900 [09:28<05:44,  1.69it/s]
 36%|███▌      | 321/900 [09:36<26:50,  2.78s/it]
 36%|███▌      | 322/900 [09:37<19:35,  2.03s/it]
 36%|███▌      | 323/900 [09:37<14:30,  1.51s/it]
 36%|███▌      | 324/900 [09:37<10:58,  1.14s/it]
 36%|███▌      | 325/900 [09:37<08:28,  1.13it/s]
 36%|███▌      | 326/900 [09:38<06:43,  1.42it/s]
 36%|███▋      | 327/900 [09:38<05:30,  1.73it/s]
 36%|███▋      | 328/900 [09:38<04:38,  2.05it/s]
 37%|███▋      | 329/900 [09:52<41:10,  4.33s/it]
 37%|███▋      | 330/900 [09:52<29:33,  3.11s/it]
 37%|███▋      | 331/900 [09:52<21:25,  2.26s/it]
 37%|███▋      | 332/900 [09:52<15:43,  1.66s/it]
 37%|███▋      | 333/900 [09:53<11:44,  1.24s/it]
 37%|███▋      | 334/900 [09:53<08:57,  1.05it/s]
 37%|███▋      | 335/900 [09:53<07:01,  1.34it/s]
 37%|███▋      | 336/900 [09:53<05:41,  1.65it/s]
 37%|███▋      | 337/900 [10:03<31:08,  3.32s/it]
 38%|███▊      | 338/900 [10:03<22:29,  2.40s/it]
 38%|███▊      | 339/900 [10:04<16:29,  1.76s/it]
 38%|███▊      | 340/900 [10:04<12:15,  1.31s/it]
 38%|███▊      | 341/900 [10:04<09:19,  1.00s/it]
 38%|███▊      | 342/900 [10:04<07:15,  1.28it/s]
 38%|███▊      | 343/900 [10:05<05:49,  1.60it/s]
 38%|███▊      | 344/900 [10:05<04:48,  1.93it/s]
 38%|███▊      | 345/900 [10:16<32:46,  3.54s/it]
 38%|███▊      | 346/900 [10:16<23:41,  2.57s/it]
 39%|███▊      | 347/900 [10:16<17:18,  1.88s/it]
 39%|███▊      | 348/900 [10:16<12:51,  1.40s/it]
 39%|███▉      | 349/900 [10:17<09:45,  1.06s/it]
 39%|███▉      | 350/900 [10:17<07:35,  1.21it/s]
 39%|███▉      | 351/900 [10:17<06:04,  1.50it/s]
 39%|███▉      | 352/900 [10:18<05:01,  1.82it/s]
 39%|███▉      | 353/900 [10:33<46:47,  5.13s/it]
 39%|███▉      | 354/900 [10:34<33:24,  3.67s/it]
 39%|███▉      | 355/900 [10:34<24:04,  2.65s/it]
 40%|███▉      | 356/900 [10:34<17:33,  1.94s/it]
 40%|███▉      | 357/900 [10:34<12:59,  1.44s/it]
 40%|███▉      | 358/900 [10:35<09:48,  1.09s/it]
 40%|███▉      | 359/900 [10:35<07:38,  1.18it/s]
 40%|████      | 360/900 [10:35<06:07,  1.47it/s]
 40%|████      | 361/900 [10:43<25:02,  2.79s/it]
 40%|████      | 362/900 [10:43<18:12,  2.03s/it]
 40%|████      | 363/900 [10:44<13:26,  1.50s/it]
 40%|████      | 364/900 [10:44<10:06,  1.13s/it]
 41%|████      | 365/900 [10:44<07:45,  1.15it/s]
 41%|████      | 366/900 [10:44<06:09,  1.44it/s]
 41%|████      | 367/900 [10:45<05:01,  1.77it/s]
 41%|████      | 368/900 [10:45<04:13,  2.10it/s]
 41%|████      | 369/900 [11:04<52:58,  5.99s/it]
 41%|████      | 370/900 [11:04<37:44,  4.27s/it]
 41%|████      | 371/900 [11:04<27:04,  3.07s/it]
 41%|████▏     | 372/900 [11:05<19:36,  2.23s/it]
 41%|████▏     | 373/900 [11:05<14:23,  1.64s/it]
 42%|████▏     | 374/900 [11:05<10:47,  1.23s/it]
 42%|████▏     | 375/900 [11:05<08:14,  1.06it/s]
 42%|████▏     | 376/900 [11:06<06:28,  1.35it/s]
 42%|████▏     | 377/900 [11:23<50:04,  5.75s/it]
 42%|████▏     | 378/900 [11:23<35:42,  4.10s/it]
 42%|████▏     | 379/900 [11:24<25:39,  2.96s/it]
 42%|████▏     | 380/900 [11:24<18:38,  2.15s/it]
 42%|████▏     | 381/900 [11:24<13:43,  1.59s/it]
 42%|████▏     | 382/900 [11:24<10:16,  1.19s/it]
 43%|████▎     | 383/900 [11:25<07:52,  1.09it/s]
 43%|████▎     | 384/900 [11:25<06:12,  1.39it/s]
 43%|████▎     | 385/900 [11:44<52:37,  6.13s/it]
 43%|████▎     | 386/900 [11:44<37:29,  4.38s/it]
 43%|████▎     | 387/900 [11:44<26:54,  3.15s/it]
 43%|████▎     | 388/900 [11:45<19:33,  2.29s/it]
 43%|████▎     | 389/900 [11:45<14:24,  1.69s/it]
 43%|████▎     | 390/900 [11:45<10:47,  1.27s/it]
 43%|████▎     | 391/900 [11:45<08:15,  1.03it/s]
 44%|████▎     | 392/900 [11:46<06:29,  1.30it/s]
 44%|████▎     | 393/900 [12:02<45:16,  5.36s/it]
 44%|████▍     | 394/900 [12:02<32:22,  3.84s/it]
 44%|████▍     | 395/900 [12:02<23:20,  2.77s/it]
 44%|████▍     | 396/900 [12:03<16:59,  2.02s/it]
 44%|████▍     | 397/900 [12:03<12:31,  1.49s/it]
 44%|████▍     | 398/900 [12:03<09:24,  1.12s/it]
 44%|████▍     | 399/900 [12:03<07:13,  1.16it/s]
 44%|████▍     | 400/900 [12:04<05:41,  1.46it/s]
 45%|████▍     | 401/900 [12:22<49:30,  5.95s/it]
 45%|████▍     | 402/900 [12:22<35:19,  4.26s/it]
 45%|████▍     | 403/900 [12:22<25:24,  3.07s/it]
 45%|████▍     | 404/900 [12:23<18:28,  2.23s/it]
 45%|████▌     | 405/900 [12:23<13:37,  1.65s/it]
 45%|████▌     | 406/900 [12:23<10:13,  1.24s/it]
 45%|████▌     | 407/900 [12:24<07:50,  1.05it/s]
 45%|████▌     | 408/900 [12:24<06:09,  1.33it/s]
 45%|████▌     | 409/900 [12:40<44:48,  5.48s/it]
 46%|████▌     | 410/900 [12:41<31:57,  3.91s/it]
 46%|████▌     | 411/900 [12:41<22:59,  2.82s/it]
 46%|████▌     | 412/900 [12:41<16:44,  2.06s/it]
 46%|████▌     | 413/900 [12:41<12:22,  1.52s/it]
 46%|████▌     | 414/900 [12:42<09:17,  1.15s/it]
 46%|████▌     | 415/900 [12:42<07:09,  1.13it/s]
 46%|████▌     | 416/900 [12:42<05:41,  1.42it/s]
 46%|████▋     | 417/900 [13:02<52:11,  6.48s/it]
 46%|████▋     | 418/900 [13:03<37:07,  4.62s/it]
 47%|████▋     | 419/900 [13:03<26:34,  3.32s/it]
 47%|████▋     | 420/900 [13:03<19:12,  2.40s/it]
 47%|████▋     | 421/900 [13:03<14:03,  1.76s/it]
 47%|████▋     | 422/900 [13:04<10:29,  1.32s/it]
 47%|████▋     | 423/900 [13:04<07:58,  1.00s/it]
 47%|████▋     | 424/900 [13:04<06:12,  1.28it/s]
 47%|████▋     | 425/900 [13:20<41:31,  5.24s/it]
 47%|████▋     | 426/900 [13:20<29:38,  3.75s/it]
 47%|████▋     | 427/900 [13:20<21:21,  2.71s/it]
 48%|████▊     | 428/900 [13:21<15:37,  1.99s/it]
 48%|████▊     | 429/900 [13:21<11:35,  1.48s/it]
 48%|████▊     | 430/900 [13:21<08:45,  1.12s/it]
 48%|████▊     | 431/900 [13:22<06:46,  1.15it/s]
 48%|████▊     | 432/900 [13:22<05:24,  1.44it/s]
 48%|████▊     | 433/900 [13:52<1:14:05,  9.52s/it]
 48%|████▊     | 434/900 [13:52<52:24,  6.75s/it]  
 48%|████▊     | 435/900 [13:53<37:16,  4.81s/it]
 48%|████▊     | 436/900 [13:53<26:41,  3.45s/it]
 49%|████▊     | 437/900 [13:53<19:18,  2.50s/it]
 49%|████▊     | 438/900 [13:53<14:07,  1.84s/it]
 49%|████▉     | 439/900 [13:54<10:31,  1.37s/it]
 49%|████▉     | 440/900 [13:54<08:00,  1.05s/it]
 49%|████▉     | 441/900 [14:12<46:41,  6.10s/it]
 49%|████▉     | 442/900 [14:12<33:15,  4.36s/it]
 49%|████▉     | 443/900 [14:12<23:52,  3.13s/it]
 49%|████▉     | 444/900 [14:13<17:17,  2.27s/it]
 49%|████▉     | 445/900 [14:13<12:41,  1.67s/it]
 50%|████▉     | 446/900 [14:13<09:29,  1.25s/it]
 50%|████▉     | 447/900 [14:13<07:16,  1.04it/s]
 50%|████▉     | 448/900 [14:14<05:42,  1.32it/s]
 50%|████▉     | 449/900 [14:21<21:23,  2.85s/it]
 50%|█████     | 450/900 [14:22<15:36,  2.08s/it]
 50%|█████     | 451/900 [14:22<11:34,  1.55s/it]
 50%|█████     | 452/900 [14:22<08:44,  1.17s/it]
 50%|█████     | 453/900 [14:23<06:47,  1.10it/s]
 50%|█████     | 454/900 [14:23<05:23,  1.38it/s]
 51%|█████     | 455/900 [14:23<04:24,  1.68it/s]
 51%|█████     | 456/900 [14:24<03:48,  1.94it/s]
 51%|█████     | 457/900 [14:33<23:35,  3.19s/it]
 51%|█████     | 458/900 [14:33<17:07,  2.32s/it]
 51%|█████     | 459/900 [14:34<12:36,  1.72s/it]
 51%|█████     | 460/900 [14:34<09:27,  1.29s/it]
 51%|█████     | 461/900 [14:34<07:14,  1.01it/s]
 51%|█████▏    | 462/900 [14:35<05:40,  1.28it/s]
 51%|█████▏    | 463/900 [14:35<04:35,  1.59it/s]
 52%|█████▏    | 464/900 [14:35<03:49,  1.90it/s]
 52%|█████▏    | 465/900 [14:47<28:31,  3.93s/it]
 52%|█████▏    | 466/900 [14:47<20:33,  2.84s/it]
 52%|█████▏    | 467/900 [14:48<14:59,  2.08s/it]
 52%|█████▏    | 468/900 [14:48<11:03,  1.54s/it]
 52%|█████▏    | 469/900 [14:48<08:17,  1.15s/it]
 52%|█████▏    | 470/900 [14:48<06:22,  1.12it/s]
 52%|█████▏    | 471/900 [14:49<05:02,  1.42it/s]
 52%|█████▏    | 472/900 [14:49<04:07,  1.73it/s]
 53%|█████▎    | 473/900 [15:38<1:48:19, 15.22s/it]
 53%|█████▎    | 474/900 [15:39<1:16:13, 10.74s/it]
 53%|█████▎    | 475/900 [15:39<53:48,  7.60s/it]  
 53%|█████▎    | 476/900 [15:39<38:08,  5.40s/it]
 53%|█████▎    | 477/900 [15:39<27:11,  3.86s/it]
 53%|█████▎    | 478/900 [15:40<19:32,  2.78s/it]
 53%|█████▎    | 479/900 [15:40<14:12,  2.03s/it]
 53%|█████▎    | 480/900 [15:40<10:28,  1.50s/it]
 53%|█████▎    | 481/900 [16:08<1:06:02,  9.46s/it]
 54%|█████▎    | 482/900 [16:08<46:39,  6.70s/it]  
 54%|█████▎    | 483/900 [16:09<33:08,  4.77s/it]
 54%|█████▍    | 484/900 [16:09<23:42,  3.42s/it]
 54%|█████▍    | 485/900 [16:09<17:07,  2.48s/it]
 54%|█████▍    | 486/900 [16:10<12:30,  1.81s/it]
 54%|█████▍    | 487/900 [16:10<09:16,  1.35s/it]
 54%|█████▍    | 488/900 [16:10<07:02,  1.02s/it]
 54%|█████▍    | 489/900 [16:29<44:07,  6.44s/it]
 54%|█████▍    | 490/900 [16:29<31:22,  4.59s/it]
 55%|█████▍    | 491/900 [16:30<22:26,  3.29s/it]
 55%|█████▍    | 492/900 [16:30<16:14,  2.39s/it]
 55%|█████▍    | 493/900 [16:30<11:53,  1.75s/it]
 55%|█████▍    | 494/900 [16:31<08:51,  1.31s/it]
 55%|█████▌    | 495/900 [16:31<06:45,  1.00s/it]
 55%|█████▌    | 496/900 [16:31<05:16,  1.28it/s]
 55%|█████▌    | 497/900 [17:04<1:09:44, 10.38s/it]
 55%|█████▌    | 498/900 [17:04<49:14,  7.35s/it]  
 55%|█████▌    | 499/900 [17:04<34:54,  5.22s/it]
 56%|█████▌    | 500/900 [17:05<26:22,  3.96s/it]
 56%|█████▌    | 501/900 [17:06<18:56,  2.85s/it]
 56%|█████▌    | 502/900 [17:06<13:48,  2.08s/it]
 56%|█████▌    | 503/900 [17:06<10:14,  1.55s/it]
 56%|█████▌    | 504/900 [17:07<07:45,  1.18s/it]
 56%|█████▌    | 505/900 [17:17<26:57,  4.10s/it]
 56%|█████▌    | 506/900 [17:18<19:24,  2.96s/it]
 56%|█████▋    | 507/900 [17:18<14:07,  2.16s/it]
 56%|█████▋    | 508/900 [17:18<10:26,  1.60s/it]
 57%|█████▋    | 509/900 [17:19<07:51,  1.21s/it]
 57%|█████▋    | 510/900 [17:19<06:03,  1.07it/s]
 57%|█████▋    | 511/900 [17:19<04:47,  1.35it/s]
 57%|█████▋    | 512/900 [17:20<03:55,  1.65it/s]
 57%|█████▋    | 513/900 [17:33<28:21,  4.40s/it]
 57%|█████▋    | 514/900 [17:33<20:21,  3.16s/it]
 57%|█████▋    | 515/900 [17:33<14:44,  2.30s/it]
 57%|█████▋    | 516/900 [17:34<10:48,  1.69s/it]
 57%|█████▋    | 517/900 [17:34<08:03,  1.26s/it]
 58%|█████▊    | 518/900 [17:34<06:08,  1.04it/s]
 58%|█████▊    | 519/900 [17:34<04:48,  1.32it/s]
 58%|█████▊    | 520/900 [17:35<03:52,  1.64it/s]
 58%|█████▊    | 521/900 [17:52<34:52,  5.52s/it]
 58%|█████▊    | 522/900 [17:52<24:51,  3.94s/it]
 58%|█████▊    | 523/900 [17:52<17:51,  2.84s/it]
 58%|█████▊    | 524/900 [17:52<12:59,  2.07s/it]
 58%|█████▊    | 525/900 [17:53<09:36,  1.54s/it]
 58%|█████▊    | 526/900 [17:53<07:12,  1.16s/it]
 59%|█████▊    | 527/900 [17:53<05:32,  1.12it/s]
 59%|█████▊    | 528/900 [17:54<04:24,  1.41it/s]
 59%|█████▉    | 529/900 [18:03<21:15,  3.44s/it]
 59%|█████▉    | 530/900 [18:04<15:24,  2.50s/it]
 59%|█████▉    | 531/900 [18:04<11:19,  1.84s/it]
 59%|█████▉    | 532/900 [18:04<08:26,  1.38s/it]
 59%|█████▉    | 533/900 [18:05<06:26,  1.05s/it]
 59%|█████▉    | 534/900 [18:05<05:03,  1.20it/s]
 59%|█████▉    | 535/900 [18:05<04:06,  1.48it/s]
 60%|█████▉    | 536/900 [18:06<03:24,  1.78it/s]
 60%|█████▉    | 537/900 [18:30<46:52,  7.75s/it]
 60%|█████▉    | 538/900 [18:30<33:13,  5.51s/it]
 60%|█████▉    | 539/900 [18:31<23:42,  3.94s/it]
 60%|██████    | 540/900 [18:31<17:05,  2.85s/it]
 60%|██████    | 541/900 [18:31<12:26,  2.08s/it]
 60%|██████    | 542/900 [18:31<09:10,  1.54s/it]
 60%|██████    | 543/900 [18:32<06:55,  1.16s/it]
 60%|██████    | 544/900 [18:32<05:19,  1.11it/s]
 61%|██████    | 545/900 [18:56<46:09,  7.80s/it]
 61%|██████    | 546/900 [18:56<32:42,  5.54s/it]
 61%|██████    | 547/900 [18:56<23:20,  3.97s/it]
 61%|██████    | 548/900 [18:57<16:46,  2.86s/it]
 61%|██████    | 549/900 [18:57<12:10,  2.08s/it]
 61%|██████    | 550/900 [18:57<08:58,  1.54s/it]
 61%|██████    | 551/900 [18:58<06:45,  1.16s/it]
 61%|██████▏   | 552/900 [18:58<05:10,  1.12it/s]
 61%|██████▏   | 553/900 [19:21<43:45,  7.57s/it]
 62%|██████▏   | 554/900 [19:21<31:00,  5.38s/it]
 62%|██████▏   | 555/900 [19:22<22:06,  3.84s/it]
 62%|██████▏   | 556/900 [19:22<15:52,  2.77s/it]
 62%|██████▏   | 557/900 [19:22<11:32,  2.02s/it]
 62%|██████▏   | 558/900 [19:22<08:31,  1.49s/it]
 62%|██████▏   | 559/900 [19:23<06:25,  1.13s/it]
 62%|██████▏   | 560/900 [19:23<04:57,  1.14it/s]
 62%|██████▏   | 561/900 [19:44<39:56,  7.07s/it]
 62%|██████▏   | 562/900 [19:45<28:22,  5.04s/it]
 63%|██████▎   | 563/900 [19:45<20:17,  3.61s/it]
 63%|██████▎   | 564/900 [19:45<14:38,  2.61s/it]
 63%|██████▎   | 565/900 [19:46<10:40,  1.91s/it]
 63%|██████▎   | 566/900 [19:46<07:55,  1.42s/it]
 63%|██████▎   | 567/900 [19:46<05:59,  1.08s/it]
 63%|██████▎   | 568/900 [19:46<04:40,  1.19it/s]
 63%|██████▎   | 569/900 [20:12<45:30,  8.25s/it]
 63%|██████▎   | 570/900 [20:12<32:14,  5.86s/it]
 63%|██████▎   | 571/900 [20:13<22:58,  4.19s/it]
 64%|██████▎   | 572/900 [20:13<16:30,  3.02s/it]
 64%|██████▎   | 573/900 [20:13<11:59,  2.20s/it]
 64%|██████▍   | 574/900 [20:13<08:49,  1.62s/it]
 64%|██████▍   | 575/900 [20:14<06:37,  1.22s/it]
 64%|██████▍   | 576/900 [20:14<05:05,  1.06it/s]
 64%|██████▍   | 577/900 [20:38<41:53,  7.78s/it]
 64%|██████▍   | 578/900 [20:38<29:42,  5.54s/it]
 64%|██████▍   | 579/900 [20:38<21:12,  3.96s/it]
 64%|██████▍   | 580/900 [20:39<15:19,  2.87s/it]
 65%|██████▍   | 581/900 [20:39<11:10,  2.10s/it]
 65%|██████▍   | 582/900 [20:39<08:15,  1.56s/it]
 65%|██████▍   | 583/900 [20:39<06:13,  1.18s/it]
 65%|██████▍   | 584/900 [20:40<04:46,  1.10it/s]
 65%|██████▌   | 585/900 [21:27<1:17:39, 14.79s/it]
 65%|██████▌   | 586/900 [21:27<54:39, 10.44s/it]  
 65%|██████▌   | 587/900 [21:28<38:36,  7.40s/it]
 65%|██████▌   | 588/900 [21:28<27:24,  5.27s/it]
 65%|██████▌   | 589/900 [21:28<19:34,  3.78s/it]
 66%|██████▌   | 590/900 [21:28<14:07,  2.73s/it]
 66%|██████▌   | 591/900 [21:29<10:18,  2.00s/it]
 66%|██████▌   | 592/900 [21:29<07:38,  1.49s/it]
 66%|██████▌   | 593/900 [21:46<30:43,  6.01s/it]
 66%|██████▌   | 594/900 [21:46<21:53,  4.29s/it]
 66%|██████▌   | 595/900 [21:46<15:42,  3.09s/it]
 66%|██████▌   | 596/900 [21:46<11:28,  2.26s/it]
 66%|██████▋   | 597/900 [21:47<08:26,  1.67s/it]
 66%|██████▋   | 598/900 [21:47<06:21,  1.26s/it]
 67%|██████▋   | 599/900 [21:47<04:52,  1.03it/s]
 67%|██████▋   | 600/900 [21:48<03:51,  1.30it/s]
 67%|██████▋   | 601/900 [22:27<1:01:40, 12.38s/it]
 67%|██████▋   | 602/900 [22:27<43:27,  8.75s/it]  
 67%|██████▋   | 603/900 [22:28<30:42,  6.20s/it]
 67%|██████▋   | 604/900 [22:28<21:49,  4.42s/it]
 67%|██████▋   | 605/900 [22:28<15:37,  3.18s/it]
 67%|██████▋   | 606/900 [22:28<11:17,  2.31s/it]
 67%|██████▋   | 607/900 [22:29<08:15,  1.69s/it]
 68%|██████▊   | 608/900 [22:29<06:08,  1.26s/it]
 68%|██████▊   | 609/900 [22:41<21:45,  4.48s/it]
 68%|██████▊   | 610/900 [22:41<15:36,  3.23s/it]
 68%|██████▊   | 611/900 [22:42<11:17,  2.34s/it]
 68%|██████▊   | 612/900 [22:42<08:16,  1.72s/it]
 68%|██████▊   | 613/900 [22:42<06:09,  1.29s/it]
 68%|██████▊   | 614/900 [22:42<04:42,  1.01it/s]
 68%|██████▊   | 615/900 [22:43<03:40,  1.29it/s]
 68%|██████▊   | 616/900 [22:43<02:58,  1.59it/s]
 69%|██████▊   | 617/900 [22:55<18:35,  3.94s/it]
 69%|██████▊   | 618/900 [22:55<13:23,  2.85s/it]
 69%|██████▉   | 619/900 [22:55<09:46,  2.09s/it]
 69%|██████▉   | 620/900 [22:56<07:14,  1.55s/it]
 69%|██████▉   | 621/900 [22:56<05:28,  1.18s/it]
 69%|██████▉   | 622/900 [22:56<04:13,  1.09it/s]
 69%|██████▉   | 623/900 [22:56<03:22,  1.37it/s]
 69%|██████▉   | 624/900 [22:57<02:45,  1.67it/s]
 69%|██████▉   | 625/900 [23:08<17:02,  3.72s/it]
 70%|██████▉   | 626/900 [23:08<12:16,  2.69s/it]
 70%|██████▉   | 627/900 [23:08<08:56,  1.96s/it]
 70%|██████▉   | 628/900 [23:09<06:36,  1.46s/it]
 70%|██████▉   | 629/900 [23:09<04:58,  1.10s/it]
 70%|███████   | 630/900 [23:09<03:50,  1.17it/s]
 70%|███████   | 631/900 [23:09<03:03,  1.47it/s]
 70%|███████   | 632/900 [23:10<02:30,  1.78it/s]
 70%|███████   | 633/900 [23:22<17:46,  4.00s/it]
 70%|███████   | 634/900 [23:22<12:47,  2.89s/it]
 71%|███████   | 635/900 [23:22<09:16,  2.10s/it]
 71%|███████   | 636/900 [23:23<06:50,  1.55s/it]
 71%|███████   | 637/900 [23:23<05:08,  1.17s/it]
 71%|███████   | 638/900 [23:23<03:58,  1.10it/s]
 71%|███████   | 639/900 [23:23<03:10,  1.37it/s]
 71%|███████   | 640/900 [23:24<02:35,  1.67it/s]
 71%|███████   | 641/900 [23:38<20:26,  4.73s/it]
 71%|███████▏  | 642/900 [23:38<14:37,  3.40s/it]
 71%|███████▏  | 643/900 [23:39<10:34,  2.47s/it]
 72%|███████▏  | 644/900 [23:39<07:44,  1.82s/it]
 72%|███████▏  | 645/900 [23:39<05:46,  1.36s/it]
 72%|███████▏  | 646/900 [23:40<04:23,  1.04s/it]
 72%|███████▏  | 647/900 [23:40<03:26,  1.23it/s]
 72%|███████▏  | 648/900 [23:40<02:45,  1.53it/s]
 72%|███████▏  | 649/900 [24:02<29:56,  7.16s/it]
 72%|███████▏  | 650/900 [24:03<21:17,  5.11s/it]
 72%|███████▏  | 651/900 [24:03<15:12,  3.66s/it]
 72%|███████▏  | 652/900 [24:03<10:57,  2.65s/it]
 73%|███████▎  | 653/900 [24:04<08:00,  1.94s/it]
 73%|███████▎  | 654/900 [24:04<05:57,  1.45s/it]
 73%|███████▎  | 655/900 [24:04<04:30,  1.10s/it]
 73%|███████▎  | 656/900 [24:05<03:30,  1.16it/s]
 73%|███████▎  | 657/900 [24:35<39:04,  9.65s/it]
 73%|███████▎  | 658/900 [24:35<27:35,  6.84s/it]
 73%|███████▎  | 659/900 [24:35<19:34,  4.87s/it]
 73%|███████▎  | 660/900 [24:36<13:59,  3.50s/it]
 73%|███████▎  | 661/900 [24:36<10:04,  2.53s/it]
 74%|███████▎  | 662/900 [24:36<07:21,  1.85s/it]
 74%|███████▎  | 663/900 [24:36<05:27,  1.38s/it]
 74%|███████▍  | 664/900 [24:37<04:07,  1.05s/it]
 74%|███████▍  | 665/900 [24:53<22:01,  5.62s/it]
 74%|███████▍  | 666/900 [24:53<15:41,  4.02s/it]
 74%|███████▍  | 667/900 [24:54<11:16,  2.91s/it]
 74%|███████▍  | 668/900 [24:54<08:11,  2.12s/it]
 74%|███████▍  | 669/900 [24:54<06:01,  1.56s/it]
 74%|███████▍  | 670/900 [24:54<04:30,  1.17s/it]
 75%|███████▍  | 671/900 [24:55<03:26,  1.11it/s]
 75%|███████▍  | 672/900 [24:55<02:42,  1.40it/s]
 75%|███████▍  | 673/900 [25:05<13:49,  3.65s/it]
 75%|███████▍  | 674/900 [25:06<09:56,  2.64s/it]
 75%|███████▌  | 675/900 [25:06<07:14,  1.93s/it]
 75%|███████▌  | 676/900 [25:06<05:21,  1.44s/it]
 75%|███████▌  | 677/900 [25:07<04:02,  1.09s/it]
 75%|███████▌  | 678/900 [25:07<03:06,  1.19it/s]
 75%|███████▌  | 679/900 [25:07<02:28,  1.48it/s]
 76%|███████▌  | 680/900 [25:07<02:02,  1.79it/s]
 76%|███████▌  | 681/900 [25:25<20:14,  5.55s/it]
 76%|███████▌  | 682/900 [25:25<14:25,  3.97s/it]
 76%|███████▌  | 683/900 [25:25<10:21,  2.87s/it]
 76%|███████▌  | 684/900 [25:25<07:31,  2.09s/it]
 76%|███████▌  | 685/900 [25:26<05:33,  1.55s/it]
 76%|███████▌  | 686/900 [25:26<04:10,  1.17s/it]
 76%|███████▋  | 687/900 [25:26<03:11,  1.11it/s]
 76%|███████▋  | 688/900 [25:27<02:31,  1.40it/s]
 77%|███████▋  | 689/900 [25:39<14:25,  4.10s/it]
 77%|███████▋  | 690/900 [25:39<10:21,  2.96s/it]
 77%|███████▋  | 691/900 [25:39<07:30,  2.16s/it]
 77%|███████▋  | 692/900 [25:39<05:31,  1.60s/it]
 77%|███████▋  | 693/900 [25:40<04:08,  1.20s/it]
 77%|███████▋  | 694/900 [25:40<03:11,  1.08it/s]
 77%|███████▋  | 695/900 [25:40<02:31,  1.35it/s]
 77%|███████▋  | 696/900 [25:41<02:02,  1.66it/s]
 77%|███████▋  | 697/900 [25:57<18:34,  5.49s/it]
 78%|███████▊  | 698/900 [25:58<13:13,  3.93s/it]
 78%|███████▊  | 699/900 [25:58<09:30,  2.84s/it]
 78%|███████▊  | 700/900 [25:58<06:54,  2.07s/it]
 78%|███████▊  | 701/900 [25:59<05:06,  1.54s/it]
 78%|███████▊  | 702/900 [25:59<03:50,  1.17s/it]
 78%|███████▊  | 703/900 [25:59<02:56,  1.12it/s]
 78%|███████▊  | 704/900 [25:59<02:18,  1.41it/s]
 78%|███████▊  | 705/900 [26:32<33:19, 10.26s/it]
 78%|███████▊  | 706/900 [26:32<23:28,  7.26s/it]
 79%|███████▊  | 707/900 [26:33<16:36,  5.16s/it]
 79%|███████▊  | 708/900 [26:33<11:49,  3.70s/it]
 79%|███████▉  | 709/900 [26:33<08:29,  2.67s/it]
 79%|███████▉  | 710/900 [26:33<06:10,  1.95s/it]
 79%|███████▉  | 711/900 [26:34<04:33,  1.45s/it]
 79%|███████▉  | 712/900 [26:34<03:25,  1.09s/it]
 79%|███████▉  | 713/900 [26:52<19:07,  6.14s/it]
 79%|███████▉  | 714/900 [26:52<13:33,  4.38s/it]
 79%|███████▉  | 715/900 [26:52<09:41,  3.14s/it]
 80%|███████▉  | 716/900 [26:53<07:00,  2.28s/it]
 80%|███████▉  | 717/900 [26:53<05:06,  1.68s/it]
 80%|███████▉  | 718/900 [26:53<03:47,  1.25s/it]
 80%|███████▉  | 719/900 [26:53<02:53,  1.05it/s]
 80%|████████  | 720/900 [26:54<02:14,  1.34it/s]
 80%|████████  | 721/900 [27:09<14:53,  4.99s/it]
 80%|████████  | 722/900 [27:09<10:38,  3.58s/it]
 80%|████████  | 723/900 [27:09<07:39,  2.60s/it]
 80%|████████  | 724/900 [27:09<05:35,  1.91s/it]
 81%|████████  | 725/900 [27:10<04:08,  1.42s/it]
 81%|████████  | 726/900 [27:10<03:09,  1.09s/it]
 81%|████████  | 727/900 [27:10<02:27,  1.17it/s]
 81%|████████  | 728/900 [27:11<01:58,  1.45it/s]
 81%|████████  | 729/900 [27:24<12:30,  4.39s/it]
 81%|████████  | 730/900 [27:24<08:57,  3.16s/it]
 81%|████████  | 731/900 [27:24<06:28,  2.30s/it]
 81%|████████▏ | 732/900 [27:25<04:45,  1.70s/it]
 81%|████████▏ | 733/900 [27:25<03:33,  1.28s/it]
 82%|████████▏ | 734/900 [27:25<02:42,  1.02it/s]
 82%|████████▏ | 735/900 [27:25<02:07,  1.30it/s]
 82%|████████▏ | 736/900 [27:26<01:42,  1.61it/s]
 82%|████████▏ | 737/900 [27:40<12:27,  4.59s/it]
 82%|████████▏ | 738/900 [27:40<08:54,  3.30s/it]
 82%|████████▏ | 739/900 [27:40<06:26,  2.40s/it]
 82%|████████▏ | 740/900 [27:40<04:42,  1.77s/it]
 82%|████████▏ | 741/900 [27:41<03:30,  1.32s/it]
 82%|████████▏ | 742/900 [27:41<02:39,  1.01s/it]
 83%|████████▎ | 743/900 [27:41<02:04,  1.26it/s]
 83%|████████▎ | 744/900 [27:42<01:39,  1.56it/s]
 83%|████████▎ | 745/900 [28:07<20:44,  8.03s/it]
 83%|████████▎ | 746/900 [28:07<14:38,  5.71s/it]
 83%|████████▎ | 747/900 [28:07<10:23,  4.08s/it]
 83%|████████▎ | 748/900 [28:08<07:26,  2.94s/it]
 83%|████████▎ | 749/900 [28:08<05:22,  2.14s/it]
 83%|████████▎ | 750/900 [28:08<03:56,  1.58s/it]
 83%|████████▎ | 751/900 [28:09<02:57,  1.19s/it]
 84%|████████▎ | 752/900 [28:09<02:16,  1.09it/s]
 84%|████████▎ | 753/900 [29:05<43:03, 17.57s/it]
 84%|████████▍ | 754/900 [29:06<30:08, 12.39s/it]
 84%|████████▍ | 755/900 [29:06<21:09,  8.76s/it]
 84%|████████▍ | 756/900 [29:06<14:54,  6.21s/it]
 84%|████████▍ | 757/900 [29:06<10:34,  4.44s/it]
 84%|████████▍ | 758/900 [29:07<07:33,  3.19s/it]
 84%|████████▍ | 759/900 [29:07<05:27,  2.32s/it]
 84%|████████▍ | 760/900 [29:07<03:59,  1.71s/it]
 85%|████████▍ | 761/900 [29:47<30:09, 13.01s/it]
 85%|████████▍ | 762/900 [29:47<21:09,  9.20s/it]
 85%|████████▍ | 763/900 [29:47<14:54,  6.53s/it]
 85%|████████▍ | 764/900 [29:48<10:33,  4.66s/it]
 85%|████████▌ | 765/900 [29:48<07:32,  3.35s/it]
 85%|████████▌ | 766/900 [29:48<05:26,  2.44s/it]
 85%|████████▌ | 767/900 [29:48<03:59,  1.80s/it]
 85%|████████▌ | 768/900 [29:49<02:57,  1.35s/it]
 85%|████████▌ | 769/900 [30:06<13:34,  6.22s/it]
 86%|████████▌ | 770/900 [30:07<09:36,  4.44s/it]
 86%|████████▌ | 771/900 [30:07<06:51,  3.19s/it]
 86%|████████▌ | 772/900 [30:07<04:56,  2.32s/it]
 86%|████████▌ | 773/900 [30:07<03:36,  1.71s/it]
 86%|████████▌ | 774/900 [30:08<02:41,  1.28s/it]
 86%|████████▌ | 775/900 [30:08<02:02,  1.02it/s]
 86%|████████▌ | 776/900 [30:08<01:36,  1.29it/s]
 86%|████████▋ | 777/900 [30:27<12:38,  6.17s/it]
 86%|████████▋ | 778/900 [30:27<08:58,  4.41s/it]
 87%|████████▋ | 779/900 [30:28<06:23,  3.17s/it]
 87%|████████▋ | 780/900 [30:28<04:37,  2.31s/it]
 87%|████████▋ | 781/900 [30:28<03:22,  1.70s/it]
 87%|████████▋ | 782/900 [30:29<02:30,  1.28s/it]
 87%|████████▋ | 783/900 [30:29<01:54,  1.02it/s]
 87%|████████▋ | 784/900 [30:29<01:29,  1.29it/s]
 87%|████████▋ | 785/900 [31:00<19:00,  9.91s/it]
 87%|████████▋ | 786/900 [31:01<13:20,  7.03s/it]
 87%|████████▋ | 787/900 [31:01<09:25,  5.01s/it]
 88%|████████▊ | 788/900 [31:01<06:42,  3.59s/it]
 88%|████████▊ | 789/900 [31:02<04:49,  2.61s/it]
 88%|████████▊ | 790/900 [31:02<03:30,  1.91s/it]
 88%|████████▊ | 791/900 [31:02<02:35,  1.43s/it]
 88%|████████▊ | 792/900 [31:02<01:57,  1.09s/it]
 88%|████████▊ | 793/900 [31:40<21:19, 11.96s/it]
 88%|████████▊ | 794/900 [31:40<14:55,  8.45s/it]
 88%|████████▊ | 795/900 [31:40<10:29,  5.99s/it]
 88%|████████▊ | 796/900 [31:41<07:24,  4.27s/it]
 89%|████████▊ | 797/900 [31:41<05:16,  3.07s/it]
 89%|████████▊ | 798/900 [31:41<03:47,  2.23s/it]
 89%|████████▉ | 799/900 [31:41<02:45,  1.64s/it]
 89%|████████▉ | 800/900 [31:42<02:02,  1.23s/it]
 89%|████████▉ | 801/900 [32:25<22:48, 13.82s/it]
 89%|████████▉ | 802/900 [32:25<15:56,  9.76s/it]
 89%|████████▉ | 803/900 [32:25<11:10,  6.91s/it]
 89%|████████▉ | 804/900 [32:26<07:52,  4.92s/it]
 89%|████████▉ | 805/900 [32:26<05:34,  3.52s/it]
 90%|████████▉ | 806/900 [32:26<03:59,  2.55s/it]
 90%|████████▉ | 807/900 [32:26<02:53,  1.86s/it]
 90%|████████▉ | 808/900 [32:27<02:07,  1.39s/it]
 90%|████████▉ | 809/900 [32:40<07:41,  5.08s/it]
 90%|█████████ | 810/900 [32:41<05:27,  3.63s/it]
 90%|█████████ | 811/900 [32:41<03:53,  2.62s/it]
 90%|█████████ | 812/900 [32:41<02:48,  1.92s/it]
 90%|█████████ | 813/900 [32:41<02:03,  1.42s/it]
 90%|█████████ | 814/900 [32:42<01:32,  1.08s/it]
 91%|█████████ | 815/900 [32:42<01:11,  1.19it/s]
 91%|█████████ | 816/900 [32:42<00:56,  1.49it/s]
 91%|█████████ | 817/900 [33:31<20:45, 15.00s/it]
 91%|█████████ | 818/900 [33:31<14:29, 10.60s/it]
 91%|█████████ | 819/900 [33:31<10:09,  7.52s/it]
 91%|█████████ | 820/900 [33:32<07:08,  5.36s/it]
 91%|█████████ | 821/900 [33:32<05:03,  3.84s/it]
 91%|█████████▏| 822/900 [33:32<03:37,  2.78s/it]
 91%|█████████▏| 823/900 [33:33<02:36,  2.04s/it]
 92%|█████████▏| 824/900 [33:33<01:55,  1.51s/it]
 92%|█████████▏| 825/900 [33:46<06:16,  5.02s/it]
 92%|█████████▏| 826/900 [33:46<04:26,  3.60s/it]
 92%|█████████▏| 827/900 [33:47<03:10,  2.61s/it]
 92%|█████████▏| 828/900 [33:47<02:18,  1.92s/it]
 92%|█████████▏| 829/900 [33:47<01:41,  1.44s/it]
 92%|█████████▏| 830/900 [33:48<01:16,  1.09s/it]
 92%|█████████▏| 831/900 [33:48<00:58,  1.17it/s]
 92%|█████████▏| 832/900 [33:48<00:46,  1.46it/s]
 93%|█████████▎| 833/900 [34:04<05:57,  5.34s/it]
 93%|█████████▎| 834/900 [34:05<04:12,  3.83s/it]
 93%|█████████▎| 835/900 [34:05<02:59,  2.77s/it]
 93%|█████████▎| 836/900 [34:05<02:09,  2.03s/it]
 93%|█████████▎| 837/900 [34:06<01:35,  1.51s/it]
 93%|█████████▎| 838/900 [34:06<01:11,  1.15s/it]
 93%|█████████▎| 839/900 [34:06<00:54,  1.12it/s]
 93%|█████████▎| 840/900 [34:07<00:42,  1.40it/s]
 93%|█████████▎| 841/900 [34:20<04:19,  4.40s/it]
 94%|█████████▎| 842/900 [34:20<03:03,  3.17s/it]
 94%|█████████▎| 843/900 [34:20<02:11,  2.31s/it]
 94%|█████████▍| 844/900 [34:20<01:35,  1.71s/it]
 94%|█████████▍| 845/900 [34:21<01:10,  1.28s/it]
 94%|█████████▍| 846/900 [34:21<00:53,  1.02it/s]
 94%|█████████▍| 847/900 [34:21<00:41,  1.28it/s]
 94%|█████████▍| 848/900 [34:22<00:33,  1.57it/s]
 94%|█████████▍| 849/900 [34:39<04:45,  5.59s/it]
 94%|█████████▍| 850/900 [34:39<03:20,  4.00s/it]
 95%|█████████▍| 851/900 [34:39<02:21,  2.89s/it]
 95%|█████████▍| 852/900 [34:40<01:40,  2.10s/it]
 95%|█████████▍| 853/900 [34:40<01:12,  1.55s/it]
 95%|█████████▍| 854/900 [34:40<00:53,  1.16s/it]
 95%|█████████▌| 855/900 [34:40<00:40,  1.11it/s]
 95%|█████████▌| 856/900 [34:41<00:31,  1.41it/s]
 95%|█████████▌| 857/900 [35:19<08:35, 11.99s/it]
 95%|█████████▌| 858/900 [35:19<05:56,  8.48s/it]
 95%|█████████▌| 859/900 [35:20<04:06,  6.02s/it]
 96%|█████████▌| 860/900 [35:20<02:51,  4.29s/it]
 96%|█████████▌| 861/900 [35:20<02:00,  3.09s/it]
 96%|█████████▌| 862/900 [35:20<01:25,  2.25s/it]
 96%|█████████▌| 863/900 [35:21<01:01,  1.66s/it]
 96%|█████████▌| 864/900 [35:21<00:45,  1.25s/it]
 96%|█████████▌| 865/900 [36:06<08:24, 14.41s/it]
 96%|█████████▌| 866/900 [36:06<05:46, 10.18s/it]
 96%|█████████▋| 867/900 [36:07<03:58,  7.21s/it]
 96%|█████████▋| 868/900 [36:07<02:44,  5.14s/it]
 97%|█████████▋| 869/900 [36:07<01:54,  3.69s/it]
 97%|█████████▋| 870/900 [36:08<01:20,  2.67s/it]
 97%|█████████▋| 871/900 [36:08<00:56,  1.96s/it]
 97%|█████████▋| 872/900 [36:08<00:40,  1.46s/it]
 97%|█████████▋| 873/900 [37:02<07:39, 17.02s/it]
 97%|█████████▋| 874/900 [37:02<05:12, 12.00s/it]
 97%|█████████▋| 875/900 [37:02<03:32,  8.49s/it]
 97%|█████████▋| 876/900 [37:02<02:24,  6.03s/it]
 97%|█████████▋| 877/900 [37:03<01:38,  4.30s/it]
 98%|█████████▊| 878/900 [37:03<01:08,  3.09s/it]
 98%|█████████▊| 879/900 [37:03<00:47,  2.24s/it]
 98%|█████████▊| 880/900 [37:03<00:32,  1.65s/it]
 98%|█████████▊| 881/900 [37:38<03:41, 11.64s/it]
 98%|█████████▊| 882/900 [37:39<02:28,  8.23s/it]
 98%|█████████▊| 883/900 [37:39<01:39,  5.85s/it]
 98%|█████████▊| 884/900 [37:39<01:06,  4.18s/it]
 98%|█████████▊| 885/900 [37:40<00:45,  3.01s/it]
 98%|█████████▊| 886/900 [37:40<00:30,  2.19s/it]
 99%|█████████▊| 887/900 [37:40<00:21,  1.62s/it]
 99%|█████████▊| 888/900 [37:40<00:14,  1.21s/it]
 99%|█████████▉| 889/900 [38:41<03:29, 19.03s/it]
 99%|█████████▉| 890/900 [38:41<02:14, 13.41s/it]
 99%|█████████▉| 891/900 [38:42<01:25,  9.47s/it]
 99%|█████████▉| 892/900 [38:42<00:53,  6.71s/it]
 99%|█████████▉| 893/900 [38:42<00:33,  4.79s/it]
 99%|█████████▉| 894/900 [38:42<00:20,  3.43s/it]
 99%|█████████▉| 895/900 [38:43<00:12,  2.49s/it]
100%|█████████▉| 896/900 [38:43<00:07,  1.82s/it]
100%|█████████▉| 897/900 [38:57<00:16,  5.48s/it]
100%|█████████▉| 898/900 [38:57<00:07,  3.91s/it]
100%|█████████▉| 899/900 [38:57<00:02,  2.82s/it]
100%|█████████▉| 899/900 [38:58<00:02,  2.60s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/log_1_env0.json.
+ClampInRightBinTask_1 complete: task_name: ClampInRightBinTask, run_name: ClampInRightBinTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the spring clamp in the right bin, attributes: ['semantics', 'spatial', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -13.496470901873355, 'joint_sparc_mean': -14.866047995539876, 'ee_isj': 5625.230588887444, 'joint_isj': 529937.2823419546, 'ee_path_length': 6.536315634970014, 'joint_rmse_mean': 1.1879959823557762, 'ee_speed_max': 0.5799168348312378, 'ee_speed_mean': 0.10502658784389496}, events: {'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_HIT_TABLE': 3, 'GRIPPER_FULLY_CLOSED': 16, 'TARGET_OBJECT_DROPPED': 14, 'WRONG_OBJECT_GRABBED': 1, 'wrong_objects_grabbed': ['cordless_drill']}, instruction_type: default, timing: {'policy_inference_s': 2091.379, 'policy_inference_avg_ms': 2323.8, 'env_step_s': 236.907, 'env_step_avg_ms': 263.2, 'video_write_s': 9.524, 'video_write_avg_ms': 10.6, 'wall_total_s': 2337.81, 'it_per_sec': 0.38}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spring_clamp) (step 1/2), harness_episode_id: 1fe17206922b4958bfc0f4b2b5ece3e6-1
+[RoboLab] Running ClampInRightBinTask_2: 'Put the spring clamp in the right bin' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:26<6:38:02, 26.57s/it]
  0%|          | 2/900 [00:26<2:46:12, 11.10s/it]
  0%|          | 3/900 [00:27<1:32:06,  6.16s/it]
  0%|          | 4/900 [00:27<57:18,  3.84s/it]  
  1%|          | 5/900 [00:27<38:07,  2.56s/it]
  1%|          | 6/900 [00:27<26:30,  1.78s/it]
  1%|          | 7/900 [00:28<19:08,  1.29s/it]
  1%|          | 8/900 [00:28<14:20,  1.04it/s]
  1%|          | 9/900 [00:40<1:04:35,  4.35s/it]
  1%|          | 10/900 [00:40<45:50,  3.09s/it] 
  1%|          | 11/900 [00:40<33:00,  2.23s/it]
  1%|▏         | 12/900 [00:41<24:09,  1.63s/it]
  1%|▏         | 13/900 [00:41<18:02,  1.22s/it]
  2%|▏         | 14/900 [00:41<13:51,  1.07it/s]
  2%|▏         | 15/900 [00:41<10:56,  1.35it/s]
  2%|▏         | 16/900 [00:42<08:51,  1.66it/s]
  2%|▏         | 17/900 [00:54<1:01:07,  4.15s/it]
  2%|▏         | 18/900 [00:54<43:56,  2.99s/it]  
  2%|▏         | 19/900 [00:55<31:55,  2.17s/it]
  2%|▏         | 20/900 [00:55<23:32,  1.60s/it]
  2%|▏         | 21/900 [00:55<17:39,  1.21s/it]
  2%|▏         | 22/900 [00:56<13:32,  1.08it/s]
  3%|▎         | 23/900 [00:56<10:40,  1.37it/s]
  3%|▎         | 24/900 [00:56<08:39,  1.69it/s]
  3%|▎         | 25/900 [01:07<53:02,  3.64s/it]
  3%|▎         | 26/900 [01:07<38:15,  2.63s/it]
  3%|▎         | 27/900 [01:07<27:58,  1.92s/it]
  3%|▎         | 28/900 [01:08<20:43,  1.43s/it]
  3%|▎         | 29/900 [01:08<15:41,  1.08s/it]
  3%|▎         | 30/900 [01:08<12:10,  1.19it/s]
  3%|▎         | 31/900 [01:08<09:41,  1.49it/s]
  4%|▎         | 32/900 [01:09<07:58,  1.82it/s]
  4%|▎         | 33/900 [01:22<1:03:39,  4.41s/it]
  4%|▍         | 34/900 [01:22<45:46,  3.17s/it]  
  4%|▍         | 35/900 [01:23<33:14,  2.31s/it]
  4%|▍         | 36/900 [01:23<24:30,  1.70s/it]
  4%|▍         | 37/900 [01:23<18:18,  1.27s/it]
  4%|▍         | 38/900 [01:24<14:02,  1.02it/s]
  4%|▍         | 39/900 [01:24<11:03,  1.30it/s]
  4%|▍         | 40/900 [01:24<08:58,  1.60it/s]
  5%|▍         | 41/900 [01:50<1:55:19,  8.06s/it]
  5%|▍         | 42/900 [01:50<1:21:51,  5.72s/it]
  5%|▍         | 43/900 [01:50<58:23,  4.09s/it]  
  5%|▍         | 44/900 [01:50<42:00,  2.95s/it]
  5%|▌         | 45/900 [01:51<30:37,  2.15s/it]
  5%|▌         | 46/900 [01:51<22:39,  1.59s/it]
  5%|▌         | 47/900 [01:51<17:09,  1.21s/it]
  5%|▌         | 48/900 [01:52<13:18,  1.07it/s]
  5%|▌         | 49/900 [01:59<40:28,  2.85s/it]
  6%|▌         | 50/900 [01:59<29:38,  2.09s/it]
  6%|▌         | 51/900 [01:59<22:01,  1.56s/it]
  6%|▌         | 52/900 [02:00<16:34,  1.17s/it]
  6%|▌         | 53/900 [02:00<12:55,  1.09it/s]
  6%|▌         | 54/900 [02:00<10:19,  1.36it/s]
  6%|▌         | 55/900 [02:01<08:33,  1.65it/s]
  6%|▌         | 56/900 [02:01<07:14,  1.94it/s]
  6%|▋         | 57/900 [02:08<35:42,  2.54s/it]
  6%|▋         | 58/900 [02:09<26:16,  1.87s/it]
  7%|▋         | 59/900 [02:09<19:36,  1.40s/it]
  7%|▋         | 60/900 [02:09<14:57,  1.07s/it]
  7%|▋         | 61/900 [02:09<11:41,  1.20it/s]
  7%|▋         | 62/900 [02:10<09:26,  1.48it/s]
  7%|▋         | 63/900 [02:10<07:54,  1.76it/s]
  7%|▋         | 64/900 [02:10<06:46,  2.06it/s]
  7%|▋         | 65/900 [02:20<44:22,  3.19s/it]
  7%|▋         | 66/900 [02:20<32:19,  2.33s/it]
  7%|▋         | 67/900 [02:21<23:54,  1.72s/it]
  8%|▊         | 68/900 [02:21<17:57,  1.29s/it]
  8%|▊         | 69/900 [02:21<13:47,  1.00it/s]
  8%|▊         | 70/900 [02:21<10:54,  1.27it/s]
  8%|▊         | 71/900 [02:22<08:52,  1.56it/s]
  8%|▊         | 72/900 [02:22<07:24,  1.86it/s]
  8%|▊         | 73/900 [02:28<30:34,  2.22s/it]
  8%|▊         | 74/900 [02:28<22:35,  1.64s/it]
  8%|▊         | 75/900 [02:29<16:56,  1.23s/it]
  8%|▊         | 76/900 [02:29<12:56,  1.06it/s]
  9%|▊         | 77/900 [02:29<10:11,  1.35it/s]
  9%|▊         | 78/900 [02:30<08:17,  1.65it/s]
  9%|▉         | 79/900 [02:30<06:55,  1.98it/s]
  9%|▉         | 80/900 [02:30<05:58,  2.29it/s]
  9%|▉         | 81/900 [02:43<56:24,  4.13s/it]
  9%|▉         | 82/900 [02:43<40:32,  2.97s/it]
  9%|▉         | 83/900 [02:43<29:26,  2.16s/it]
  9%|▉         | 84/900 [02:44<21:40,  1.59s/it]
  9%|▉         | 85/900 [02:44<16:13,  1.19s/it]
 10%|▉         | 86/900 [02:44<12:26,  1.09it/s]
 10%|▉         | 87/900 [02:44<09:50,  1.38it/s]
 10%|▉         | 88/900 [02:45<08:00,  1.69it/s]
 10%|▉         | 89/900 [02:57<56:12,  4.16s/it]
 10%|█         | 90/900 [02:58<40:31,  3.00s/it]
 10%|█         | 91/900 [02:58<29:35,  2.19s/it]
 10%|█         | 92/900 [02:58<21:53,  1.63s/it]
 10%|█         | 93/900 [02:58<16:27,  1.22s/it]
 10%|█         | 94/900 [02:59<12:42,  1.06it/s]
 11%|█         | 95/900 [02:59<10:06,  1.33it/s]
 11%|█         | 96/900 [02:59<08:16,  1.62it/s]
 11%|█         | 97/900 [03:05<29:18,  2.19s/it]
 11%|█         | 98/900 [03:05<21:42,  1.62s/it]
 11%|█         | 99/900 [03:06<16:23,  1.23s/it]
 11%|█         | 100/900 [03:06<12:40,  1.05it/s]
 11%|█         | 101/900 [03:06<10:03,  1.32it/s]
 11%|█▏        | 102/900 [03:07<08:17,  1.61it/s]
 11%|█▏        | 103/900 [03:07<07:00,  1.89it/s]
 12%|█▏        | 104/900 [03:07<06:05,  2.18it/s]
 12%|█▏        | 105/900 [03:14<30:13,  2.28s/it]
 12%|█▏        | 106/900 [03:14<22:19,  1.69s/it]
 12%|█▏        | 107/900 [03:14<16:44,  1.27s/it]
 12%|█▏        | 108/900 [03:15<12:49,  1.03it/s]
 12%|█▏        | 109/900 [03:15<10:06,  1.30it/s]
 12%|█▏        | 110/900 [03:15<08:07,  1.62it/s]
 12%|█▏        | 111/900 [03:16<06:44,  1.95it/s]
 12%|█▏        | 112/900 [03:16<05:44,  2.29it/s]
 13%|█▎        | 113/900 [03:30<59:29,  4.54s/it]
 13%|█▎        | 114/900 [03:30<42:38,  3.26s/it]
 13%|█▎        | 115/900 [03:30<30:52,  2.36s/it]
 13%|█▎        | 116/900 [03:31<22:36,  1.73s/it]
 13%|█▎        | 117/900 [03:31<16:55,  1.30s/it]
 13%|█▎        | 118/900 [03:31<12:54,  1.01it/s]
 13%|█▎        | 119/900 [03:32<10:05,  1.29it/s]
 13%|█▎        | 120/900 [03:32<08:08,  1.60it/s]
 13%|█▎        | 121/900 [03:47<1:04:42,  4.98s/it]
 14%|█▎        | 122/900 [03:47<46:17,  3.57s/it]  
 14%|█▎        | 123/900 [03:48<33:25,  2.58s/it]
 14%|█▍        | 124/900 [03:48<24:26,  1.89s/it]
 14%|█▍        | 125/900 [03:48<18:10,  1.41s/it]
 14%|█▍        | 126/900 [03:48<13:48,  1.07s/it]
 14%|█▍        | 127/900 [03:49<10:40,  1.21it/s]
 14%|█▍        | 128/900 [03:49<08:33,  1.50it/s]
 14%|█▍        | 129/900 [03:59<44:20,  3.45s/it]
 14%|█▍        | 130/900 [03:59<32:05,  2.50s/it]
 15%|█▍        | 131/900 [03:59<23:28,  1.83s/it]
 15%|█▍        | 132/900 [04:00<17:28,  1.37s/it]
 15%|█▍        | 133/900 [04:00<13:18,  1.04s/it]
 15%|█▍        | 134/900 [04:00<10:21,  1.23it/s]
 15%|█▌        | 135/900 [04:01<08:16,  1.54it/s]
 15%|█▌        | 136/900 [04:01<06:49,  1.87it/s]
 15%|█▌        | 137/900 [04:07<26:52,  2.11s/it]
 15%|█▌        | 138/900 [04:07<19:55,  1.57s/it]
 15%|█▌        | 139/900 [04:07<15:03,  1.19s/it]
 16%|█▌        | 140/900 [04:07<11:40,  1.08it/s]
 16%|█▌        | 141/900 [04:08<09:17,  1.36it/s]
 16%|█▌        | 142/900 [04:08<07:38,  1.65it/s]
 16%|█▌        | 143/900 [04:08<06:26,  1.96it/s]
 16%|█▌        | 144/900 [04:09<05:37,  2.24it/s]
 16%|█▌        | 145/900 [04:20<44:53,  3.57s/it]
 16%|█▌        | 146/900 [04:20<32:30,  2.59s/it]
 16%|█▋        | 147/900 [04:20<23:48,  1.90s/it]
 16%|█▋        | 148/900 [04:20<17:40,  1.41s/it]
 17%|█▋        | 149/900 [04:21<13:25,  1.07s/it]
 17%|█▋        | 150/900 [04:21<10:26,  1.20it/s]
 17%|█▋        | 151/900 [04:21<08:21,  1.49it/s]
 17%|█▋        | 152/900 [04:22<06:53,  1.81it/s]
 17%|█▋        | 153/900 [04:45<1:31:07,  7.32s/it]
 17%|█▋        | 154/900 [04:45<1:04:44,  5.21s/it]
 17%|█▋        | 155/900 [04:45<46:18,  3.73s/it]  
 17%|█▋        | 156/900 [04:45<33:24,  2.69s/it]
 17%|█▋        | 157/900 [04:46<24:21,  1.97s/it]
 18%|█▊        | 158/900 [04:46<18:05,  1.46s/it]
 18%|█▊        | 159/900 [04:46<13:48,  1.12s/it]
 18%|█▊        | 160/900 [04:47<10:42,  1.15it/s]
 18%|█▊        | 161/900 [04:53<30:59,  2.52s/it]
 18%|█▊        | 162/900 [04:53<22:41,  1.85s/it]
 18%|█▊        | 163/900 [04:54<16:54,  1.38s/it]
 18%|█▊        | 164/900 [04:54<12:48,  1.04s/it]
 18%|█▊        | 165/900 [04:54<09:56,  1.23it/s]
 18%|█▊        | 166/900 [04:54<07:58,  1.53it/s]
 19%|█▊        | 167/900 [04:55<06:32,  1.87it/s]
 19%|█▊        | 168/900 [04:55<05:32,  2.20it/s]
 19%|█▉        | 169/900 [05:01<24:52,  2.04s/it]
 19%|█▉        | 170/900 [05:01<18:23,  1.51s/it]
 19%|█▉        | 171/900 [05:01<13:51,  1.14s/it]
 19%|█▉        | 172/900 [05:01<10:42,  1.13it/s]
 19%|█▉        | 173/900 [05:02<08:28,  1.43it/s]
 19%|█▉        | 174/900 [05:02<06:55,  1.75it/s]
 19%|█▉        | 175/900 [05:02<05:51,  2.06it/s]
 20%|█▉        | 176/900 [05:03<05:07,  2.36it/s]
 20%|█▉        | 177/900 [05:12<37:18,  3.10s/it]
 20%|█▉        | 178/900 [05:12<27:05,  2.25s/it]
 20%|█▉        | 179/900 [05:12<19:55,  1.66s/it]
 20%|██        | 180/900 [05:13<14:55,  1.24s/it]
 20%|██        | 181/900 [05:13<11:23,  1.05it/s]
 20%|██        | 182/900 [05:13<08:57,  1.34it/s]
 20%|██        | 183/900 [05:14<07:15,  1.65it/s]
 20%|██        | 184/900 [05:14<06:05,  1.96it/s]
 21%|██        | 185/900 [05:24<41:58,  3.52s/it]
 21%|██        | 186/900 [05:25<30:20,  2.55s/it]
 21%|██        | 187/900 [05:25<22:11,  1.87s/it]
 21%|██        | 188/900 [05:25<16:29,  1.39s/it]
 21%|██        | 189/900 [05:25<12:32,  1.06s/it]
 21%|██        | 190/900 [05:26<09:45,  1.21it/s]
 21%|██        | 191/900 [05:26<07:49,  1.51it/s]
 21%|██▏       | 192/900 [05:26<06:26,  1.83it/s]
 21%|██▏       | 193/900 [05:34<32:23,  2.75s/it]
 22%|██▏       | 194/900 [05:35<23:42,  2.02s/it]
 22%|██▏       | 195/900 [05:35<17:36,  1.50s/it]
 22%|██▏       | 196/900 [05:35<13:24,  1.14s/it]
 22%|██▏       | 197/900 [05:35<10:27,  1.12it/s]
 22%|██▏       | 198/900 [05:36<08:23,  1.40it/s]
 22%|██▏       | 199/900 [05:36<06:54,  1.69it/s]
 22%|██▏       | 200/900 [05:36<05:56,  1.96it/s]
 22%|██▏       | 201/900 [05:52<57:13,  4.91s/it]
 22%|██▏       | 202/900 [05:52<40:58,  3.52s/it]
 23%|██▎       | 203/900 [05:52<29:36,  2.55s/it]
 23%|██▎       | 204/900 [05:52<21:38,  1.87s/it]
 23%|██▎       | 205/900 [05:53<16:04,  1.39s/it]
 23%|██▎       | 206/900 [05:53<12:11,  1.05s/it]
 23%|██▎       | 207/900 [05:53<09:28,  1.22it/s]
 23%|██▎       | 208/900 [05:53<07:34,  1.52it/s]
 23%|██▎       | 209/900 [06:06<48:03,  4.17s/it]
 23%|██▎       | 210/900 [06:06<34:32,  3.00s/it]
 23%|██▎       | 211/900 [06:06<25:05,  2.18s/it]
 24%|██▎       | 212/900 [06:07<18:28,  1.61s/it]
 24%|██▎       | 213/900 [06:07<13:51,  1.21s/it]
 24%|██▍       | 214/900 [06:07<10:36,  1.08it/s]
 24%|██▍       | 215/900 [06:07<08:20,  1.37it/s]
 24%|██▍       | 216/900 [06:08<06:45,  1.69it/s]
 24%|██▍       | 217/900 [06:19<44:05,  3.87s/it]
 24%|██▍       | 218/900 [06:20<31:50,  2.80s/it]
 24%|██▍       | 219/900 [06:20<23:17,  2.05s/it]
 24%|██▍       | 220/900 [06:20<17:16,  1.52s/it]
 25%|██▍       | 221/900 [06:20<13:05,  1.16s/it]
 25%|██▍       | 222/900 [06:21<10:08,  1.11it/s]
 25%|██▍       | 223/900 [06:21<08:02,  1.40it/s]
 25%|██▍       | 224/900 [06:21<06:39,  1.69it/s]
 25%|██▌       | 225/900 [06:31<35:39,  3.17s/it]
 25%|██▌       | 226/900 [06:31<25:56,  2.31s/it]
 25%|██▌       | 227/900 [06:31<19:13,  1.71s/it]
 25%|██▌       | 228/900 [06:31<14:30,  1.29s/it]
 25%|██▌       | 229/900 [06:32<11:09,  1.00it/s]
 26%|██▌       | 230/900 [06:32<08:47,  1.27it/s]
 26%|██▌       | 231/900 [06:32<07:07,  1.57it/s]
 26%|██▌       | 232/900 [06:33<05:59,  1.86it/s]
 26%|██▌       | 233/900 [06:54<1:16:38,  6.89s/it]
 26%|██▌       | 234/900 [06:55<54:33,  4.92s/it]  
 26%|██▌       | 235/900 [06:55<39:06,  3.53s/it]
 26%|██▌       | 236/900 [06:55<28:19,  2.56s/it]
 26%|██▋       | 237/900 [06:56<20:50,  1.89s/it]
 26%|██▋       | 238/900 [06:56<15:32,  1.41s/it]
 27%|██▋       | 239/900 [06:56<11:46,  1.07s/it]
 27%|██▋       | 240/900 [06:56<09:06,  1.21it/s]
 27%|██▋       | 241/900 [07:26<1:44:50,  9.55s/it]
 27%|██▋       | 242/900 [07:27<1:14:11,  6.77s/it]
 27%|██▋       | 243/900 [07:27<52:46,  4.82s/it]  
 27%|██▋       | 244/900 [07:27<37:46,  3.45s/it]
 27%|██▋       | 245/900 [07:27<27:19,  2.50s/it]
 27%|██▋       | 246/900 [07:28<19:57,  1.83s/it]
 27%|██▋       | 247/900 [07:28<14:48,  1.36s/it]
 28%|██▊       | 248/900 [07:28<11:15,  1.04s/it]
 28%|██▊       | 249/900 [08:08<2:18:01, 12.72s/it]
 28%|██▊       | 250/900 [08:09<1:37:22,  8.99s/it]
 28%|██▊       | 251/900 [08:09<1:08:58,  6.38s/it]
 28%|██▊       | 252/900 [08:09<49:05,  4.55s/it]  
 28%|██▊       | 253/900 [08:09<35:12,  3.26s/it]
 28%|██▊       | 254/900 [08:10<25:29,  2.37s/it]
 28%|██▊       | 255/900 [08:10<18:42,  1.74s/it]
 28%|██▊       | 256/900 [08:10<13:59,  1.30s/it]
 29%|██▊       | 257/900 [08:20<41:34,  3.88s/it]
 29%|██▊       | 258/900 [08:20<29:59,  2.80s/it]
 29%|██▉       | 259/900 [08:21<21:52,  2.05s/it]
 29%|██▉       | 260/900 [08:21<16:12,  1.52s/it]
 29%|██▉       | 261/900 [08:21<12:15,  1.15s/it]
 29%|██▉       | 262/900 [08:22<09:28,  1.12it/s]
 29%|██▉       | 263/900 [08:22<07:33,  1.40it/s]
 29%|██▉       | 264/900 [08:22<06:09,  1.72it/s]
 29%|██▉       | 265/900 [08:31<31:39,  2.99s/it]
 30%|██▉       | 266/900 [08:31<23:06,  2.19s/it]
 30%|██▉       | 267/900 [08:31<17:05,  1.62s/it]
 30%|██▉       | 268/900 [08:32<12:56,  1.23s/it]
 30%|██▉       | 269/900 [08:32<10:01,  1.05it/s]
 30%|███       | 270/900 [08:32<07:58,  1.32it/s]
 30%|███       | 271/900 [08:33<06:30,  1.61it/s]
 30%|███       | 272/900 [08:33<05:29,  1.91it/s]
 30%|███       | 273/900 [08:43<35:59,  3.44s/it]
 30%|███       | 274/900 [08:43<26:05,  2.50s/it]
 31%|███       | 275/900 [08:44<19:10,  1.84s/it]
 31%|███       | 276/900 [08:44<14:18,  1.38s/it]
 31%|███       | 277/900 [08:44<10:57,  1.05s/it]
 31%|███       | 278/900 [08:45<08:35,  1.21it/s]
 31%|███       | 279/900 [08:45<06:55,  1.50it/s]
 31%|███       | 280/900 [08:45<05:46,  1.79it/s]
 31%|███       | 281/900 [08:56<38:24,  3.72s/it]
 31%|███▏      | 282/900 [08:57<27:46,  2.70s/it]
 31%|███▏      | 283/900 [08:57<20:16,  1.97s/it]
 32%|███▏      | 284/900 [08:57<15:01,  1.46s/it]
 32%|███▏      | 285/900 [08:57<11:20,  1.11s/it]
 32%|███▏      | 286/900 [08:58<08:46,  1.17it/s]
 32%|███▏      | 287/900 [08:58<07:00,  1.46it/s]
 32%|███▏      | 288/900 [08:58<05:43,  1.78it/s]
 32%|███▏      | 289/900 [09:19<1:08:00,  6.68s/it]
 32%|███▏      | 290/900 [09:19<48:22,  4.76s/it]  
 32%|███▏      | 291/900 [09:20<34:39,  3.41s/it]
 32%|███▏      | 292/900 [09:20<25:03,  2.47s/it]
 33%|███▎      | 293/900 [09:20<18:21,  1.81s/it]
 33%|███▎      | 294/900 [09:21<13:40,  1.35s/it]
 33%|███▎      | 295/900 [09:21<10:25,  1.03s/it]
 33%|███▎      | 296/900 [09:21<08:07,  1.24it/s]
 33%|███▎      | 297/900 [09:41<1:04:46,  6.44s/it]
 33%|███▎      | 298/900 [09:41<46:06,  4.60s/it]  
 33%|███▎      | 299/900 [09:41<33:04,  3.30s/it]
 33%|███▎      | 300/900 [09:42<23:56,  2.39s/it]
 33%|███▎      | 301/900 [09:42<17:35,  1.76s/it]
 34%|███▎      | 302/900 [09:42<13:08,  1.32s/it]
 34%|███▎      | 303/900 [09:42<10:01,  1.01s/it]
 34%|███▍      | 304/900 [09:43<07:49,  1.27it/s]
 34%|███▍      | 305/900 [09:54<37:56,  3.83s/it]
 34%|███▍      | 306/900 [09:54<27:19,  2.76s/it]
 34%|███▍      | 307/900 [09:54<19:55,  2.02s/it]
 34%|███▍      | 308/900 [09:54<14:44,  1.49s/it]
 34%|███▍      | 309/900 [09:55<11:06,  1.13s/it]
 34%|███▍      | 310/900 [09:55<08:35,  1.14it/s]
 35%|███▍      | 311/900 [09:55<06:50,  1.44it/s]
 35%|███▍      | 312/900 [09:56<05:41,  1.72it/s]
 35%|███▍      | 313/900 [10:10<45:32,  4.66s/it]
 35%|███▍      | 314/900 [10:10<32:42,  3.35s/it]
 35%|███▌      | 315/900 [10:10<23:44,  2.43s/it]
 35%|███▌      | 316/900 [10:11<17:28,  1.80s/it]
 35%|███▌      | 317/900 [10:11<13:10,  1.36s/it]
 35%|███▌      | 318/900 [10:11<10:06,  1.04s/it]
 35%|███▌      | 319/900 [10:12<07:57,  1.22it/s]
 36%|███▌      | 320/900 [10:12<06:25,  1.51it/s]
 36%|███▌      | 321/900 [10:40<1:27:02,  9.02s/it]
 36%|███▌      | 322/900 [10:41<1:01:37,  6.40s/it]
 36%|███▌      | 323/900 [10:41<43:52,  4.56s/it]  
 36%|███▌      | 324/900 [10:41<31:29,  3.28s/it]
 36%|███▌      | 325/900 [10:42<22:48,  2.38s/it]
 36%|███▌      | 326/900 [10:42<16:45,  1.75s/it]
 36%|███▋      | 327/900 [10:42<12:30,  1.31s/it]
 36%|███▋      | 328/900 [10:42<09:32,  1.00s/it]
 37%|███▋      | 329/900 [11:11<1:27:48,  9.23s/it]
 37%|███▋      | 330/900 [11:11<1:02:09,  6.54s/it]
 37%|███▋      | 331/900 [11:11<44:13,  4.66s/it]  
 37%|███▋      | 332/900 [11:12<31:41,  3.35s/it]
 37%|███▋      | 333/900 [11:12<22:55,  2.43s/it]
 37%|███▋      | 334/900 [11:12<16:48,  1.78s/it]
 37%|███▋      | 335/900 [11:13<12:31,  1.33s/it]
 37%|███▋      | 336/900 [11:13<09:32,  1.01s/it]
 37%|███▋      | 337/900 [11:33<1:03:03,  6.72s/it]
 38%|███▊      | 338/900 [11:33<44:51,  4.79s/it]  
 38%|███▊      | 339/900 [11:33<32:05,  3.43s/it]
 38%|███▊      | 340/900 [11:34<23:11,  2.48s/it]
 38%|███▊      | 341/900 [11:34<16:58,  1.82s/it]
 38%|███▊      | 342/900 [11:34<12:37,  1.36s/it]
 38%|███▊      | 343/900 [11:34<09:36,  1.03s/it]
 38%|███▊      | 344/900 [11:35<07:34,  1.22it/s]
 38%|███▊      | 345/900 [11:45<32:52,  3.55s/it]
 38%|███▊      | 346/900 [11:45<23:53,  2.59s/it]
 39%|███▊      | 347/900 [11:45<17:30,  1.90s/it]
 39%|███▊      | 348/900 [11:46<13:02,  1.42s/it]
 39%|███▉      | 349/900 [11:46<09:58,  1.09s/it]
 39%|███▉      | 350/900 [11:46<07:49,  1.17it/s]
 39%|███▉      | 351/900 [11:47<06:19,  1.45it/s]
 39%|███▉      | 352/900 [11:47<05:16,  1.73it/s]
 39%|███▉      | 353/900 [11:58<33:44,  3.70s/it]
 39%|███▉      | 354/900 [11:58<24:23,  2.68s/it]
 39%|███▉      | 355/900 [11:58<17:51,  1.97s/it]
 40%|███▉      | 356/900 [11:59<13:17,  1.47s/it]
 40%|███▉      | 357/900 [11:59<10:06,  1.12s/it]
 40%|███▉      | 358/900 [11:59<07:52,  1.15it/s]
 40%|███▉      | 359/900 [12:00<06:20,  1.42it/s]
 40%|████      | 360/900 [12:00<05:13,  1.72it/s]
 40%|████      | 361/900 [12:23<1:06:57,  7.45s/it]
 40%|████      | 362/900 [12:24<47:35,  5.31s/it]  
 40%|████      | 363/900 [12:24<34:01,  3.80s/it]
 40%|████      | 364/900 [12:24<24:33,  2.75s/it]
 41%|████      | 365/900 [12:25<17:57,  2.01s/it]
 41%|████      | 366/900 [12:25<13:21,  1.50s/it]
 41%|████      | 367/900 [12:25<10:08,  1.14s/it]
 41%|████      | 368/900 [12:26<07:53,  1.12it/s]
 41%|████      | 369/900 [13:04<1:47:35, 12.16s/it]
 41%|████      | 370/900 [13:04<1:16:01,  8.61s/it]
 41%|████      | 371/900 [13:05<53:57,  6.12s/it]  
 41%|████▏     | 372/900 [13:05<38:31,  4.38s/it]
 41%|████▏     | 373/900 [13:05<27:44,  3.16s/it]
 42%|████▏     | 374/900 [13:06<20:10,  2.30s/it]
 42%|████▏     | 375/900 [13:06<14:53,  1.70s/it]
 42%|████▏     | 376/900 [13:06<11:12,  1.28s/it]
 42%|████▏     | 377/900 [13:25<57:56,  6.65s/it]
 42%|████▏     | 378/900 [13:26<41:16,  4.74s/it]
 42%|████▏     | 379/900 [13:26<29:37,  3.41s/it]
 42%|████▏     | 380/900 [13:26<21:29,  2.48s/it]
 42%|████▏     | 381/900 [13:27<15:48,  1.83s/it]
 42%|████▏     | 382/900 [13:27<11:57,  1.39s/it]
 43%|████▎     | 383/900 [13:27<09:08,  1.06s/it]
 43%|████▎     | 384/900 [13:28<07:09,  1.20it/s]
 43%|████▎     | 384/900 [13:48<18:33,  2.16s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/log_2_env0.json.
+ClampInRightBinTask_2 complete: task_name: ClampInRightBinTask, run_name: ClampInRightBinTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the spring clamp in the right bin, attributes: ['semantics', 'spatial', 'simple'], success: True, episode_step: 385, duration: 25.666666666666668, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.861459259226933, 'joint_sparc_mean': -10.42579623512957, 'ee_isj': 1778.6154399536754, 'joint_isj': 100796.40324682413, 'ee_path_length': 2.9712951050330982, 'joint_rmse_mean': 0.9561900056097082, 'ee_speed_max': 0.5288549065589905, 'ee_speed_mean': 0.11335261911153793}, events: {'GRIPPER_HIT_TABLE': 9, 'TARGET_OBJECT_DROPPED': 4, 'GRIPPER_FULLY_CLOSED': 6}, instruction_type: default, timing: {'policy_inference_s': 721.309, 'policy_inference_avg_ms': 1873.5, 'env_step_s': 102.645, 'env_step_avg_ms': 266.6, 'video_write_s': 4.742, 'video_write_avg_ms': 12.3, 'wall_total_s': 828.696, 'it_per_sec': 0.46}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: a39cbb8462844737997c44b08960e215-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-30T22:04:15Z [21,628,722ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.206821 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-30T22:04:20Z [21,632,958ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-30T22:04:20Z [21,632,959ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T22:04:20Z [21,632,968ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-30T22:04:20Z [21,632,968ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T22:04:20Z [21,632,976ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T22:04:20Z [21,632,983ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-30T22:04:21Z [21,634,219ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((919))' not available in the MDL representation.
+2026-10-30T22:04:21Z [21,634,219ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((919))' not available in the MDL representation.
+2026-10-30T22:04:21Z [21,634,266ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((942))' not available in the MDL representation.
+2026-10-30T22:04:21Z [21,634,267ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((942))' not available in the MDL representation.
+2026-10-30T22:04:21Z [21,634,285ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((951))' not available in the MDL representation.
+2026-10-30T22:04:21Z [21,634,285ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((951))' not available in the MDL representation.
+2026-10-30T22:04:21Z [21,634,618ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1014))' not available in the MDL representation.
+2026-10-30T22:04:21Z [21,634,618ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1014))' not available in the MDL representation.
+2026-10-30T22:04:22Z [21,635,369ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((919))' not available in the MDL representation.
+2026-10-30T22:04:22Z [21,635,369ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((919))' not available in the MDL representation.
+2026-10-30T22:04:22Z [21,635,371ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((942))' not available in the MDL representation.
+2026-10-30T22:04:22Z [21,635,371ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((942))' not available in the MDL representation.
+2026-10-30T22:04:22Z [21,635,372ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((951))' not available in the MDL representation.
+2026-10-30T22:04:22Z [21,635,372ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((951))' not available in the MDL representation.
+2026-10-30T22:04:22Z [21,635,376ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1014))' not available in the MDL representation.
+2026-10-30T22:04:22Z [21,635,376ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1014))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.552936 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : FoodPacking1BoxesTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pack boxed foods into the bin                 │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : FoodPacking1BoxesTaskSceneEnvCfg              │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running FoodPacking1BoxesTask_0: 'Pack boxed foods into the bin' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:28<6:59:35, 28.00s/it]
  0%|          | 2/900 [00:28<2:54:42, 11.67s/it]
  0%|          | 3/900 [00:28<1:36:26,  6.45s/it]
  0%|          | 4/900 [00:28<59:39,  3.99s/it]  
  1%|          | 5/900 [00:28<39:19,  2.64s/it]
  1%|          | 6/900 [00:29<27:05,  1.82s/it]
  1%|          | 7/900 [00:29<19:20,  1.30s/it]
  1%|          | 8/900 [00:29<14:17,  1.04it/s]
  1%|          | 9/900 [00:33<28:54,  1.95s/it]
  1%|          | 10/900 [00:33<21:01,  1.42s/it]
  1%|          | 11/900 [00:34<15:38,  1.06s/it]
  1%|▏         | 12/900 [00:34<11:55,  1.24it/s]
  1%|▏         | 13/900 [00:34<09:21,  1.58it/s]
  2%|▏         | 14/900 [00:34<07:33,  1.95it/s]
  2%|▏         | 15/900 [00:35<06:19,  2.33it/s]
  2%|▏         | 16/900 [00:35<05:25,  2.72it/s]
  2%|▏         | 17/900 [00:41<32:50,  2.23s/it]
  2%|▏         | 18/900 [00:42<23:58,  1.63s/it]
  2%|▏         | 19/900 [00:42<17:46,  1.21s/it]
  2%|▏         | 20/900 [00:42<13:29,  1.09it/s]
  2%|▏         | 21/900 [00:42<10:28,  1.40it/s]
  2%|▏         | 22/900 [00:43<08:19,  1.76it/s]
  3%|▎         | 23/900 [00:43<06:50,  2.14it/s]
  3%|▎         | 24/900 [00:43<05:47,  2.52it/s]
  3%|▎         | 25/900 [00:52<44:43,  3.07s/it]
  3%|▎         | 26/900 [00:53<32:16,  2.22s/it]
  3%|▎         | 27/900 [00:53<23:34,  1.62s/it]
  3%|▎         | 28/900 [00:53<17:28,  1.20s/it]
  3%|▎         | 29/900 [00:53<13:13,  1.10it/s]
  3%|▎         | 30/900 [00:54<10:14,  1.42it/s]
  3%|▎         | 31/900 [00:54<08:09,  1.78it/s]
  4%|▎         | 32/900 [00:54<06:41,  2.16it/s]
  4%|▎         | 33/900 [01:08<1:05:47,  4.55s/it]
  4%|▍         | 34/900 [01:08<46:59,  3.26s/it]  
  4%|▍         | 35/900 [01:09<33:50,  2.35s/it]
  4%|▍         | 36/900 [01:09<24:42,  1.72s/it]
  4%|▍         | 37/900 [01:09<18:16,  1.27s/it]
  4%|▍         | 38/900 [01:09<13:48,  1.04it/s]
  4%|▍         | 39/900 [01:09<10:39,  1.35it/s]
  4%|▍         | 40/900 [01:10<08:25,  1.70it/s]
  5%|▍         | 41/900 [01:18<40:13,  2.81s/it]
  5%|▍         | 42/900 [01:18<29:06,  2.04s/it]
  5%|▍         | 43/900 [01:18<21:20,  1.49s/it]
  5%|▍         | 44/900 [01:18<15:54,  1.11s/it]
  5%|▌         | 45/900 [01:19<12:07,  1.18it/s]
  5%|▌         | 46/900 [01:19<09:29,  1.50it/s]
  5%|▌         | 47/900 [01:19<07:35,  1.87it/s]
  5%|▌         | 48/900 [01:19<06:19,  2.25it/s]
  5%|▌         | 49/900 [01:25<30:14,  2.13s/it]
  6%|▌         | 50/900 [01:26<22:08,  1.56s/it]
  6%|▌         | 51/900 [01:26<16:30,  1.17s/it]
  6%|▌         | 52/900 [01:26<12:31,  1.13it/s]
  6%|▌         | 53/900 [01:26<09:43,  1.45it/s]
  6%|▌         | 54/900 [01:27<07:45,  1.82it/s]
  6%|▌         | 55/900 [01:27<06:25,  2.19it/s]
  6%|▌         | 56/900 [01:27<05:28,  2.57it/s]
  6%|▋         | 57/900 [01:41<1:02:50,  4.47s/it]
  6%|▋         | 58/900 [01:41<44:58,  3.20s/it]  
  7%|▋         | 59/900 [01:42<32:27,  2.32s/it]
  7%|▋         | 60/900 [01:42<23:43,  1.69s/it]
  7%|▋         | 61/900 [01:42<17:34,  1.26s/it]
  7%|▋         | 62/900 [01:42<13:18,  1.05it/s]
  7%|▋         | 63/900 [01:42<10:17,  1.36it/s]
  7%|▋         | 64/900 [01:43<08:11,  1.70it/s]
  7%|▋         | 65/900 [01:48<29:29,  2.12s/it]
  7%|▋         | 66/900 [01:49<21:37,  1.56s/it]
  7%|▋         | 67/900 [01:49<16:06,  1.16s/it]
  8%|▊         | 68/900 [01:49<12:16,  1.13it/s]
  8%|▊         | 69/900 [01:49<09:33,  1.45it/s]
  8%|▊         | 70/900 [01:50<07:40,  1.80it/s]
  8%|▊         | 71/900 [01:50<06:21,  2.17it/s]
  8%|▊         | 72/900 [01:50<05:25,  2.54it/s]
  8%|▊         | 73/900 [01:55<25:00,  1.81s/it]
  8%|▊         | 74/900 [01:55<18:28,  1.34s/it]
  8%|▊         | 75/900 [01:56<13:53,  1.01s/it]
  8%|▊         | 76/900 [01:56<10:39,  1.29it/s]
  9%|▊         | 77/900 [01:56<08:24,  1.63it/s]
  9%|▊         | 78/900 [01:56<06:51,  2.00it/s]
  9%|▉         | 79/900 [01:57<05:44,  2.38it/s]
  9%|▉         | 80/900 [01:57<04:57,  2.76it/s]
  9%|▉         | 81/900 [02:04<32:32,  2.38s/it]
  9%|▉         | 82/900 [02:04<23:44,  1.74s/it]
  9%|▉         | 83/900 [02:04<17:32,  1.29s/it]
  9%|▉         | 84/900 [02:05<13:12,  1.03it/s]
  9%|▉         | 85/900 [02:05<10:15,  1.32it/s]
 10%|▉         | 86/900 [02:05<08:08,  1.67it/s]
 10%|▉         | 87/900 [02:05<06:39,  2.03it/s]
 10%|▉         | 88/900 [02:06<05:35,  2.42it/s]
 10%|▉         | 89/900 [02:13<33:57,  2.51s/it]
 10%|█         | 90/900 [02:13<24:41,  1.83s/it]
 10%|█         | 91/900 [02:14<18:12,  1.35s/it]
 10%|█         | 92/900 [02:14<13:41,  1.02s/it]
 10%|█         | 93/900 [02:14<10:31,  1.28it/s]
 10%|█         | 94/900 [02:14<08:25,  1.60it/s]
 11%|█         | 95/900 [02:15<06:57,  1.93it/s]
 11%|█         | 96/900 [02:15<05:53,  2.27it/s]
 11%|█         | 97/900 [02:27<53:12,  3.98s/it]
 11%|█         | 98/900 [02:27<38:14,  2.86s/it]
 11%|█         | 99/900 [02:28<27:46,  2.08s/it]
 11%|█         | 100/900 [02:28<20:26,  1.53s/it]
 11%|█         | 101/900 [02:28<15:14,  1.14s/it]
 11%|█▏        | 102/900 [02:28<11:35,  1.15it/s]
 11%|█▏        | 103/900 [02:28<09:03,  1.47it/s]
 12%|█▏        | 104/900 [02:29<07:15,  1.83it/s]
 12%|█▏        | 105/900 [02:37<38:56,  2.94s/it]
 12%|█▏        | 106/900 [02:37<28:08,  2.13s/it]
 12%|█▏        | 107/900 [02:38<20:36,  1.56s/it]
 12%|█▏        | 108/900 [02:38<15:21,  1.16s/it]
 12%|█▏        | 109/900 [02:38<11:43,  1.12it/s]
 12%|█▏        | 110/900 [02:38<09:10,  1.44it/s]
 12%|█▏        | 111/900 [02:39<07:21,  1.79it/s]
 12%|█▏        | 112/900 [02:39<06:04,  2.16it/s]
 13%|█▎        | 113/900 [02:47<35:45,  2.73s/it]
 13%|█▎        | 114/900 [02:47<26:04,  1.99s/it]
 13%|█▎        | 115/900 [02:47<19:10,  1.47s/it]
 13%|█▎        | 116/900 [02:48<14:22,  1.10s/it]
 13%|█▎        | 117/900 [02:48<11:02,  1.18it/s]
 13%|█▎        | 118/900 [02:48<08:43,  1.49it/s]
 13%|█▎        | 119/900 [02:48<07:05,  1.83it/s]
 13%|█▎        | 120/900 [02:49<05:57,  2.18it/s]
 13%|█▎        | 121/900 [02:55<29:01,  2.23s/it]
 14%|█▎        | 122/900 [02:55<21:18,  1.64s/it]
 14%|█▎        | 123/900 [02:56<15:53,  1.23s/it]
 14%|█▍        | 124/900 [02:56<12:03,  1.07it/s]
 14%|█▍        | 125/900 [02:56<09:23,  1.38it/s]
 14%|█▍        | 126/900 [02:56<07:30,  1.72it/s]
 14%|█▍        | 127/900 [02:57<06:11,  2.08it/s]
 14%|█▍        | 128/900 [02:57<05:15,  2.44it/s]
 14%|█▍        | 129/900 [03:06<38:05,  2.96s/it]
 14%|█▍        | 130/900 [03:06<27:40,  2.16s/it]
 15%|█▍        | 131/900 [03:06<20:29,  1.60s/it]
 15%|█▍        | 132/900 [03:07<15:22,  1.20s/it]
 15%|█▍        | 133/900 [03:07<11:47,  1.08it/s]
 15%|█▍        | 134/900 [03:07<09:17,  1.37it/s]
 15%|█▌        | 135/900 [03:07<07:32,  1.69it/s]
 15%|█▌        | 136/900 [03:08<06:18,  2.02it/s]
 15%|█▌        | 137/900 [03:15<34:14,  2.69s/it]
 15%|█▌        | 138/900 [03:16<24:56,  1.96s/it]
 15%|█▌        | 139/900 [03:16<18:26,  1.45s/it]
 16%|█▌        | 140/900 [03:16<13:55,  1.10s/it]
 16%|█▌        | 141/900 [03:17<10:45,  1.18it/s]
 16%|█▌        | 142/900 [03:17<08:32,  1.48it/s]
 16%|█▌        | 143/900 [03:17<06:58,  1.81it/s]
 16%|█▌        | 144/900 [03:17<05:51,  2.15it/s]
 16%|█▌        | 145/900 [03:25<32:43,  2.60s/it]
 16%|█▌        | 146/900 [03:25<23:52,  1.90s/it]
 16%|█▋        | 147/900 [03:25<17:44,  1.41s/it]
 16%|█▋        | 148/900 [03:26<13:23,  1.07s/it]
 17%|█▋        | 149/900 [03:26<10:21,  1.21it/s]
 17%|█▋        | 150/900 [03:26<08:11,  1.53it/s]
 17%|█▋        | 151/900 [03:27<06:42,  1.86it/s]
 17%|█▋        | 152/900 [03:27<05:37,  2.21it/s]
 17%|█▋        | 153/900 [03:33<27:46,  2.23s/it]
 17%|█▋        | 154/900 [03:33<20:24,  1.64s/it]
 17%|█▋        | 155/900 [03:34<15:13,  1.23s/it]
 17%|█▋        | 156/900 [03:34<11:35,  1.07it/s]
 17%|█▋        | 157/900 [03:34<09:06,  1.36it/s]
 18%|█▊        | 158/900 [03:34<07:18,  1.69it/s]
 18%|█▊        | 159/900 [03:35<05:59,  2.06it/s]
 18%|█▊        | 160/900 [03:35<05:02,  2.45it/s]
 18%|█▊        | 161/900 [03:41<26:51,  2.18s/it]
 18%|█▊        | 162/900 [03:42<19:41,  1.60s/it]
 18%|█▊        | 163/900 [03:42<14:38,  1.19s/it]
 18%|█▊        | 164/900 [03:42<11:05,  1.11it/s]
 18%|█▊        | 165/900 [03:42<08:37,  1.42it/s]
 18%|█▊        | 166/900 [03:42<06:53,  1.77it/s]
 19%|█▊        | 167/900 [03:43<05:42,  2.14it/s]
 19%|█▊        | 168/900 [03:43<04:53,  2.49it/s]
 19%|█▉        | 169/900 [04:02<1:14:12,  6.09s/it]
 19%|█▉        | 170/900 [04:03<52:43,  4.33s/it]  
 19%|█▉        | 171/900 [04:03<37:40,  3.10s/it]
 19%|█▉        | 172/900 [04:03<27:09,  2.24s/it]
 19%|█▉        | 173/900 [04:03<19:49,  1.64s/it]
 19%|█▉        | 174/900 [04:03<14:41,  1.21s/it]
 19%|█▉        | 175/900 [04:04<11:06,  1.09it/s]
 20%|█▉        | 176/900 [04:04<08:36,  1.40it/s]
 20%|█▉        | 177/900 [04:21<1:07:27,  5.60s/it]
 20%|█▉        | 178/900 [04:21<48:01,  3.99s/it]  
 20%|█▉        | 179/900 [04:21<34:31,  2.87s/it]
 20%|██        | 180/900 [04:22<25:03,  2.09s/it]
 20%|██        | 181/900 [04:22<18:25,  1.54s/it]
 20%|██        | 182/900 [04:22<13:49,  1.16s/it]
 20%|██        | 183/900 [04:22<10:38,  1.12it/s]
 20%|██        | 184/900 [04:23<08:25,  1.42it/s]
 21%|██        | 185/900 [04:41<1:09:59,  5.87s/it]
 21%|██        | 186/900 [04:41<49:50,  4.19s/it]  
 21%|██        | 187/900 [04:41<35:45,  3.01s/it]
 21%|██        | 188/900 [04:41<25:55,  2.18s/it]
 21%|██        | 189/900 [04:42<19:02,  1.61s/it]
 21%|██        | 190/900 [04:42<14:14,  1.20s/it]
 21%|██        | 191/900 [04:42<10:55,  1.08it/s]
 21%|██▏       | 192/900 [04:43<08:34,  1.38it/s]
 21%|██▏       | 193/900 [04:56<54:52,  4.66s/it]
 22%|██▏       | 194/900 [04:57<39:19,  3.34s/it]
 22%|██▏       | 195/900 [04:57<28:25,  2.42s/it]
 22%|██▏       | 196/900 [04:57<20:47,  1.77s/it]
 22%|██▏       | 197/900 [04:57<15:27,  1.32s/it]
 22%|██▏       | 198/900 [04:58<11:42,  1.00s/it]
 22%|██▏       | 199/900 [04:58<09:05,  1.29it/s]
 22%|██▏       | 200/900 [04:58<07:15,  1.61it/s]
 22%|██▏       | 201/900 [05:09<43:13,  3.71s/it]
 22%|██▏       | 202/900 [05:09<31:06,  2.67s/it]
 23%|██▎       | 203/900 [05:10<22:38,  1.95s/it]
 23%|██▎       | 204/900 [05:10<16:43,  1.44s/it]
 23%|██▎       | 205/900 [05:10<12:35,  1.09s/it]
 23%|██▎       | 206/900 [05:10<09:39,  1.20it/s]
 23%|██▎       | 207/900 [05:11<07:38,  1.51it/s]
 23%|██▎       | 208/900 [05:11<06:14,  1.85it/s]
 23%|██▎       | 209/900 [05:18<29:33,  2.57s/it]
 23%|██▎       | 210/900 [05:18<21:35,  1.88s/it]
 23%|██▎       | 211/900 [05:19<15:58,  1.39s/it]
 24%|██▎       | 212/900 [05:19<12:05,  1.05s/it]
 24%|██▎       | 213/900 [05:19<09:21,  1.22it/s]
 24%|██▍       | 214/900 [05:19<07:27,  1.53it/s]
 24%|██▍       | 215/900 [05:20<06:07,  1.86it/s]
 24%|██▍       | 216/900 [05:20<05:10,  2.20it/s]
 24%|██▍       | 217/900 [05:30<39:22,  3.46s/it]
 24%|██▍       | 218/900 [05:31<28:25,  2.50s/it]
 24%|██▍       | 219/900 [05:31<20:46,  1.83s/it]
 24%|██▍       | 220/900 [05:31<15:24,  1.36s/it]
 25%|██▍       | 221/900 [05:32<11:38,  1.03s/it]
 25%|██▍       | 222/900 [05:32<08:59,  1.26it/s]
 25%|██▍       | 223/900 [05:32<07:09,  1.58it/s]
 25%|██▍       | 224/900 [05:32<05:51,  1.92it/s]
 25%|██▌       | 225/900 [06:02<1:42:54,  9.15s/it]
 25%|██▌       | 226/900 [06:02<1:12:46,  6.48s/it]
 25%|██▌       | 227/900 [06:02<51:41,  4.61s/it]  
 25%|██▌       | 228/900 [06:02<36:57,  3.30s/it]
 25%|██▌       | 229/900 [06:03<26:40,  2.39s/it]
 26%|██▌       | 230/900 [06:03<19:29,  1.75s/it]
 26%|██▌       | 231/900 [06:03<14:27,  1.30s/it]
 26%|██▌       | 232/900 [06:03<10:58,  1.01it/s]
 26%|██▌       | 233/900 [06:14<44:20,  3.99s/it]
 26%|██▌       | 234/900 [06:15<31:49,  2.87s/it]
 26%|██▌       | 235/900 [06:15<23:05,  2.08s/it]
 26%|██▌       | 236/900 [06:15<16:58,  1.53s/it]
 26%|██▋       | 237/900 [06:15<12:41,  1.15s/it]
 26%|██▋       | 238/900 [06:16<09:41,  1.14it/s]
 27%|██▋       | 239/900 [06:16<07:39,  1.44it/s]
 27%|██▋       | 240/900 [06:16<06:12,  1.77it/s]
 27%|██▋       | 240/900 [06:25<17:41,  1.61s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/log_0_env0.json.
+FoodPacking1BoxesTask_0 complete: task_name: FoodPacking1BoxesTask, run_name: FoodPacking1BoxesTask_0, run: 0, env_id: 0, policy: harness, instruction: Pack boxed foods into the bin, attributes: ['semantics', 'simple'], success: True, episode_step: 241, duration: 16.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.206924375777875, 'joint_sparc_mean': -10.600558409222787, 'ee_isj': 5524.415618331297, 'joint_isj': 488517.2017110755, 'ee_path_length': 3.4992628101713645, 'joint_rmse_mean': 1.0005962064399554, 'ee_speed_max': 0.7483444809913635, 'ee_speed_mean': 0.20428341627120972}, events: {'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 4}, instruction_type: default, timing: {'policy_inference_s': 327.995, 'policy_inference_avg_ms': 1361.0, 'env_step_s': 54.582, 'env_step_avg_ms': 226.5, 'video_write_s': 3.149, 'video_write_avg_ms': 13.1, 'wall_total_s': 385.727, 'it_per_sec': 0.62}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: c700404cddbd47cabe88d3376c6d32e7-0
+[RoboLab] Running FoodPacking1BoxesTask_1: 'Pack boxed foods into the bin' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:34<8:37:00, 34.51s/it]
  0%|          | 2/900 [00:34<3:34:41, 14.35s/it]
  0%|          | 3/900 [00:34<1:58:06,  7.90s/it]
  0%|          | 4/900 [00:35<1:12:42,  4.87s/it]
  1%|          | 5/900 [00:35<47:38,  3.19s/it]  
  1%|          | 6/900 [00:35<32:33,  2.19s/it]
  1%|          | 7/900 [00:35<22:58,  1.54s/it]
  1%|          | 8/900 [00:36<16:42,  1.12s/it]
  1%|          | 9/900 [00:42<41:37,  2.80s/it]
  1%|          | 10/900 [00:42<29:47,  2.01s/it]
  1%|          | 11/900 [00:43<21:41,  1.46s/it]
  1%|▏         | 12/900 [00:43<16:06,  1.09s/it]
  1%|▏         | 13/900 [00:43<12:15,  1.21it/s]
  2%|▏         | 14/900 [00:43<09:35,  1.54it/s]
  2%|▏         | 15/900 [00:43<07:42,  1.92it/s]
  2%|▏         | 16/900 [00:44<06:22,  2.31it/s]
  2%|▏         | 17/900 [00:48<23:55,  1.63s/it]
  2%|▏         | 18/900 [00:48<17:43,  1.21s/it]
  2%|▏         | 19/900 [00:49<13:24,  1.09it/s]
  2%|▏         | 20/900 [00:49<10:23,  1.41it/s]
  2%|▏         | 21/900 [00:49<08:15,  1.77it/s]
  2%|▏         | 22/900 [00:49<06:44,  2.17it/s]
  3%|▎         | 23/900 [00:49<05:43,  2.55it/s]
  3%|▎         | 24/900 [00:50<05:04,  2.88it/s]
  3%|▎         | 25/900 [00:56<32:43,  2.24s/it]
  3%|▎         | 26/900 [00:57<23:52,  1.64s/it]
  3%|▎         | 27/900 [00:57<17:40,  1.22s/it]
  3%|▎         | 28/900 [00:57<13:20,  1.09it/s]
  3%|▎         | 29/900 [00:57<10:25,  1.39it/s]
  3%|▎         | 30/900 [00:58<08:21,  1.73it/s]
  3%|▎         | 31/900 [00:58<06:49,  2.12it/s]
  4%|▎         | 32/900 [00:58<05:45,  2.51it/s]
  4%|▎         | 33/900 [01:04<30:09,  2.09s/it]
  4%|▍         | 34/900 [01:04<22:04,  1.53s/it]
  4%|▍         | 35/900 [01:04<16:24,  1.14s/it]
  4%|▍         | 36/900 [01:05<12:27,  1.16it/s]
  4%|▍         | 37/900 [01:05<09:41,  1.48it/s]
  4%|▍         | 38/900 [01:05<07:46,  1.85it/s]
  4%|▍         | 39/900 [01:05<06:31,  2.20it/s]
  4%|▍         | 40/900 [01:06<05:35,  2.56it/s]
  5%|▍         | 41/900 [01:11<25:48,  1.80s/it]
  5%|▍         | 42/900 [01:11<19:05,  1.33s/it]
  5%|▍         | 43/900 [01:11<14:20,  1.00s/it]
  5%|▍         | 44/900 [01:11<11:04,  1.29it/s]
  5%|▌         | 45/900 [01:12<08:45,  1.63it/s]
  5%|▌         | 46/900 [01:12<07:07,  2.00it/s]
  5%|▌         | 47/900 [01:12<06:00,  2.36it/s]
  5%|▌         | 48/900 [01:12<05:17,  2.68it/s]
  5%|▌         | 49/900 [01:21<38:24,  2.71s/it]
  6%|▌         | 50/900 [01:21<27:53,  1.97s/it]
  6%|▌         | 51/900 [01:21<20:29,  1.45s/it]
  6%|▌         | 52/900 [01:21<15:19,  1.08s/it]
  6%|▌         | 53/900 [01:22<11:43,  1.20it/s]
  6%|▌         | 54/900 [01:22<09:10,  1.54it/s]
  6%|▌         | 55/900 [01:22<07:27,  1.89it/s]
  6%|▌         | 56/900 [01:22<06:13,  2.26it/s]
  6%|▋         | 57/900 [01:40<1:17:13,  5.50s/it]
  6%|▋         | 58/900 [01:40<55:03,  3.92s/it]  
  7%|▋         | 59/900 [01:40<39:30,  2.82s/it]
  7%|▋         | 60/900 [01:40<28:37,  2.04s/it]
  7%|▋         | 61/900 [01:41<21:00,  1.50s/it]
  7%|▋         | 62/900 [01:41<15:41,  1.12s/it]
  7%|▋         | 63/900 [01:41<11:55,  1.17it/s]
  7%|▋         | 64/900 [01:41<09:20,  1.49it/s]
  7%|▋         | 65/900 [01:52<51:07,  3.67s/it]
  7%|▋         | 66/900 [01:52<36:43,  2.64s/it]
  7%|▋         | 67/900 [01:52<26:37,  1.92s/it]
  8%|▊         | 68/900 [01:53<19:34,  1.41s/it]
  8%|▊         | 69/900 [01:53<14:39,  1.06s/it]
  8%|▊         | 70/900 [01:53<11:11,  1.24it/s]
  8%|▊         | 71/900 [01:53<08:46,  1.58it/s]
  8%|▊         | 72/900 [01:54<07:05,  1.95it/s]
  8%|▊         | 73/900 [02:01<33:55,  2.46s/it]
  8%|▊         | 74/900 [02:01<24:47,  1.80s/it]
  8%|▊         | 75/900 [02:01<18:19,  1.33s/it]
  8%|▊         | 76/900 [02:01<13:46,  1.00s/it]
  9%|▊         | 77/900 [02:02<10:35,  1.29it/s]
  9%|▊         | 78/900 [02:02<08:21,  1.64it/s]
  9%|▉         | 79/900 [02:02<06:48,  2.01it/s]
  9%|▉         | 80/900 [02:02<05:45,  2.38it/s]
  9%|▉         | 81/900 [02:10<34:25,  2.52s/it]
  9%|▉         | 82/900 [02:10<25:01,  1.84s/it]
  9%|▉         | 83/900 [02:10<18:28,  1.36s/it]
  9%|▉         | 84/900 [02:10<13:52,  1.02s/it]
  9%|▉         | 85/900 [02:11<10:41,  1.27it/s]
 10%|▉         | 86/900 [02:11<08:30,  1.59it/s]
 10%|▉         | 87/900 [02:11<06:59,  1.94it/s]
 10%|▉         | 88/900 [02:11<05:58,  2.27it/s]
 10%|▉         | 89/900 [02:22<48:13,  3.57s/it]
 10%|█         | 90/900 [02:22<34:38,  2.57s/it]
 10%|█         | 91/900 [02:23<25:09,  1.87s/it]
 10%|█         | 92/900 [02:23<18:32,  1.38s/it]
 10%|█         | 93/900 [02:23<13:57,  1.04s/it]
 10%|█         | 94/900 [02:23<10:43,  1.25it/s]
 11%|█         | 95/900 [02:24<08:28,  1.58it/s]
 11%|█         | 96/900 [02:24<07:00,  1.91it/s]
 11%|█         | 97/900 [02:40<1:11:07,  5.31s/it]
 11%|█         | 98/900 [02:41<50:49,  3.80s/it]  
 11%|█         | 99/900 [02:41<36:35,  2.74s/it]
 11%|█         | 100/900 [02:41<26:35,  1.99s/it]
 11%|█         | 101/900 [02:41<19:33,  1.47s/it]
 11%|█▏        | 102/900 [02:42<14:37,  1.10s/it]
 11%|█▏        | 103/900 [02:42<11:09,  1.19it/s]
 12%|█▏        | 104/900 [02:42<08:46,  1.51it/s]
 12%|█▏        | 105/900 [02:53<50:53,  3.84s/it]
 12%|█▏        | 106/900 [02:54<36:30,  2.76s/it]
 12%|█▏        | 107/900 [02:54<26:27,  2.00s/it]
 12%|█▏        | 108/900 [02:54<19:24,  1.47s/it]
 12%|█▏        | 109/900 [02:54<14:29,  1.10s/it]
 12%|█▏        | 110/900 [02:55<11:04,  1.19it/s]
 12%|█▏        | 111/900 [02:55<08:39,  1.52it/s]
 12%|█▏        | 112/900 [02:55<06:57,  1.89it/s]
 13%|█▎        | 113/900 [02:57<12:15,  1.07it/s]
 13%|█▎        | 114/900 [02:57<09:28,  1.38it/s]
 13%|█▎        | 115/900 [02:57<07:31,  1.74it/s]
 13%|█▎        | 116/900 [02:58<06:10,  2.12it/s]
 13%|█▎        | 117/900 [02:58<05:12,  2.50it/s]
 13%|█▎        | 118/900 [02:58<04:33,  2.86it/s]
 13%|█▎        | 119/900 [02:58<04:04,  3.19it/s]
 13%|█▎        | 120/900 [02:59<03:44,  3.47it/s]
 13%|█▎        | 121/900 [02:59<04:22,  2.97it/s]
 14%|█▎        | 122/900 [02:59<03:57,  3.28it/s]
 14%|█▎        | 123/900 [02:59<03:39,  3.53it/s]
 14%|█▍        | 124/900 [03:00<03:27,  3.74it/s]
 14%|█▍        | 125/900 [03:00<03:19,  3.89it/s]
 14%|█▍        | 126/900 [03:00<03:12,  4.02it/s]
 14%|█▍        | 127/900 [03:00<03:07,  4.12it/s]
 14%|█▍        | 128/900 [03:01<03:04,  4.19it/s]
 14%|█▍        | 129/900 [03:01<03:53,  3.30it/s]
 14%|█▍        | 130/900 [03:01<03:37,  3.54it/s]
 15%|█▍        | 131/900 [03:02<03:25,  3.74it/s]
 15%|█▍        | 132/900 [03:02<03:17,  3.89it/s]
 15%|█▍        | 133/900 [03:02<03:11,  4.00it/s]
 15%|█▍        | 134/900 [03:02<03:07,  4.09it/s]
 15%|█▌        | 135/900 [03:02<03:04,  4.15it/s]
 15%|█▌        | 136/900 [03:03<03:02,  4.19it/s]
 15%|█▌        | 137/900 [03:13<43:04,  3.39s/it]
 15%|█▌        | 138/900 [03:14<30:59,  2.44s/it]
 15%|█▌        | 139/900 [03:14<22:33,  1.78s/it]
 16%|█▌        | 140/900 [03:14<16:38,  1.31s/it]
 16%|█▌        | 141/900 [03:14<12:30,  1.01it/s]
 16%|█▌        | 142/900 [03:15<09:39,  1.31it/s]
 16%|█▌        | 143/900 [03:15<07:39,  1.65it/s]
 16%|█▌        | 144/900 [03:15<06:13,  2.02it/s]
 16%|█▌        | 145/900 [03:15<05:41,  2.21it/s]
 16%|█▌        | 146/900 [03:16<04:50,  2.59it/s]
 16%|█▋        | 147/900 [03:16<04:14,  2.95it/s]
 16%|█▋        | 148/900 [03:16<03:51,  3.25it/s]
 17%|█▋        | 149/900 [03:16<03:33,  3.52it/s]
 17%|█▋        | 150/900 [03:17<03:20,  3.73it/s]
 17%|█▋        | 151/900 [03:17<03:11,  3.91it/s]
 17%|█▋        | 152/900 [03:17<03:05,  4.03it/s]
 17%|█▋        | 153/900 [03:17<03:31,  3.54it/s]
 17%|█▋        | 154/900 [03:18<03:18,  3.75it/s]
 17%|█▋        | 155/900 [03:18<03:10,  3.92it/s]
 17%|█▋        | 156/900 [03:18<03:05,  4.00it/s]
 17%|█▋        | 157/900 [03:18<03:02,  4.06it/s]
 18%|█▊        | 158/900 [03:19<03:01,  4.09it/s]
 18%|█▊        | 159/900 [03:19<02:59,  4.12it/s]
 18%|█▊        | 160/900 [03:19<02:57,  4.18it/s]
 18%|█▊        | 161/900 [03:19<03:23,  3.64it/s]
 18%|█▊        | 162/900 [03:20<03:12,  3.82it/s]
 18%|█▊        | 163/900 [03:20<03:06,  3.95it/s]
 18%|█▊        | 164/900 [03:20<03:01,  4.05it/s]
 18%|█▊        | 165/900 [03:20<02:57,  4.13it/s]
 18%|█▊        | 166/900 [03:21<02:55,  4.18it/s]
 19%|█▊        | 167/900 [03:21<02:53,  4.22it/s]
 19%|█▊        | 168/900 [03:21<02:52,  4.24it/s]
 19%|█▉        | 169/900 [03:21<03:20,  3.65it/s]
 19%|█▉        | 170/900 [03:22<03:11,  3.82it/s]
 19%|█▉        | 171/900 [03:22<03:04,  3.96it/s]
 19%|█▉        | 172/900 [03:22<03:00,  4.04it/s]
 19%|█▉        | 173/900 [03:22<02:57,  4.09it/s]
 19%|█▉        | 174/900 [03:23<02:55,  4.14it/s]
 19%|█▉        | 175/900 [03:23<02:53,  4.18it/s]
 20%|█▉        | 176/900 [03:23<02:56,  4.11it/s]
 20%|█▉        | 177/900 [03:33<38:54,  3.23s/it]
 20%|█▉        | 178/900 [03:33<28:02,  2.33s/it]
 20%|█▉        | 179/900 [03:34<20:26,  1.70s/it]
 20%|██        | 180/900 [03:34<15:07,  1.26s/it]
 20%|██        | 181/900 [03:34<11:24,  1.05it/s]
 20%|██        | 182/900 [03:34<08:48,  1.36it/s]
 20%|██        | 183/900 [03:35<06:58,  1.71it/s]
 20%|██        | 184/900 [03:35<05:42,  2.09it/s]
 21%|██        | 185/900 [03:35<05:19,  2.24it/s]
 21%|██        | 186/900 [03:35<04:34,  2.60it/s]
 21%|██        | 187/900 [03:36<04:03,  2.93it/s]
 21%|██        | 188/900 [03:36<03:40,  3.22it/s]
 21%|██        | 189/900 [03:36<03:25,  3.45it/s]
 21%|██        | 190/900 [03:36<03:14,  3.65it/s]
 21%|██        | 191/900 [03:37<03:06,  3.81it/s]
 21%|██▏       | 192/900 [03:37<03:01,  3.90it/s]
 21%|██▏       | 193/900 [03:37<03:26,  3.43it/s]
 22%|██▏       | 194/900 [03:38<03:16,  3.60it/s]
 22%|██▏       | 195/900 [03:38<03:07,  3.75it/s]
 22%|██▏       | 196/900 [03:38<03:04,  3.81it/s]
 22%|██▏       | 197/900 [03:38<03:01,  3.87it/s]
 22%|██▏       | 198/900 [03:39<02:58,  3.92it/s]
 22%|██▏       | 199/900 [03:39<02:56,  3.98it/s]
 22%|██▏       | 200/900 [03:39<02:55,  4.00it/s]
 22%|██▏       | 201/900 [03:39<03:36,  3.23it/s]
 22%|██▏       | 202/900 [03:40<03:23,  3.43it/s]
 23%|██▎       | 203/900 [03:40<03:12,  3.61it/s]
 23%|██▎       | 204/900 [03:40<03:06,  3.74it/s]
 23%|██▎       | 205/900 [03:40<03:00,  3.86it/s]
 23%|██▎       | 206/900 [03:41<02:56,  3.93it/s]
 23%|██▎       | 207/900 [03:41<02:54,  3.97it/s]
 23%|██▎       | 208/900 [03:41<02:52,  4.01it/s]
 23%|██▎       | 209/900 [03:42<03:22,  3.41it/s]
 23%|██▎       | 210/900 [03:42<03:12,  3.58it/s]
 23%|██▎       | 211/900 [03:42<03:05,  3.72it/s]
 24%|██▎       | 212/900 [03:42<02:59,  3.83it/s]
 24%|██▎       | 213/900 [03:43<02:56,  3.90it/s]
 24%|██▍       | 214/900 [03:43<02:53,  3.95it/s]
 24%|██▍       | 215/900 [03:43<02:52,  3.97it/s]
 24%|██▍       | 216/900 [03:43<02:51,  3.99it/s]
 24%|██▍       | 217/900 [03:57<47:55,  4.21s/it]
 24%|██▍       | 218/900 [03:57<34:20,  3.02s/it]
 24%|██▍       | 219/900 [03:57<24:50,  2.19s/it]
 24%|██▍       | 220/900 [03:57<18:09,  1.60s/it]
 25%|██▍       | 221/900 [03:58<13:29,  1.19s/it]
 25%|██▍       | 222/900 [03:58<10:15,  1.10it/s]
 25%|██▍       | 223/900 [03:58<07:59,  1.41it/s]
 25%|██▍       | 224/900 [03:58<06:24,  1.76it/s]
 25%|██▌       | 225/900 [03:59<05:48,  1.94it/s]
 25%|██▌       | 226/900 [03:59<04:52,  2.31it/s]
 25%|██▌       | 227/900 [03:59<04:12,  2.67it/s]
 25%|██▌       | 228/900 [04:00<03:48,  2.94it/s]
 25%|██▌       | 229/900 [04:00<03:27,  3.23it/s]
 26%|██▌       | 230/900 [04:00<03:13,  3.45it/s]
 26%|██▌       | 231/900 [04:00<03:04,  3.63it/s]
 26%|██▌       | 232/900 [04:01<02:56,  3.77it/s]
 26%|██▌       | 233/900 [04:01<03:17,  3.38it/s]
 26%|██▌       | 234/900 [04:01<03:05,  3.59it/s]
 26%|██▌       | 235/900 [04:01<02:56,  3.77it/s]
 26%|██▌       | 236/900 [04:02<02:50,  3.89it/s]
 26%|██▋       | 237/900 [04:02<02:46,  3.98it/s]
 26%|██▋       | 238/900 [04:02<02:43,  4.05it/s]
 27%|██▋       | 239/900 [04:02<02:40,  4.11it/s]
 27%|██▋       | 240/900 [04:03<02:38,  4.17it/s]
 27%|██▋       | 241/900 [04:03<03:02,  3.61it/s]
 27%|██▋       | 242/900 [04:03<02:54,  3.78it/s]
 27%|██▋       | 243/900 [04:03<02:47,  3.93it/s]
 27%|██▋       | 244/900 [04:04<02:42,  4.03it/s]
 27%|██▋       | 245/900 [04:04<02:39,  4.11it/s]
 27%|██▋       | 246/900 [04:04<02:38,  4.13it/s]
 27%|██▋       | 247/900 [04:04<02:37,  4.16it/s]
 28%|██▊       | 248/900 [04:05<02:35,  4.18it/s]
 28%|██▊       | 249/900 [04:05<03:12,  3.38it/s]
 28%|██▊       | 250/900 [04:05<03:00,  3.59it/s]
 28%|██▊       | 251/900 [04:05<02:52,  3.77it/s]
 28%|██▊       | 252/900 [04:06<02:46,  3.90it/s]
 28%|██▊       | 253/900 [04:06<02:41,  4.00it/s]
 28%|██▊       | 254/900 [04:06<02:41,  4.00it/s]
 28%|██▊       | 255/900 [04:06<02:39,  4.04it/s]
 28%|██▊       | 256/900 [04:07<02:37,  4.08it/s]
 29%|██▊       | 257/900 [04:08<04:51,  2.21it/s]
 29%|██▊       | 258/900 [04:08<04:09,  2.57it/s]
 29%|██▉       | 259/900 [04:08<03:39,  2.92it/s]
 29%|██▉       | 260/900 [04:08<03:18,  3.22it/s]
 29%|██▉       | 261/900 [04:09<03:03,  3.47it/s]
 29%|██▉       | 262/900 [04:09<02:54,  3.66it/s]
 29%|██▉       | 263/900 [04:09<02:47,  3.80it/s]
 29%|██▉       | 264/900 [04:09<02:42,  3.92it/s]
 29%|██▉       | 265/900 [04:10<03:13,  3.29it/s]
 30%|██▉       | 266/900 [04:10<03:00,  3.52it/s]
 30%|██▉       | 267/900 [04:10<02:50,  3.71it/s]
 30%|██▉       | 268/900 [04:10<02:44,  3.85it/s]
 30%|██▉       | 269/900 [04:11<02:39,  3.96it/s]
 30%|███       | 270/900 [04:11<02:35,  4.04it/s]
 30%|███       | 271/900 [04:11<02:34,  4.08it/s]
 30%|███       | 272/900 [04:11<02:33,  4.09it/s]
 30%|███       | 273/900 [05:00<2:33:50, 14.72s/it]
 30%|███       | 274/900 [05:00<1:48:15, 10.38s/it]
 31%|███       | 275/900 [05:00<1:16:24,  7.33s/it]
 31%|███       | 276/900 [05:01<54:08,  5.21s/it]  
 31%|███       | 277/900 [05:01<38:36,  3.72s/it]
 31%|███       | 278/900 [05:01<27:43,  2.68s/it]
 31%|███       | 279/900 [05:01<20:07,  1.94s/it]
 31%|███       | 280/900 [05:02<14:48,  1.43s/it]
 31%|███       | 281/900 [05:02<11:28,  1.11s/it]
 31%|███▏      | 282/900 [05:02<08:44,  1.18it/s]
 31%|███▏      | 283/900 [05:02<06:50,  1.50it/s]
 32%|███▏      | 284/900 [05:03<05:31,  1.86it/s]
 32%|███▏      | 285/900 [05:03<04:35,  2.23it/s]
 32%|███▏      | 286/900 [05:03<03:55,  2.61it/s]
 32%|███▏      | 287/900 [05:03<03:28,  2.94it/s]
 32%|███▏      | 288/900 [05:04<03:08,  3.25it/s]
 32%|███▏      | 289/900 [05:04<03:16,  3.12it/s]
 32%|███▏      | 290/900 [05:04<03:00,  3.39it/s]
 32%|███▏      | 291/900 [05:04<02:48,  3.61it/s]
 32%|███▏      | 292/900 [05:05<02:43,  3.73it/s]
 33%|███▎      | 293/900 [05:05<02:37,  3.86it/s]
 33%|███▎      | 294/900 [05:05<02:33,  3.94it/s]
 33%|███▎      | 295/900 [05:05<02:30,  4.02it/s]
 33%|███▎      | 296/900 [05:06<02:28,  4.07it/s]
 33%|███▎      | 297/900 [05:06<03:00,  3.33it/s]
 33%|███▎      | 298/900 [05:06<02:48,  3.58it/s]
 33%|███▎      | 299/900 [05:06<02:40,  3.76it/s]
 33%|███▎      | 300/900 [05:07<02:34,  3.87it/s]
 33%|███▎      | 301/900 [05:07<02:29,  4.01it/s]
 34%|███▎      | 302/900 [05:07<02:25,  4.10it/s]
 34%|███▎      | 303/900 [05:07<02:23,  4.15it/s]
 34%|███▍      | 304/900 [05:08<02:23,  4.15it/s]
 34%|███▍      | 305/900 [05:08<02:46,  3.58it/s]
 34%|███▍      | 306/900 [05:08<02:39,  3.73it/s]
 34%|███▍      | 307/900 [05:08<02:33,  3.87it/s]
 34%|███▍      | 308/900 [05:09<02:28,  3.97it/s]
 34%|███▍      | 309/900 [05:09<02:25,  4.06it/s]
 34%|███▍      | 310/900 [05:09<02:23,  4.12it/s]
 35%|███▍      | 311/900 [05:09<02:21,  4.16it/s]
 35%|███▍      | 312/900 [05:10<02:20,  4.19it/s]
 35%|███▍      | 313/900 [05:18<26:41,  2.73s/it]
 35%|███▍      | 314/900 [05:18<19:20,  1.98s/it]
 35%|███▌      | 315/900 [05:19<14:13,  1.46s/it]
 35%|███▌      | 316/900 [05:19<10:38,  1.09s/it]
 35%|███▌      | 317/900 [05:19<08:09,  1.19it/s]
 35%|███▌      | 318/900 [05:19<06:24,  1.51it/s]
 35%|███▌      | 319/900 [05:20<05:10,  1.87it/s]
 36%|███▌      | 320/900 [05:20<05:40,  1.70it/s]
 36%|███▌      | 321/900 [05:21<05:04,  1.90it/s]
 36%|███▌      | 322/900 [05:21<04:13,  2.28it/s]
 36%|███▌      | 323/900 [05:21<03:37,  2.65it/s]
 36%|███▌      | 324/900 [05:21<03:12,  3.00it/s]
 36%|███▌      | 325/900 [05:22<02:55,  3.28it/s]
 36%|███▌      | 326/900 [05:22<02:42,  3.53it/s]
 36%|███▋      | 327/900 [05:22<02:33,  3.72it/s]
 36%|███▋      | 328/900 [05:22<02:27,  3.87it/s]
 37%|███▋      | 329/900 [05:23<02:46,  3.43it/s]
 37%|███▋      | 330/900 [05:23<02:37,  3.62it/s]
 37%|███▋      | 331/900 [05:23<02:30,  3.78it/s]
 37%|███▋      | 332/900 [05:23<02:25,  3.90it/s]
 37%|███▋      | 333/900 [05:24<02:22,  3.97it/s]
 37%|███▋      | 334/900 [05:24<02:19,  4.05it/s]
 37%|███▋      | 335/900 [05:24<02:18,  4.08it/s]
 37%|███▋      | 336/900 [05:24<02:16,  4.14it/s]
 37%|███▋      | 337/900 [05:25<02:32,  3.69it/s]
 38%|███▊      | 338/900 [05:25<02:26,  3.85it/s]
 38%|███▊      | 339/900 [05:25<02:21,  3.97it/s]
 38%|███▊      | 340/900 [05:25<02:17,  4.07it/s]
 38%|███▊      | 341/900 [05:26<02:14,  4.16it/s]
 38%|███▊      | 342/900 [05:26<02:12,  4.21it/s]
 38%|███▊      | 343/900 [05:26<02:11,  4.22it/s]
 38%|███▊      | 344/900 [05:26<02:11,  4.23it/s]
 38%|███▊      | 345/900 [05:27<02:34,  3.59it/s]
 38%|███▊      | 346/900 [05:27<02:28,  3.73it/s]
 39%|███▊      | 347/900 [05:27<02:22,  3.87it/s]
 39%|███▊      | 348/900 [05:27<02:18,  3.98it/s]
 39%|███▉      | 349/900 [05:28<02:16,  4.04it/s]
 39%|███▉      | 350/900 [05:28<02:13,  4.13it/s]
 39%|███▉      | 351/900 [05:28<02:11,  4.18it/s]
 39%|███▉      | 352/900 [05:28<02:09,  4.22it/s]
 39%|███▉      | 353/900 [05:29<02:25,  3.76it/s]
 39%|███▉      | 354/900 [05:29<02:19,  3.91it/s]
 39%|███▉      | 355/900 [05:29<02:16,  4.00it/s]
 40%|███▉      | 356/900 [05:29<02:13,  4.08it/s]
 40%|███▉      | 357/900 [05:30<02:10,  4.16it/s]
 40%|███▉      | 358/900 [05:30<02:09,  4.19it/s]
 40%|███▉      | 359/900 [05:30<02:09,  4.19it/s]
 40%|████      | 360/900 [05:30<02:08,  4.20it/s]
 40%|████      | 361/900 [05:40<28:21,  3.16s/it]
 40%|████      | 362/900 [05:41<20:26,  2.28s/it]
 40%|████      | 363/900 [05:41<14:54,  1.67s/it]
 40%|████      | 364/900 [05:41<11:02,  1.24s/it]
 41%|████      | 365/900 [05:41<08:19,  1.07it/s]
 41%|████      | 366/900 [05:42<06:26,  1.38it/s]
 41%|████      | 367/900 [05:42<05:07,  1.73it/s]
 41%|████      | 368/900 [05:42<04:12,  2.11it/s]
 41%|████      | 369/900 [05:42<03:54,  2.27it/s]
 41%|████      | 370/900 [05:43<03:20,  2.64it/s]
 41%|████      | 371/900 [05:43<02:57,  2.98it/s]
 41%|████▏     | 372/900 [05:43<02:40,  3.29it/s]
 41%|████▏     | 373/900 [05:43<02:29,  3.52it/s]
 42%|████▏     | 374/900 [05:44<02:21,  3.71it/s]
 42%|████▏     | 375/900 [05:44<02:15,  3.87it/s]
 42%|████▏     | 376/900 [05:44<02:11,  3.98it/s]
 42%|████▏     | 377/900 [05:44<02:29,  3.51it/s]
 42%|████▏     | 378/900 [05:45<02:20,  3.70it/s]
 42%|████▏     | 379/900 [05:45<02:15,  3.85it/s]
 42%|████▏     | 380/900 [05:45<02:11,  3.96it/s]
 42%|████▏     | 381/900 [05:45<02:08,  4.05it/s]
 42%|████▏     | 382/900 [05:46<02:06,  4.11it/s]
 43%|████▎     | 383/900 [05:46<02:04,  4.16it/s]
 43%|████▎     | 384/900 [05:46<02:03,  4.18it/s]
 43%|████▎     | 385/900 [05:46<02:20,  3.67it/s]
 43%|████▎     | 386/900 [05:47<02:14,  3.81it/s]
 43%|████▎     | 387/900 [05:47<02:10,  3.93it/s]
 43%|████▎     | 388/900 [05:47<02:07,  4.01it/s]
 43%|████▎     | 389/900 [05:47<02:05,  4.06it/s]
 43%|████▎     | 390/900 [05:48<02:04,  4.09it/s]
 43%|████▎     | 391/900 [05:48<02:04,  4.10it/s]
 44%|████▎     | 392/900 [05:48<02:02,  4.13it/s]
 44%|████▎     | 393/900 [05:48<02:18,  3.67it/s]
 44%|████▍     | 394/900 [05:49<02:12,  3.83it/s]
 44%|████▍     | 395/900 [05:49<02:07,  3.95it/s]
 44%|████▍     | 396/900 [05:49<02:04,  4.03it/s]
 44%|████▍     | 397/900 [05:49<02:02,  4.10it/s]
 44%|████▍     | 398/900 [05:50<02:01,  4.14it/s]
 44%|████▍     | 399/900 [05:50<02:01,  4.12it/s]
 44%|████▍     | 400/900 [05:50<02:00,  4.16it/s]
 45%|████▍     | 401/900 [05:50<02:15,  3.68it/s]
 45%|████▍     | 402/900 [05:51<02:09,  3.85it/s]
 45%|████▍     | 403/900 [05:51<02:05,  3.95it/s]
 45%|████▍     | 404/900 [05:51<02:02,  4.03it/s]
 45%|████▌     | 405/900 [05:51<02:00,  4.10it/s]
 45%|████▌     | 406/900 [05:52<01:58,  4.16it/s]
 45%|████▌     | 407/900 [05:52<01:57,  4.18it/s]
 45%|████▌     | 408/900 [05:52<01:57,  4.20it/s]
 45%|████▌     | 409/900 [05:52<02:13,  3.66it/s]
 46%|████▌     | 410/900 [05:53<02:09,  3.78it/s]
 46%|████▌     | 411/900 [05:53<02:06,  3.88it/s]
 46%|████▌     | 412/900 [05:53<02:02,  3.99it/s]
 46%|████▌     | 413/900 [05:53<02:00,  4.04it/s]
 46%|████▌     | 414/900 [05:54<01:58,  4.09it/s]
 46%|████▌     | 415/900 [05:54<01:57,  4.13it/s]
 46%|████▌     | 416/900 [05:54<01:56,  4.14it/s]
 46%|████▋     | 417/900 [05:54<02:14,  3.58it/s]
 46%|████▋     | 418/900 [05:55<02:08,  3.74it/s]
 47%|████▋     | 419/900 [05:55<02:04,  3.87it/s]
 47%|████▋     | 420/900 [05:55<02:00,  3.97it/s]
 47%|████▋     | 421/900 [05:55<01:58,  4.05it/s]
 47%|████▋     | 422/900 [05:56<01:56,  4.11it/s]
 47%|████▋     | 423/900 [05:56<01:55,  4.14it/s]
 47%|████▋     | 424/900 [05:56<01:53,  4.19it/s]
 47%|████▋     | 425/900 [06:13<42:36,  5.38s/it]
 47%|████▋     | 426/900 [06:14<30:19,  3.84s/it]
 47%|████▋     | 427/900 [06:14<21:45,  2.76s/it]
 48%|████▊     | 428/900 [06:14<15:45,  2.00s/it]
 48%|████▊     | 429/900 [06:14<11:36,  1.48s/it]
 48%|████▊     | 430/900 [06:15<08:40,  1.11s/it]
 48%|████▊     | 431/900 [06:15<06:38,  1.18it/s]
 48%|████▊     | 432/900 [06:15<05:12,  1.50it/s]
 48%|████▊     | 433/900 [06:22<19:11,  2.47s/it]
 48%|████▊     | 434/900 [06:22<13:57,  1.80s/it]
 48%|████▊     | 435/900 [06:22<10:17,  1.33s/it]
 48%|████▊     | 436/900 [06:23<07:44,  1.00s/it]
 49%|████▊     | 437/900 [06:23<05:56,  1.30it/s]
 49%|████▊     | 438/900 [06:23<04:41,  1.64it/s]
 49%|████▉     | 439/900 [06:23<03:48,  2.01it/s]
 49%|████▉     | 440/900 [06:23<03:12,  2.39it/s]
 49%|████▉     | 441/900 [06:29<15:45,  2.06s/it]
 49%|████▉     | 442/900 [06:30<11:33,  1.51s/it]
 49%|████▉     | 443/900 [06:30<08:36,  1.13s/it]
 49%|████▉     | 444/900 [06:30<06:33,  1.16it/s]
 49%|████▉     | 445/900 [06:30<05:08,  1.48it/s]
 50%|████▉     | 446/900 [06:31<04:09,  1.82it/s]
 50%|████▉     | 447/900 [06:31<03:26,  2.19it/s]
 50%|████▉     | 448/900 [06:31<02:58,  2.54it/s]
 50%|████▉     | 449/900 [06:46<35:24,  4.71s/it]
 50%|█████     | 450/900 [06:46<25:15,  3.37s/it]
 50%|█████     | 451/900 [06:46<18:10,  2.43s/it]
 50%|█████     | 452/900 [06:47<13:15,  1.77s/it]
 50%|█████     | 453/900 [06:47<09:47,  1.31s/it]
 50%|█████     | 454/900 [06:47<07:21,  1.01it/s]
 51%|█████     | 455/900 [06:47<05:39,  1.31it/s]
 51%|█████     | 456/900 [06:47<04:28,  1.65it/s]
 51%|█████     | 457/900 [06:54<16:48,  2.28s/it]
 51%|█████     | 458/900 [06:54<12:16,  1.67s/it]
 51%|█████     | 459/900 [06:54<09:05,  1.24s/it]
 51%|█████     | 460/900 [06:54<06:51,  1.07it/s]
 51%|█████     | 461/900 [06:55<05:18,  1.38it/s]
 51%|█████▏    | 462/900 [06:55<04:13,  1.73it/s]
 51%|█████▏    | 463/900 [06:55<03:27,  2.11it/s]
 52%|█████▏    | 464/900 [06:55<02:55,  2.48it/s]
 52%|█████▏    | 465/900 [07:05<24:08,  3.33s/it]
 52%|█████▏    | 466/900 [07:06<17:22,  2.40s/it]
 52%|█████▏    | 467/900 [07:06<12:38,  1.75s/it]
 52%|█████▏    | 468/900 [07:06<09:19,  1.30s/it]
 52%|█████▏    | 469/900 [07:06<07:00,  1.02it/s]
 52%|█████▏    | 470/900 [07:07<05:23,  1.33it/s]
 52%|█████▏    | 471/900 [07:07<04:16,  1.67it/s]
 52%|█████▏    | 472/900 [07:07<03:29,  2.05it/s]
 53%|█████▎    | 473/900 [07:13<14:01,  1.97s/it]
 53%|█████▎    | 474/900 [07:13<10:17,  1.45s/it]
 53%|█████▎    | 475/900 [07:13<07:42,  1.09s/it]
 53%|█████▎    | 476/900 [07:13<05:54,  1.20it/s]
 53%|█████▎    | 477/900 [07:13<04:38,  1.52it/s]
 53%|█████▎    | 478/900 [07:14<03:45,  1.87it/s]
 53%|█████▎    | 479/900 [07:14<03:08,  2.23it/s]
 53%|█████▎    | 480/900 [07:14<02:42,  2.58it/s]
 53%|█████▎    | 481/900 [07:41<58:08,  8.33s/it]
 54%|█████▎    | 482/900 [07:41<41:05,  5.90s/it]
 54%|█████▎    | 483/900 [07:42<29:11,  4.20s/it]
 54%|█████▍    | 484/900 [07:42<20:51,  3.01s/it]
 54%|█████▍    | 485/900 [07:42<15:03,  2.18s/it]
 54%|█████▍    | 486/900 [07:42<11:00,  1.60s/it]
 54%|█████▍    | 487/900 [07:42<08:10,  1.19s/it]
 54%|█████▍    | 488/900 [07:43<06:12,  1.11it/s]
 54%|█████▍    | 489/900 [07:49<17:11,  2.51s/it]
 54%|█████▍    | 490/900 [07:49<12:30,  1.83s/it]
 55%|█████▍    | 491/900 [07:49<09:14,  1.36s/it]
 55%|█████▍    | 492/900 [07:50<06:56,  1.02s/it]
 55%|█████▍    | 493/900 [07:50<05:19,  1.27it/s]
 55%|█████▍    | 494/900 [07:50<04:11,  1.61it/s]
 55%|█████▌    | 495/900 [07:50<03:23,  1.99it/s]
 55%|█████▌    | 496/900 [07:51<02:50,  2.37it/s]
 55%|█████▌    | 497/900 [08:03<26:56,  4.01s/it]
 55%|█████▌    | 498/900 [08:03<19:17,  2.88s/it]
 55%|█████▌    | 499/900 [08:04<13:56,  2.09s/it]
 56%|█████▌    | 500/900 [08:04<11:22,  1.71s/it]
 56%|█████▌    | 501/900 [08:05<08:25,  1.27s/it]
 56%|█████▌    | 502/900 [08:05<06:21,  1.04it/s]
 56%|█████▌    | 503/900 [08:05<04:54,  1.35it/s]
 56%|█████▌    | 504/900 [08:05<03:53,  1.69it/s]
 56%|█████▌    | 505/900 [08:17<25:18,  3.84s/it]
 56%|█████▌    | 506/900 [08:17<18:07,  2.76s/it]
 56%|█████▋    | 507/900 [08:17<13:07,  2.00s/it]
 56%|█████▋    | 508/900 [08:17<09:36,  1.47s/it]
 57%|█████▋    | 509/900 [08:18<07:09,  1.10s/it]
 57%|█████▋    | 510/900 [08:18<05:27,  1.19it/s]
 57%|█████▋    | 511/900 [08:18<04:15,  1.52it/s]
 57%|█████▋    | 512/900 [08:18<03:26,  1.88it/s]
 57%|█████▋    | 513/900 [08:19<03:16,  1.97it/s]
 57%|█████▋    | 514/900 [08:19<02:43,  2.36it/s]
 57%|█████▋    | 515/900 [08:19<02:21,  2.72it/s]
 57%|█████▋    | 516/900 [08:20<02:05,  3.05it/s]
 57%|█████▋    | 517/900 [08:20<01:54,  3.34it/s]
 58%|█████▊    | 518/900 [08:20<01:46,  3.59it/s]
 58%|█████▊    | 519/900 [08:20<01:41,  3.77it/s]
 58%|█████▊    | 520/900 [08:20<01:36,  3.93it/s]
 58%|█████▊    | 521/900 [08:21<02:12,  2.86it/s]
 58%|█████▊    | 522/900 [08:21<01:59,  3.16it/s]
 58%|█████▊    | 523/900 [08:21<01:50,  3.41it/s]
 58%|█████▊    | 524/900 [08:22<01:44,  3.58it/s]
 58%|█████▊    | 525/900 [08:22<01:40,  3.71it/s]
 58%|█████▊    | 526/900 [08:22<01:38,  3.80it/s]
 59%|█████▊    | 527/900 [08:22<01:36,  3.85it/s]
 59%|█████▊    | 528/900 [08:23<01:35,  3.88it/s]
 59%|█████▉    | 529/900 [08:33<19:38,  3.18s/it]
 59%|█████▉    | 530/900 [08:33<14:10,  2.30s/it]
 59%|█████▉    | 531/900 [08:33<10:20,  1.68s/it]
 59%|█████▉    | 532/900 [08:33<07:39,  1.25s/it]
 59%|█████▉    | 533/900 [08:34<05:46,  1.06it/s]
 59%|█████▉    | 534/900 [08:34<04:28,  1.36it/s]
 59%|█████▉    | 535/900 [08:34<03:33,  1.71it/s]
 60%|█████▉    | 536/900 [08:34<02:54,  2.08it/s]
 60%|█████▉    | 537/900 [08:50<31:14,  5.16s/it]
 60%|█████▉    | 538/900 [08:51<22:13,  3.68s/it]
 60%|█████▉    | 539/900 [08:51<15:56,  2.65s/it]
 60%|██████    | 540/900 [08:51<11:32,  1.92s/it]
 60%|██████    | 541/900 [08:51<08:29,  1.42s/it]
 60%|██████    | 542/900 [08:52<06:20,  1.06s/it]
 60%|██████    | 543/900 [08:52<04:50,  1.23it/s]
 60%|██████    | 544/900 [08:52<03:48,  1.56it/s]
 61%|██████    | 545/900 [09:01<18:15,  3.09s/it]
 61%|██████    | 546/900 [09:01<13:09,  2.23s/it]
 61%|██████    | 547/900 [09:01<09:35,  1.63s/it]
 61%|██████    | 548/900 [09:02<07:06,  1.21s/it]
 61%|██████    | 549/900 [09:02<05:22,  1.09it/s]
 61%|██████    | 550/900 [09:02<04:09,  1.40it/s]
 61%|██████    | 551/900 [09:02<03:18,  1.76it/s]
 61%|██████▏   | 552/900 [09:03<02:42,  2.14it/s]
 61%|██████▏   | 553/900 [09:14<22:00,  3.80s/it]
 62%|██████▏   | 554/900 [09:14<15:46,  2.73s/it]
 62%|██████▏   | 555/900 [09:15<11:24,  1.98s/it]
 62%|██████▏   | 556/900 [09:15<08:21,  1.46s/it]
 62%|██████▏   | 557/900 [09:15<06:13,  1.09s/it]
 62%|██████▏   | 558/900 [09:15<04:45,  1.20it/s]
 62%|██████▏   | 559/900 [09:16<03:44,  1.52it/s]
 62%|██████▏   | 560/900 [09:16<03:00,  1.88it/s]
 62%|██████▏   | 561/900 [09:28<23:29,  4.16s/it]
 62%|██████▏   | 562/900 [09:29<16:47,  2.98s/it]
 63%|██████▎   | 563/900 [09:29<12:07,  2.16s/it]
 63%|██████▎   | 564/900 [09:29<08:50,  1.58s/it]
 63%|██████▎   | 565/900 [09:29<06:34,  1.18s/it]
 63%|██████▎   | 566/900 [09:30<04:58,  1.12it/s]
 63%|██████▎   | 567/900 [09:30<03:53,  1.43it/s]
 63%|██████▎   | 568/900 [09:30<03:08,  1.77it/s]
 63%|██████▎   | 569/900 [09:30<02:47,  1.98it/s]
 63%|██████▎   | 570/900 [09:31<02:21,  2.33it/s]
 63%|██████▎   | 571/900 [09:31<02:03,  2.67it/s]
 64%|██████▎   | 572/900 [09:31<01:50,  2.96it/s]
 64%|██████▎   | 573/900 [09:31<01:41,  3.21it/s]
 64%|██████▍   | 574/900 [09:32<01:35,  3.41it/s]
 64%|██████▍   | 575/900 [09:32<01:30,  3.58it/s]
 64%|██████▍   | 576/900 [09:32<01:26,  3.75it/s]
 64%|██████▍   | 577/900 [09:33<01:36,  3.36it/s]
 64%|██████▍   | 578/900 [09:33<01:31,  3.53it/s]
 64%|██████▍   | 579/900 [09:33<01:27,  3.67it/s]
 64%|██████▍   | 580/900 [09:33<01:24,  3.77it/s]
 65%|██████▍   | 581/900 [09:34<01:23,  3.82it/s]
 65%|██████▍   | 582/900 [09:34<01:21,  3.90it/s]
 65%|██████▍   | 583/900 [09:34<01:20,  3.94it/s]
 65%|██████▍   | 584/900 [09:34<01:19,  3.96it/s]
 65%|██████▌   | 585/900 [09:35<01:29,  3.53it/s]
 65%|██████▌   | 586/900 [09:35<01:25,  3.67it/s]
 65%|██████▌   | 587/900 [09:35<01:22,  3.78it/s]
 65%|██████▌   | 588/900 [09:35<01:20,  3.86it/s]
 65%|██████▌   | 589/900 [09:36<01:18,  3.95it/s]
 66%|██████▌   | 590/900 [09:36<01:17,  4.00it/s]
 66%|██████▌   | 591/900 [09:36<01:17,  3.98it/s]
 66%|██████▌   | 592/900 [09:36<01:17,  4.00it/s]
 66%|██████▌   | 593/900 [09:44<12:59,  2.54s/it]
 66%|██████▌   | 594/900 [09:44<09:26,  1.85s/it]
 66%|██████▌   | 595/900 [09:45<06:57,  1.37s/it]
 66%|██████▌   | 596/900 [09:45<05:13,  1.03s/it]
 66%|██████▋   | 597/900 [09:45<04:00,  1.26it/s]
 66%|██████▋   | 598/900 [09:45<03:10,  1.59it/s]
 67%|██████▋   | 599/900 [09:46<02:34,  1.95it/s]
 67%|██████▋   | 600/900 [09:46<02:09,  2.31it/s]
 67%|██████▋   | 601/900 [09:46<02:01,  2.46it/s]
 67%|██████▋   | 602/900 [09:47<01:45,  2.81it/s]
 67%|██████▋   | 603/900 [09:47<01:36,  3.09it/s]
 67%|██████▋   | 604/900 [09:47<01:28,  3.33it/s]
 67%|██████▋   | 605/900 [09:47<01:23,  3.52it/s]
 67%|██████▋   | 606/900 [09:48<01:19,  3.69it/s]
 67%|██████▋   | 607/900 [09:48<01:16,  3.83it/s]
 68%|██████▊   | 608/900 [09:48<01:14,  3.91it/s]
 68%|██████▊   | 609/900 [09:48<01:20,  3.59it/s]
 68%|██████▊   | 610/900 [09:49<01:16,  3.78it/s]
 68%|██████▊   | 611/900 [09:49<01:14,  3.85it/s]
 68%|██████▊   | 612/900 [09:49<01:13,  3.93it/s]
 68%|██████▊   | 613/900 [09:49<01:11,  3.99it/s]
 68%|██████▊   | 614/900 [09:50<01:10,  4.04it/s]
 68%|██████▊   | 615/900 [09:50<01:10,  4.06it/s]
 68%|██████▊   | 616/900 [09:50<01:09,  4.10it/s]
 69%|██████▊   | 617/900 [10:17<38:52,  8.24s/it]
 69%|██████▊   | 618/900 [10:17<27:28,  5.85s/it]
 69%|██████▉   | 619/900 [10:17<19:32,  4.17s/it]
 69%|██████▉   | 620/900 [10:18<13:58,  2.99s/it]
 69%|██████▉   | 621/900 [10:18<10:05,  2.17s/it]
 69%|██████▉   | 622/900 [10:18<07:22,  1.59s/it]
 69%|██████▉   | 623/900 [10:18<05:28,  1.19s/it]
 69%|██████▉   | 624/900 [10:19<04:08,  1.11it/s]
 69%|██████▉   | 625/900 [10:20<05:02,  1.10s/it]
 70%|██████▉   | 626/900 [10:20<03:51,  1.19it/s]
 70%|██████▉   | 627/900 [10:21<03:00,  1.51it/s]
 70%|██████▉   | 628/900 [10:21<02:25,  1.87it/s]
 70%|██████▉   | 629/900 [10:21<02:00,  2.25it/s]
 70%|███████   | 630/900 [10:21<01:43,  2.62it/s]
 70%|███████   | 631/900 [10:22<01:31,  2.94it/s]
 70%|███████   | 632/900 [10:22<01:23,  3.21it/s]
 70%|███████   | 633/900 [10:23<02:16,  1.96it/s]
 70%|███████   | 634/900 [10:23<01:54,  2.31it/s]
 71%|███████   | 635/900 [10:23<01:39,  2.66it/s]
 71%|███████   | 636/900 [10:24<01:29,  2.95it/s]
 71%|███████   | 637/900 [10:24<01:21,  3.24it/s]
 71%|███████   | 638/900 [10:24<01:16,  3.45it/s]
 71%|███████   | 639/900 [10:24<01:11,  3.64it/s]
 71%|███████   | 640/900 [10:25<01:08,  3.78it/s]
 71%|███████   | 641/900 [10:39<19:35,  4.54s/it]
 71%|███████▏  | 642/900 [10:39<13:58,  3.25s/it]
 71%|███████▏  | 643/900 [10:40<10:04,  2.35s/it]
 72%|███████▏  | 644/900 [10:40<07:21,  1.72s/it]
 72%|███████▏  | 645/900 [10:40<05:26,  1.28s/it]
 72%|███████▏  | 646/900 [10:40<04:06,  1.03it/s]
 72%|███████▏  | 647/900 [10:41<03:11,  1.32it/s]
 72%|███████▏  | 648/900 [10:41<02:31,  1.66it/s]
 72%|███████▏  | 649/900 [10:53<17:30,  4.19s/it]
 72%|███████▏  | 650/900 [10:54<12:31,  3.01s/it]
 72%|███████▏  | 651/900 [10:54<09:02,  2.18s/it]
 72%|███████▏  | 652/900 [10:54<06:36,  1.60s/it]
 73%|███████▎  | 653/900 [10:54<04:54,  1.19s/it]
 73%|███████▎  | 654/900 [10:55<03:43,  1.10it/s]
 73%|███████▎  | 655/900 [10:55<02:53,  1.41it/s]
 73%|███████▎  | 656/900 [10:55<02:18,  1.77it/s]
 73%|███████▎  | 657/900 [10:56<02:20,  1.73it/s]
 73%|███████▎  | 658/900 [10:56<01:55,  2.09it/s]
 73%|███████▎  | 659/900 [10:56<01:37,  2.46it/s]
 73%|███████▎  | 660/900 [10:56<01:25,  2.81it/s]
 73%|███████▎  | 661/900 [10:57<01:16,  3.13it/s]
 74%|███████▎  | 662/900 [10:57<01:10,  3.37it/s]
 74%|███████▎  | 663/900 [10:57<01:06,  3.56it/s]
 74%|███████▍  | 664/900 [10:57<01:03,  3.73it/s]
 74%|███████▍  | 665/900 [11:06<11:18,  2.89s/it]
 74%|███████▍  | 666/900 [11:07<08:10,  2.10s/it]
 74%|███████▍  | 667/900 [11:07<05:59,  1.54s/it]
 74%|███████▍  | 668/900 [11:07<04:28,  1.16s/it]
 74%|███████▍  | 669/900 [11:07<03:25,  1.13it/s]
 74%|███████▍  | 670/900 [11:08<02:40,  1.43it/s]
 75%|███████▍  | 671/900 [11:08<02:09,  1.77it/s]
 75%|███████▍  | 672/900 [11:08<01:46,  2.14it/s]
 75%|███████▍  | 673/900 [11:19<13:20,  3.53s/it]
 75%|███████▍  | 674/900 [11:19<09:34,  2.54s/it]
 75%|███████▌  | 675/900 [11:19<06:57,  1.85s/it]
 75%|███████▌  | 676/900 [11:20<05:07,  1.37s/it]
 75%|███████▌  | 677/900 [11:20<03:51,  1.04s/it]
 75%|███████▌  | 678/900 [11:20<02:57,  1.25it/s]
 75%|███████▌  | 679/900 [11:20<02:19,  1.58it/s]
 76%|███████▌  | 680/900 [11:21<01:54,  1.92it/s]
 76%|███████▌  | 681/900 [11:29<10:52,  2.98s/it]
 76%|███████▌  | 682/900 [11:30<07:51,  2.16s/it]
 76%|███████▌  | 683/900 [11:30<05:45,  1.59s/it]
 76%|███████▌  | 684/900 [11:30<04:17,  1.19s/it]
 76%|███████▌  | 685/900 [11:30<03:16,  1.09it/s]
 76%|███████▌  | 686/900 [11:31<02:34,  1.39it/s]
 76%|███████▋  | 687/900 [11:31<02:04,  1.71it/s]
 76%|███████▋  | 688/900 [11:31<01:43,  2.05it/s]
 77%|███████▋  | 689/900 [11:41<11:55,  3.39s/it]
 77%|███████▋  | 690/900 [11:42<08:34,  2.45s/it]
 77%|███████▋  | 691/900 [11:42<06:15,  1.80s/it]
 77%|███████▋  | 692/900 [11:42<04:38,  1.34s/it]
 77%|███████▋  | 693/900 [11:42<03:29,  1.01s/it]
 77%|███████▋  | 694/900 [11:43<02:42,  1.27it/s]
 77%|███████▋  | 695/900 [11:43<02:08,  1.60it/s]
 77%|███████▋  | 696/900 [11:43<01:45,  1.94it/s]
 77%|███████▋  | 697/900 [11:55<13:36,  4.02s/it]
 78%|███████▊  | 698/900 [11:56<09:44,  2.90s/it]
 78%|███████▊  | 699/900 [11:56<07:02,  2.10s/it]
 78%|███████▊  | 700/900 [11:56<05:08,  1.54s/it]
 78%|███████▊  | 701/900 [11:56<03:49,  1.15s/it]
 78%|███████▊  | 702/900 [11:57<02:54,  1.14it/s]
 78%|███████▊  | 703/900 [11:57<02:15,  1.45it/s]
 78%|███████▊  | 704/900 [11:57<01:48,  1.80it/s]
 78%|███████▊  | 705/900 [12:19<22:46,  7.01s/it]
 78%|███████▊  | 706/900 [12:19<16:05,  4.98s/it]
 79%|███████▊  | 707/900 [12:20<11:26,  3.56s/it]
 79%|███████▊  | 708/900 [12:20<08:12,  2.56s/it]
 79%|███████▉  | 709/900 [12:20<05:57,  1.87s/it]
 79%|███████▉  | 710/900 [12:20<04:22,  1.38s/it]
 79%|███████▉  | 711/900 [12:21<03:16,  1.04s/it]
 79%|███████▉  | 712/900 [12:21<02:31,  1.24it/s]
 79%|███████▉  | 713/900 [12:34<13:58,  4.48s/it]
 79%|███████▉  | 714/900 [12:34<09:57,  3.21s/it]
 79%|███████▉  | 715/900 [12:34<07:09,  2.32s/it]
 80%|███████▉  | 716/900 [12:35<05:12,  1.70s/it]
 80%|███████▉  | 717/900 [12:35<03:50,  1.26s/it]
 80%|███████▉  | 718/900 [12:35<02:53,  1.05it/s]
 80%|███████▉  | 719/900 [12:35<02:14,  1.35it/s]
 80%|████████  | 720/900 [12:36<01:46,  1.68it/s]
 80%|████████  | 721/900 [13:15<36:15, 12.15s/it]
 80%|████████  | 722/900 [13:15<25:27,  8.58s/it]
 80%|████████  | 723/900 [13:15<17:55,  6.08s/it]
 80%|████████  | 724/900 [13:15<12:41,  4.33s/it]
 81%|████████  | 725/900 [13:16<09:03,  3.11s/it]
 81%|████████  | 726/900 [13:16<06:31,  2.25s/it]
 81%|████████  | 727/900 [13:16<04:46,  1.65s/it]
 81%|████████  | 728/900 [13:16<03:32,  1.24s/it]
 81%|████████  | 729/900 [13:59<38:27, 13.49s/it]
 81%|████████  | 730/900 [13:59<26:59,  9.52s/it]
 81%|████████  | 731/900 [13:59<19:00,  6.75s/it]
 81%|████████▏ | 732/900 [13:59<13:27,  4.80s/it]
 81%|████████▏ | 733/900 [14:00<09:35,  3.44s/it]
 82%|████████▏ | 734/900 [14:00<06:53,  2.49s/it]
 82%|████████▏ | 735/900 [14:00<05:01,  1.82s/it]
 82%|████████▏ | 736/900 [14:00<03:42,  1.36s/it]
 82%|████████▏ | 737/900 [14:23<20:44,  7.63s/it]
 82%|████████▏ | 738/900 [14:23<14:38,  5.42s/it]
 82%|████████▏ | 739/900 [14:23<10:23,  3.87s/it]
 82%|████████▏ | 740/900 [14:23<07:24,  2.78s/it]
 82%|████████▏ | 741/900 [14:24<05:21,  2.02s/it]
 82%|████████▏ | 742/900 [14:24<03:55,  1.49s/it]
 83%|████████▎ | 743/900 [14:24<02:54,  1.11s/it]
 83%|████████▎ | 744/900 [14:24<02:12,  1.18it/s]
 83%|████████▎ | 745/900 [14:54<24:07,  9.34s/it]
 83%|████████▎ | 746/900 [14:54<16:58,  6.61s/it]
 83%|████████▎ | 747/900 [14:54<11:59,  4.70s/it]
 83%|████████▎ | 748/900 [14:54<08:30,  3.36s/it]
 83%|████████▎ | 749/900 [14:55<06:05,  2.42s/it]
 83%|████████▎ | 750/900 [14:55<04:25,  1.77s/it]
 83%|████████▎ | 751/900 [14:55<03:15,  1.31s/it]
 84%|████████▎ | 752/900 [14:55<02:26,  1.01it/s]
 84%|████████▎ | 753/900 [15:13<15:04,  6.16s/it]
 84%|████████▍ | 754/900 [15:14<10:40,  4.39s/it]
 84%|████████▍ | 755/900 [15:14<07:36,  3.15s/it]
 84%|████████▍ | 756/900 [15:14<05:27,  2.28s/it]
 84%|████████▍ | 757/900 [15:14<03:58,  1.67s/it]
 84%|████████▍ | 758/900 [15:15<02:55,  1.24s/it]
 84%|████████▍ | 759/900 [15:15<02:12,  1.07it/s]
 84%|████████▍ | 760/900 [15:15<01:42,  1.37it/s]
 85%|████████▍ | 761/900 [15:16<01:27,  1.60it/s]
 85%|████████▍ | 762/900 [15:16<01:10,  1.95it/s]
 85%|████████▍ | 763/900 [15:16<00:59,  2.32it/s]
 85%|████████▍ | 764/900 [15:16<00:51,  2.66it/s]
 85%|████████▌ | 765/900 [15:17<00:45,  2.97it/s]
 85%|████████▌ | 766/900 [15:17<00:41,  3.25it/s]
 85%|████████▌ | 767/900 [15:17<00:38,  3.43it/s]
 85%|████████▌ | 768/900 [15:17<00:36,  3.59it/s]
 85%|████████▌ | 769/900 [15:18<00:55,  2.36it/s]
 86%|████████▌ | 770/900 [15:18<00:47,  2.72it/s]
 86%|████████▌ | 771/900 [15:19<00:42,  3.02it/s]
 86%|████████▌ | 772/900 [15:19<00:39,  3.27it/s]
 86%|████████▌ | 773/900 [15:19<00:36,  3.50it/s]
 86%|████████▌ | 774/900 [15:19<00:34,  3.67it/s]
 86%|████████▌ | 775/900 [15:20<00:33,  3.76it/s]
 86%|████████▌ | 776/900 [15:20<00:32,  3.85it/s]
 86%|████████▋ | 777/900 [15:48<17:45,  8.66s/it]
 86%|████████▋ | 778/900 [15:48<12:28,  6.14s/it]
 87%|████████▋ | 779/900 [15:49<08:48,  4.37s/it]
 87%|████████▋ | 780/900 [15:49<06:15,  3.13s/it]
 87%|████████▋ | 781/900 [15:49<04:29,  2.26s/it]
 87%|████████▋ | 782/900 [15:49<03:15,  1.65s/it]
 87%|████████▋ | 783/900 [15:49<02:23,  1.23s/it]
 87%|████████▋ | 784/900 [15:50<01:47,  1.08it/s]
 87%|████████▋ | 785/900 [15:50<01:26,  1.32it/s]
 87%|████████▋ | 786/900 [15:50<01:08,  1.66it/s]
 87%|████████▋ | 787/900 [15:51<00:55,  2.02it/s]
 88%|████████▊ | 788/900 [15:51<00:46,  2.39it/s]
 88%|████████▊ | 789/900 [15:51<00:40,  2.74it/s]
 88%|████████▊ | 790/900 [15:51<00:36,  3.05it/s]
 88%|████████▊ | 791/900 [15:52<00:33,  3.30it/s]
 88%|████████▊ | 792/900 [15:52<00:31,  3.46it/s]
 88%|████████▊ | 793/900 [16:02<05:34,  3.13s/it]
 88%|████████▊ | 794/900 [16:02<04:00,  2.27s/it]
 88%|████████▊ | 795/900 [16:02<02:55,  1.67s/it]
 88%|████████▊ | 796/900 [16:02<02:09,  1.25s/it]
 89%|████████▊ | 797/900 [16:03<01:38,  1.05it/s]
 89%|████████▊ | 798/900 [16:03<01:16,  1.33it/s]
 89%|████████▉ | 799/900 [16:03<01:01,  1.64it/s]
 89%|████████▉ | 800/900 [16:03<00:50,  1.98it/s]
 89%|████████▉ | 801/900 [16:17<07:08,  4.32s/it]
 89%|████████▉ | 802/900 [16:17<05:04,  3.11s/it]
 89%|████████▉ | 803/900 [16:17<03:38,  2.25s/it]
 89%|████████▉ | 804/900 [16:17<02:38,  1.65s/it]
 89%|████████▉ | 805/900 [16:18<01:56,  1.23s/it]
 90%|████████▉ | 806/900 [16:18<01:27,  1.07it/s]
 90%|████████▉ | 807/900 [16:18<01:07,  1.37it/s]
 90%|████████▉ | 808/900 [16:18<00:53,  1.73it/s]
 90%|████████▉ | 809/900 [16:44<12:24,  8.18s/it]
 90%|█████████ | 810/900 [16:45<08:42,  5.80s/it]
 90%|█████████ | 811/900 [16:45<06:08,  4.14s/it]
 90%|█████████ | 812/900 [16:45<04:21,  2.97s/it]
 90%|█████████ | 813/900 [16:45<03:07,  2.15s/it]
 90%|█████████ | 814/900 [16:46<02:15,  1.58s/it]
 91%|█████████ | 815/900 [16:46<01:39,  1.18s/it]
 91%|█████████ | 816/900 [16:46<01:15,  1.12it/s]
 91%|█████████ | 817/900 [17:19<14:26, 10.43s/it]
 91%|█████████ | 818/900 [17:19<10:04,  7.38s/it]
 91%|█████████ | 819/900 [17:19<07:03,  5.23s/it]
 91%|█████████ | 820/900 [17:19<04:58,  3.73s/it]
 91%|█████████ | 821/900 [17:20<03:31,  2.68s/it]
 91%|█████████▏| 822/900 [17:20<02:31,  1.95s/it]
 91%|█████████▏| 823/900 [17:20<01:50,  1.43s/it]
 92%|█████████▏| 824/900 [17:20<01:21,  1.07s/it]
 92%|█████████▏| 825/900 [17:40<08:20,  6.68s/it]
 92%|█████████▏| 826/900 [17:40<05:51,  4.75s/it]
 92%|█████████▏| 827/900 [17:41<04:07,  3.39s/it]
 92%|█████████▏| 828/900 [17:41<02:56,  2.45s/it]
 92%|█████████▏| 829/900 [17:41<02:06,  1.78s/it]
 92%|█████████▏| 830/900 [17:41<01:32,  1.32s/it]
 92%|█████████▏| 831/900 [17:42<01:08,  1.01it/s]
 92%|█████████▏| 832/900 [17:42<00:52,  1.31it/s]
 93%|█████████▎| 833/900 [18:45<21:47, 19.52s/it]
 93%|█████████▎| 834/900 [18:45<15:06, 13.74s/it]
 93%|█████████▎| 835/900 [18:46<10:29,  9.69s/it]
 93%|█████████▎| 836/900 [18:46<07:18,  6.86s/it]
 93%|█████████▎| 837/900 [18:46<05:07,  4.88s/it]
 93%|█████████▎| 838/900 [18:46<03:36,  3.49s/it]
 93%|█████████▎| 839/900 [18:47<02:33,  2.52s/it]
 93%|█████████▎| 840/900 [18:47<01:50,  1.84s/it]
 93%|█████████▎| 841/900 [19:17<10:13, 10.39s/it]
 94%|█████████▎| 842/900 [19:17<07:06,  7.35s/it]
 94%|█████████▎| 843/900 [19:18<04:57,  5.22s/it]
 94%|█████████▍| 844/900 [19:18<03:28,  3.73s/it]
 94%|█████████▍| 845/900 [19:18<02:27,  2.68s/it]
 94%|█████████▍| 846/900 [19:18<01:45,  1.95s/it]
 94%|█████████▍| 847/900 [19:19<01:16,  1.44s/it]
 94%|█████████▍| 848/900 [19:19<00:56,  1.08s/it]
 94%|█████████▍| 849/900 [19:41<06:19,  7.45s/it]
 94%|█████████▍| 850/900 [19:41<04:24,  5.29s/it]
 95%|█████████▍| 851/900 [19:42<03:04,  3.77s/it]
 95%|█████████▍| 852/900 [19:42<02:10,  2.71s/it]
 95%|█████████▍| 853/900 [19:42<01:32,  1.97s/it]
 95%|█████████▍| 854/900 [19:42<01:06,  1.45s/it]
 95%|█████████▌| 855/900 [19:43<00:48,  1.08s/it]
 95%|█████████▌| 856/900 [19:43<00:36,  1.21it/s]
 95%|█████████▌| 857/900 [20:04<04:52,  6.80s/it]
 95%|█████████▌| 858/900 [20:04<03:22,  4.83s/it]
 95%|█████████▌| 859/900 [20:04<02:21,  3.46s/it]
 96%|█████████▌| 860/900 [20:04<01:39,  2.49s/it]
 96%|█████████▌| 861/900 [20:04<01:10,  1.82s/it]
 96%|█████████▌| 862/900 [20:05<00:51,  1.34s/it]
 96%|█████████▌| 863/900 [20:05<00:37,  1.01s/it]
 96%|█████████▌| 864/900 [20:05<00:28,  1.28it/s]
 96%|█████████▌| 865/900 [20:22<03:10,  5.44s/it]
 96%|█████████▌| 866/900 [20:22<02:11,  3.88s/it]
 96%|█████████▋| 867/900 [20:22<01:31,  2.79s/it]
 96%|█████████▋| 868/900 [20:22<01:04,  2.02s/it]
 97%|█████████▋| 869/900 [20:22<00:46,  1.49s/it]
 97%|█████████▋| 870/900 [20:23<00:33,  1.11s/it]
 97%|█████████▋| 871/900 [20:23<00:24,  1.18it/s]
 97%|█████████▋| 872/900 [20:23<00:18,  1.50it/s]
 97%|█████████▋| 873/900 [20:36<02:00,  4.46s/it]
 97%|█████████▋| 874/900 [20:37<01:22,  3.19s/it]
 97%|█████████▋| 875/900 [20:37<00:57,  2.30s/it]
 97%|█████████▋| 876/900 [20:37<00:40,  1.68s/it]
 97%|█████████▋| 877/900 [20:37<00:28,  1.25s/it]
 98%|█████████▊| 878/900 [20:38<00:20,  1.06it/s]
 98%|█████████▊| 879/900 [20:38<00:15,  1.36it/s]
 98%|█████████▊| 880/900 [20:38<00:11,  1.70it/s]
 98%|█████████▊| 881/900 [20:57<01:56,  6.13s/it]
 98%|█████████▊| 882/900 [20:57<01:18,  4.36s/it]
 98%|█████████▊| 883/900 [20:58<00:53,  3.12s/it]
 98%|█████████▊| 884/900 [20:58<00:36,  2.26s/it]
 98%|█████████▊| 885/900 [20:58<00:24,  1.65s/it]
 98%|█████████▊| 886/900 [20:58<00:17,  1.23s/it]
 99%|█████████▊| 887/900 [20:59<00:12,  1.07it/s]
 99%|█████████▊| 888/900 [20:59<00:08,  1.39it/s]
 99%|█████████▉| 889/900 [20:59<00:06,  1.63it/s]
 99%|█████████▉| 890/900 [20:59<00:05,  1.99it/s]
 99%|█████████▉| 891/900 [21:00<00:03,  2.38it/s]
 99%|█████████▉| 892/900 [21:00<00:02,  2.67it/s]
 99%|█████████▉| 893/900 [21:00<00:02,  3.00it/s]
 99%|█████████▉| 894/900 [21:00<00:01,  3.27it/s]
 99%|█████████▉| 895/900 [21:01<00:01,  3.49it/s]
100%|█████████▉| 896/900 [21:01<00:01,  3.68it/s]
100%|█████████▉| 897/900 [21:01<00:00,  3.34it/s]
100%|█████████▉| 898/900 [21:02<00:00,  3.58it/s]
100%|█████████▉| 899/900 [21:02<00:00,  3.76it/s]
100%|█████████▉| 899/900 [21:02<00:01,  1.40s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/log_1_env0.json.
+FoodPacking1BoxesTask_1 complete: task_name: FoodPacking1BoxesTask, run_name: FoodPacking1BoxesTask_1, run: 1, env_id: 0, policy: harness, instruction: Pack boxed foods into the bin, attributes: ['semantics', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -14.885830560312584, 'joint_sparc_mean': -25.374301265264712, 'ee_isj': 499556.89794930944, 'joint_isj': 4545755.782904653, 'ee_path_length': 22.241724513695047, 'joint_rmse_mean': 2.0403216776041653, 'ee_speed_max': 8.224799156188965, 'ee_speed_mean': 0.3725232481956482}, events: {'GRIPPER_HIT_OBJECT': 1, 'OBJECT_OUT_OF_SCENE': 2, 'OBJECT_MOVED': 2, 'TARGET_OBJECT_DROPPED': 1, 'GRIPPER_FULLY_CLOSED': 2, 'GRIPPER_HIT_TABLE': 6}, instruction_type: default, timing: {'policy_inference_s': 1053.398, 'policy_inference_avg_ms': 1170.4, 'env_step_s': 200.061, 'env_step_avg_ms': 222.3, 'video_write_s': 8.606, 'video_write_avg_ms': 9.6, 'wall_total_s': 1262.066, 'it_per_sec': 0.71}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=cheez_it) (step 1/2), harness_episode_id: b241fcf0535843dc9112430bf7c4b385-1
+[RoboLab] Running FoodPacking1BoxesTask_2: 'Pack boxed foods into the bin' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:31<7:46:39, 31.15s/it]
  0%|          | 2/900 [00:31<3:14:05, 12.97s/it]
  0%|          | 3/900 [00:31<1:47:12,  7.17s/it]
  0%|          | 4/900 [00:31<1:06:09,  4.43s/it]
  1%|          | 5/900 [00:32<43:33,  2.92s/it]  
  1%|          | 6/900 [00:32<29:53,  2.01s/it]
  1%|          | 7/900 [00:32<21:13,  1.43s/it]
  1%|          | 8/900 [00:32<15:31,  1.04s/it]
  1%|          | 9/900 [00:39<39:35,  2.67s/it]
  1%|          | 10/900 [00:39<28:25,  1.92s/it]
  1%|          | 11/900 [00:39<20:46,  1.40s/it]
  1%|▏         | 12/900 [00:39<15:29,  1.05s/it]
  1%|▏         | 13/900 [00:40<11:51,  1.25it/s]
  2%|▏         | 14/900 [00:40<09:17,  1.59it/s]
  2%|▏         | 15/900 [00:40<07:31,  1.96it/s]
  2%|▏         | 16/900 [00:40<06:16,  2.35it/s]
  2%|▏         | 17/900 [00:47<34:10,  2.32s/it]
  2%|▏         | 18/900 [00:47<24:54,  1.69s/it]
  2%|▏         | 19/900 [00:47<18:26,  1.26s/it]
  2%|▏         | 20/900 [00:48<13:55,  1.05it/s]
  2%|▏         | 21/900 [00:48<10:47,  1.36it/s]
  2%|▏         | 22/900 [00:48<08:34,  1.71it/s]
  3%|▎         | 23/900 [00:48<07:01,  2.08it/s]
  3%|▎         | 24/900 [00:49<05:56,  2.46it/s]
  3%|▎         | 25/900 [00:58<43:12,  2.96s/it]
  3%|▎         | 26/900 [00:58<31:14,  2.15s/it]
  3%|▎         | 27/900 [00:58<22:54,  1.57s/it]
  3%|▎         | 28/900 [00:58<17:03,  1.17s/it]
  3%|▎         | 29/900 [00:58<13:00,  1.12it/s]
  3%|▎         | 30/900 [00:59<10:04,  1.44it/s]
  3%|▎         | 31/900 [00:59<08:02,  1.80it/s]
  4%|▎         | 32/900 [00:59<06:37,  2.18it/s]
  4%|▎         | 33/900 [01:18<1:24:38,  5.86s/it]
  4%|▍         | 34/900 [01:18<1:00:11,  4.17s/it]
  4%|▍         | 35/900 [01:18<43:03,  2.99s/it]  
  4%|▍         | 36/900 [01:18<31:07,  2.16s/it]
  4%|▍         | 37/900 [01:19<22:46,  1.58s/it]
  4%|▍         | 38/900 [01:19<16:56,  1.18s/it]
  4%|▍         | 39/900 [01:19<12:50,  1.12it/s]
  4%|▍         | 40/900 [01:19<09:59,  1.44it/s]
  5%|▍         | 41/900 [01:23<25:06,  1.75s/it]
  5%|▍         | 42/900 [01:24<18:32,  1.30s/it]
  5%|▍         | 43/900 [01:24<14:01,  1.02it/s]
  5%|▍         | 44/900 [01:24<10:47,  1.32it/s]
  5%|▌         | 45/900 [01:24<08:33,  1.66it/s]
  5%|▌         | 46/900 [01:25<06:59,  2.04it/s]
  5%|▌         | 47/900 [01:25<05:51,  2.43it/s]
  5%|▌         | 48/900 [01:25<05:03,  2.81it/s]
  5%|▌         | 49/900 [01:32<31:26,  2.22s/it]
  6%|▌         | 50/900 [01:32<23:01,  1.63s/it]
  6%|▌         | 51/900 [01:32<17:07,  1.21s/it]
  6%|▌         | 52/900 [01:32<12:57,  1.09it/s]
  6%|▌         | 53/900 [01:33<10:04,  1.40it/s]
  6%|▌         | 54/900 [01:33<08:02,  1.75it/s]
  6%|▌         | 55/900 [01:33<06:37,  2.12it/s]
  6%|▌         | 56/900 [01:33<05:36,  2.51it/s]
  6%|▋         | 57/900 [01:38<23:48,  1.69s/it]
  6%|▋         | 58/900 [01:38<17:37,  1.26s/it]
  7%|▋         | 59/900 [01:39<13:18,  1.05it/s]
  7%|▋         | 60/900 [01:39<10:15,  1.36it/s]
  7%|▋         | 61/900 [01:39<08:07,  1.72it/s]
  7%|▋         | 62/900 [01:39<06:40,  2.09it/s]
  7%|▋         | 63/900 [01:39<05:40,  2.46it/s]
  7%|▋         | 64/900 [01:40<04:57,  2.81it/s]
  7%|▋         | 65/900 [01:46<30:21,  2.18s/it]
  7%|▋         | 66/900 [01:46<22:11,  1.60s/it]
  7%|▋         | 67/900 [01:47<16:28,  1.19s/it]
  8%|▊         | 68/900 [01:47<12:29,  1.11it/s]
  8%|▊         | 69/900 [01:47<09:45,  1.42it/s]
  8%|▊         | 70/900 [01:47<07:47,  1.77it/s]
  8%|▊         | 71/900 [01:48<06:23,  2.16it/s]
  8%|▊         | 72/900 [01:48<05:25,  2.54it/s]
  8%|▊         | 73/900 [01:52<21:53,  1.59s/it]
  8%|▊         | 74/900 [01:52<16:16,  1.18s/it]
  8%|▊         | 75/900 [01:53<12:19,  1.12it/s]
  8%|▊         | 76/900 [01:53<09:31,  1.44it/s]
  9%|▊         | 77/900 [01:53<07:35,  1.81it/s]
  9%|▊         | 78/900 [01:53<06:13,  2.20it/s]
  9%|▉         | 79/900 [01:53<05:18,  2.58it/s]
  9%|▉         | 80/900 [01:54<04:39,  2.93it/s]
  9%|▉         | 81/900 [01:59<25:03,  1.84s/it]
  9%|▉         | 82/900 [01:59<18:28,  1.35s/it]
  9%|▉         | 83/900 [02:00<13:51,  1.02s/it]
  9%|▉         | 84/900 [02:00<10:37,  1.28it/s]
  9%|▉         | 85/900 [02:00<08:22,  1.62it/s]
 10%|▉         | 86/900 [02:00<06:46,  2.00it/s]
 10%|▉         | 87/900 [02:00<05:40,  2.39it/s]
 10%|▉         | 88/900 [02:01<04:53,  2.76it/s]
 10%|▉         | 89/900 [02:06<23:11,  1.72s/it]
 10%|█         | 90/900 [02:06<17:08,  1.27s/it]
 10%|█         | 91/900 [02:06<12:55,  1.04it/s]
 10%|█         | 92/900 [02:06<09:58,  1.35it/s]
 10%|█         | 93/900 [02:06<07:53,  1.70it/s]
 10%|█         | 94/900 [02:07<06:25,  2.09it/s]
 11%|█         | 95/900 [02:07<05:26,  2.47it/s]
 11%|█         | 96/900 [02:07<04:42,  2.84it/s]
 11%|█         | 97/900 [02:16<36:58,  2.76s/it]
 11%|█         | 98/900 [02:16<26:48,  2.01s/it]
 11%|█         | 99/900 [02:16<19:41,  1.47s/it]
 11%|█         | 100/900 [02:16<14:44,  1.11s/it]
 11%|█         | 101/900 [02:16<11:17,  1.18it/s]
 11%|█▏        | 102/900 [02:17<08:49,  1.51it/s]
 11%|█▏        | 103/900 [02:17<07:06,  1.87it/s]
 12%|█▏        | 104/900 [02:17<05:53,  2.25it/s]
 12%|█▏        | 105/900 [02:24<33:00,  2.49s/it]
 12%|█▏        | 106/900 [02:25<23:57,  1.81s/it]
 12%|█▏        | 107/900 [02:25<17:40,  1.34s/it]
 12%|█▏        | 108/900 [02:25<13:16,  1.01s/it]
 12%|█▏        | 109/900 [02:25<10:13,  1.29it/s]
 12%|█▏        | 110/900 [02:26<08:02,  1.64it/s]
 12%|█▏        | 111/900 [02:26<06:31,  2.01it/s]
 12%|█▏        | 112/900 [02:26<05:27,  2.41it/s]
 13%|█▎        | 113/900 [02:31<24:16,  1.85s/it]
 13%|█▎        | 114/900 [02:32<17:53,  1.37s/it]
 13%|█▎        | 115/900 [02:32<13:23,  1.02s/it]
 13%|█▎        | 116/900 [02:32<10:16,  1.27it/s]
 13%|█▎        | 117/900 [02:32<08:06,  1.61it/s]
 13%|█▎        | 118/900 [02:32<06:34,  1.98it/s]
 13%|█▎        | 119/900 [02:33<05:29,  2.37it/s]
 13%|█▎        | 120/900 [02:33<04:45,  2.73it/s]
 13%|█▎        | 121/900 [02:38<23:08,  1.78s/it]
 14%|█▎        | 122/900 [02:38<17:05,  1.32s/it]
 14%|█▎        | 123/900 [02:38<12:51,  1.01it/s]
 14%|█▍        | 124/900 [02:39<09:52,  1.31it/s]
 14%|█▍        | 125/900 [02:39<07:47,  1.66it/s]
 14%|█▍        | 126/900 [02:39<06:20,  2.03it/s]
 14%|█▍        | 127/900 [02:39<05:19,  2.42it/s]
 14%|█▍        | 128/900 [02:40<04:36,  2.80it/s]
 14%|█▍        | 129/900 [02:47<32:29,  2.53s/it]
 14%|█▍        | 130/900 [02:47<23:35,  1.84s/it]
 15%|█▍        | 131/900 [02:48<17:21,  1.35s/it]
 15%|█▍        | 132/900 [02:48<13:01,  1.02s/it]
 15%|█▍        | 133/900 [02:48<09:57,  1.28it/s]
 15%|█▍        | 134/900 [02:48<07:52,  1.62it/s]
 15%|█▌        | 135/900 [02:49<06:25,  1.98it/s]
 15%|█▌        | 136/900 [02:49<05:24,  2.35it/s]
 15%|█▌        | 137/900 [02:49<05:04,  2.50it/s]
 15%|█▌        | 138/900 [02:49<04:27,  2.85it/s]
 15%|█▌        | 139/900 [02:50<03:59,  3.18it/s]
 16%|█▌        | 140/900 [02:50<03:43,  3.40it/s]
 16%|█▌        | 141/900 [02:50<03:30,  3.61it/s]
 16%|█▌        | 142/900 [02:50<03:21,  3.77it/s]
 16%|█▌        | 143/900 [02:51<03:14,  3.89it/s]
 16%|█▌        | 144/900 [02:51<03:08,  4.01it/s]
 16%|█▌        | 145/900 [02:51<03:30,  3.59it/s]
 16%|█▌        | 146/900 [02:51<03:20,  3.76it/s]
 16%|█▋        | 147/900 [02:52<03:12,  3.91it/s]
 16%|█▋        | 148/900 [02:52<03:08,  4.00it/s]
 17%|█▋        | 149/900 [02:52<03:05,  4.06it/s]
 17%|█▋        | 150/900 [02:52<03:00,  4.15it/s]
 17%|█▋        | 151/900 [02:53<02:59,  4.17it/s]
 17%|█▋        | 152/900 [02:53<02:57,  4.20it/s]
 17%|█▋        | 153/900 [03:01<32:11,  2.59s/it]
 17%|█▋        | 154/900 [03:01<23:24,  1.88s/it]
 17%|█▋        | 155/900 [03:01<17:12,  1.39s/it]
 17%|█▋        | 156/900 [03:02<12:53,  1.04s/it]
 17%|█▋        | 157/900 [03:02<09:52,  1.26it/s]
 18%|█▊        | 158/900 [03:02<07:43,  1.60it/s]
 18%|█▊        | 159/900 [03:02<06:15,  1.97it/s]
 18%|█▊        | 160/900 [03:02<05:11,  2.38it/s]
 18%|█▊        | 161/900 [03:14<45:15,  3.68s/it]
 18%|█▊        | 162/900 [03:14<32:28,  2.64s/it]
 18%|█▊        | 163/900 [03:14<23:31,  1.92s/it]
 18%|█▊        | 164/900 [03:14<17:16,  1.41s/it]
 18%|█▊        | 165/900 [03:15<12:54,  1.05s/it]
 18%|█▊        | 166/900 [03:15<09:50,  1.24it/s]
 19%|█▊        | 167/900 [03:15<07:41,  1.59it/s]
 19%|█▊        | 168/900 [03:15<06:12,  1.96it/s]
 19%|█▉        | 169/900 [03:16<05:32,  2.20it/s]
 19%|█▉        | 170/900 [03:16<04:42,  2.58it/s]
 19%|█▉        | 171/900 [03:16<04:06,  2.96it/s]
 19%|█▉        | 172/900 [03:16<03:42,  3.28it/s]
 19%|█▉        | 173/900 [03:17<03:25,  3.54it/s]
 19%|█▉        | 174/900 [03:17<03:12,  3.76it/s]
 19%|█▉        | 175/900 [03:17<03:03,  3.94it/s]
 20%|█▉        | 176/900 [03:17<03:07,  3.87it/s]
 20%|█▉        | 177/900 [03:18<03:27,  3.49it/s]
 20%|█▉        | 178/900 [03:18<03:14,  3.70it/s]
 20%|█▉        | 179/900 [03:18<03:05,  3.88it/s]
 20%|██        | 180/900 [03:18<02:59,  4.01it/s]
 20%|██        | 181/900 [03:19<02:55,  4.11it/s]
 20%|██        | 182/900 [03:19<02:51,  4.19it/s]
 20%|██        | 183/900 [03:19<02:48,  4.24it/s]
 20%|██        | 184/900 [03:19<02:46,  4.29it/s]
 21%|██        | 185/900 [03:20<03:09,  3.77it/s]
 21%|██        | 186/900 [03:20<03:02,  3.92it/s]
 21%|██        | 187/900 [03:20<02:56,  4.04it/s]
 21%|██        | 188/900 [03:20<02:53,  4.10it/s]
 21%|██        | 189/900 [03:21<02:52,  4.12it/s]
 21%|██        | 190/900 [03:21<02:49,  4.20it/s]
 21%|██        | 191/900 [03:21<02:46,  4.25it/s]
 21%|██▏       | 192/900 [03:21<02:46,  4.25it/s]
 21%|██▏       | 193/900 [03:35<52:27,  4.45s/it]
 22%|██▏       | 194/900 [03:36<37:29,  3.19s/it]
 22%|██▏       | 195/900 [03:36<27:03,  2.30s/it]
 22%|██▏       | 196/900 [03:36<19:46,  1.69s/it]
 22%|██▏       | 197/900 [03:36<14:41,  1.25s/it]
 22%|██▏       | 198/900 [03:37<11:06,  1.05it/s]
 22%|██▏       | 199/900 [03:37<08:36,  1.36it/s]
 22%|██▏       | 200/900 [03:37<06:51,  1.70it/s]
 22%|██▏       | 201/900 [03:38<06:00,  1.94it/s]
 22%|██▏       | 202/900 [03:38<04:59,  2.33it/s]
 23%|██▎       | 203/900 [03:38<04:18,  2.69it/s]
 23%|██▎       | 204/900 [03:38<03:49,  3.04it/s]
 23%|██▎       | 205/900 [03:38<03:28,  3.33it/s]
 23%|██▎       | 206/900 [03:39<03:15,  3.54it/s]
 23%|██▎       | 207/900 [03:39<03:07,  3.70it/s]
 23%|██▎       | 208/900 [03:39<03:02,  3.80it/s]
 23%|██▎       | 209/900 [03:40<03:15,  3.53it/s]
 23%|██▎       | 210/900 [03:40<03:05,  3.72it/s]
 23%|██▎       | 211/900 [03:40<02:57,  3.89it/s]
 24%|██▎       | 212/900 [03:40<02:51,  4.02it/s]
 24%|██▎       | 213/900 [03:40<02:47,  4.10it/s]
 24%|██▍       | 214/900 [03:41<02:44,  4.17it/s]
 24%|██▍       | 215/900 [03:41<02:43,  4.19it/s]
 24%|██▍       | 216/900 [03:41<02:42,  4.21it/s]
 24%|██▍       | 217/900 [03:51<34:51,  3.06s/it]
 24%|██▍       | 218/900 [03:51<25:12,  2.22s/it]
 24%|██▍       | 219/900 [03:51<18:26,  1.63s/it]
 24%|██▍       | 220/900 [03:52<13:41,  1.21s/it]
 25%|██▍       | 221/900 [03:52<10:21,  1.09it/s]
 25%|██▍       | 222/900 [03:52<08:02,  1.40it/s]
 25%|██▍       | 223/900 [03:52<06:25,  1.75it/s]
 25%|██▍       | 224/900 [03:52<05:18,  2.12it/s]
 25%|██▌       | 225/900 [04:06<49:56,  4.44s/it]
 25%|██▌       | 226/900 [04:06<35:42,  3.18s/it]
 25%|██▌       | 227/900 [04:07<25:45,  2.30s/it]
 25%|██▌       | 228/900 [04:07<18:46,  1.68s/it]
 25%|██▌       | 229/900 [04:07<13:54,  1.24s/it]
 26%|██▌       | 230/900 [04:07<10:30,  1.06it/s]
 26%|██▌       | 231/900 [04:08<08:09,  1.37it/s]
 26%|██▌       | 232/900 [04:08<06:31,  1.71it/s]
 26%|██▌       | 233/900 [04:14<26:10,  2.35s/it]
 26%|██▌       | 234/900 [04:15<19:05,  1.72s/it]
 26%|██▌       | 235/900 [04:15<14:07,  1.27s/it]
 26%|██▌       | 236/900 [04:15<10:39,  1.04it/s]
 26%|██▋       | 237/900 [04:15<08:14,  1.34it/s]
 26%|██▋       | 238/900 [04:15<06:31,  1.69it/s]
 27%|██▋       | 239/900 [04:16<05:19,  2.07it/s]
 27%|██▋       | 240/900 [04:16<04:29,  2.45it/s]
 27%|██▋       | 241/900 [04:27<39:50,  3.63s/it]
 27%|██▋       | 242/900 [04:27<28:39,  2.61s/it]
 27%|██▋       | 243/900 [04:28<20:48,  1.90s/it]
 27%|██▋       | 244/900 [04:28<15:18,  1.40s/it]
 27%|██▋       | 245/900 [04:28<11:28,  1.05s/it]
 27%|██▋       | 246/900 [04:28<08:49,  1.23it/s]
 27%|██▋       | 247/900 [04:29<06:59,  1.56it/s]
 28%|██▊       | 248/900 [04:29<05:42,  1.90it/s]
 28%|██▊       | 249/900 [04:35<25:11,  2.32s/it]
 28%|██▊       | 250/900 [04:36<18:23,  1.70s/it]
 28%|██▊       | 251/900 [04:36<13:37,  1.26s/it]
 28%|██▊       | 252/900 [04:36<10:16,  1.05it/s]
 28%|██▊       | 253/900 [04:36<07:56,  1.36it/s]
 28%|██▊       | 254/900 [04:36<06:18,  1.71it/s]
 28%|██▊       | 255/900 [04:37<05:10,  2.08it/s]
 28%|██▊       | 256/900 [04:37<04:22,  2.46it/s]
 29%|██▊       | 257/900 [04:44<25:42,  2.40s/it]
 29%|██▊       | 258/900 [04:44<18:44,  1.75s/it]
 29%|██▉       | 259/900 [04:44<13:53,  1.30s/it]
 29%|██▉       | 260/900 [04:45<10:28,  1.02it/s]
 29%|██▉       | 261/900 [04:45<08:05,  1.32it/s]
 29%|██▉       | 262/900 [04:45<06:22,  1.67it/s]
 29%|██▉       | 263/900 [04:45<05:13,  2.03it/s]
 29%|██▉       | 264/900 [04:46<04:23,  2.42it/s]
 29%|██▉       | 265/900 [04:46<04:10,  2.54it/s]
 30%|██▉       | 266/900 [04:46<03:40,  2.88it/s]
 30%|██▉       | 267/900 [04:46<03:17,  3.21it/s]
 30%|██▉       | 268/900 [04:47<03:02,  3.47it/s]
 30%|██▉       | 269/900 [04:47<02:53,  3.63it/s]
 30%|███       | 270/900 [04:47<02:46,  3.79it/s]
 30%|███       | 271/900 [04:47<02:40,  3.92it/s]
 30%|███       | 272/900 [04:48<02:34,  4.06it/s]
 30%|███       | 273/900 [04:59<36:47,  3.52s/it]
 30%|███       | 274/900 [04:59<26:26,  2.54s/it]
 31%|███       | 275/900 [04:59<19:12,  1.84s/it]
 31%|███       | 276/900 [05:00<14:08,  1.36s/it]
 31%|███       | 277/900 [05:00<10:37,  1.02s/it]
 31%|███       | 278/900 [05:00<08:09,  1.27it/s]
 31%|███       | 279/900 [05:00<06:25,  1.61it/s]
 31%|███       | 280/900 [05:00<05:12,  1.99it/s]
 31%|███       | 281/900 [05:14<46:36,  4.52s/it]
 31%|███▏      | 282/900 [05:15<33:18,  3.23s/it]
 31%|███▏      | 283/900 [05:15<24:00,  2.33s/it]
 32%|███▏      | 284/900 [05:15<17:30,  1.71s/it]
 32%|███▏      | 285/900 [05:15<12:58,  1.27s/it]
 32%|███▏      | 286/900 [05:16<09:48,  1.04it/s]
 32%|███▏      | 287/900 [05:16<07:33,  1.35it/s]
 32%|███▏      | 288/900 [05:16<05:59,  1.70it/s]
 32%|███▏      | 289/900 [05:34<1:00:10,  5.91s/it]
 32%|███▏      | 290/900 [05:35<42:44,  4.20s/it]  
 32%|███▏      | 291/900 [05:35<30:34,  3.01s/it]
 32%|███▏      | 292/900 [05:35<22:04,  2.18s/it]
 33%|███▎      | 293/900 [05:35<16:07,  1.59s/it]
 33%|███▎      | 294/900 [05:35<11:57,  1.18s/it]
 33%|███▎      | 295/900 [05:36<09:04,  1.11it/s]
 33%|███▎      | 296/900 [05:36<07:02,  1.43it/s]
 33%|███▎      | 297/900 [05:51<51:26,  5.12s/it]
 33%|███▎      | 298/900 [05:52<36:39,  3.65s/it]
 33%|███▎      | 299/900 [05:52<26:19,  2.63s/it]
 33%|███▎      | 300/900 [05:52<19:04,  1.91s/it]
 33%|███▎      | 301/900 [05:52<14:01,  1.40s/it]
 34%|███▎      | 302/900 [05:53<10:29,  1.05s/it]
 34%|███▎      | 303/900 [05:53<08:00,  1.24it/s]
 34%|███▍      | 304/900 [05:53<06:17,  1.58it/s]
 34%|███▍      | 305/900 [06:00<24:23,  2.46s/it]
 34%|███▍      | 306/900 [06:00<17:44,  1.79s/it]
 34%|███▍      | 307/900 [06:00<13:04,  1.32s/it]
 34%|███▍      | 308/900 [06:00<09:47,  1.01it/s]
 34%|███▍      | 309/900 [06:01<07:30,  1.31it/s]
 34%|███▍      | 310/900 [06:01<05:55,  1.66it/s]
 35%|███▍      | 311/900 [06:01<04:48,  2.04it/s]
 35%|███▍      | 312/900 [06:01<04:01,  2.44it/s]
 35%|███▍      | 313/900 [06:11<30:33,  3.12s/it]
 35%|███▍      | 314/900 [06:11<22:03,  2.26s/it]
 35%|███▌      | 315/900 [06:11<16:06,  1.65s/it]
 35%|███▌      | 316/900 [06:11<11:55,  1.23s/it]
 35%|███▌      | 317/900 [06:12<09:00,  1.08it/s]
 35%|███▌      | 318/900 [06:12<06:59,  1.39it/s]
 35%|███▌      | 319/900 [06:12<05:35,  1.73it/s]
 36%|███▌      | 320/900 [06:12<04:35,  2.10it/s]
 36%|███▌      | 321/900 [06:13<04:36,  2.09it/s]
 36%|███▌      | 322/900 [06:13<03:54,  2.47it/s]
 36%|███▌      | 323/900 [06:13<03:24,  2.82it/s]
 36%|███▌      | 324/900 [06:14<03:03,  3.15it/s]
 36%|███▌      | 325/900 [06:14<02:48,  3.41it/s]
 36%|███▌      | 326/900 [06:14<02:38,  3.63it/s]
 36%|███▋      | 327/900 [06:14<02:30,  3.82it/s]
 36%|███▋      | 328/900 [06:15<02:25,  3.94it/s]
 37%|███▋      | 329/900 [06:34<57:51,  6.08s/it]
 37%|███▋      | 330/900 [06:34<41:07,  4.33s/it]
 37%|███▋      | 331/900 [06:35<29:24,  3.10s/it]
 37%|███▋      | 332/900 [06:35<21:14,  2.24s/it]
 37%|███▋      | 333/900 [06:35<15:30,  1.64s/it]
 37%|███▋      | 334/900 [06:35<11:30,  1.22s/it]
 37%|███▋      | 335/900 [06:36<08:43,  1.08it/s]
 37%|███▋      | 336/900 [06:36<06:46,  1.39it/s]
 37%|███▋      | 337/900 [06:48<39:33,  4.22s/it]
 38%|███▊      | 338/900 [06:48<28:18,  3.02s/it]
 38%|███▊      | 339/900 [06:49<20:27,  2.19s/it]
 38%|███▊      | 340/900 [06:49<14:56,  1.60s/it]
 38%|███▊      | 341/900 [06:49<11:06,  1.19s/it]
 38%|███▊      | 342/900 [06:49<08:25,  1.10it/s]
 38%|███▊      | 343/900 [06:50<06:33,  1.42it/s]
 38%|███▊      | 344/900 [06:50<05:15,  1.76it/s]
 38%|███▊      | 345/900 [06:57<23:39,  2.56s/it]
 38%|███▊      | 346/900 [06:57<17:11,  1.86s/it]
 39%|███▊      | 347/900 [06:58<12:39,  1.37s/it]
 39%|███▊      | 348/900 [06:58<09:29,  1.03s/it]
 39%|███▉      | 349/900 [06:58<07:18,  1.26it/s]
 39%|███▉      | 350/900 [06:58<05:45,  1.59it/s]
 39%|███▉      | 351/900 [06:59<04:38,  1.97it/s]
 39%|███▉      | 352/900 [06:59<03:51,  2.36it/s]
 39%|███▉      | 353/900 [07:22<1:06:36,  7.31s/it]
 39%|███▉      | 354/900 [07:22<47:11,  5.19s/it]  
 39%|███▉      | 355/900 [07:23<33:37,  3.70s/it]
 40%|███▉      | 356/900 [07:23<24:08,  2.66s/it]
 40%|███▉      | 357/900 [07:23<17:31,  1.94s/it]
 40%|███▉      | 358/900 [07:23<12:52,  1.43s/it]
 40%|███▉      | 359/900 [07:24<09:39,  1.07s/it]
 40%|████      | 360/900 [07:24<07:23,  1.22it/s]
 40%|████      | 361/900 [07:24<06:05,  1.48it/s]
 40%|████      | 362/900 [07:24<04:54,  1.83it/s]
 40%|████      | 363/900 [07:25<04:04,  2.19it/s]
 40%|████      | 364/900 [07:25<03:29,  2.55it/s]
 41%|████      | 365/900 [07:25<03:03,  2.92it/s]
 41%|████      | 366/900 [07:25<02:46,  3.21it/s]
 41%|████      | 367/900 [07:26<02:34,  3.44it/s]
 41%|████      | 368/900 [07:26<02:25,  3.66it/s]
 41%|████      | 369/900 [07:26<02:35,  3.42it/s]
 41%|████      | 370/900 [07:26<02:24,  3.66it/s]
 41%|████      | 371/900 [07:27<02:18,  3.83it/s]
 41%|████▏     | 372/900 [07:27<02:13,  3.97it/s]
 41%|████▏     | 373/900 [07:27<02:10,  4.04it/s]
 42%|████▏     | 374/900 [07:27<02:08,  4.10it/s]
 42%|████▏     | 375/900 [07:28<02:06,  4.15it/s]
 42%|████▏     | 376/900 [07:28<02:04,  4.20it/s]
 42%|████▏     | 377/900 [07:41<34:51,  4.00s/it]
 42%|████▏     | 378/900 [07:41<24:57,  2.87s/it]
 42%|████▏     | 379/900 [07:41<18:04,  2.08s/it]
 42%|████▏     | 380/900 [07:41<13:15,  1.53s/it]
 42%|████▏     | 381/900 [07:42<09:52,  1.14s/it]
 42%|████▏     | 382/900 [07:42<07:31,  1.15it/s]
 43%|████▎     | 383/900 [07:42<05:52,  1.47it/s]
 43%|████▎     | 384/900 [07:42<04:43,  1.82it/s]
 43%|████▎     | 385/900 [07:43<04:12,  2.04it/s]
 43%|████▎     | 386/900 [07:43<03:32,  2.42it/s]
 43%|████▎     | 387/900 [07:43<03:04,  2.78it/s]
 43%|████▎     | 388/900 [07:43<02:45,  3.10it/s]
 43%|████▎     | 389/900 [07:44<02:34,  3.30it/s]
 43%|████▎     | 390/900 [07:44<02:25,  3.49it/s]
 43%|████▎     | 391/900 [07:44<02:18,  3.68it/s]
 44%|████▎     | 392/900 [07:44<02:12,  3.85it/s]
 44%|████▎     | 393/900 [07:45<02:23,  3.53it/s]
 44%|████▍     | 394/900 [07:45<02:15,  3.73it/s]
 44%|████▍     | 395/900 [07:45<02:10,  3.86it/s]
 44%|████▍     | 396/900 [07:45<02:07,  3.97it/s]
 44%|████▍     | 397/900 [07:46<02:04,  4.04it/s]
 44%|████▍     | 398/900 [07:46<02:02,  4.10it/s]
 44%|████▍     | 399/900 [07:46<02:00,  4.16it/s]
 44%|████▍     | 400/900 [07:46<01:59,  4.18it/s]
 45%|████▍     | 401/900 [08:19<1:22:49,  9.96s/it]
 45%|████▍     | 402/900 [08:19<58:25,  7.04s/it]  
 45%|████▍     | 403/900 [08:19<41:22,  4.99s/it]
 45%|████▍     | 404/900 [08:20<29:28,  3.56s/it]
 45%|████▌     | 405/900 [08:20<21:10,  2.57s/it]
 45%|████▌     | 406/900 [08:20<15:21,  1.87s/it]
 45%|████▌     | 407/900 [08:20<11:18,  1.38s/it]
 45%|████▌     | 408/900 [08:21<08:29,  1.04s/it]
 45%|████▌     | 409/900 [08:21<06:50,  1.20it/s]
 46%|████▌     | 410/900 [08:21<05:22,  1.52it/s]
 46%|████▌     | 411/900 [08:21<04:21,  1.87it/s]
 46%|████▌     | 412/900 [08:22<03:37,  2.24it/s]
 46%|████▌     | 413/900 [08:22<03:06,  2.61it/s]
 46%|████▌     | 414/900 [08:22<02:43,  2.96it/s]
 46%|████▌     | 415/900 [08:22<02:28,  3.27it/s]
 46%|████▌     | 416/900 [08:23<02:19,  3.48it/s]
 46%|████▋     | 417/900 [08:32<23:58,  2.98s/it]
 46%|████▋     | 418/900 [08:32<17:24,  2.17s/it]
 47%|████▋     | 419/900 [08:32<12:44,  1.59s/it]
 47%|████▋     | 420/900 [08:33<09:27,  1.18s/it]
 47%|████▋     | 421/900 [08:33<07:09,  1.12it/s]
 47%|████▋     | 422/900 [08:33<05:33,  1.43it/s]
 47%|████▋     | 423/900 [08:33<04:26,  1.79it/s]
 47%|████▋     | 424/900 [08:34<03:40,  2.16it/s]
 47%|████▋     | 425/900 [08:43<24:09,  3.05s/it]
 47%|████▋     | 426/900 [08:43<17:26,  2.21s/it]
 47%|████▋     | 427/900 [08:43<12:44,  1.62s/it]
 48%|████▊     | 428/900 [08:43<09:28,  1.21s/it]
 48%|████▊     | 429/900 [08:44<07:11,  1.09it/s]
 48%|████▊     | 430/900 [08:44<05:34,  1.40it/s]
 48%|████▊     | 431/900 [08:44<04:26,  1.76it/s]
 48%|████▊     | 432/900 [08:44<03:39,  2.13it/s]
 48%|████▊     | 433/900 [09:05<51:24,  6.60s/it]
 48%|████▊     | 434/900 [09:05<36:27,  4.69s/it]
 48%|████▊     | 435/900 [09:06<26:01,  3.36s/it]
 48%|████▊     | 436/900 [09:06<18:43,  2.42s/it]
 49%|████▊     | 437/900 [09:06<13:39,  1.77s/it]
 49%|████▊     | 438/900 [09:06<10:08,  1.32s/it]
 49%|████▉     | 439/900 [09:07<07:38,  1.00it/s]
 49%|████▉     | 440/900 [09:07<05:56,  1.29it/s]
 49%|████▉     | 441/900 [09:43<1:27:31, 11.44s/it]
 49%|████▉     | 442/900 [09:43<1:01:38,  8.08s/it]
 49%|████▉     | 443/900 [09:44<43:35,  5.72s/it]  
 49%|████▉     | 444/900 [09:44<30:58,  4.08s/it]
 49%|████▉     | 445/900 [09:44<22:10,  2.92s/it]
 50%|████▉     | 446/900 [09:44<16:01,  2.12s/it]
 50%|████▉     | 447/900 [09:45<11:43,  1.55s/it]
 50%|████▉     | 448/900 [09:45<08:42,  1.16s/it]
 50%|████▉     | 449/900 [09:45<06:52,  1.09it/s]
 50%|█████     | 450/900 [09:45<05:20,  1.40it/s]
 50%|█████     | 451/900 [09:46<04:15,  1.76it/s]
 50%|█████     | 452/900 [09:46<03:30,  2.13it/s]
 50%|█████     | 453/900 [09:46<02:58,  2.51it/s]
 50%|█████     | 454/900 [09:46<02:35,  2.87it/s]
 51%|█████     | 455/900 [09:47<02:19,  3.19it/s]
 51%|█████     | 456/900 [09:47<02:14,  3.31it/s]
 51%|█████     | 457/900 [10:38<1:53:44, 15.40s/it]
 51%|█████     | 458/900 [10:38<1:19:57, 10.85s/it]
 51%|█████     | 459/900 [10:38<56:21,  7.67s/it]  
 51%|█████     | 460/900 [10:38<39:53,  5.44s/it]
 51%|█████     | 461/900 [10:39<28:23,  3.88s/it]
 51%|█████▏    | 462/900 [10:39<20:20,  2.79s/it]
 51%|█████▏    | 463/900 [10:39<14:42,  2.02s/it]
 52%|█████▏    | 464/900 [10:39<10:47,  1.48s/it]
 52%|█████▏    | 465/900 [10:40<08:46,  1.21s/it]
 52%|█████▏    | 466/900 [10:40<06:38,  1.09it/s]
 52%|█████▏    | 467/900 [10:40<05:08,  1.40it/s]
 52%|█████▏    | 468/900 [10:40<04:06,  1.75it/s]
 52%|█████▏    | 469/900 [10:41<03:24,  2.11it/s]
 52%|█████▏    | 470/900 [10:41<02:53,  2.48it/s]
 52%|█████▏    | 471/900 [10:41<02:31,  2.83it/s]
 52%|█████▏    | 472/900 [10:41<02:15,  3.16it/s]
 53%|█████▎    | 473/900 [10:42<02:18,  3.08it/s]
 53%|█████▎    | 474/900 [10:42<02:05,  3.39it/s]
 53%|█████▎    | 475/900 [10:42<01:57,  3.61it/s]
 53%|█████▎    | 476/900 [10:42<01:51,  3.79it/s]
 53%|█████▎    | 477/900 [10:43<01:48,  3.91it/s]
 53%|█████▎    | 478/900 [10:43<01:44,  4.03it/s]
 53%|█████▎    | 479/900 [10:43<01:42,  4.12it/s]
 53%|█████▎    | 480/900 [10:43<01:41,  4.15it/s]
 53%|█████▎    | 481/900 [11:13<1:03:20,  9.07s/it]
 54%|█████▎    | 482/900 [11:13<44:42,  6.42s/it]  
 54%|█████▎    | 483/900 [11:14<31:41,  4.56s/it]
 54%|█████▍    | 484/900 [11:14<22:36,  3.26s/it]
 54%|█████▍    | 485/900 [11:14<16:15,  2.35s/it]
 54%|█████▍    | 486/900 [11:14<11:50,  1.72s/it]
 54%|█████▍    | 487/900 [11:14<08:45,  1.27s/it]
 54%|█████▍    | 488/900 [11:15<06:36,  1.04it/s]
 54%|█████▍    | 489/900 [11:15<05:18,  1.29it/s]
 54%|█████▍    | 490/900 [11:15<04:10,  1.63it/s]
 55%|█████▍    | 491/900 [11:16<03:23,  2.01it/s]
 55%|█████▍    | 492/900 [11:16<02:50,  2.40it/s]
 55%|█████▍    | 493/900 [11:16<02:27,  2.77it/s]
 55%|█████▍    | 494/900 [11:16<02:10,  3.11it/s]
 55%|█████▌    | 495/900 [11:16<01:59,  3.40it/s]
 55%|█████▌    | 496/900 [11:17<01:50,  3.64it/s]
 55%|█████▌    | 497/900 [11:17<01:57,  3.42it/s]
 55%|█████▌    | 498/900 [11:17<01:49,  3.66it/s]
 55%|█████▌    | 499/900 [11:17<01:44,  3.84it/s]
 56%|█████▌    | 500/900 [11:18<02:56,  2.27it/s]
 56%|█████▌    | 501/900 [11:19<02:30,  2.65it/s]
 56%|█████▌    | 502/900 [11:19<02:16,  2.92it/s]
 56%|█████▌    | 503/900 [11:19<02:03,  3.21it/s]
 56%|█████▌    | 504/900 [11:19<01:53,  3.50it/s]
 56%|█████▌    | 505/900 [11:20<01:58,  3.32it/s]
 56%|█████▌    | 506/900 [11:20<01:50,  3.57it/s]
 56%|█████▋    | 507/900 [11:20<01:44,  3.77it/s]
 56%|█████▋    | 508/900 [11:20<01:39,  3.92it/s]
 57%|█████▋    | 509/900 [11:21<01:36,  4.04it/s]
 57%|█████▋    | 510/900 [11:21<01:35,  4.09it/s]
 57%|█████▋    | 511/900 [11:21<01:34,  4.14it/s]
 57%|█████▋    | 512/900 [11:21<01:33,  4.14it/s]
 57%|█████▋    | 513/900 [11:22<02:21,  2.73it/s]
 57%|█████▋    | 514/900 [11:22<02:06,  3.06it/s]
 57%|█████▋    | 515/900 [11:22<01:57,  3.29it/s]
 57%|█████▋    | 516/900 [11:23<01:48,  3.55it/s]
 57%|█████▋    | 517/900 [11:23<01:42,  3.74it/s]
 58%|█████▊    | 518/900 [11:23<01:38,  3.88it/s]
 58%|█████▊    | 519/900 [11:23<01:37,  3.93it/s]
 58%|█████▊    | 520/900 [11:24<01:38,  3.86it/s]
 58%|█████▊    | 521/900 [11:24<01:47,  3.52it/s]
 58%|█████▊    | 522/900 [11:24<01:42,  3.68it/s]
 58%|█████▊    | 523/900 [11:24<01:39,  3.78it/s]
 58%|█████▊    | 524/900 [11:25<01:37,  3.87it/s]
 58%|█████▊    | 525/900 [11:25<01:35,  3.94it/s]
 58%|█████▊    | 526/900 [11:25<01:33,  4.00it/s]
 59%|█████▊    | 527/900 [11:25<01:33,  4.00it/s]
 59%|█████▊    | 528/900 [11:26<01:32,  4.03it/s]
 59%|█████▉    | 529/900 [11:48<43:26,  7.03s/it]
 59%|█████▉    | 530/900 [11:49<30:46,  4.99s/it]
 59%|█████▉    | 531/900 [11:49<21:55,  3.57s/it]
 59%|█████▉    | 532/900 [11:49<15:46,  2.57s/it]
 59%|█████▉    | 533/900 [11:49<11:26,  1.87s/it]
 59%|█████▉    | 534/900 [11:50<08:25,  1.38s/it]
 59%|█████▉    | 535/900 [11:50<06:18,  1.04s/it]
 60%|█████▉    | 536/900 [11:50<04:49,  1.26it/s]
 60%|█████▉    | 537/900 [11:51<03:58,  1.52it/s]
 60%|█████▉    | 538/900 [11:51<03:12,  1.88it/s]
 60%|█████▉    | 539/900 [11:51<02:39,  2.26it/s]
 60%|██████    | 540/900 [11:51<02:17,  2.61it/s]
 60%|██████    | 541/900 [11:51<02:00,  2.97it/s]
 60%|██████    | 542/900 [11:52<01:49,  3.26it/s]
 60%|██████    | 543/900 [11:52<01:42,  3.49it/s]
 60%|██████    | 544/900 [11:52<01:36,  3.68it/s]
 61%|██████    | 545/900 [11:53<01:50,  3.22it/s]
 61%|██████    | 546/900 [11:53<01:42,  3.45it/s]
 61%|██████    | 547/900 [11:53<01:36,  3.67it/s]
 61%|██████    | 548/900 [11:53<01:31,  3.83it/s]
 61%|██████    | 549/900 [11:54<01:29,  3.91it/s]
 61%|██████    | 550/900 [11:54<01:26,  4.02it/s]
 61%|██████    | 551/900 [11:54<01:25,  4.07it/s]
 61%|██████▏   | 552/900 [11:54<01:24,  4.11it/s]
 61%|██████▏   | 553/900 [11:55<01:34,  3.67it/s]
 62%|██████▏   | 554/900 [11:55<01:30,  3.82it/s]
 62%|██████▏   | 555/900 [11:55<01:27,  3.94it/s]
 62%|██████▏   | 556/900 [11:55<01:24,  4.06it/s]
 62%|██████▏   | 557/900 [11:56<01:23,  4.10it/s]
 62%|██████▏   | 558/900 [11:56<01:22,  4.15it/s]
 62%|██████▏   | 559/900 [11:56<01:22,  4.14it/s]
 62%|██████▏   | 560/900 [11:56<01:21,  4.18it/s]
 62%|██████▏   | 561/900 [12:15<32:03,  5.67s/it]
 62%|██████▏   | 562/900 [12:15<22:46,  4.04s/it]
 63%|██████▎   | 563/900 [12:15<16:18,  2.90s/it]
 63%|██████▎   | 564/900 [12:15<11:46,  2.10s/it]
 63%|██████▎   | 565/900 [12:16<08:36,  1.54s/it]
 63%|██████▎   | 566/900 [12:16<06:24,  1.15s/it]
 63%|██████▎   | 567/900 [12:16<04:51,  1.14it/s]
 63%|██████▎   | 568/900 [12:16<03:47,  1.46it/s]
 63%|██████▎   | 569/900 [12:17<03:13,  1.71it/s]
 63%|██████▎   | 570/900 [12:17<02:37,  2.09it/s]
 63%|██████▎   | 571/900 [12:17<02:14,  2.45it/s]
 64%|██████▎   | 572/900 [12:17<01:57,  2.78it/s]
 64%|██████▎   | 573/900 [12:18<01:49,  3.00it/s]
 64%|██████▍   | 574/900 [12:18<01:40,  3.23it/s]
 64%|██████▍   | 575/900 [12:18<01:36,  3.38it/s]
 64%|██████▍   | 576/900 [12:18<01:31,  3.53it/s]
 64%|██████▍   | 577/900 [12:19<01:39,  3.24it/s]
 64%|██████▍   | 578/900 [12:19<01:33,  3.43it/s]
 64%|██████▍   | 579/900 [12:19<01:30,  3.57it/s]
 64%|██████▍   | 580/900 [12:19<01:28,  3.63it/s]
 65%|██████▍   | 581/900 [12:20<01:26,  3.70it/s]
 65%|██████▍   | 582/900 [12:20<01:25,  3.74it/s]
 65%|██████▍   | 583/900 [12:20<01:24,  3.74it/s]
 65%|██████▍   | 584/900 [12:21<01:21,  3.86it/s]
 65%|██████▌   | 585/900 [12:27<11:51,  2.26s/it]
 65%|██████▌   | 586/900 [12:28<08:39,  1.65s/it]
 65%|██████▌   | 587/900 [12:28<06:25,  1.23s/it]
 65%|██████▌   | 588/900 [12:28<04:52,  1.07it/s]
 65%|██████▌   | 589/900 [12:28<03:46,  1.37it/s]
 66%|██████▌   | 590/900 [12:29<03:00,  1.72it/s]
 66%|██████▌   | 591/900 [12:29<02:28,  2.08it/s]
 66%|██████▌   | 592/900 [12:29<02:04,  2.47it/s]
 66%|██████▌   | 593/900 [12:30<02:02,  2.50it/s]
 66%|██████▌   | 594/900 [12:30<01:47,  2.84it/s]
 66%|██████▌   | 595/900 [12:30<01:37,  3.12it/s]
 66%|██████▌   | 596/900 [12:30<01:31,  3.34it/s]
 66%|██████▋   | 597/900 [12:30<01:25,  3.54it/s]
 66%|██████▋   | 598/900 [12:31<01:22,  3.67it/s]
 67%|██████▋   | 599/900 [12:31<01:19,  3.78it/s]
 67%|██████▋   | 600/900 [12:31<01:17,  3.88it/s]
 67%|██████▋   | 601/900 [12:32<01:26,  3.47it/s]
 67%|██████▋   | 602/900 [12:32<01:20,  3.71it/s]
 67%|██████▋   | 603/900 [12:32<01:16,  3.88it/s]
 67%|██████▋   | 604/900 [12:32<01:13,  4.01it/s]
 67%|██████▋   | 605/900 [12:33<01:11,  4.12it/s]
 67%|██████▋   | 606/900 [12:33<01:09,  4.21it/s]
 67%|██████▋   | 607/900 [12:33<01:09,  4.21it/s]
 68%|██████▊   | 608/900 [12:33<01:08,  4.24it/s]
 68%|██████▊   | 609/900 [12:52<28:20,  5.84s/it]
 68%|██████▊   | 610/900 [12:52<20:08,  4.17s/it]
 68%|██████▊   | 611/900 [12:53<14:25,  2.99s/it]
 68%|██████▊   | 612/900 [12:53<10:24,  2.17s/it]
 68%|██████▊   | 613/900 [12:53<07:36,  1.59s/it]
 68%|██████▊   | 614/900 [12:53<05:41,  1.19s/it]
 68%|██████▊   | 615/900 [12:54<04:22,  1.09it/s]
 68%|██████▊   | 616/900 [12:54<03:25,  1.38it/s]
 69%|██████▊   | 617/900 [12:54<02:57,  1.60it/s]
 69%|██████▊   | 618/900 [12:55<02:24,  1.95it/s]
 69%|██████▉   | 619/900 [12:55<02:04,  2.26it/s]
 69%|██████▉   | 620/900 [12:55<01:48,  2.58it/s]
 69%|██████▉   | 621/900 [12:55<01:37,  2.87it/s]
 69%|██████▉   | 622/900 [12:56<01:28,  3.13it/s]
 69%|██████▉   | 623/900 [12:56<01:23,  3.33it/s]
 69%|██████▉   | 624/900 [12:56<01:19,  3.49it/s]
 69%|██████▉   | 625/900 [13:06<14:29,  3.16s/it]
 70%|██████▉   | 626/900 [13:06<10:25,  2.28s/it]
 70%|██████▉   | 627/900 [13:06<07:36,  1.67s/it]
 70%|██████▉   | 628/900 [13:07<05:37,  1.24s/it]
 70%|██████▉   | 629/900 [13:07<04:13,  1.07it/s]
 70%|███████   | 630/900 [13:07<03:15,  1.38it/s]
 70%|███████   | 631/900 [13:07<02:34,  1.74it/s]
 70%|███████   | 632/900 [13:08<02:06,  2.12it/s]
 70%|███████   | 633/900 [13:08<01:56,  2.29it/s]
 70%|███████   | 634/900 [13:08<01:39,  2.67it/s]
 71%|███████   | 635/900 [13:08<01:28,  3.00it/s]
 71%|███████   | 636/900 [13:09<01:21,  3.26it/s]
 71%|███████   | 637/900 [13:09<01:15,  3.47it/s]
 71%|███████   | 638/900 [13:09<01:12,  3.63it/s]
 71%|███████   | 639/900 [13:09<01:08,  3.83it/s]
 71%|███████   | 640/900 [13:10<01:06,  3.94it/s]
 71%|███████   | 641/900 [13:54<57:56, 13.42s/it]
 71%|███████▏  | 642/900 [13:54<40:42,  9.47s/it]
 71%|███████▏  | 643/900 [13:54<28:41,  6.70s/it]
 72%|███████▏  | 644/900 [13:55<20:18,  4.76s/it]
 72%|███████▏  | 645/900 [13:55<14:27,  3.40s/it]
 72%|███████▏  | 646/900 [13:55<10:22,  2.45s/it]
 72%|███████▏  | 647/900 [13:55<07:32,  1.79s/it]
 72%|███████▏  | 648/900 [13:55<05:33,  1.32s/it]
 72%|███████▏  | 649/900 [14:11<22:59,  5.49s/it]
 72%|███████▏  | 650/900 [14:11<16:19,  3.92s/it]
 72%|███████▏  | 651/900 [14:11<11:41,  2.82s/it]
 72%|███████▏  | 652/900 [14:11<08:25,  2.04s/it]
 73%|███████▎  | 653/900 [14:12<06:10,  1.50s/it]
 73%|███████▎  | 654/900 [14:12<04:35,  1.12s/it]
 73%|███████▎  | 655/900 [14:12<03:28,  1.17it/s]
 73%|███████▎  | 656/900 [14:12<02:42,  1.50it/s]
 73%|███████▎  | 657/900 [14:30<23:06,  5.70s/it]
 73%|███████▎  | 658/900 [14:30<16:23,  4.06s/it]
 73%|███████▎  | 659/900 [14:30<11:41,  2.91s/it]
 73%|███████▎  | 660/900 [14:30<08:26,  2.11s/it]
 73%|███████▎  | 661/900 [14:31<06:09,  1.55s/it]
 74%|███████▎  | 662/900 [14:31<04:34,  1.15s/it]
 74%|███████▎  | 663/900 [14:31<03:27,  1.14it/s]
 74%|███████▍  | 664/900 [14:31<02:40,  1.47it/s]
 74%|███████▍  | 665/900 [14:32<02:40,  1.46it/s]
 74%|███████▍  | 666/900 [14:32<02:08,  1.83it/s]
 74%|███████▍  | 667/900 [14:33<01:45,  2.22it/s]
 74%|███████▍  | 668/900 [14:33<01:29,  2.60it/s]
 74%|███████▍  | 669/900 [14:33<01:18,  2.94it/s]
 74%|███████▍  | 670/900 [14:33<01:12,  3.17it/s]
 75%|███████▍  | 671/900 [14:34<01:07,  3.39it/s]
 75%|███████▍  | 672/900 [14:34<01:04,  3.55it/s]
 75%|███████▍  | 673/900 [14:49<18:31,  4.90s/it]
 75%|███████▍  | 674/900 [14:50<13:10,  3.50s/it]
 75%|███████▌  | 675/900 [14:50<09:26,  2.52s/it]
 75%|███████▌  | 676/900 [14:50<06:50,  1.83s/it]
 75%|███████▌  | 677/900 [14:50<05:02,  1.35s/it]
 75%|███████▌  | 678/900 [14:51<03:45,  1.02s/it]
 75%|███████▌  | 679/900 [14:51<02:52,  1.28it/s]
 76%|███████▌  | 680/900 [14:51<02:15,  1.62it/s]
 76%|███████▌  | 681/900 [14:52<02:10,  1.68it/s]
 76%|███████▌  | 682/900 [14:52<01:45,  2.06it/s]
 76%|███████▌  | 683/900 [14:52<01:29,  2.44it/s]
 76%|███████▌  | 684/900 [14:52<01:17,  2.80it/s]
 76%|███████▌  | 685/900 [14:53<01:08,  3.12it/s]
 76%|███████▌  | 686/900 [14:53<01:03,  3.38it/s]
 76%|███████▋  | 687/900 [14:53<00:58,  3.61it/s]
 76%|███████▋  | 688/900 [14:53<00:56,  3.75it/s]
 77%|███████▋  | 689/900 [14:54<01:43,  2.04it/s]
 77%|███████▋  | 690/900 [14:55<01:27,  2.41it/s]
 77%|███████▋  | 691/900 [14:55<01:15,  2.76it/s]
 77%|███████▋  | 692/900 [14:55<01:07,  3.08it/s]
 77%|███████▋  | 693/900 [14:55<01:01,  3.34it/s]
 77%|███████▋  | 694/900 [14:55<00:58,  3.55it/s]
 77%|███████▋  | 695/900 [14:56<00:55,  3.73it/s]
 77%|███████▋  | 696/900 [14:56<00:53,  3.85it/s]
 77%|███████▋  | 697/900 [15:14<18:55,  5.60s/it]
 78%|███████▊  | 698/900 [15:14<13:25,  3.99s/it]
 78%|███████▊  | 699/900 [15:14<09:35,  2.86s/it]
 78%|███████▊  | 700/900 [15:15<06:55,  2.08s/it]
 78%|███████▊  | 701/900 [15:15<05:03,  1.53s/it]
 78%|███████▊  | 702/900 [15:15<03:45,  1.14s/it]
 78%|███████▊  | 703/900 [15:15<02:51,  1.15it/s]
 78%|███████▊  | 704/900 [15:16<02:13,  1.47it/s]
 78%|███████▊  | 705/900 [15:16<01:58,  1.65it/s]
 78%|███████▊  | 706/900 [15:16<01:36,  2.01it/s]
 79%|███████▊  | 707/900 [15:17<01:20,  2.39it/s]
 79%|███████▊  | 708/900 [15:17<01:10,  2.73it/s]
 79%|███████▉  | 709/900 [15:17<01:02,  3.05it/s]
 79%|███████▉  | 710/900 [15:17<00:57,  3.32it/s]
 79%|███████▉  | 711/900 [15:18<00:53,  3.55it/s]
 79%|███████▉  | 712/900 [15:18<00:50,  3.73it/s]
 79%|███████▉  | 713/900 [15:18<01:03,  2.95it/s]
 79%|███████▉  | 714/900 [15:19<00:57,  3.22it/s]
 79%|███████▉  | 715/900 [15:19<00:53,  3.48it/s]
 80%|███████▉  | 716/900 [15:19<00:49,  3.71it/s]
 80%|███████▉  | 717/900 [15:19<00:47,  3.87it/s]
 80%|███████▉  | 718/900 [15:19<00:45,  3.96it/s]
 80%|███████▉  | 719/900 [15:20<00:44,  4.03it/s]
 80%|████████  | 720/900 [15:20<00:44,  4.06it/s]
 80%|████████  | 721/900 [15:40<18:21,  6.15s/it]
 80%|████████  | 722/900 [15:40<13:00,  4.39s/it]
 80%|████████  | 723/900 [15:40<09:16,  3.15s/it]
 80%|████████  | 724/900 [15:41<06:41,  2.28s/it]
 81%|████████  | 725/900 [15:41<04:52,  1.67s/it]
 81%|████████  | 726/900 [15:41<03:36,  1.25s/it]
 81%|████████  | 727/900 [15:41<02:43,  1.06it/s]
 81%|████████  | 728/900 [15:42<02:06,  1.36it/s]
 81%|████████  | 729/900 [15:42<01:45,  1.62it/s]
 81%|████████  | 730/900 [15:42<01:27,  1.95it/s]
 81%|████████  | 731/900 [15:43<01:13,  2.31it/s]
 81%|████████▏ | 732/900 [15:43<01:03,  2.66it/s]
 81%|████████▏ | 733/900 [15:43<00:56,  2.97it/s]
 82%|████████▏ | 734/900 [15:43<00:51,  3.24it/s]
 82%|████████▏ | 735/900 [15:43<00:47,  3.44it/s]
 82%|████████▏ | 736/900 [15:44<00:45,  3.60it/s]
 82%|████████▏ | 737/900 [15:44<00:49,  3.33it/s]
 82%|████████▏ | 738/900 [15:44<00:46,  3.51it/s]
 82%|████████▏ | 739/900 [15:45<00:43,  3.66it/s]
 82%|████████▏ | 740/900 [15:45<00:42,  3.74it/s]
 82%|████████▏ | 741/900 [15:45<00:41,  3.85it/s]
 82%|████████▏ | 742/900 [15:45<00:40,  3.86it/s]
 83%|████████▎ | 743/900 [15:46<00:40,  3.84it/s]
 83%|████████▎ | 744/900 [15:46<00:40,  3.90it/s]
 83%|████████▎ | 745/900 [16:26<31:23, 12.15s/it]
 83%|████████▎ | 746/900 [16:26<22:02,  8.59s/it]
 83%|████████▎ | 747/900 [16:26<15:31,  6.09s/it]
 83%|████████▎ | 748/900 [16:27<10:59,  4.34s/it]
 83%|████████▎ | 749/900 [16:27<07:50,  3.12s/it]
 83%|████████▎ | 750/900 [16:27<05:39,  2.26s/it]
 83%|████████▎ | 751/900 [16:27<04:07,  1.66s/it]
 84%|████████▎ | 752/900 [16:28<03:03,  1.24s/it]
 84%|████████▎ | 753/900 [16:28<02:30,  1.03s/it]
 84%|████████▍ | 754/900 [16:28<01:56,  1.26it/s]
 84%|████████▍ | 755/900 [16:29<01:32,  1.57it/s]
 84%|████████▍ | 756/900 [16:29<01:15,  1.91it/s]
 84%|████████▍ | 757/900 [16:29<01:03,  2.26it/s]
 84%|████████▍ | 758/900 [16:29<00:54,  2.58it/s]
 84%|████████▍ | 759/900 [16:30<00:49,  2.87it/s]
 84%|████████▍ | 760/900 [16:30<00:45,  3.11it/s]
 85%|████████▍ | 761/900 [16:30<00:54,  2.56it/s]
 85%|████████▍ | 762/900 [16:31<00:48,  2.83it/s]
 85%|████████▍ | 763/900 [16:31<00:44,  3.08it/s]
 85%|████████▍ | 764/900 [16:31<00:41,  3.28it/s]
 85%|████████▌ | 765/900 [16:32<00:39,  3.42it/s]
 85%|████████▌ | 766/900 [16:32<00:37,  3.54it/s]
 85%|████████▌ | 767/900 [16:32<00:36,  3.65it/s]
 85%|████████▌ | 768/900 [16:32<00:34,  3.77it/s]
 85%|████████▌ | 769/900 [16:34<01:24,  1.55it/s]
 86%|████████▌ | 770/900 [16:34<01:08,  1.90it/s]
 86%|████████▌ | 771/900 [16:34<00:57,  2.25it/s]
 86%|████████▌ | 772/900 [16:35<00:49,  2.58it/s]
 86%|████████▌ | 773/900 [16:35<00:46,  2.76it/s]
 86%|████████▌ | 774/900 [16:35<00:41,  3.03it/s]
 86%|████████▌ | 775/900 [16:35<00:38,  3.25it/s]
 86%|████████▌ | 776/900 [16:36<00:36,  3.44it/s]
 86%|████████▋ | 777/900 [17:15<24:54, 12.15s/it]
 86%|████████▋ | 778/900 [17:16<17:26,  8.58s/it]
 87%|████████▋ | 779/900 [17:16<12:16,  6.08s/it]
 87%|████████▋ | 780/900 [17:16<08:40,  4.33s/it]
 87%|████████▋ | 781/900 [17:16<06:09,  3.10s/it]
 87%|████████▋ | 782/900 [17:17<04:24,  2.24s/it]
 87%|████████▋ | 783/900 [17:17<03:11,  1.64s/it]
 87%|████████▋ | 784/900 [17:17<02:20,  1.22s/it]
 87%|████████▋ | 785/900 [17:46<18:08,  9.46s/it]
 87%|████████▋ | 786/900 [17:46<12:42,  6.69s/it]
 87%|████████▋ | 787/900 [17:46<08:57,  4.75s/it]
 88%|████████▊ | 788/900 [17:47<06:20,  3.40s/it]
 88%|████████▊ | 789/900 [17:47<04:31,  2.45s/it]
 88%|████████▊ | 790/900 [17:47<03:15,  1.78s/it]
 88%|████████▊ | 791/900 [17:47<02:23,  1.32s/it]
 88%|████████▊ | 792/900 [17:47<01:46,  1.01it/s]
 88%|████████▊ | 793/900 [17:48<01:29,  1.19it/s]
 88%|████████▊ | 794/900 [17:48<01:10,  1.51it/s]
 88%|████████▊ | 795/900 [17:48<00:56,  1.86it/s]
 88%|████████▊ | 796/900 [17:49<00:46,  2.24it/s]
 89%|████████▊ | 797/900 [17:49<00:39,  2.63it/s]
 89%|████████▊ | 798/900 [17:49<00:34,  2.96it/s]
 89%|████████▉ | 799/900 [17:49<00:30,  3.27it/s]
 89%|████████▉ | 800/900 [17:50<00:28,  3.53it/s]
 89%|████████▉ | 801/900 [17:50<00:30,  3.22it/s]
 89%|████████▉ | 802/900 [17:50<00:28,  3.47it/s]
 89%|████████▉ | 803/900 [17:50<00:26,  3.62it/s]
 89%|████████▉ | 804/900 [17:51<00:25,  3.77it/s]
 89%|████████▉ | 805/900 [17:51<00:24,  3.87it/s]
 90%|████████▉ | 806/900 [17:51<00:23,  3.96it/s]
 90%|████████▉ | 807/900 [17:51<00:23,  4.02it/s]
 90%|████████▉ | 808/900 [17:52<00:22,  4.09it/s]
 90%|████████▉ | 809/900 [18:13<09:55,  6.55s/it]
 90%|█████████ | 810/900 [18:13<06:58,  4.65s/it]
 90%|█████████ | 811/900 [18:13<04:56,  3.33s/it]
 90%|█████████ | 812/900 [18:14<03:30,  2.40s/it]
 90%|█████████ | 813/900 [18:14<02:32,  1.75s/it]
 90%|█████████ | 814/900 [18:14<01:51,  1.29s/it]
 91%|█████████ | 815/900 [18:14<01:22,  1.03it/s]
 91%|█████████ | 816/900 [18:15<01:03,  1.33it/s]
 91%|█████████ | 817/900 [18:15<00:52,  1.59it/s]
 91%|█████████ | 818/900 [18:15<00:41,  1.96it/s]
 91%|█████████ | 819/900 [18:15<00:34,  2.34it/s]
 91%|█████████ | 820/900 [18:16<00:29,  2.70it/s]
 91%|█████████ | 821/900 [18:16<00:26,  3.02it/s]
 91%|█████████▏| 822/900 [18:16<00:23,  3.30it/s]
 91%|█████████▏| 823/900 [18:16<00:21,  3.50it/s]
 92%|█████████▏| 824/900 [18:17<00:20,  3.67it/s]
 92%|█████████▏| 825/900 [18:28<04:23,  3.51s/it]
 92%|█████████▏| 826/900 [18:28<03:07,  2.53s/it]
 92%|█████████▏| 827/900 [18:28<02:14,  1.84s/it]
 92%|█████████▏| 828/900 [18:28<01:37,  1.36s/it]
 92%|█████████▏| 829/900 [18:29<01:12,  1.02s/it]
 92%|█████████▏| 830/900 [18:29<00:54,  1.28it/s]
 92%|█████████▏| 831/900 [18:29<00:43,  1.60it/s]
 92%|█████████▏| 832/900 [18:29<00:34,  1.95it/s]
 93%|█████████▎| 833/900 [19:04<12:00, 10.75s/it]
 93%|█████████▎| 834/900 [19:04<08:21,  7.60s/it]
 93%|█████████▎| 835/900 [19:04<05:50,  5.40s/it]
 93%|█████████▎| 836/900 [19:05<04:06,  3.85s/it]
 93%|█████████▎| 837/900 [19:05<02:54,  2.77s/it]
 93%|█████████▎| 838/900 [19:05<02:04,  2.01s/it]
 93%|█████████▎| 839/900 [19:05<01:30,  1.49s/it]
 93%|█████████▎| 840/900 [19:06<01:06,  1.12s/it]
 93%|█████████▎| 841/900 [19:25<06:34,  6.68s/it]
 94%|█████████▎| 842/900 [19:26<04:35,  4.75s/it]
 94%|█████████▎| 843/900 [19:26<03:13,  3.39s/it]
 94%|█████████▍| 844/900 [19:26<02:16,  2.44s/it]
 94%|█████████▍| 845/900 [19:26<01:37,  1.78s/it]
 94%|█████████▍| 846/900 [19:27<01:10,  1.31s/it]
 94%|█████████▍| 847/900 [19:27<00:52,  1.01it/s]
 94%|█████████▍| 848/900 [19:27<00:39,  1.31it/s]
 94%|█████████▍| 849/900 [19:37<03:01,  3.57s/it]
 94%|█████████▍| 850/900 [19:37<02:08,  2.57s/it]
 95%|█████████▍| 851/900 [19:38<01:31,  1.87s/it]
 95%|█████████▍| 852/900 [19:38<01:06,  1.38s/it]
 95%|█████████▍| 853/900 [19:38<00:48,  1.03s/it]
 95%|█████████▍| 854/900 [19:38<00:36,  1.26it/s]
 95%|█████████▌| 855/900 [19:39<00:28,  1.60it/s]
 95%|█████████▌| 856/900 [19:39<00:22,  1.97it/s]
 95%|█████████▌| 857/900 [20:01<04:59,  6.97s/it]
 95%|█████████▌| 858/900 [20:01<03:28,  4.95s/it]
 95%|█████████▌| 859/900 [20:01<02:25,  3.54s/it]
 96%|█████████▌| 860/900 [20:02<01:42,  2.55s/it]
 96%|█████████▌| 861/900 [20:02<01:12,  1.86s/it]
 96%|█████████▌| 862/900 [20:02<00:52,  1.37s/it]
 96%|█████████▌| 863/900 [20:02<00:38,  1.03s/it]
 96%|█████████▌| 864/900 [20:02<00:28,  1.26it/s]
 96%|█████████▌| 865/900 [20:20<03:21,  5.76s/it]
 96%|█████████▌| 866/900 [20:20<02:19,  4.10s/it]
 96%|█████████▋| 867/900 [20:20<01:37,  2.94s/it]
 96%|█████████▋| 868/900 [20:21<01:08,  2.13s/it]
 97%|█████████▋| 869/900 [20:21<00:48,  1.56s/it]
 97%|█████████▋| 870/900 [20:21<00:34,  1.16s/it]
 97%|█████████▋| 871/900 [20:21<00:25,  1.13it/s]
 97%|█████████▋| 872/900 [20:21<00:19,  1.46it/s]
 97%|█████████▋| 873/900 [20:36<02:10,  4.82s/it]
 97%|█████████▋| 874/900 [20:36<01:29,  3.45s/it]
 97%|█████████▋| 875/900 [20:36<01:02,  2.48s/it]
 97%|█████████▋| 876/900 [20:37<00:43,  1.81s/it]
 97%|█████████▋| 877/900 [20:37<00:30,  1.34s/it]
 98%|█████████▊| 878/900 [20:37<00:22,  1.01s/it]
 98%|█████████▊| 879/900 [20:37<00:16,  1.29it/s]
 98%|█████████▊| 880/900 [20:38<00:12,  1.63it/s]
 98%|█████████▊| 881/900 [20:38<00:10,  1.88it/s]
 98%|█████████▊| 882/900 [20:38<00:07,  2.25it/s]
 98%|█████████▊| 883/900 [20:38<00:06,  2.62it/s]
 98%|█████████▊| 884/900 [20:39<00:05,  2.98it/s]
 98%|█████████▊| 885/900 [20:39<00:04,  3.29it/s]
 98%|█████████▊| 886/900 [20:39<00:03,  3.54it/s]
 99%|█████████▊| 887/900 [20:39<00:03,  3.69it/s]
 99%|█████████▊| 888/900 [20:40<00:03,  3.81it/s]
 99%|█████████▉| 889/900 [20:40<00:03,  3.38it/s]
 99%|█████████▉| 890/900 [20:40<00:02,  3.59it/s]
 99%|█████████▉| 891/900 [20:40<00:02,  3.75it/s]
 99%|█████████▉| 892/900 [20:41<00:02,  3.85it/s]
 99%|█████████▉| 893/900 [20:41<00:01,  3.98it/s]
 99%|█████████▉| 894/900 [20:41<00:01,  4.06it/s]
 99%|█████████▉| 895/900 [20:41<00:01,  4.12it/s]
100%|█████████▉| 896/900 [20:42<00:00,  4.13it/s]
100%|█████████▉| 897/900 [20:42<00:00,  3.64it/s]
100%|█████████▉| 898/900 [20:42<00:00,  3.77it/s]
100%|█████████▉| 899/900 [20:42<00:00,  3.90it/s]
100%|█████████▉| 899/900 [20:43<00:01,  1.38s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/log_2_env0.json.
+FoodPacking1BoxesTask_2 complete: task_name: FoodPacking1BoxesTask, run_name: FoodPacking1BoxesTask_2, run: 2, env_id: 0, policy: harness, instruction: Pack boxed foods into the bin, attributes: ['semantics', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -16.273122797250444, 'joint_sparc_mean': -18.90323521601236, 'ee_isj': 32498.731053201285, 'joint_isj': 1581352.9652993057, 'ee_path_length': 8.838672289350507, 'joint_rmse_mean': 1.939478176510346, 'ee_speed_max': 2.4564497470855713, 'ee_speed_mean': 0.14484810829162598}, events: {'GRIPPER_FULLY_CLOSED': 3, 'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 1037.638, 'policy_inference_avg_ms': 1152.9, 'env_step_s': 195.12, 'env_step_avg_ms': 216.8, 'video_write_s': 9.94, 'video_write_avg_ms': 11.0, 'wall_total_s': 1242.699, 'it_per_sec': 0.72}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=cheez_it) (step 1/2), harness_episode_id: f922526c3c47488c80b5edd794691051-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-30T22:53:51Z [24,604,833ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.195719 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-30T22:53:54Z [24,607,430ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-30T22:53:54Z [24,607,430ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T22:53:54Z [24,607,533ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-30T22:53:54Z [24,607,533ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T22:53:54Z [24,607,543ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T22:53:54Z [24,607,550ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-30T22:53:54Z [24,607,864ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1135))' not available in the MDL representation.
+2026-10-30T22:53:54Z [24,607,864ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1135))' not available in the MDL representation.
+2026-10-30T22:53:55Z [24,607,950ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1176))' not available in the MDL representation.
+2026-10-30T22:53:55Z [24,607,950ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1176))' not available in the MDL representation.
+2026-10-30T22:53:55Z [24,607,956ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1179))' not available in the MDL representation.
+2026-10-30T22:53:55Z [24,607,956ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1179))' not available in the MDL representation.
+2026-10-30T22:53:55Z [24,608,608ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1135))' not available in the MDL representation.
+2026-10-30T22:53:55Z [24,608,609ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1135))' not available in the MDL representation.
+2026-10-30T22:53:55Z [24,608,612ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1176))' not available in the MDL representation.
+2026-10-30T22:53:55Z [24,608,612ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1176))' not available in the MDL representation.
+2026-10-30T22:53:55Z [24,608,612ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1179))' not available in the MDL representation.
+2026-10-30T22:53:55Z [24,608,613ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1179))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.688090 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : RubiksCubeThenBananaTask                      │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the cube then the banana in the bowl      │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : RubiksCubeThenBananaTaskSceneEnvCfg           │
+│  Attributes  : conjunction, simple                           │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running RubiksCubeThenBananaTask_0: 'Put the cube then the banana in the bowl' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:27<6:44:39, 27.01s/it]
  0%|          | 2/900 [00:27<2:48:23, 11.25s/it]
  0%|          | 3/900 [00:27<1:32:53,  6.21s/it]
  0%|          | 4/900 [00:27<57:25,  3.85s/it]  
  1%|          | 5/900 [00:27<37:50,  2.54s/it]
  1%|          | 6/900 [00:28<26:02,  1.75s/it]
  1%|          | 7/900 [00:28<18:33,  1.25s/it]
  1%|          | 8/900 [00:28<13:39,  1.09it/s]
  1%|          | 9/900 [00:36<46:02,  3.10s/it]
  1%|          | 10/900 [00:36<32:47,  2.21s/it]
  1%|          | 11/900 [00:36<23:42,  1.60s/it]
  1%|▏         | 12/900 [00:37<17:27,  1.18s/it]
  1%|▏         | 13/900 [00:37<13:06,  1.13it/s]
  2%|▏         | 14/900 [00:37<10:06,  1.46it/s]
  2%|▏         | 15/900 [00:37<08:01,  1.84it/s]
  2%|▏         | 16/900 [00:37<06:34,  2.24it/s]
  2%|▏         | 17/900 [00:49<55:21,  3.76s/it]
  2%|▏         | 18/900 [00:49<39:53,  2.71s/it]
  2%|▏         | 19/900 [00:49<28:50,  1.96s/it]
  2%|▏         | 20/900 [00:50<21:08,  1.44s/it]
  2%|▏         | 21/900 [00:50<15:44,  1.07s/it]
  2%|▏         | 22/900 [00:50<11:57,  1.22it/s]
  3%|▎         | 23/900 [00:50<09:24,  1.55it/s]
  3%|▎         | 24/900 [00:51<07:34,  1.93it/s]
  3%|▎         | 25/900 [00:58<38:24,  2.63s/it]
  3%|▎         | 26/900 [00:58<27:48,  1.91s/it]
  3%|▎         | 27/900 [00:59<20:23,  1.40s/it]
  3%|▎         | 28/900 [00:59<15:11,  1.04s/it]
  3%|▎         | 29/900 [00:59<11:33,  1.26it/s]
  3%|▎         | 30/900 [00:59<09:03,  1.60it/s]
  3%|▎         | 31/900 [00:59<07:19,  1.98it/s]
  4%|▎         | 32/900 [01:00<06:12,  2.33it/s]
  4%|▎         | 33/900 [01:08<38:28,  2.66s/it]
  4%|▍         | 34/900 [01:08<27:55,  1.93s/it]
  4%|▍         | 35/900 [01:08<20:36,  1.43s/it]
  4%|▍         | 36/900 [01:08<15:26,  1.07s/it]
  4%|▍         | 37/900 [01:09<11:48,  1.22it/s]
  4%|▍         | 38/900 [01:09<09:15,  1.55it/s]
  4%|▍         | 39/900 [01:09<07:31,  1.91it/s]
  4%|▍         | 40/900 [01:09<06:16,  2.28it/s]
  5%|▍         | 41/900 [01:16<34:11,  2.39s/it]
  5%|▍         | 42/900 [01:16<24:56,  1.74s/it]
  5%|▍         | 43/900 [01:17<18:27,  1.29s/it]
  5%|▍         | 44/900 [01:17<13:55,  1.02it/s]
  5%|▌         | 45/900 [01:17<10:47,  1.32it/s]
  5%|▌         | 46/900 [01:17<08:35,  1.66it/s]
  5%|▌         | 47/900 [01:18<07:02,  2.02it/s]
  5%|▌         | 48/900 [01:18<06:00,  2.37it/s]
  5%|▌         | 49/900 [01:24<30:05,  2.12s/it]
  6%|▌         | 50/900 [01:24<22:05,  1.56s/it]
  6%|▌         | 51/900 [01:24<16:28,  1.16s/it]
  6%|▌         | 52/900 [01:25<12:33,  1.12it/s]
  6%|▌         | 53/900 [01:25<09:48,  1.44it/s]
  6%|▌         | 54/900 [01:25<07:53,  1.79it/s]
  6%|▌         | 55/900 [01:25<06:33,  2.15it/s]
  6%|▌         | 56/900 [01:26<05:38,  2.50it/s]
  6%|▋         | 57/900 [01:34<39:15,  2.79s/it]
  6%|▋         | 58/900 [01:34<28:28,  2.03s/it]
  7%|▋         | 59/900 [01:35<20:55,  1.49s/it]
  7%|▋         | 60/900 [01:35<15:37,  1.12s/it]
  7%|▋         | 61/900 [01:35<11:55,  1.17it/s]
  7%|▋         | 62/900 [01:35<09:17,  1.50it/s]
  7%|▋         | 63/900 [01:35<07:28,  1.87it/s]
  7%|▋         | 64/900 [01:36<06:11,  2.25it/s]
  7%|▋         | 65/900 [01:42<31:06,  2.24s/it]
  7%|▋         | 66/900 [01:42<22:42,  1.63s/it]
  7%|▋         | 67/900 [01:43<16:48,  1.21s/it]
  8%|▊         | 68/900 [01:43<12:37,  1.10it/s]
  8%|▊         | 69/900 [01:43<09:47,  1.41it/s]
  8%|▊         | 70/900 [01:43<07:43,  1.79it/s]
  8%|▊         | 71/900 [01:43<06:18,  2.19it/s]
  8%|▊         | 72/900 [01:44<05:19,  2.59it/s]
  8%|▊         | 73/900 [01:57<58:48,  4.27s/it]
  8%|▊         | 74/900 [01:57<42:03,  3.06s/it]
  8%|▊         | 75/900 [01:57<30:18,  2.20s/it]
  8%|▊         | 76/900 [01:58<22:05,  1.61s/it]
  9%|▊         | 77/900 [01:58<16:21,  1.19s/it]
  9%|▊         | 78/900 [01:58<12:19,  1.11it/s]
  9%|▉         | 79/900 [01:58<09:28,  1.44it/s]
  9%|▉         | 80/900 [01:59<07:30,  1.82it/s]
  9%|▉         | 81/900 [02:07<40:48,  2.99s/it]
  9%|▉         | 82/900 [02:07<29:30,  2.16s/it]
  9%|▉         | 83/900 [02:08<21:39,  1.59s/it]
  9%|▉         | 84/900 [02:08<16:05,  1.18s/it]
  9%|▉         | 85/900 [02:08<12:12,  1.11it/s]
 10%|▉         | 86/900 [02:08<09:32,  1.42it/s]
 10%|▉         | 87/900 [02:09<07:39,  1.77it/s]
 10%|▉         | 88/900 [02:09<06:20,  2.13it/s]
 10%|▉         | 89/900 [02:20<49:01,  3.63s/it]
 10%|█         | 90/900 [02:20<35:14,  2.61s/it]
 10%|█         | 91/900 [02:20<25:33,  1.90s/it]
 10%|█         | 92/900 [02:21<18:48,  1.40s/it]
 10%|█         | 93/900 [02:21<14:04,  1.05s/it]
 10%|█         | 94/900 [02:21<10:47,  1.24it/s]
 11%|█         | 95/900 [02:21<08:28,  1.58it/s]
 11%|█         | 96/900 [02:22<06:48,  1.97it/s]
 11%|█         | 97/900 [02:26<23:54,  1.79s/it]
 11%|█         | 98/900 [02:26<17:36,  1.32s/it]
 11%|█         | 99/900 [02:27<13:12,  1.01it/s]
 11%|█         | 100/900 [02:27<10:08,  1.31it/s]
 11%|█         | 101/900 [02:27<07:59,  1.67it/s]
 11%|█▏        | 102/900 [02:27<06:29,  2.05it/s]
 11%|█▏        | 103/900 [02:28<05:24,  2.45it/s]
 12%|█▏        | 104/900 [02:28<04:39,  2.84it/s]
 12%|█▏        | 105/900 [02:38<42:06,  3.18s/it]
 12%|█▏        | 106/900 [02:38<30:19,  2.29s/it]
 12%|█▏        | 107/900 [02:38<22:07,  1.67s/it]
 12%|█▏        | 108/900 [02:38<16:21,  1.24s/it]
 12%|█▏        | 109/900 [02:39<12:17,  1.07it/s]
 12%|█▏        | 110/900 [02:39<09:26,  1.39it/s]
 12%|█▏        | 111/900 [02:39<07:28,  1.76it/s]
 12%|█▏        | 112/900 [02:39<06:04,  2.16it/s]
 13%|█▎        | 113/900 [02:51<51:05,  3.90s/it]
 13%|█▎        | 114/900 [02:51<36:36,  2.79s/it]
 13%|█▎        | 115/900 [02:52<26:28,  2.02s/it]
 13%|█▎        | 116/900 [02:52<19:22,  1.48s/it]
 13%|█▎        | 117/900 [02:52<14:25,  1.11s/it]
 13%|█▎        | 118/900 [02:52<10:59,  1.19it/s]
 13%|█▎        | 119/900 [02:52<08:35,  1.51it/s]
 13%|█▎        | 120/900 [02:53<06:54,  1.88it/s]
 13%|█▎        | 121/900 [02:59<30:14,  2.33s/it]
 14%|█▎        | 122/900 [02:59<22:01,  1.70s/it]
 14%|█▎        | 123/900 [03:00<16:16,  1.26s/it]
 14%|█▍        | 124/900 [03:00<12:17,  1.05it/s]
 14%|█▍        | 125/900 [03:00<09:29,  1.36it/s]
 14%|█▍        | 126/900 [03:00<07:30,  1.72it/s]
 14%|█▍        | 127/900 [03:01<06:09,  2.09it/s]
 14%|█▍        | 128/900 [03:01<05:11,  2.48it/s]
 14%|█▍        | 129/900 [03:08<33:11,  2.58s/it]
 14%|█▍        | 130/900 [03:09<24:07,  1.88s/it]
 15%|█▍        | 131/900 [03:09<17:45,  1.39s/it]
 15%|█▍        | 132/900 [03:09<13:17,  1.04s/it]
 15%|█▍        | 133/900 [03:09<10:10,  1.26it/s]
 15%|█▍        | 134/900 [03:10<07:57,  1.61it/s]
 15%|█▌        | 135/900 [03:10<06:21,  2.00it/s]
 15%|█▌        | 136/900 [03:10<05:16,  2.41it/s]
 15%|█▌        | 137/900 [03:19<36:55,  2.90s/it]
 15%|█▌        | 138/900 [03:19<26:39,  2.10s/it]
 15%|█▌        | 139/900 [03:19<19:30,  1.54s/it]
 16%|█▌        | 140/900 [03:19<14:28,  1.14s/it]
 16%|█▌        | 141/900 [03:20<10:57,  1.15it/s]
 16%|█▌        | 142/900 [03:20<08:31,  1.48it/s]
 16%|█▌        | 143/900 [03:20<06:53,  1.83it/s]
 16%|█▌        | 144/900 [03:20<05:42,  2.21it/s]
 16%|█▌        | 145/900 [03:32<48:34,  3.86s/it]
 16%|█▌        | 146/900 [03:32<34:51,  2.77s/it]
 16%|█▋        | 147/900 [03:33<25:16,  2.01s/it]
 16%|█▋        | 148/900 [03:33<18:32,  1.48s/it]
 17%|█▋        | 149/900 [03:33<13:46,  1.10s/it]
 17%|█▋        | 150/900 [03:33<10:28,  1.19it/s]
 17%|█▋        | 151/900 [03:34<08:08,  1.53it/s]
 17%|█▋        | 152/900 [03:34<06:31,  1.91it/s]
 17%|█▋        | 153/900 [03:44<44:38,  3.59s/it]
 17%|█▋        | 154/900 [03:45<32:03,  2.58s/it]
 17%|█▋        | 155/900 [03:45<23:14,  1.87s/it]
 17%|█▋        | 156/900 [03:45<17:02,  1.37s/it]
 17%|█▋        | 157/900 [03:45<12:43,  1.03s/it]
 18%|█▊        | 158/900 [03:46<09:41,  1.28it/s]
 18%|█▊        | 159/900 [03:46<07:33,  1.63it/s]
 18%|█▊        | 160/900 [03:46<06:07,  2.01it/s]
 18%|█▊        | 161/900 [03:54<34:28,  2.80s/it]
 18%|█▊        | 162/900 [03:54<24:52,  2.02s/it]
 18%|█▊        | 163/900 [03:55<18:11,  1.48s/it]
 18%|█▊        | 164/900 [03:55<13:31,  1.10s/it]
 18%|█▊        | 165/900 [03:55<10:17,  1.19it/s]
 18%|█▊        | 166/900 [03:55<08:00,  1.53it/s]
 19%|█▊        | 167/900 [03:56<06:24,  1.91it/s]
 19%|█▊        | 168/900 [03:56<05:19,  2.29it/s]
 19%|█▉        | 169/900 [04:02<26:04,  2.14s/it]
 19%|█▉        | 170/900 [04:02<19:04,  1.57s/it]
 19%|█▉        | 171/900 [04:02<14:10,  1.17s/it]
 19%|█▉        | 172/900 [04:03<10:45,  1.13it/s]
 19%|█▉        | 173/900 [04:03<08:23,  1.44it/s]
 19%|█▉        | 174/900 [04:03<06:42,  1.80it/s]
 19%|█▉        | 175/900 [04:03<05:32,  2.18it/s]
 20%|█▉        | 176/900 [04:03<04:42,  2.56it/s]
 20%|█▉        | 177/900 [04:12<33:56,  2.82s/it]
 20%|█▉        | 178/900 [04:12<24:34,  2.04s/it]
 20%|█▉        | 179/900 [04:12<18:04,  1.50s/it]
 20%|██        | 180/900 [04:13<13:30,  1.13s/it]
 20%|██        | 181/900 [04:13<10:17,  1.16it/s]
 20%|██        | 182/900 [04:13<08:04,  1.48it/s]
 20%|██        | 183/900 [04:13<06:28,  1.84it/s]
 20%|██        | 184/900 [04:14<05:22,  2.22it/s]
 21%|██        | 185/900 [04:29<58:38,  4.92s/it]
 21%|██        | 186/900 [04:29<41:52,  3.52s/it]
 21%|██        | 187/900 [04:29<30:09,  2.54s/it]
 21%|██        | 188/900 [04:30<21:56,  1.85s/it]
 21%|██        | 189/900 [04:30<16:11,  1.37s/it]
 21%|██        | 190/900 [04:30<12:06,  1.02s/it]
 21%|██        | 191/900 [04:30<09:13,  1.28it/s]
 21%|██▏       | 192/900 [04:31<07:12,  1.64it/s]
 21%|██▏       | 193/900 [04:56<1:34:53,  8.05s/it]
 22%|██▏       | 194/900 [04:56<1:07:06,  5.70s/it]
 22%|██▏       | 195/900 [04:56<47:41,  4.06s/it]  
 22%|██▏       | 196/900 [04:57<34:06,  2.91s/it]
 22%|██▏       | 197/900 [04:57<24:36,  2.10s/it]
 22%|██▏       | 198/900 [04:57<17:58,  1.54s/it]
 22%|██▏       | 199/900 [04:57<13:20,  1.14s/it]
 22%|██▏       | 200/900 [04:58<10:05,  1.16it/s]
 22%|██▏       | 201/900 [05:13<1:01:53,  5.31s/it]
 22%|██▏       | 202/900 [05:14<44:02,  3.79s/it]  
 23%|██▎       | 203/900 [05:14<31:32,  2.72s/it]
 23%|██▎       | 204/900 [05:14<22:49,  1.97s/it]
 23%|██▎       | 205/900 [05:14<16:43,  1.44s/it]
 23%|██▎       | 206/900 [05:14<12:27,  1.08s/it]
 23%|██▎       | 207/900 [05:15<09:27,  1.22it/s]
 23%|██▎       | 208/900 [05:15<07:22,  1.56it/s]
 23%|██▎       | 209/900 [05:22<30:20,  2.64s/it]
 23%|██▎       | 210/900 [05:22<21:57,  1.91s/it]
 23%|██▎       | 211/900 [05:23<16:07,  1.40s/it]
 24%|██▎       | 212/900 [05:23<12:02,  1.05s/it]
 24%|██▎       | 213/900 [05:23<09:09,  1.25it/s]
 24%|██▍       | 214/900 [05:23<07:09,  1.60it/s]
 24%|██▍       | 215/900 [05:23<05:45,  1.98it/s]
 24%|██▍       | 216/900 [05:24<04:48,  2.37it/s]
 24%|██▍       | 217/900 [05:31<28:20,  2.49s/it]
 24%|██▍       | 218/900 [05:31<20:35,  1.81s/it]
 24%|██▍       | 219/900 [05:31<15:09,  1.34s/it]
 24%|██▍       | 220/900 [05:32<11:23,  1.00s/it]
 25%|██▍       | 221/900 [05:32<08:42,  1.30it/s]
 25%|██▍       | 222/900 [05:32<06:49,  1.66it/s]
 25%|██▍       | 223/900 [05:32<05:30,  2.05it/s]
 25%|██▍       | 224/900 [05:33<04:36,  2.45it/s]
 25%|██▌       | 225/900 [05:40<29:10,  2.59s/it]
 25%|██▌       | 226/900 [05:40<21:10,  1.89s/it]
 25%|██▌       | 227/900 [05:41<15:35,  1.39s/it]
 25%|██▌       | 228/900 [05:41<11:42,  1.05s/it]
 25%|██▌       | 229/900 [05:41<08:57,  1.25it/s]
 26%|██▌       | 230/900 [05:41<07:01,  1.59it/s]
 26%|██▌       | 231/900 [05:42<05:43,  1.95it/s]
 26%|██▌       | 232/900 [05:42<04:47,  2.33it/s]
 26%|██▌       | 233/900 [06:03<1:13:53,  6.65s/it]
 26%|██▌       | 234/900 [06:03<52:24,  4.72s/it]  
 26%|██▌       | 235/900 [06:04<37:24,  3.37s/it]
 26%|██▌       | 236/900 [06:04<26:52,  2.43s/it]
 26%|██▋       | 237/900 [06:04<19:29,  1.76s/it]
 26%|██▋       | 238/900 [06:04<14:20,  1.30s/it]
 27%|██▋       | 239/900 [06:04<10:46,  1.02it/s]
 27%|██▋       | 240/900 [06:05<08:15,  1.33it/s]
 27%|██▋       | 241/900 [06:26<1:16:13,  6.94s/it]
 27%|██▋       | 242/900 [06:26<53:59,  4.92s/it]  
 27%|██▋       | 243/900 [06:26<38:26,  3.51s/it]
 27%|██▋       | 244/900 [06:27<27:34,  2.52s/it]
 27%|██▋       | 245/900 [06:27<19:59,  1.83s/it]
 27%|██▋       | 246/900 [06:27<14:42,  1.35s/it]
 27%|██▋       | 247/900 [06:27<10:59,  1.01s/it]
 28%|██▊       | 248/900 [06:28<08:24,  1.29it/s]
 28%|██▊       | 249/900 [07:00<1:51:47, 10.30s/it]
 28%|██▊       | 250/900 [07:00<1:18:51,  7.28s/it]
 28%|██▊       | 251/900 [07:00<55:49,  5.16s/it]  
 28%|██▊       | 252/900 [07:01<39:43,  3.68s/it]
 28%|██▊       | 253/900 [07:01<28:27,  2.64s/it]
 28%|██▊       | 254/900 [07:01<20:34,  1.91s/it]
 28%|██▊       | 255/900 [07:01<15:04,  1.40s/it]
 28%|██▊       | 256/900 [07:02<11:14,  1.05s/it]
 29%|██▊       | 257/900 [07:09<32:00,  2.99s/it]
 29%|██▊       | 258/900 [07:09<23:11,  2.17s/it]
 29%|██▉       | 259/900 [07:10<16:54,  1.58s/it]
 29%|██▉       | 260/900 [07:10<12:32,  1.18s/it]
 29%|██▉       | 261/900 [07:10<09:27,  1.13it/s]
 29%|██▉       | 262/900 [07:10<07:18,  1.46it/s]
 29%|██▉       | 263/900 [07:10<05:48,  1.83it/s]
 29%|██▉       | 264/900 [07:11<04:45,  2.23it/s]
 29%|██▉       | 265/900 [07:20<34:18,  3.24s/it]
 30%|██▉       | 266/900 [07:21<24:41,  2.34s/it]
 30%|██▉       | 267/900 [07:21<17:56,  1.70s/it]
 30%|██▉       | 268/900 [07:21<13:13,  1.25s/it]
 30%|██▉       | 269/900 [07:21<09:56,  1.06it/s]
 30%|███       | 270/900 [07:22<07:38,  1.37it/s]
 30%|███       | 271/900 [07:22<06:01,  1.74it/s]
 30%|███       | 272/900 [07:22<04:54,  2.13it/s]
 30%|███       | 273/900 [07:29<23:58,  2.29s/it]
 30%|███       | 274/900 [07:29<17:26,  1.67s/it]
 31%|███       | 275/900 [07:29<12:52,  1.24s/it]
 31%|███       | 276/900 [07:29<09:41,  1.07it/s]
 31%|███       | 277/900 [07:29<07:27,  1.39it/s]
 31%|███       | 278/900 [07:30<05:53,  1.76it/s]
 31%|███       | 279/900 [07:30<04:46,  2.17it/s]
 31%|███       | 280/900 [07:30<04:01,  2.57it/s]
 31%|███       | 281/900 [07:43<42:48,  4.15s/it]
 31%|███▏      | 282/900 [07:43<30:37,  2.97s/it]
 31%|███▏      | 283/900 [07:43<22:05,  2.15s/it]
 32%|███▏      | 284/900 [07:44<16:06,  1.57s/it]
 32%|███▏      | 285/900 [07:44<11:56,  1.16s/it]
 32%|███▏      | 286/900 [07:44<09:01,  1.13it/s]
 32%|███▏      | 287/900 [07:44<06:59,  1.46it/s]
 32%|███▏      | 288/900 [07:45<05:33,  1.83it/s]
 32%|███▏      | 289/900 [07:54<33:47,  3.32s/it]
 32%|███▏      | 290/900 [07:55<24:18,  2.39s/it]
 32%|███▏      | 291/900 [07:55<17:40,  1.74s/it]
 32%|███▏      | 292/900 [07:55<13:04,  1.29s/it]
 33%|███▎      | 293/900 [07:55<09:49,  1.03it/s]
 33%|███▎      | 294/900 [07:55<07:33,  1.34it/s]
 33%|███▎      | 295/900 [07:56<05:57,  1.69it/s]
 33%|███▎      | 296/900 [07:56<04:54,  2.05it/s]
 33%|███▎      | 297/900 [08:06<33:31,  3.34s/it]
 33%|███▎      | 298/900 [08:06<24:07,  2.40s/it]
 33%|███▎      | 299/900 [08:06<17:33,  1.75s/it]
 33%|███▎      | 300/900 [08:07<12:59,  1.30s/it]
 33%|███▎      | 301/900 [08:07<09:50,  1.01it/s]
 34%|███▎      | 302/900 [08:07<07:37,  1.31it/s]
 34%|███▎      | 303/900 [08:07<06:03,  1.64it/s]
 34%|███▍      | 304/900 [08:08<04:57,  2.00it/s]
 34%|███▍      | 305/900 [08:16<27:55,  2.82s/it]
 34%|███▍      | 306/900 [08:16<20:14,  2.05s/it]
 34%|███▍      | 307/900 [08:16<14:52,  1.50s/it]
 34%|███▍      | 308/900 [08:17<11:06,  1.13s/it]
 34%|███▍      | 309/900 [08:17<08:29,  1.16it/s]
 34%|███▍      | 310/900 [08:17<06:38,  1.48it/s]
 35%|███▍      | 311/900 [08:17<05:21,  1.83it/s]
 35%|███▍      | 312/900 [08:18<04:27,  2.20it/s]
 35%|███▍      | 313/900 [08:36<56:36,  5.79s/it]
 35%|███▍      | 314/900 [08:36<40:17,  4.12s/it]
 35%|███▌      | 315/900 [08:36<28:52,  2.96s/it]
 35%|███▌      | 316/900 [08:36<20:49,  2.14s/it]
 35%|███▌      | 317/900 [08:37<15:11,  1.56s/it]
 35%|███▌      | 318/900 [08:37<11:17,  1.16s/it]
 35%|███▌      | 319/900 [08:37<08:33,  1.13it/s]
 36%|███▌      | 320/900 [08:37<06:37,  1.46it/s]
 36%|███▌      | 321/900 [08:58<1:03:30,  6.58s/it]
 36%|███▌      | 322/900 [08:58<45:01,  4.67s/it]  
 36%|███▌      | 323/900 [08:58<32:08,  3.34s/it]
 36%|███▌      | 324/900 [08:58<23:05,  2.41s/it]
 36%|███▌      | 325/900 [08:59<16:46,  1.75s/it]
 36%|███▌      | 326/900 [08:59<12:21,  1.29s/it]
 36%|███▋      | 327/900 [08:59<09:17,  1.03it/s]
 36%|███▋      | 328/900 [08:59<07:07,  1.34it/s]
 37%|███▋      | 329/900 [09:12<41:29,  4.36s/it]
 37%|███▋      | 330/900 [09:12<29:37,  3.12s/it]
 37%|███▋      | 331/900 [09:13<21:19,  2.25s/it]
 37%|███▋      | 332/900 [09:13<15:31,  1.64s/it]
 37%|███▋      | 333/900 [09:13<11:28,  1.21s/it]
 37%|███▋      | 334/900 [09:13<08:38,  1.09it/s]
 37%|███▋      | 335/900 [09:13<06:39,  1.41it/s]
 37%|███▋      | 336/900 [09:14<05:16,  1.78it/s]
 37%|███▋      | 337/900 [09:21<24:42,  2.63s/it]
 38%|███▊      | 338/900 [09:21<17:56,  1.91s/it]
 38%|███▊      | 339/900 [09:22<13:13,  1.41s/it]
 38%|███▊      | 340/900 [09:22<09:54,  1.06s/it]
 38%|███▊      | 341/900 [09:22<07:35,  1.23it/s]
 38%|███▊      | 342/900 [09:22<05:58,  1.56it/s]
 38%|███▊      | 343/900 [09:23<04:49,  1.92it/s]
 38%|███▊      | 344/900 [09:23<04:02,  2.30it/s]
 38%|███▊      | 345/900 [09:34<35:00,  3.79s/it]
 38%|███▊      | 346/900 [09:35<25:07,  2.72s/it]
 39%|███▊      | 347/900 [09:35<18:12,  1.98s/it]
 39%|███▊      | 348/900 [09:35<13:19,  1.45s/it]
 39%|███▉      | 349/900 [09:35<09:54,  1.08s/it]
 39%|███▉      | 350/900 [09:35<07:30,  1.22it/s]
 39%|███▉      | 351/900 [09:36<05:50,  1.57it/s]
 39%|███▉      | 352/900 [09:36<04:40,  1.95it/s]
 39%|███▉      | 353/900 [09:50<43:04,  4.72s/it]
 39%|███▉      | 354/900 [09:51<30:41,  3.37s/it]
 39%|███▉      | 355/900 [09:51<22:02,  2.43s/it]
 40%|███▉      | 356/900 [09:51<16:00,  1.76s/it]
 40%|███▉      | 357/900 [09:51<11:46,  1.30s/it]
 40%|███▉      | 358/900 [09:52<08:49,  1.02it/s]
 40%|███▉      | 359/900 [09:52<06:45,  1.33it/s]
 40%|████      | 360/900 [09:52<05:18,  1.70it/s]
 40%|████      | 361/900 [10:09<50:17,  5.60s/it]
 40%|████      | 362/900 [10:10<35:43,  3.98s/it]
 40%|████      | 363/900 [10:10<25:33,  2.86s/it]
 40%|████      | 364/900 [10:10<18:27,  2.07s/it]
 41%|████      | 365/900 [10:10<13:28,  1.51s/it]
 41%|████      | 366/900 [10:10<10:04,  1.13s/it]
 41%|████      | 367/900 [10:11<07:43,  1.15it/s]
 41%|████      | 368/900 [10:11<05:59,  1.48it/s]
 41%|████      | 369/900 [10:19<26:26,  2.99s/it]
 41%|████      | 370/900 [10:20<19:04,  2.16s/it]
 41%|████      | 371/900 [10:20<13:54,  1.58s/it]
 41%|████▏     | 372/900 [10:20<10:18,  1.17s/it]
 41%|████▏     | 373/900 [10:20<07:47,  1.13it/s]
 42%|████▏     | 374/900 [10:20<06:01,  1.45it/s]
 42%|████▏     | 375/900 [10:21<04:47,  1.83it/s]
 42%|████▏     | 376/900 [10:21<03:55,  2.22it/s]
 42%|████▏     | 377/900 [10:36<41:18,  4.74s/it]
 42%|████▏     | 378/900 [10:36<29:26,  3.38s/it]
 42%|████▏     | 379/900 [10:36<21:09,  2.44s/it]
 42%|████▏     | 380/900 [10:36<15:20,  1.77s/it]
 42%|████▏     | 381/900 [10:36<11:18,  1.31s/it]
 42%|████▏     | 382/900 [10:37<08:28,  1.02it/s]
 43%|████▎     | 383/900 [10:37<06:29,  1.33it/s]
 43%|████▎     | 384/900 [10:37<05:06,  1.68it/s]
 43%|████▎     | 385/900 [10:44<21:48,  2.54s/it]
 43%|████▎     | 386/900 [10:44<15:50,  1.85s/it]
 43%|████▎     | 387/900 [10:45<11:39,  1.36s/it]
 43%|████▎     | 388/900 [10:45<08:45,  1.03s/it]
 43%|████▎     | 389/900 [10:45<06:44,  1.26it/s]
 43%|████▎     | 390/900 [10:45<05:18,  1.60it/s]
 43%|████▎     | 391/900 [10:46<04:19,  1.96it/s]
 44%|████▎     | 392/900 [10:46<03:36,  2.34it/s]
 44%|████▎     | 393/900 [11:07<55:43,  6.60s/it]
 44%|████▍     | 394/900 [11:07<39:32,  4.69s/it]
 44%|████▍     | 395/900 [11:07<28:12,  3.35s/it]
 44%|████▍     | 396/900 [11:08<20:17,  2.41s/it]
 44%|████▍     | 397/900 [11:08<14:48,  1.77s/it]
 44%|████▍     | 398/900 [11:08<10:57,  1.31s/it]
 44%|████▍     | 399/900 [11:08<08:15,  1.01it/s]
 44%|████▍     | 400/900 [11:09<06:23,  1.31it/s]
 45%|████▍     | 401/900 [11:26<48:44,  5.86s/it]
 45%|████▍     | 402/900 [11:27<34:41,  4.18s/it]
 45%|████▍     | 403/900 [11:27<24:50,  3.00s/it]
 45%|████▍     | 404/900 [11:27<17:57,  2.17s/it]
 45%|████▌     | 405/900 [11:27<13:09,  1.60s/it]
 45%|████▌     | 406/900 [11:28<09:48,  1.19s/it]
 45%|████▌     | 407/900 [11:28<07:27,  1.10it/s]
 45%|████▌     | 408/900 [11:28<05:47,  1.41it/s]
 45%|████▌     | 409/900 [11:56<1:13:52,  9.03s/it]
 46%|████▌     | 410/900 [11:57<52:12,  6.39s/it]  
 46%|████▌     | 411/900 [11:57<37:02,  4.55s/it]
 46%|████▌     | 412/900 [11:57<26:28,  3.25s/it]
 46%|████▌     | 413/900 [11:57<19:05,  2.35s/it]
 46%|████▌     | 414/900 [11:58<13:54,  1.72s/it]
 46%|████▌     | 415/900 [11:58<10:18,  1.27s/it]
 46%|████▌     | 416/900 [11:58<07:46,  1.04it/s]
 46%|████▋     | 417/900 [12:21<59:37,  7.41s/it]
 46%|████▋     | 418/900 [12:21<42:10,  5.25s/it]
 47%|████▋     | 419/900 [12:21<29:59,  3.74s/it]
 47%|████▋     | 420/900 [12:21<21:29,  2.69s/it]
 47%|████▋     | 421/900 [12:22<15:32,  1.95s/it]
 47%|████▋     | 422/900 [12:22<11:22,  1.43s/it]
 47%|████▋     | 423/900 [12:22<08:27,  1.06s/it]
 47%|████▋     | 424/900 [12:22<06:26,  1.23it/s]
 47%|████▋     | 425/900 [12:31<25:21,  3.20s/it]
 47%|████▋     | 426/900 [12:31<18:13,  2.31s/it]
 47%|████▋     | 427/900 [12:31<13:14,  1.68s/it]
 48%|████▊     | 428/900 [12:32<09:46,  1.24s/it]
 48%|████▊     | 429/900 [12:32<07:20,  1.07it/s]
 48%|████▊     | 430/900 [12:32<05:38,  1.39it/s]
 48%|████▊     | 431/900 [12:32<04:27,  1.76it/s]
 48%|████▊     | 432/900 [12:32<03:37,  2.15it/s]
 48%|████▊     | 433/900 [12:43<26:37,  3.42s/it]
 48%|████▊     | 434/900 [12:43<19:06,  2.46s/it]
 48%|████▊     | 435/900 [12:43<13:51,  1.79s/it]
 48%|████▊     | 436/900 [12:43<10:11,  1.32s/it]
 49%|████▊     | 437/900 [12:44<07:37,  1.01it/s]
 49%|████▊     | 438/900 [12:44<05:50,  1.32it/s]
 49%|████▉     | 439/900 [12:44<04:35,  1.67it/s]
 49%|████▉     | 440/900 [12:44<03:44,  2.05it/s]
 49%|████▉     | 441/900 [13:01<40:35,  5.31s/it]
 49%|████▉     | 442/900 [13:01<28:51,  3.78s/it]
 49%|████▉     | 443/900 [13:01<20:39,  2.71s/it]
 49%|████▉     | 444/900 [13:02<14:56,  1.96s/it]
 49%|████▉     | 445/900 [13:02<10:56,  1.44s/it]
 50%|████▉     | 446/900 [13:02<08:09,  1.08s/it]
 50%|████▉     | 447/900 [13:02<06:11,  1.22it/s]
 50%|████▉     | 448/900 [13:02<04:50,  1.56it/s]
 50%|████▉     | 449/900 [13:25<54:42,  7.28s/it]
 50%|█████     | 450/900 [13:25<38:42,  5.16s/it]
 50%|█████     | 451/900 [13:26<27:31,  3.68s/it]
 50%|█████     | 452/900 [13:26<19:42,  2.64s/it]
 50%|█████     | 453/900 [13:26<14:14,  1.91s/it]
 50%|█████     | 454/900 [13:26<10:25,  1.40s/it]
 51%|█████     | 455/900 [13:27<07:46,  1.05s/it]
 51%|█████     | 456/900 [13:27<05:54,  1.25it/s]
 51%|█████     | 457/900 [13:44<42:29,  5.76s/it]
 51%|█████     | 458/900 [13:44<30:13,  4.10s/it]
 51%|█████     | 459/900 [13:45<21:38,  2.94s/it]
 51%|█████     | 460/900 [13:45<15:39,  2.13s/it]
 51%|█████     | 461/900 [13:45<11:28,  1.57s/it]
 51%|█████▏    | 462/900 [13:45<08:32,  1.17s/it]
 51%|█████▏    | 463/900 [13:46<06:30,  1.12it/s]
 52%|█████▏    | 464/900 [13:46<05:04,  1.43it/s]
 52%|█████▏    | 465/900 [14:19<1:16:44, 10.59s/it]
 52%|█████▏    | 466/900 [14:20<54:07,  7.48s/it]  
 52%|█████▏    | 467/900 [14:20<38:20,  5.31s/it]
 52%|█████▏    | 468/900 [14:20<27:18,  3.79s/it]
 52%|█████▏    | 469/900 [14:20<19:32,  2.72s/it]
 52%|█████▏    | 470/900 [14:21<14:05,  1.97s/it]
 52%|█████▏    | 471/900 [14:21<10:17,  1.44s/it]
 52%|█████▏    | 472/900 [14:21<07:38,  1.07s/it]
 53%|█████▎    | 473/900 [14:40<45:25,  6.38s/it]
 53%|█████▎    | 474/900 [14:40<32:10,  4.53s/it]
 53%|█████▎    | 475/900 [14:40<22:56,  3.24s/it]
 53%|█████▎    | 476/900 [14:40<16:29,  2.33s/it]
 53%|█████▎    | 477/900 [14:41<11:58,  1.70s/it]
 53%|█████▎    | 478/900 [14:41<08:49,  1.25s/it]
 53%|█████▎    | 479/900 [14:41<06:37,  1.06it/s]
 53%|█████▎    | 480/900 [14:41<05:05,  1.38it/s]
 53%|█████▎    | 481/900 [14:51<23:40,  3.39s/it]
 54%|█████▎    | 482/900 [14:51<16:58,  2.44s/it]
 54%|█████▎    | 483/900 [14:51<12:18,  1.77s/it]
 54%|█████▍    | 484/900 [14:52<09:02,  1.30s/it]
 54%|█████▍    | 485/900 [14:52<06:45,  1.02it/s]
 54%|█████▍    | 486/900 [14:52<05:09,  1.34it/s]
 54%|█████▍    | 487/900 [14:52<04:02,  1.70it/s]
 54%|█████▍    | 488/900 [14:52<03:17,  2.09it/s]
 54%|█████▍    | 489/900 [15:02<22:46,  3.32s/it]
 54%|█████▍    | 490/900 [15:03<16:22,  2.40s/it]
 55%|█████▍    | 491/900 [15:03<11:55,  1.75s/it]
 55%|█████▍    | 492/900 [15:03<08:49,  1.30s/it]
 55%|█████▍    | 493/900 [15:03<06:38,  1.02it/s]
 55%|█████▍    | 494/900 [15:04<05:07,  1.32it/s]
 55%|█████▌    | 495/900 [15:04<04:03,  1.66it/s]
 55%|█████▌    | 496/900 [15:04<03:19,  2.02it/s]
 55%|█████▌    | 497/900 [15:18<29:51,  4.44s/it]
 55%|█████▌    | 498/900 [15:18<21:20,  3.19s/it]
 55%|█████▌    | 499/900 [15:18<15:23,  2.30s/it]
 56%|█████▌    | 500/900 [15:19<12:28,  1.87s/it]
 56%|█████▌    | 501/900 [15:19<09:11,  1.38s/it]
 56%|█████▌    | 502/900 [15:20<06:54,  1.04s/it]
 56%|█████▌    | 503/900 [15:20<05:19,  1.24it/s]
 56%|█████▌    | 504/900 [15:20<04:11,  1.57it/s]
 56%|█████▌    | 505/900 [15:32<26:52,  4.08s/it]
 56%|█████▌    | 506/900 [15:32<19:14,  2.93s/it]
 56%|█████▋    | 507/900 [15:33<13:55,  2.13s/it]
 56%|█████▋    | 508/900 [15:33<10:11,  1.56s/it]
 57%|█████▋    | 509/900 [15:33<07:35,  1.17s/it]
 57%|█████▋    | 510/900 [15:33<05:46,  1.12it/s]
 57%|█████▋    | 511/900 [15:34<04:30,  1.44it/s]
 57%|█████▋    | 512/900 [15:34<03:37,  1.79it/s]
 57%|█████▋    | 513/900 [15:56<46:00,  7.13s/it]
 57%|█████▋    | 514/900 [15:57<32:36,  5.07s/it]
 57%|█████▋    | 515/900 [15:57<23:14,  3.62s/it]
 57%|█████▋    | 516/900 [15:57<16:40,  2.60s/it]
 57%|█████▋    | 517/900 [15:57<12:05,  1.89s/it]
 58%|█████▊    | 518/900 [15:58<08:54,  1.40s/it]
 58%|█████▊    | 519/900 [15:58<06:40,  1.05s/it]
 58%|█████▊    | 520/900 [15:58<05:06,  1.24it/s]
 58%|█████▊    | 521/900 [16:19<42:35,  6.74s/it]
 58%|█████▊    | 522/900 [16:19<30:11,  4.79s/it]
 58%|█████▊    | 523/900 [16:19<21:33,  3.43s/it]
 58%|█████▊    | 524/900 [16:19<15:29,  2.47s/it]
 58%|█████▊    | 525/900 [16:20<11:15,  1.80s/it]
 58%|█████▊    | 526/900 [16:20<08:19,  1.34s/it]
 59%|█████▊    | 527/900 [16:20<06:14,  1.00s/it]
 59%|█████▊    | 528/900 [16:20<04:49,  1.28it/s]
 59%|█████▉    | 529/900 [16:45<50:01,  8.09s/it]
 59%|█████▉    | 530/900 [16:46<35:19,  5.73s/it]
 59%|█████▉    | 531/900 [16:46<25:04,  4.08s/it]
 59%|█████▉    | 532/900 [16:46<17:55,  2.92s/it]
 59%|█████▉    | 533/900 [16:46<12:55,  2.11s/it]
 59%|█████▉    | 534/900 [16:47<09:25,  1.55s/it]
 59%|█████▉    | 535/900 [16:47<06:59,  1.15s/it]
 60%|█████▉    | 536/900 [16:47<05:17,  1.15it/s]
 60%|█████▉    | 537/900 [17:00<26:35,  4.40s/it]
 60%|█████▉    | 538/900 [17:00<18:57,  3.14s/it]
 60%|█████▉    | 539/900 [17:00<13:37,  2.26s/it]
 60%|██████    | 540/900 [17:00<09:54,  1.65s/it]
 60%|██████    | 541/900 [17:01<07:17,  1.22s/it]
 60%|██████    | 542/900 [17:01<05:28,  1.09it/s]
 60%|██████    | 543/900 [17:01<04:12,  1.42it/s]
 60%|██████    | 544/900 [17:01<03:18,  1.79it/s]
 61%|██████    | 545/900 [17:26<45:50,  7.75s/it]
 61%|██████    | 546/900 [17:26<32:23,  5.49s/it]
 61%|██████    | 547/900 [17:26<23:00,  3.91s/it]
 61%|██████    | 548/900 [17:26<16:26,  2.80s/it]
 61%|██████    | 549/900 [17:27<11:51,  2.03s/it]
 61%|██████    | 550/900 [17:27<08:40,  1.49s/it]
 61%|██████    | 551/900 [17:27<06:26,  1.11s/it]
 61%|██████▏   | 552/900 [17:27<04:52,  1.19it/s]
 61%|██████▏   | 553/900 [17:57<55:26,  9.59s/it]
 62%|██████▏   | 554/900 [17:57<39:05,  6.78s/it]
 62%|██████▏   | 555/900 [17:58<27:39,  4.81s/it]
 62%|██████▏   | 556/900 [17:58<19:40,  3.43s/it]
 62%|██████▏   | 557/900 [17:58<14:06,  2.47s/it]
 62%|██████▏   | 558/900 [17:58<10:12,  1.79s/it]
 62%|██████▏   | 559/900 [17:59<07:29,  1.32s/it]
 62%|██████▏   | 560/900 [17:59<05:36,  1.01it/s]
 62%|██████▏   | 561/900 [18:23<45:22,  8.03s/it]
 62%|██████▏   | 562/900 [18:23<32:01,  5.69s/it]
 63%|██████▎   | 563/900 [18:24<22:43,  4.05s/it]
 63%|██████▎   | 564/900 [18:24<16:14,  2.90s/it]
 63%|██████▎   | 565/900 [18:24<11:42,  2.10s/it]
 63%|██████▎   | 566/900 [18:24<08:32,  1.53s/it]
 63%|██████▎   | 567/900 [18:25<06:19,  1.14s/it]
 63%|██████▎   | 568/900 [18:25<04:46,  1.16it/s]
 63%|██████▎   | 569/900 [19:06<1:11:52, 13.03s/it]
 63%|██████▎   | 570/900 [19:06<50:33,  9.19s/it]  
 63%|██████▎   | 571/900 [19:07<35:40,  6.51s/it]
 64%|██████▎   | 572/900 [19:07<25:16,  4.62s/it]
 64%|██████▎   | 573/900 [19:07<18:02,  3.31s/it]
 64%|██████▍   | 574/900 [19:07<12:58,  2.39s/it]
 64%|██████▍   | 575/900 [19:08<09:26,  1.74s/it]
 64%|██████▍   | 576/900 [19:08<06:58,  1.29s/it]
 64%|██████▍   | 577/900 [19:45<1:05:14, 12.12s/it]
 64%|██████▍   | 578/900 [19:45<45:55,  8.56s/it]  
 64%|██████▍   | 579/900 [19:46<32:27,  6.07s/it]
 64%|██████▍   | 580/900 [19:46<23:03,  4.32s/it]
 65%|██████▍   | 581/900 [19:46<16:29,  3.10s/it]
 65%|██████▍   | 582/900 [19:46<11:53,  2.24s/it]
 65%|██████▍   | 583/900 [19:47<08:40,  1.64s/it]
 65%|██████▍   | 584/900 [19:47<06:26,  1.22s/it]
 65%|██████▌   | 585/900 [20:54<1:50:23, 21.03s/it]
 65%|██████▌   | 586/900 [20:54<1:17:25, 14.79s/it]
 65%|██████▌   | 587/900 [20:55<54:24, 10.43s/it]  
 65%|██████▌   | 588/900 [20:55<38:21,  7.38s/it]
 65%|██████▌   | 589/900 [20:55<27:08,  5.24s/it]
 66%|██████▌   | 590/900 [20:55<19:19,  3.74s/it]
 66%|██████▌   | 591/900 [20:56<13:51,  2.69s/it]
 66%|██████▌   | 592/900 [20:56<10:02,  1.96s/it]
 66%|██████▌   | 593/900 [21:07<23:41,  4.63s/it]
 66%|██████▌   | 594/900 [21:07<16:54,  3.31s/it]
 66%|██████▌   | 595/900 [21:07<12:10,  2.39s/it]
 66%|██████▌   | 596/900 [21:08<08:52,  1.75s/it]
 66%|██████▋   | 597/900 [21:08<06:33,  1.30s/it]
 66%|██████▋   | 598/900 [21:08<04:57,  1.01it/s]
 67%|██████▋   | 599/900 [21:08<03:49,  1.31it/s]
 67%|██████▋   | 600/900 [21:09<03:02,  1.65it/s]
 67%|██████▋   | 601/900 [21:24<25:04,  5.03s/it]
 67%|██████▋   | 602/900 [21:24<17:51,  3.59s/it]
 67%|██████▋   | 603/900 [21:24<12:47,  2.58s/it]
 67%|██████▋   | 604/900 [21:25<09:14,  1.87s/it]
 67%|██████▋   | 605/900 [21:25<06:46,  1.38s/it]
 67%|██████▋   | 606/900 [21:25<05:03,  1.03s/it]
 67%|██████▋   | 607/900 [21:25<03:51,  1.27it/s]
 68%|██████▊   | 608/900 [21:25<03:00,  1.62it/s]
 68%|██████▊   | 609/900 [21:38<20:16,  4.18s/it]
 68%|██████▊   | 610/900 [21:38<14:28,  2.99s/it]
 68%|██████▊   | 611/900 [21:38<10:26,  2.17s/it]
 68%|██████▊   | 612/900 [21:39<07:38,  1.59s/it]
 68%|██████▊   | 613/900 [21:39<05:38,  1.18s/it]
 68%|██████▊   | 614/900 [21:39<04:15,  1.12it/s]
 68%|██████▊   | 615/900 [21:39<03:16,  1.45it/s]
 68%|██████▊   | 616/900 [21:40<02:35,  1.82it/s]
 69%|██████▊   | 617/900 [22:20<59:34, 12.63s/it]
 69%|██████▊   | 618/900 [22:21<41:51,  8.91s/it]
 69%|██████▉   | 619/900 [22:21<29:30,  6.30s/it]
 69%|██████▉   | 620/900 [22:21<20:53,  4.48s/it]
 69%|██████▉   | 621/900 [22:21<14:52,  3.20s/it]
 69%|██████▉   | 622/900 [22:21<10:40,  2.31s/it]
 69%|██████▉   | 623/900 [22:22<07:45,  1.68s/it]
 69%|██████▉   | 624/900 [22:22<05:42,  1.24s/it]
 69%|██████▉   | 625/900 [22:49<40:52,  8.92s/it]
 70%|██████▉   | 626/900 [22:49<28:48,  6.31s/it]
 70%|██████▉   | 627/900 [22:49<20:23,  4.48s/it]
 70%|██████▉   | 628/900 [22:49<14:30,  3.20s/it]
 70%|██████▉   | 629/900 [22:50<10:24,  2.31s/it]
 70%|███████   | 630/900 [22:50<07:32,  1.68s/it]
 70%|███████   | 631/900 [22:50<05:32,  1.24s/it]
 70%|███████   | 632/900 [22:50<04:09,  1.07it/s]
 70%|███████   | 633/900 [23:16<37:14,  8.37s/it]
 70%|███████   | 634/900 [23:16<26:15,  5.92s/it]
 71%|███████   | 635/900 [23:16<18:35,  4.21s/it]
 71%|███████   | 636/900 [23:17<13:14,  3.01s/it]
 71%|███████   | 637/900 [23:17<09:31,  2.17s/it]
 71%|███████   | 638/900 [23:17<06:55,  1.59s/it]
 71%|███████   | 639/900 [23:17<05:06,  1.18s/it]
 71%|███████   | 640/900 [23:17<03:50,  1.13it/s]
 71%|███████   | 641/900 [23:34<24:37,  5.70s/it]
 71%|███████▏  | 642/900 [23:35<17:28,  4.06s/it]
 71%|███████▏  | 643/900 [23:35<12:28,  2.91s/it]
 72%|███████▏  | 644/900 [23:35<09:00,  2.11s/it]
 72%|███████▏  | 645/900 [23:35<06:35,  1.55s/it]
 72%|███████▏  | 646/900 [23:36<04:53,  1.15s/it]
 72%|███████▏  | 647/900 [23:36<03:42,  1.14it/s]
 72%|███████▏  | 648/900 [23:36<02:52,  1.46it/s]
 72%|███████▏  | 649/900 [24:01<33:00,  7.89s/it]
 72%|███████▏  | 650/900 [24:01<23:19,  5.60s/it]
 72%|███████▏  | 651/900 [24:01<16:33,  3.99s/it]
 72%|███████▏  | 652/900 [24:01<11:51,  2.87s/it]
 73%|███████▎  | 653/900 [24:02<08:33,  2.08s/it]
 73%|███████▎  | 654/900 [24:02<06:15,  1.53s/it]
 73%|███████▎  | 655/900 [24:02<04:39,  1.14s/it]
 73%|███████▎  | 656/900 [24:02<03:32,  1.15it/s]
 73%|███████▎  | 657/900 [24:48<57:34, 14.22s/it]
 73%|███████▎  | 658/900 [24:48<40:25, 10.02s/it]
 73%|███████▎  | 659/900 [24:48<28:28,  7.09s/it]
 73%|███████▎  | 660/900 [24:49<20:08,  5.04s/it]
 73%|███████▎  | 661/900 [24:49<14:19,  3.60s/it]
 74%|███████▎  | 662/900 [24:49<10:16,  2.59s/it]
 74%|███████▎  | 663/900 [24:49<07:27,  1.89s/it]
 74%|███████▍  | 664/900 [24:49<05:29,  1.40s/it]
 74%|███████▍  | 665/900 [25:06<22:38,  5.78s/it]
 74%|███████▍  | 666/900 [25:06<16:04,  4.12s/it]
 74%|███████▍  | 667/900 [25:06<11:29,  2.96s/it]
 74%|███████▍  | 668/900 [25:06<08:17,  2.15s/it]
 74%|███████▍  | 669/900 [25:07<06:04,  1.58s/it]
 74%|███████▍  | 670/900 [25:07<04:31,  1.18s/it]
 75%|███████▍  | 671/900 [25:07<03:25,  1.11it/s]
 75%|███████▍  | 672/900 [25:07<02:40,  1.42it/s]
 75%|███████▍  | 673/900 [25:27<23:49,  6.30s/it]
 75%|███████▍  | 674/900 [25:27<16:53,  4.48s/it]
 75%|███████▌  | 675/900 [25:27<12:03,  3.22s/it]
 75%|███████▌  | 676/900 [25:27<08:41,  2.33s/it]
 75%|███████▌  | 677/900 [25:28<06:19,  1.70s/it]
 75%|███████▌  | 678/900 [25:28<04:41,  1.27s/it]
 75%|███████▌  | 679/900 [25:28<03:32,  1.04it/s]
 76%|███████▌  | 680/900 [25:28<02:44,  1.34it/s]
 76%|███████▌  | 681/900 [25:40<14:19,  3.92s/it]
 76%|███████▌  | 682/900 [25:40<10:15,  2.82s/it]
 76%|███████▌  | 683/900 [25:40<07:24,  2.05s/it]
 76%|███████▌  | 684/900 [25:40<05:25,  1.51s/it]
 76%|███████▌  | 685/900 [25:41<04:02,  1.13s/it]
 76%|███████▌  | 686/900 [25:41<03:04,  1.16it/s]
 76%|███████▋  | 687/900 [25:41<02:23,  1.48it/s]
 76%|███████▋  | 688/900 [25:41<01:55,  1.83it/s]
 77%|███████▋  | 689/900 [25:53<13:51,  3.94s/it]
 77%|███████▋  | 690/900 [25:54<09:55,  2.83s/it]
 77%|███████▋  | 691/900 [25:54<07:09,  2.06s/it]
 77%|███████▋  | 692/900 [25:54<05:14,  1.51s/it]
 77%|███████▋  | 693/900 [25:54<03:54,  1.13s/it]
 77%|███████▋  | 694/900 [25:55<02:58,  1.15it/s]
 77%|███████▋  | 695/900 [25:55<02:19,  1.47it/s]
 77%|███████▋  | 696/900 [25:55<01:52,  1.82it/s]
 77%|███████▋  | 697/900 [26:47<54:19, 16.05s/it]
 78%|███████▊  | 698/900 [26:47<38:04, 11.31s/it]
 78%|███████▊  | 699/900 [26:48<26:44,  7.98s/it]
 78%|███████▊  | 700/900 [26:48<18:50,  5.65s/it]
 78%|███████▊  | 701/900 [26:48<13:20,  4.02s/it]
 78%|███████▊  | 702/900 [26:48<09:30,  2.88s/it]
 78%|███████▊  | 703/900 [26:49<06:50,  2.08s/it]
 78%|███████▊  | 704/900 [26:49<04:58,  1.52s/it]
 78%|███████▊  | 705/900 [27:03<17:02,  5.25s/it]
 78%|███████▊  | 706/900 [27:03<12:05,  3.74s/it]
 79%|███████▊  | 707/900 [27:03<08:38,  2.68s/it]
 79%|███████▊  | 708/900 [27:03<06:13,  1.95s/it]
 79%|███████▉  | 709/900 [27:04<04:33,  1.43s/it]
 79%|███████▉  | 710/900 [27:04<03:22,  1.07s/it]
 79%|███████▉  | 711/900 [27:04<02:33,  1.23it/s]
 79%|███████▉  | 712/900 [27:04<01:59,  1.58it/s]
 79%|███████▉  | 713/900 [27:22<18:03,  5.79s/it]
 79%|███████▉  | 714/900 [27:22<12:46,  4.12s/it]
 79%|███████▉  | 715/900 [27:23<09:05,  2.95s/it]
 80%|███████▉  | 716/900 [27:23<06:31,  2.13s/it]
 80%|███████▉  | 717/900 [27:23<04:44,  1.55s/it]
 80%|███████▉  | 718/900 [27:23<03:29,  1.15s/it]
 80%|███████▉  | 719/900 [27:23<02:37,  1.15it/s]
 80%|████████  | 720/900 [27:24<02:01,  1.49it/s]
 80%|████████  | 721/900 [27:37<12:59,  4.35s/it]
 80%|████████  | 722/900 [27:37<09:14,  3.11s/it]
 80%|████████  | 723/900 [27:37<06:37,  2.24s/it]
 80%|████████  | 724/900 [27:37<04:47,  1.64s/it]
 81%|████████  | 725/900 [27:37<03:31,  1.21s/it]
 81%|████████  | 726/900 [27:38<02:38,  1.09it/s]
 81%|████████  | 727/900 [27:38<02:01,  1.42it/s]
 81%|████████  | 728/900 [27:38<01:36,  1.79it/s]
 81%|████████  | 729/900 [28:32<47:08, 16.54s/it]
 81%|████████  | 730/900 [28:32<32:59, 11.64s/it]
 81%|████████  | 731/900 [28:32<23:08,  8.22s/it]
 81%|████████▏ | 732/900 [28:33<16:17,  5.82s/it]
 81%|████████▏ | 733/900 [28:33<11:32,  4.15s/it]
 82%|████████▏ | 734/900 [28:33<08:13,  2.97s/it]
 82%|████████▏ | 735/900 [28:33<05:55,  2.15s/it]
 82%|████████▏ | 736/900 [28:33<04:18,  1.58s/it]
 82%|████████▏ | 737/900 [28:51<17:30,  6.45s/it]
 82%|████████▏ | 738/900 [28:52<12:24,  4.59s/it]
 82%|████████▏ | 739/900 [28:52<08:49,  3.29s/it]
 82%|████████▏ | 740/900 [28:52<06:20,  2.38s/it]
 82%|████████▏ | 741/900 [28:52<04:36,  1.74s/it]
 82%|████████▏ | 742/900 [28:53<03:24,  1.29s/it]
 83%|████████▎ | 743/900 [28:53<02:33,  1.02it/s]
 83%|████████▎ | 744/900 [28:53<01:58,  1.31it/s]
 83%|████████▎ | 745/900 [29:12<16:16,  6.30s/it]
 83%|████████▎ | 746/900 [29:13<11:30,  4.49s/it]
 83%|████████▎ | 747/900 [29:13<08:11,  3.21s/it]
 83%|████████▎ | 748/900 [29:13<05:53,  2.32s/it]
 83%|████████▎ | 749/900 [29:13<04:16,  1.70s/it]
 83%|████████▎ | 750/900 [29:14<03:09,  1.26s/it]
 83%|████████▎ | 751/900 [29:14<02:22,  1.04it/s]
 84%|████████▎ | 752/900 [29:14<01:50,  1.34it/s]
 84%|████████▎ | 753/900 [29:32<14:45,  6.02s/it]
 84%|████████▍ | 754/900 [29:33<10:26,  4.29s/it]
 84%|████████▍ | 755/900 [29:33<07:25,  3.07s/it]
 84%|████████▍ | 756/900 [29:33<05:20,  2.22s/it]
 84%|████████▍ | 757/900 [29:33<03:52,  1.63s/it]
 84%|████████▍ | 758/900 [29:34<02:51,  1.21s/it]
 84%|████████▍ | 759/900 [29:34<02:09,  1.09it/s]
 84%|████████▍ | 760/900 [29:34<01:39,  1.41it/s]
 85%|████████▍ | 761/900 [30:30<40:18, 17.40s/it]
 85%|████████▍ | 762/900 [30:31<28:09, 12.24s/it]
 85%|████████▍ | 763/900 [30:31<19:43,  8.64s/it]
 85%|████████▍ | 764/900 [30:31<13:51,  6.11s/it]
 85%|████████▌ | 765/900 [30:31<09:46,  4.34s/it]
 85%|████████▌ | 766/900 [30:31<06:56,  3.11s/it]
 85%|████████▌ | 767/900 [30:32<04:58,  2.25s/it]
 85%|████████▌ | 768/900 [30:32<03:36,  1.64s/it]
 85%|████████▌ | 769/900 [31:13<29:08, 13.35s/it]
 86%|████████▌ | 770/900 [31:13<20:24,  9.42s/it]
 86%|████████▌ | 771/900 [31:13<14:20,  6.67s/it]
 86%|████████▌ | 772/900 [31:13<10:07,  4.74s/it]
 86%|████████▌ | 773/900 [31:14<07:10,  3.39s/it]
 86%|████████▌ | 774/900 [31:14<05:08,  2.45s/it]
 86%|████████▌ | 775/900 [31:14<03:43,  1.79s/it]
 86%|████████▌ | 776/900 [31:14<02:44,  1.32s/it]
 86%|████████▋ | 777/900 [31:55<27:11, 13.26s/it]
 86%|████████▋ | 778/900 [31:56<19:01,  9.36s/it]
 87%|████████▋ | 779/900 [31:56<13:21,  6.62s/it]
 87%|████████▋ | 780/900 [31:56<09:24,  4.70s/it]
 87%|████████▋ | 781/900 [31:56<06:40,  3.36s/it]
 87%|████████▋ | 782/900 [31:57<04:45,  2.42s/it]
 87%|████████▋ | 783/900 [31:57<03:25,  1.76s/it]
 87%|████████▋ | 784/900 [31:57<02:30,  1.30s/it]
 87%|████████▋ | 785/900 [32:15<12:00,  6.26s/it]
 87%|████████▋ | 786/900 [32:15<08:27,  4.45s/it]
 87%|████████▋ | 787/900 [32:15<05:59,  3.18s/it]
 88%|████████▊ | 788/900 [32:16<04:16,  2.29s/it]
 88%|████████▊ | 789/900 [32:16<03:05,  1.67s/it]
 88%|████████▊ | 790/900 [32:16<02:15,  1.23s/it]
 88%|████████▊ | 791/900 [32:16<01:41,  1.08it/s]
 88%|████████▊ | 792/900 [32:16<01:17,  1.39it/s]
 88%|████████▊ | 793/900 [32:30<08:00,  4.49s/it]
 88%|████████▊ | 794/900 [32:30<05:40,  3.21s/it]
 88%|████████▊ | 795/900 [32:30<04:03,  2.32s/it]
 88%|████████▊ | 796/900 [32:30<02:55,  1.69s/it]
 89%|████████▊ | 797/900 [32:31<02:08,  1.25s/it]
 89%|████████▊ | 798/900 [32:31<01:36,  1.06it/s]
 89%|████████▉ | 799/900 [32:31<01:13,  1.38it/s]
 89%|████████▉ | 800/900 [32:31<00:57,  1.73it/s]
 89%|████████▉ | 801/900 [33:02<16:06,  9.77s/it]
 89%|████████▉ | 802/900 [33:03<11:16,  6.91s/it]
 89%|████████▉ | 803/900 [33:03<07:56,  4.91s/it]
 89%|████████▉ | 804/900 [33:03<05:36,  3.51s/it]
 89%|████████▉ | 805/900 [33:03<04:00,  2.53s/it]
 90%|████████▉ | 806/900 [33:04<02:53,  1.84s/it]
 90%|████████▉ | 807/900 [33:04<02:06,  1.36s/it]
 90%|████████▉ | 808/900 [33:04<01:33,  1.02s/it]
 90%|████████▉ | 809/900 [33:27<11:26,  7.55s/it]
 90%|█████████ | 810/900 [33:27<08:01,  5.35s/it]
 90%|█████████ | 811/900 [33:27<05:39,  3.81s/it]
 90%|█████████ | 812/900 [33:28<04:00,  2.74s/it]
 90%|█████████ | 813/900 [33:28<02:52,  1.98s/it]
 90%|█████████ | 814/900 [33:28<02:04,  1.45s/it]
 91%|█████████ | 815/900 [33:28<01:31,  1.08s/it]
 91%|█████████ | 816/900 [33:28<01:09,  1.22it/s]
 91%|█████████ | 817/900 [33:55<11:48,  8.53s/it]
 91%|█████████ | 818/900 [33:55<08:15,  6.05s/it]
 91%|█████████ | 819/900 [33:56<05:48,  4.31s/it]
 91%|█████████ | 820/900 [33:56<04:06,  3.09s/it]
 91%|█████████ | 821/900 [33:56<02:56,  2.23s/it]
 91%|█████████▏| 822/900 [33:56<02:07,  1.63s/it]
 91%|█████████▏| 823/900 [33:56<01:33,  1.22s/it]
 92%|█████████▏| 824/900 [33:57<01:10,  1.08it/s]
 92%|█████████▏| 825/900 [34:28<12:42, 10.17s/it]
 92%|█████████▏| 826/900 [34:29<08:52,  7.19s/it]
 92%|█████████▏| 827/900 [34:29<06:12,  5.11s/it]
 92%|█████████▏| 828/900 [34:29<04:22,  3.65s/it]
 92%|█████████▏| 829/900 [34:29<03:06,  2.63s/it]
 92%|█████████▏| 830/900 [34:30<02:13,  1.91s/it]
 92%|█████████▏| 831/900 [34:30<01:37,  1.41s/it]
 92%|█████████▏| 832/900 [34:30<01:11,  1.05s/it]
 93%|█████████▎| 833/900 [34:57<09:54,  8.88s/it]
 93%|█████████▎| 834/900 [34:58<06:54,  6.28s/it]
 93%|█████████▎| 835/900 [34:58<04:50,  4.46s/it]
 93%|█████████▎| 836/900 [34:58<03:24,  3.19s/it]
 93%|█████████▎| 837/900 [34:58<02:24,  2.30s/it]
 93%|█████████▎| 838/900 [34:58<01:43,  1.67s/it]
 93%|█████████▎| 839/900 [34:59<01:15,  1.24s/it]
 93%|█████████▎| 840/900 [34:59<00:55,  1.07it/s]
 93%|█████████▎| 841/900 [35:23<07:52,  8.00s/it]
 94%|█████████▎| 842/900 [35:24<05:29,  5.67s/it]
 94%|█████████▎| 843/900 [35:24<03:50,  4.04s/it]
 94%|█████████▍| 844/900 [35:24<02:42,  2.90s/it]
 94%|█████████▍| 845/900 [35:24<01:55,  2.10s/it]
 94%|█████████▍| 846/900 [35:25<01:23,  1.54s/it]
 94%|█████████▍| 847/900 [35:25<01:01,  1.15s/it]
 94%|█████████▍| 848/900 [35:25<00:45,  1.14it/s]
 94%|█████████▍| 849/900 [35:36<03:13,  3.79s/it]
 94%|█████████▍| 850/900 [35:36<02:16,  2.72s/it]
 95%|█████████▍| 851/900 [35:36<01:37,  1.98s/it]
 95%|█████████▍| 852/900 [35:36<01:09,  1.45s/it]
 95%|█████████▍| 853/900 [35:36<00:50,  1.08s/it]
 95%|█████████▍| 854/900 [35:37<00:37,  1.21it/s]
 95%|█████████▌| 855/900 [35:37<00:29,  1.55it/s]
 95%|█████████▌| 856/900 [35:37<00:22,  1.93it/s]
 95%|█████████▌| 857/900 [36:11<07:28, 10.44s/it]
 95%|█████████▌| 858/900 [36:11<05:09,  7.37s/it]
 95%|█████████▌| 859/900 [36:11<03:34,  5.22s/it]
 96%|█████████▌| 860/900 [36:11<02:28,  3.72s/it]
 96%|█████████▌| 861/900 [36:12<01:44,  2.67s/it]
 96%|█████████▌| 862/900 [36:12<01:13,  1.94s/it]
 96%|█████████▌| 863/900 [36:12<00:52,  1.42s/it]
 96%|█████████▌| 864/900 [36:12<00:38,  1.06s/it]
 96%|█████████▌| 865/900 [36:38<04:57,  8.51s/it]
 96%|█████████▌| 866/900 [36:38<03:24,  6.03s/it]
 96%|█████████▋| 867/900 [36:39<02:21,  4.29s/it]
 96%|█████████▋| 868/900 [36:39<01:38,  3.08s/it]
 97%|█████████▋| 869/900 [36:39<01:08,  2.22s/it]
 97%|█████████▋| 870/900 [36:39<00:48,  1.63s/it]
 97%|█████████▋| 871/900 [36:40<00:35,  1.21s/it]
 97%|█████████▋| 872/900 [36:40<00:25,  1.09it/s]
 97%|█████████▋| 873/900 [37:35<07:40, 17.05s/it]
 97%|█████████▋| 874/900 [37:35<05:12, 12.01s/it]
 97%|█████████▋| 875/900 [37:35<03:31,  8.48s/it]
 97%|█████████▋| 876/900 [37:35<02:24,  6.01s/it]
 97%|█████████▋| 877/900 [37:35<01:38,  4.28s/it]
 98%|█████████▊| 878/900 [37:36<01:07,  3.07s/it]
 98%|█████████▊| 879/900 [37:36<00:46,  2.22s/it]
 98%|█████████▊| 880/900 [37:36<00:32,  1.63s/it]
 98%|█████████▊| 881/900 [38:17<04:14, 13.38s/it]
 98%|█████████▊| 882/900 [38:17<02:49,  9.44s/it]
 98%|█████████▊| 883/900 [38:18<01:53,  6.68s/it]
 98%|█████████▊| 884/900 [38:18<01:16,  4.75s/it]
 98%|█████████▊| 885/900 [38:18<00:50,  3.40s/it]
 98%|█████████▊| 886/900 [38:18<00:34,  2.45s/it]
 99%|█████████▊| 887/900 [38:18<00:23,  1.79s/it]
 99%|█████████▊| 888/900 [38:19<00:15,  1.33s/it]
 99%|█████████▉| 889/900 [38:53<02:02, 11.13s/it]
 99%|█████████▉| 890/900 [38:53<01:18,  7.86s/it]
 99%|█████████▉| 891/900 [38:53<00:50,  5.58s/it]
 99%|█████████▉| 892/900 [38:53<00:31,  3.98s/it]
 99%|█████████▉| 893/900 [38:54<00:19,  2.86s/it]
 99%|█████████▉| 894/900 [38:54<00:12,  2.07s/it]
 99%|█████████▉| 895/900 [38:54<00:07,  1.52s/it]
100%|█████████▉| 896/900 [38:54<00:04,  1.14s/it]
100%|█████████▉| 897/900 [39:20<00:25,  8.53s/it]
100%|█████████▉| 898/900 [39:20<00:12,  6.04s/it]
100%|█████████▉| 899/900 [39:21<00:04,  4.29s/it]
100%|█████████▉| 899/900 [39:21<00:02,  2.63s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/log_0_env0.json.
+RubiksCubeThenBananaTask_0 complete: task_name: RubiksCubeThenBananaTask, run_name: RubiksCubeThenBananaTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the cube then the banana in the bowl, attributes: ['conjunction', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.510432150019055, 'joint_sparc_mean': -13.6518780092432, 'ee_isj': 3367.0150927490977, 'joint_isj': 154698.1350880097, 'ee_path_length': 6.641884844792423, 'joint_rmse_mean': 1.1043778001802436, 'ee_speed_max': 0.41174542903900146, 'ee_speed_mean': 0.10612120479345322}, events: {'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 5, 'GRIPPER_FULLY_CLOSED': 13, 'TARGET_OBJECT_DROPPED': 14, 'GRIPPER_HIT_TABLE': 2, 'OBJECT_BUMPED': 2, 'wrong_objects_grabbed': ['bowl', 'bowl', 'bowl', 'bowl', 'bowl']}, instruction_type: default, timing: {'policy_inference_s': 2162.182, 'policy_inference_avg_ms': 2402.4, 'env_step_s': 189.335, 'env_step_avg_ms': 210.4, 'video_write_s': 9.417, 'video_write_avg_ms': 10.5, 'wall_total_s': 2360.934, 'it_per_sec': 0.38}, score: 0.5, reason: Condition not satisfied: object_grabbed(object=banana) (step 1/2), harness_episode_id: 3f6eaf729781443d900add899b1b1acb-0
+[RoboLab] Running RubiksCubeThenBananaTask_1: 'Put the cube then the banana in the bowl' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:31<7:55:56, 31.77s/it]
  0%|          | 2/900 [00:31<3:17:44, 13.21s/it]
  0%|          | 3/900 [00:32<1:48:48,  7.28s/it]
  0%|          | 4/900 [00:32<1:07:03,  4.49s/it]
  1%|          | 5/900 [00:32<43:59,  2.95s/it]  
  1%|          | 6/900 [00:32<30:02,  2.02s/it]
  1%|          | 7/900 [00:33<21:12,  1.42s/it]
  1%|          | 8/900 [00:33<15:27,  1.04s/it]
  1%|          | 9/900 [00:44<1:01:06,  4.12s/it]
  1%|          | 10/900 [00:44<43:11,  2.91s/it] 
  1%|          | 11/900 [00:44<30:56,  2.09s/it]
  1%|▏         | 12/900 [00:44<22:30,  1.52s/it]
  1%|▏         | 13/900 [00:45<16:39,  1.13s/it]
  2%|▏         | 14/900 [00:45<12:35,  1.17it/s]
  2%|▏         | 15/900 [00:45<09:46,  1.51it/s]
  2%|▏         | 16/900 [00:45<07:48,  1.89it/s]
  2%|▏         | 17/900 [00:57<57:26,  3.90s/it]
  2%|▏         | 18/900 [00:57<41:06,  2.80s/it]
  2%|▏         | 19/900 [00:57<29:41,  2.02s/it]
  2%|▏         | 20/900 [00:58<21:43,  1.48s/it]
  2%|▏         | 21/900 [00:58<16:08,  1.10s/it]
  2%|▏         | 22/900 [00:58<12:15,  1.19it/s]
  3%|▎         | 23/900 [00:58<09:31,  1.53it/s]
  3%|▎         | 24/900 [00:58<07:36,  1.92it/s]
  3%|▎         | 25/900 [01:07<43:36,  2.99s/it]
  3%|▎         | 26/900 [01:07<31:25,  2.16s/it]
  3%|▎         | 27/900 [01:08<22:53,  1.57s/it]
  3%|▎         | 28/900 [01:08<16:59,  1.17s/it]
  3%|▎         | 29/900 [01:08<12:54,  1.12it/s]
  3%|▎         | 30/900 [01:08<10:03,  1.44it/s]
  3%|▎         | 31/900 [01:09<08:05,  1.79it/s]
  4%|▎         | 32/900 [01:09<06:41,  2.16it/s]
  4%|▎         | 33/900 [01:15<30:33,  2.11s/it]
  4%|▍         | 34/900 [01:15<22:23,  1.55s/it]
  4%|▍         | 35/900 [01:15<16:40,  1.16s/it]
  4%|▍         | 36/900 [01:16<12:41,  1.13it/s]
  4%|▍         | 37/900 [01:16<09:53,  1.45it/s]
  4%|▍         | 38/900 [01:16<07:56,  1.81it/s]
  4%|▍         | 39/900 [01:16<06:34,  2.18it/s]
  4%|▍         | 40/900 [01:16<05:35,  2.56it/s]
  5%|▍         | 41/900 [01:25<40:04,  2.80s/it]
  5%|▍         | 42/900 [01:25<28:55,  2.02s/it]
  5%|▍         | 43/900 [01:25<21:09,  1.48s/it]
  5%|▍         | 44/900 [01:26<15:42,  1.10s/it]
  5%|▌         | 45/900 [01:26<11:56,  1.19it/s]
  5%|▌         | 46/900 [01:26<09:17,  1.53it/s]
  5%|▌         | 47/900 [01:26<07:25,  1.92it/s]
  5%|▌         | 48/900 [01:26<06:05,  2.33it/s]
  5%|▌         | 49/900 [01:33<32:25,  2.29s/it]
  6%|▌         | 50/900 [01:33<23:34,  1.66s/it]
  6%|▌         | 51/900 [01:33<17:26,  1.23s/it]
  6%|▌         | 52/900 [01:34<13:06,  1.08it/s]
  6%|▌         | 53/900 [01:34<10:06,  1.40it/s]
  6%|▌         | 54/900 [01:34<07:59,  1.76it/s]
  6%|▌         | 55/900 [01:34<06:29,  2.17it/s]
  6%|▌         | 56/900 [01:35<05:28,  2.57it/s]
  6%|▋         | 57/900 [01:40<24:47,  1.76s/it]
  6%|▋         | 58/900 [01:40<18:15,  1.30s/it]
  7%|▋         | 59/900 [01:40<13:40,  1.02it/s]
  7%|▋         | 60/900 [01:40<10:28,  1.34it/s]
  7%|▋         | 61/900 [01:40<08:14,  1.70it/s]
  7%|▋         | 62/900 [01:41<06:40,  2.09it/s]
  7%|▋         | 63/900 [01:41<05:34,  2.50it/s]
  7%|▋         | 64/900 [01:41<04:49,  2.89it/s]
  7%|▋         | 65/900 [01:48<30:29,  2.19s/it]
  7%|▋         | 66/900 [01:48<22:14,  1.60s/it]
  7%|▋         | 67/900 [01:48<16:27,  1.19s/it]
  8%|▊         | 68/900 [01:48<12:24,  1.12it/s]
  8%|▊         | 69/900 [01:48<09:34,  1.45it/s]
  8%|▊         | 70/900 [01:49<07:34,  1.83it/s]
  8%|▊         | 71/900 [01:49<06:12,  2.22it/s]
  8%|▊         | 72/900 [01:49<05:14,  2.63it/s]
  8%|▊         | 73/900 [01:55<29:27,  2.14s/it]
  8%|▊         | 74/900 [01:56<21:29,  1.56s/it]
  8%|▊         | 75/900 [01:56<15:53,  1.16s/it]
  8%|▊         | 76/900 [01:56<11:59,  1.15it/s]
  9%|▊         | 77/900 [01:56<09:15,  1.48it/s]
  9%|▊         | 78/900 [01:56<07:20,  1.86it/s]
  9%|▉         | 79/900 [01:57<05:59,  2.29it/s]
  9%|▉         | 80/900 [01:57<05:02,  2.71it/s]
  9%|▉         | 81/900 [02:04<32:58,  2.42s/it]
  9%|▉         | 82/900 [02:04<23:56,  1.76s/it]
  9%|▉         | 83/900 [02:04<17:37,  1.29s/it]
  9%|▉         | 84/900 [02:05<13:12,  1.03it/s]
  9%|▉         | 85/900 [02:05<10:06,  1.34it/s]
 10%|▉         | 86/900 [02:05<07:56,  1.71it/s]
 10%|▉         | 87/900 [02:05<06:25,  2.11it/s]
 10%|▉         | 88/900 [02:05<05:22,  2.52it/s]
 10%|▉         | 89/900 [02:13<33:33,  2.48s/it]
 10%|█         | 90/900 [02:13<24:19,  1.80s/it]
 10%|█         | 91/900 [02:13<17:52,  1.33s/it]
 10%|█         | 92/900 [02:13<13:20,  1.01it/s]
 10%|█         | 93/900 [02:14<10:11,  1.32it/s]
 10%|█         | 94/900 [02:14<07:58,  1.68it/s]
 11%|█         | 95/900 [02:14<06:27,  2.08it/s]
 11%|█         | 96/900 [02:14<05:21,  2.50it/s]
 11%|█         | 97/900 [02:21<32:10,  2.40s/it]
 11%|█         | 98/900 [02:22<23:21,  1.75s/it]
 11%|█         | 99/900 [02:22<17:12,  1.29s/it]
 11%|█         | 100/900 [02:22<12:54,  1.03it/s]
 11%|█         | 101/900 [02:22<09:56,  1.34it/s]
 11%|█▏        | 102/900 [02:22<07:48,  1.70it/s]
 11%|█▏        | 103/900 [02:23<06:18,  2.10it/s]
 12%|█▏        | 104/900 [02:23<05:16,  2.52it/s]
 12%|█▏        | 105/900 [02:29<29:13,  2.21s/it]
 12%|█▏        | 106/900 [02:30<21:17,  1.61s/it]
 12%|█▏        | 107/900 [02:30<15:44,  1.19s/it]
 12%|█▏        | 108/900 [02:30<11:51,  1.11it/s]
 12%|█▏        | 109/900 [02:30<09:08,  1.44it/s]
 12%|█▏        | 110/900 [02:30<07:14,  1.82it/s]
 12%|█▏        | 111/900 [02:31<05:54,  2.22it/s]
 12%|█▏        | 112/900 [02:31<04:58,  2.64it/s]
 13%|█▎        | 113/900 [02:36<23:38,  1.80s/it]
 13%|█▎        | 114/900 [02:36<17:23,  1.33s/it]
 13%|█▎        | 115/900 [02:36<13:00,  1.01it/s]
 13%|█▎        | 116/900 [02:37<09:57,  1.31it/s]
 13%|█▎        | 117/900 [02:37<07:51,  1.66it/s]
 13%|█▎        | 118/900 [02:37<06:21,  2.05it/s]
 13%|█▎        | 119/900 [02:37<05:19,  2.45it/s]
 13%|█▎        | 120/900 [02:38<04:35,  2.83it/s]
 13%|█▎        | 121/900 [02:45<33:24,  2.57s/it]
 14%|█▎        | 122/900 [02:46<24:11,  1.87s/it]
 14%|█▎        | 123/900 [02:46<17:46,  1.37s/it]
 14%|█▍        | 124/900 [02:46<13:15,  1.03s/it]
 14%|█▍        | 125/900 [02:46<10:06,  1.28it/s]
 14%|█▍        | 126/900 [02:46<07:53,  1.64it/s]
 14%|█▍        | 127/900 [02:47<06:19,  2.04it/s]
 14%|█▍        | 128/900 [02:47<05:15,  2.45it/s]
 14%|█▍        | 129/900 [02:56<40:59,  3.19s/it]
 14%|█▍        | 130/900 [02:57<29:30,  2.30s/it]
 15%|█▍        | 131/900 [02:57<21:28,  1.68s/it]
 15%|█▍        | 132/900 [02:57<15:50,  1.24s/it]
 15%|█▍        | 133/900 [02:57<11:55,  1.07it/s]
 15%|█▍        | 134/900 [02:58<09:10,  1.39it/s]
 15%|█▌        | 135/900 [02:58<07:14,  1.76it/s]
 15%|█▌        | 136/900 [02:58<05:53,  2.16it/s]
 15%|█▌        | 137/900 [03:07<39:14,  3.09s/it]
 15%|█▌        | 138/900 [03:07<28:16,  2.23s/it]
 15%|█▌        | 139/900 [03:08<20:33,  1.62s/it]
 16%|█▌        | 140/900 [03:08<15:11,  1.20s/it]
 16%|█▌        | 141/900 [03:08<11:27,  1.10it/s]
 16%|█▌        | 142/900 [03:08<08:50,  1.43it/s]
 16%|█▌        | 143/900 [03:09<06:59,  1.80it/s]
 16%|█▌        | 144/900 [03:09<05:42,  2.21it/s]
 16%|█▌        | 145/900 [03:15<29:29,  2.34s/it]
 16%|█▌        | 146/900 [03:16<21:27,  1.71s/it]
 16%|█▋        | 147/900 [03:16<15:47,  1.26s/it]
 16%|█▋        | 148/900 [03:16<11:50,  1.06it/s]
 17%|█▋        | 149/900 [03:16<09:06,  1.37it/s]
 17%|█▋        | 150/900 [03:17<07:09,  1.75it/s]
 17%|█▋        | 151/900 [03:17<05:48,  2.15it/s]
 17%|█▋        | 152/900 [03:17<04:55,  2.53it/s]
 17%|█▋        | 153/900 [03:26<36:28,  2.93s/it]
 17%|█▋        | 154/900 [03:26<26:22,  2.12s/it]
 17%|█▋        | 155/900 [03:26<19:18,  1.55s/it]
 17%|█▋        | 156/900 [03:27<14:20,  1.16s/it]
 17%|█▋        | 157/900 [03:27<10:52,  1.14it/s]
 18%|█▊        | 158/900 [03:27<08:29,  1.46it/s]
 18%|█▊        | 159/900 [03:27<06:48,  1.82it/s]
 18%|█▊        | 160/900 [03:27<05:37,  2.19it/s]
 18%|█▊        | 161/900 [03:43<1:00:52,  4.94s/it]
 18%|█▊        | 162/900 [03:43<43:26,  3.53s/it]  
 18%|█▊        | 163/900 [03:43<31:10,  2.54s/it]
 18%|█▊        | 164/900 [03:44<22:37,  1.84s/it]
 18%|█▊        | 165/900 [03:44<16:39,  1.36s/it]
 18%|█▊        | 166/900 [03:44<12:29,  1.02s/it]
 19%|█▊        | 167/900 [03:44<09:34,  1.28it/s]
 19%|█▊        | 168/900 [03:45<07:31,  1.62it/s]
 19%|█▉        | 169/900 [03:54<38:37,  3.17s/it]
 19%|█▉        | 170/900 [03:54<27:51,  2.29s/it]
 19%|█▉        | 171/900 [03:54<20:18,  1.67s/it]
 19%|█▉        | 172/900 [03:54<15:01,  1.24s/it]
 19%|█▉        | 173/900 [03:55<11:16,  1.07it/s]
 19%|█▉        | 174/900 [03:55<08:39,  1.40it/s]
 19%|█▉        | 175/900 [03:55<06:50,  1.77it/s]
 20%|█▉        | 176/900 [03:55<05:34,  2.17it/s]
 20%|█▉        | 177/900 [04:03<31:56,  2.65s/it]
 20%|█▉        | 178/900 [04:03<23:04,  1.92s/it]
 20%|█▉        | 179/900 [04:03<16:53,  1.41s/it]
 20%|██        | 180/900 [04:04<12:34,  1.05s/it]
 20%|██        | 181/900 [04:04<09:34,  1.25it/s]
 20%|██        | 182/900 [04:04<07:29,  1.60it/s]
 20%|██        | 183/900 [04:04<06:00,  1.99it/s]
 20%|██        | 184/900 [04:04<04:58,  2.40it/s]
 21%|██        | 185/900 [04:12<31:48,  2.67s/it]
 21%|██        | 186/900 [04:13<22:58,  1.93s/it]
 21%|██        | 187/900 [04:13<16:49,  1.42s/it]
 21%|██        | 188/900 [04:13<12:31,  1.06s/it]
 21%|██        | 189/900 [04:13<09:32,  1.24it/s]
 21%|██        | 190/900 [04:13<07:27,  1.59it/s]
 21%|██        | 191/900 [04:14<05:58,  1.98it/s]
 21%|██▏       | 192/900 [04:14<04:57,  2.38it/s]
 21%|██▏       | 193/900 [04:20<26:28,  2.25s/it]
 22%|██▏       | 194/900 [04:21<19:19,  1.64s/it]
 22%|██▏       | 195/900 [04:21<14:19,  1.22s/it]
 22%|██▏       | 196/900 [04:21<10:48,  1.09it/s]
 22%|██▏       | 197/900 [04:21<08:21,  1.40it/s]
 22%|██▏       | 198/900 [04:22<06:38,  1.76it/s]
 22%|██▏       | 199/900 [04:22<05:26,  2.14it/s]
 22%|██▏       | 200/900 [04:22<04:35,  2.54it/s]
 22%|██▏       | 201/900 [04:29<28:03,  2.41s/it]
 22%|██▏       | 202/900 [04:29<20:28,  1.76s/it]
 23%|██▎       | 203/900 [04:30<15:09,  1.30s/it]
 23%|██▎       | 204/900 [04:30<11:23,  1.02it/s]
 23%|██▎       | 205/900 [04:30<08:43,  1.33it/s]
 23%|██▎       | 206/900 [04:30<06:51,  1.68it/s]
 23%|██▎       | 207/900 [04:30<05:34,  2.07it/s]
 23%|██▎       | 208/900 [04:31<04:38,  2.48it/s]
 23%|██▎       | 209/900 [04:38<27:48,  2.42s/it]
 23%|██▎       | 210/900 [04:38<20:11,  1.76s/it]
 23%|██▎       | 211/900 [04:38<14:50,  1.29s/it]
 24%|██▎       | 212/900 [04:38<11:06,  1.03it/s]
 24%|██▎       | 213/900 [04:39<08:31,  1.34it/s]
 24%|██▍       | 214/900 [04:39<06:41,  1.71it/s]
 24%|██▍       | 215/900 [04:39<05:24,  2.11it/s]
 24%|██▍       | 216/900 [04:39<04:34,  2.49it/s]
 24%|██▍       | 217/900 [04:55<56:44,  4.99s/it]
 24%|██▍       | 218/900 [04:55<40:27,  3.56s/it]
 24%|██▍       | 219/900 [04:55<29:03,  2.56s/it]
 24%|██▍       | 220/900 [04:56<21:04,  1.86s/it]
 25%|██▍       | 221/900 [04:56<15:29,  1.37s/it]
 25%|██▍       | 222/900 [04:56<11:32,  1.02s/it]
 25%|██▍       | 223/900 [04:56<08:46,  1.28it/s]
 25%|██▍       | 224/900 [04:57<06:52,  1.64it/s]
 25%|██▌       | 225/900 [05:03<26:26,  2.35s/it]
 25%|██▌       | 226/900 [05:03<19:17,  1.72s/it]
 25%|██▌       | 227/900 [05:03<14:15,  1.27s/it]
 25%|██▌       | 228/900 [05:04<10:43,  1.04it/s]
 25%|██▌       | 229/900 [05:04<08:14,  1.36it/s]
 26%|██▌       | 230/900 [05:04<06:29,  1.72it/s]
 26%|██▌       | 231/900 [05:04<05:15,  2.12it/s]
 26%|██▌       | 232/900 [05:05<04:22,  2.54it/s]
 26%|██▌       | 233/900 [05:10<22:44,  2.05s/it]
 26%|██▌       | 234/900 [05:11<16:38,  1.50s/it]
 26%|██▌       | 235/900 [05:11<12:23,  1.12s/it]
 26%|██▌       | 236/900 [05:11<09:22,  1.18it/s]
 26%|██▋       | 237/900 [05:11<07:19,  1.51it/s]
 26%|██▋       | 238/900 [05:12<05:52,  1.88it/s]
 27%|██▋       | 239/900 [05:12<04:51,  2.27it/s]
 27%|██▋       | 240/900 [05:12<04:09,  2.65it/s]
 27%|██▋       | 241/900 [05:38<1:28:18,  8.04s/it]
 27%|██▋       | 242/900 [05:38<1:02:25,  5.69s/it]
 27%|██▋       | 243/900 [05:38<44:21,  4.05s/it]  
 27%|██▋       | 244/900 [05:39<31:44,  2.90s/it]
 27%|██▋       | 245/900 [05:39<22:55,  2.10s/it]
 27%|██▋       | 246/900 [05:39<16:44,  1.54s/it]
 27%|██▋       | 247/900 [05:39<12:25,  1.14s/it]
 28%|██▊       | 248/900 [05:40<09:24,  1.15it/s]
 28%|██▊       | 249/900 [05:50<41:21,  3.81s/it]
 28%|██▊       | 250/900 [05:50<29:43,  2.74s/it]
 28%|██▊       | 251/900 [05:51<21:32,  1.99s/it]
 28%|██▊       | 252/900 [05:51<15:46,  1.46s/it]
 28%|██▊       | 253/900 [05:51<11:46,  1.09s/it]
 28%|██▊       | 254/900 [05:51<08:57,  1.20it/s]
 28%|██▊       | 255/900 [05:52<06:59,  1.54it/s]
 28%|██▊       | 256/900 [05:52<05:35,  1.92it/s]
 29%|██▊       | 257/900 [06:15<1:19:47,  7.45s/it]
 29%|██▊       | 258/900 [06:16<56:28,  5.28s/it]  
 29%|██▉       | 259/900 [06:16<40:09,  3.76s/it]
 29%|██▉       | 260/900 [06:16<28:47,  2.70s/it]
 29%|██▉       | 261/900 [06:16<20:50,  1.96s/it]
 29%|██▉       | 262/900 [06:17<15:14,  1.43s/it]
 29%|██▉       | 263/900 [06:17<11:22,  1.07s/it]
 29%|██▉       | 264/900 [06:17<08:40,  1.22it/s]
 29%|██▉       | 265/900 [06:28<39:39,  3.75s/it]
 30%|██▉       | 266/900 [06:28<28:25,  2.69s/it]
 30%|██▉       | 267/900 [06:28<20:32,  1.95s/it]
 30%|██▉       | 268/900 [06:28<15:02,  1.43s/it]
 30%|██▉       | 269/900 [06:28<11:11,  1.06s/it]
 30%|███       | 270/900 [06:29<08:29,  1.24it/s]
 30%|███       | 271/900 [06:29<06:36,  1.59it/s]
 30%|███       | 272/900 [06:29<05:17,  1.98it/s]
 30%|███       | 273/900 [06:43<46:06,  4.41s/it]
 30%|███       | 274/900 [06:43<32:54,  3.15s/it]
 31%|███       | 275/900 [06:43<23:42,  2.28s/it]
 31%|███       | 276/900 [06:43<17:14,  1.66s/it]
 31%|███       | 277/900 [06:43<12:43,  1.23s/it]
 31%|███       | 278/900 [06:44<09:34,  1.08it/s]
 31%|███       | 279/900 [06:44<07:23,  1.40it/s]
 31%|███       | 280/900 [06:44<05:51,  1.76it/s]
 31%|███       | 281/900 [06:54<35:14,  3.42s/it]
 31%|███▏      | 282/900 [06:54<25:19,  2.46s/it]
 31%|███▏      | 283/900 [06:55<18:21,  1.79s/it]
 32%|███▏      | 284/900 [06:55<13:29,  1.31s/it]
 32%|███▏      | 285/900 [06:55<10:06,  1.01it/s]
 32%|███▏      | 286/900 [06:55<07:45,  1.32it/s]
 32%|███▏      | 287/900 [06:55<06:04,  1.68it/s]
 32%|███▏      | 288/900 [06:56<04:54,  2.08it/s]
 32%|███▏      | 289/900 [07:06<35:03,  3.44s/it]
 32%|███▏      | 290/900 [07:06<25:14,  2.48s/it]
 32%|███▏      | 291/900 [07:07<18:23,  1.81s/it]
 32%|███▏      | 292/900 [07:07<13:33,  1.34s/it]
 33%|███▎      | 293/900 [07:07<10:12,  1.01s/it]
 33%|███▎      | 294/900 [07:07<07:52,  1.28it/s]
 33%|███▎      | 295/900 [07:08<06:14,  1.62it/s]
 33%|███▎      | 296/900 [07:08<05:03,  1.99it/s]
 33%|███▎      | 297/900 [07:15<24:41,  2.46s/it]
 33%|███▎      | 298/900 [07:15<17:59,  1.79s/it]
 33%|███▎      | 299/900 [07:15<13:20,  1.33s/it]
 33%|███▎      | 300/900 [07:16<10:05,  1.01s/it]
 33%|███▎      | 301/900 [07:16<07:47,  1.28it/s]
 34%|███▎      | 302/900 [07:16<06:10,  1.61it/s]
 34%|███▎      | 303/900 [07:16<05:02,  1.97it/s]
 34%|███▍      | 304/900 [07:17<04:15,  2.33it/s]
 34%|███▍      | 305/900 [07:31<46:46,  4.72s/it]
 34%|███▍      | 306/900 [07:31<33:27,  3.38s/it]
 34%|███▍      | 307/900 [07:32<24:08,  2.44s/it]
 34%|███▍      | 308/900 [07:32<17:36,  1.78s/it]
 34%|███▍      | 309/900 [07:32<13:03,  1.33s/it]
 34%|███▍      | 310/900 [07:33<09:52,  1.00s/it]
 35%|███▍      | 311/900 [07:33<07:38,  1.28it/s]
 35%|███▍      | 312/900 [07:33<06:05,  1.61it/s]
 35%|███▍      | 313/900 [07:43<34:56,  3.57s/it]
 35%|███▍      | 314/900 [07:44<25:09,  2.58s/it]
 35%|███▌      | 315/900 [07:44<18:18,  1.88s/it]
 35%|███▌      | 316/900 [07:44<13:32,  1.39s/it]
 35%|███▌      | 317/900 [07:44<10:10,  1.05s/it]
 35%|███▌      | 318/900 [07:45<07:51,  1.24it/s]
 35%|███▌      | 319/900 [07:45<06:13,  1.56it/s]
 36%|███▌      | 320/900 [07:45<05:04,  1.90it/s]
 36%|███▌      | 321/900 [08:02<51:33,  5.34s/it]
 36%|███▌      | 322/900 [08:02<36:40,  3.81s/it]
 36%|███▌      | 323/900 [08:02<26:16,  2.73s/it]
 36%|███▌      | 324/900 [08:02<19:00,  1.98s/it]
 36%|███▌      | 325/900 [08:03<13:55,  1.45s/it]
 36%|███▌      | 326/900 [08:03<10:21,  1.08s/it]
 36%|███▋      | 327/900 [08:03<07:51,  1.21it/s]
 36%|███▋      | 328/900 [08:03<06:08,  1.55it/s]
 37%|███▋      | 329/900 [08:15<37:44,  3.97s/it]
 37%|███▋      | 330/900 [08:15<26:59,  2.84s/it]
 37%|███▋      | 331/900 [08:16<19:27,  2.05s/it]
 37%|███▋      | 332/900 [08:16<14:12,  1.50s/it]
 37%|███▋      | 333/900 [08:16<10:32,  1.11s/it]
 37%|███▋      | 334/900 [08:16<07:59,  1.18it/s]
 37%|███▋      | 335/900 [08:16<06:12,  1.52it/s]
 37%|███▋      | 336/900 [08:17<04:58,  1.89it/s]
 37%|███▋      | 337/900 [08:50<1:37:44, 10.42s/it]
 38%|███▊      | 338/900 [08:50<1:08:53,  7.35s/it]
 38%|███▊      | 339/900 [08:51<48:43,  5.21s/it]  
 38%|███▊      | 340/900 [08:51<34:39,  3.71s/it]
 38%|███▊      | 341/900 [08:51<24:49,  2.66s/it]
 38%|███▊      | 342/900 [08:51<17:57,  1.93s/it]
 38%|███▊      | 343/900 [08:51<13:08,  1.42s/it]
 38%|███▊      | 344/900 [08:52<09:47,  1.06s/it]
 38%|███▊      | 345/900 [09:01<33:31,  3.63s/it]
 38%|███▊      | 346/900 [09:01<24:02,  2.60s/it]
 39%|███▊      | 347/900 [09:02<17:24,  1.89s/it]
 39%|███▊      | 348/900 [09:02<12:44,  1.39s/it]
 39%|███▉      | 349/900 [09:02<09:29,  1.03s/it]
 39%|███▉      | 350/900 [09:02<07:14,  1.27it/s]
 39%|███▉      | 351/900 [09:03<05:40,  1.61it/s]
 39%|███▉      | 352/900 [09:03<04:34,  1.99it/s]
 39%|███▉      | 353/900 [09:14<34:15,  3.76s/it]
 39%|███▉      | 354/900 [09:14<24:32,  2.70s/it]
 39%|███▉      | 355/900 [09:15<17:47,  1.96s/it]
 40%|███▉      | 356/900 [09:15<13:05,  1.44s/it]
 40%|███▉      | 357/900 [09:15<09:48,  1.08s/it]
 40%|███▉      | 358/900 [09:15<07:28,  1.21it/s]
 40%|███▉      | 359/900 [09:16<05:50,  1.54it/s]
 40%|████      | 360/900 [09:16<04:43,  1.91it/s]
 40%|████      | 361/900 [09:32<45:52,  5.11s/it]
 40%|████      | 362/900 [09:32<32:41,  3.65s/it]
 40%|████      | 363/900 [09:32<23:28,  2.62s/it]
 40%|████      | 364/900 [09:32<17:01,  1.91s/it]
 41%|████      | 365/900 [09:32<12:31,  1.40s/it]
 41%|████      | 366/900 [09:33<09:22,  1.05s/it]
 41%|████      | 367/900 [09:33<07:11,  1.24it/s]
 41%|████      | 368/900 [09:33<05:39,  1.57it/s]
 41%|████      | 369/900 [09:45<34:56,  3.95s/it]
 41%|████      | 370/900 [09:45<25:02,  2.84s/it]
 41%|████      | 371/900 [09:45<18:05,  2.05s/it]
 41%|████▏     | 372/900 [09:46<13:16,  1.51s/it]
 41%|████▏     | 373/900 [09:46<09:53,  1.13s/it]
 42%|████▏     | 374/900 [09:46<07:31,  1.17it/s]
 42%|████▏     | 375/900 [09:46<05:51,  1.49it/s]
 42%|████▏     | 376/900 [09:47<04:41,  1.86it/s]
 42%|████▏     | 377/900 [10:04<48:14,  5.53s/it]
 42%|████▏     | 378/900 [10:04<34:18,  3.94s/it]
 42%|████▏     | 379/900 [10:04<24:36,  2.83s/it]
 42%|████▏     | 380/900 [10:04<17:49,  2.06s/it]
 42%|████▏     | 381/900 [10:05<13:04,  1.51s/it]
 42%|████▏     | 382/900 [10:05<09:42,  1.12s/it]
 43%|████▎     | 383/900 [10:05<07:20,  1.17it/s]
 43%|████▎     | 384/900 [10:05<05:40,  1.51it/s]
 43%|████▎     | 385/900 [10:19<38:26,  4.48s/it]
 43%|████▎     | 386/900 [10:19<27:26,  3.20s/it]
 43%|████▎     | 387/900 [10:19<19:43,  2.31s/it]
 43%|████▎     | 388/900 [10:19<14:21,  1.68s/it]
 43%|████▎     | 389/900 [10:20<10:35,  1.24s/it]
 43%|████▎     | 390/900 [10:20<07:58,  1.07it/s]
 43%|████▎     | 391/900 [10:20<06:08,  1.38it/s]
 44%|████▎     | 392/900 [10:20<04:50,  1.75it/s]
 44%|████▎     | 393/900 [10:35<39:48,  4.71s/it]
 44%|████▍     | 394/900 [10:35<28:22,  3.37s/it]
 44%|████▍     | 395/900 [10:35<20:23,  2.42s/it]
 44%|████▍     | 396/900 [10:35<14:47,  1.76s/it]
 44%|████▍     | 397/900 [10:36<10:52,  1.30s/it]
 44%|████▍     | 398/900 [10:36<08:09,  1.03it/s]
 44%|████▍     | 399/900 [10:36<06:15,  1.33it/s]
 44%|████▍     | 400/900 [10:36<04:54,  1.70it/s]
 45%|████▍     | 401/900 [10:51<39:55,  4.80s/it]
 45%|████▍     | 402/900 [10:51<28:29,  3.43s/it]
 45%|████▍     | 403/900 [10:51<20:31,  2.48s/it]
 45%|████▍     | 404/900 [10:52<14:58,  1.81s/it]
 45%|████▌     | 405/900 [10:52<11:03,  1.34s/it]
 45%|████▌     | 406/900 [10:52<08:19,  1.01s/it]
 45%|████▌     | 407/900 [10:52<06:23,  1.28it/s]
 45%|████▌     | 408/900 [10:53<05:03,  1.62it/s]
 45%|████▌     | 409/900 [11:01<24:58,  3.05s/it]
 46%|████▌     | 410/900 [11:01<18:02,  2.21s/it]
 46%|████▌     | 411/900 [11:02<13:13,  1.62s/it]
 46%|████▌     | 412/900 [11:02<09:51,  1.21s/it]
 46%|████▌     | 413/900 [11:02<07:30,  1.08it/s]
 46%|████▌     | 414/900 [11:02<05:51,  1.38it/s]
 46%|████▌     | 415/900 [11:03<04:42,  1.72it/s]
 46%|████▌     | 416/900 [11:03<03:53,  2.07it/s]
 46%|████▋     | 417/900 [11:17<37:12,  4.62s/it]
 46%|████▋     | 418/900 [11:18<26:38,  3.32s/it]
 47%|████▋     | 419/900 [11:18<19:14,  2.40s/it]
 47%|████▋     | 420/900 [11:18<14:03,  1.76s/it]
 47%|████▋     | 421/900 [11:18<10:25,  1.31s/it]
 47%|████▋     | 422/900 [11:19<07:52,  1.01it/s]
 47%|████▋     | 423/900 [11:19<06:06,  1.30it/s]
 47%|████▋     | 424/900 [11:19<04:52,  1.63it/s]
 47%|████▋     | 425/900 [11:43<59:54,  7.57s/it]
 47%|████▋     | 426/900 [11:43<42:27,  5.37s/it]
 47%|████▋     | 427/900 [11:43<30:15,  3.84s/it]
 48%|████▊     | 428/900 [11:44<21:44,  2.76s/it]
 48%|████▊     | 429/900 [11:44<15:47,  2.01s/it]
 48%|████▊     | 430/900 [11:44<11:37,  1.48s/it]
 48%|████▊     | 431/900 [11:44<08:42,  1.11s/it]
 48%|████▊     | 432/900 [11:45<06:41,  1.17it/s]
 48%|████▊     | 433/900 [12:07<57:39,  7.41s/it]
 48%|████▊     | 434/900 [12:08<40:49,  5.26s/it]
 48%|████▊     | 435/900 [12:08<29:03,  3.75s/it]
 48%|████▊     | 436/900 [12:08<20:48,  2.69s/it]
 49%|████▊     | 437/900 [12:08<15:04,  1.95s/it]
 49%|████▊     | 438/900 [12:09<11:05,  1.44s/it]
 49%|████▉     | 439/900 [12:09<08:16,  1.08s/it]
 49%|████▉     | 440/900 [12:09<06:19,  1.21it/s]
 49%|████▉     | 441/900 [12:31<55:49,  7.30s/it]
 49%|████▉     | 442/900 [12:32<39:30,  5.17s/it]
 49%|████▉     | 443/900 [12:32<28:06,  3.69s/it]
 49%|████▉     | 444/900 [12:32<20:08,  2.65s/it]
 49%|████▉     | 445/900 [12:32<14:33,  1.92s/it]
 50%|████▉     | 446/900 [12:32<10:40,  1.41s/it]
 50%|████▉     | 447/900 [12:33<07:56,  1.05s/it]
 50%|████▉     | 448/900 [12:33<06:01,  1.25it/s]
 50%|████▉     | 449/900 [12:45<31:43,  4.22s/it]
 50%|█████     | 450/900 [12:45<22:39,  3.02s/it]
 50%|█████     | 451/900 [12:46<16:18,  2.18s/it]
 50%|█████     | 452/900 [12:46<11:52,  1.59s/it]
 50%|█████     | 453/900 [12:46<08:46,  1.18s/it]
 50%|█████     | 454/900 [12:46<06:36,  1.12it/s]
 51%|█████     | 455/900 [12:46<05:05,  1.45it/s]
 51%|█████     | 456/900 [12:47<04:02,  1.83it/s]
 51%|█████     | 457/900 [13:25<1:28:04, 11.93s/it]
 51%|█████     | 458/900 [13:25<1:02:00,  8.42s/it]
 51%|█████     | 459/900 [13:26<43:46,  5.96s/it]  
 51%|█████     | 460/900 [13:26<31:02,  4.23s/it]
 51%|█████     | 461/900 [13:26<22:09,  3.03s/it]
 51%|█████▏    | 462/900 [13:26<15:56,  2.18s/it]
 51%|█████▏    | 463/900 [13:26<11:36,  1.59s/it]
 52%|█████▏    | 464/900 [13:27<08:35,  1.18s/it]
 52%|█████▏    | 465/900 [13:44<43:24,  5.99s/it]
 52%|█████▏    | 466/900 [13:44<30:46,  4.26s/it]
 52%|█████▏    | 467/900 [13:44<21:58,  3.04s/it]
 52%|█████▏    | 468/900 [13:44<15:48,  2.20s/it]
 52%|█████▏    | 469/900 [13:45<11:29,  1.60s/it]
 52%|█████▏    | 470/900 [13:45<08:29,  1.18s/it]
 52%|█████▏    | 471/900 [13:45<06:23,  1.12it/s]
 52%|█████▏    | 472/900 [13:45<04:55,  1.45it/s]
 53%|█████▎    | 473/900 [14:36<1:52:23, 15.79s/it]
 53%|█████▎    | 474/900 [14:37<1:18:56, 11.12s/it]
 53%|█████▎    | 475/900 [14:37<55:34,  7.85s/it]  
 53%|█████▎    | 476/900 [14:37<39:16,  5.56s/it]
 53%|█████▎    | 477/900 [14:37<27:55,  3.96s/it]
 53%|█████▎    | 478/900 [14:37<20:00,  2.84s/it]
 53%|█████▎    | 479/900 [14:38<14:28,  2.06s/it]
 53%|█████▎    | 480/900 [14:38<10:36,  1.52s/it]
 53%|█████▎    | 481/900 [14:49<29:30,  4.23s/it]
 54%|█████▎    | 482/900 [14:49<21:06,  3.03s/it]
 54%|█████▎    | 483/900 [14:49<15:14,  2.19s/it]
 54%|█████▍    | 484/900 [14:49<11:07,  1.61s/it]
 54%|█████▍    | 485/900 [14:49<08:16,  1.20s/it]
 54%|█████▍    | 486/900 [14:50<06:23,  1.08it/s]
 54%|█████▍    | 487/900 [14:50<04:57,  1.39it/s]
 54%|█████▍    | 488/900 [14:50<03:57,  1.74it/s]
 54%|█████▍    | 489/900 [15:01<25:06,  3.66s/it]
 54%|█████▍    | 490/900 [15:01<18:00,  2.64s/it]
 55%|█████▍    | 491/900 [15:02<13:04,  1.92s/it]
 55%|█████▍    | 492/900 [15:02<09:36,  1.41s/it]
 55%|█████▍    | 493/900 [15:02<07:11,  1.06s/it]
 55%|█████▍    | 494/900 [15:02<05:31,  1.22it/s]
 55%|█████▌    | 495/900 [15:03<04:21,  1.55it/s]
 55%|█████▌    | 496/900 [15:03<03:32,  1.90it/s]
 55%|█████▌    | 497/900 [15:21<39:34,  5.89s/it]
 55%|█████▌    | 498/900 [15:21<28:08,  4.20s/it]
 55%|█████▌    | 499/900 [15:22<20:07,  3.01s/it]
 56%|█████▌    | 500/900 [15:23<15:41,  2.35s/it]
 56%|█████▌    | 501/900 [15:23<11:26,  1.72s/it]
 56%|█████▌    | 502/900 [15:23<08:29,  1.28s/it]
 56%|█████▌    | 503/900 [15:23<06:24,  1.03it/s]
 56%|█████▌    | 504/900 [15:24<04:58,  1.33it/s]
 56%|█████▌    | 505/900 [15:43<42:19,  6.43s/it]
 56%|█████▌    | 506/900 [15:43<30:03,  4.58s/it]
 56%|█████▋    | 507/900 [15:44<21:28,  3.28s/it]
 56%|█████▋    | 508/900 [15:44<15:28,  2.37s/it]
 57%|█████▋    | 509/900 [15:44<11:17,  1.73s/it]
 57%|█████▋    | 510/900 [15:44<08:21,  1.29s/it]
 57%|█████▋    | 511/900 [15:45<06:19,  1.03it/s]
 57%|█████▋    | 512/900 [15:45<04:53,  1.32it/s]
 57%|█████▋    | 513/900 [15:55<23:22,  3.62s/it]
 57%|█████▋    | 514/900 [15:56<16:48,  2.61s/it]
 57%|█████▋    | 515/900 [15:56<12:11,  1.90s/it]
 57%|█████▋    | 516/900 [15:56<08:59,  1.41s/it]
 57%|█████▋    | 517/900 [15:56<06:44,  1.06s/it]
 58%|█████▊    | 518/900 [15:56<05:10,  1.23it/s]
 58%|█████▊    | 519/900 [15:57<04:04,  1.56it/s]
 58%|█████▊    | 520/900 [15:57<03:19,  1.91it/s]
 58%|█████▊    | 521/900 [16:12<30:52,  4.89s/it]
 58%|█████▊    | 522/900 [16:12<22:01,  3.50s/it]
 58%|█████▊    | 523/900 [16:13<15:50,  2.52s/it]
 58%|█████▊    | 524/900 [16:13<11:30,  1.84s/it]
 58%|█████▊    | 525/900 [16:13<08:30,  1.36s/it]
 58%|█████▊    | 526/900 [16:13<06:24,  1.03s/it]
 59%|█████▊    | 527/900 [16:14<04:55,  1.26it/s]
 59%|█████▊    | 528/900 [16:14<03:54,  1.59it/s]
 59%|█████▉    | 529/900 [16:41<53:23,  8.64s/it]
 59%|█████▉    | 530/900 [16:41<37:44,  6.12s/it]
 59%|█████▉    | 531/900 [16:42<26:48,  4.36s/it]
 59%|█████▉    | 532/900 [16:42<19:09,  3.12s/it]
 59%|█████▉    | 533/900 [16:42<13:50,  2.26s/it]
 59%|█████▉    | 534/900 [16:42<10:06,  1.66s/it]
 59%|█████▉    | 535/900 [16:43<07:29,  1.23s/it]
 60%|█████▉    | 536/900 [16:43<05:40,  1.07it/s]
 60%|█████▉    | 537/900 [16:54<24:04,  3.98s/it]
 60%|█████▉    | 538/900 [16:54<17:15,  2.86s/it]
 60%|█████▉    | 539/900 [16:54<12:30,  2.08s/it]
 60%|██████    | 540/900 [16:55<09:10,  1.53s/it]
 60%|██████    | 541/900 [16:55<06:50,  1.14s/it]
 60%|██████    | 542/900 [16:55<05:13,  1.14it/s]
 60%|██████    | 543/900 [16:55<04:05,  1.45it/s]
 60%|██████    | 544/900 [16:56<03:17,  1.81it/s]
 61%|██████    | 545/900 [17:12<31:51,  5.39s/it]
 61%|██████    | 546/900 [17:13<22:40,  3.84s/it]
 61%|██████    | 547/900 [17:13<16:14,  2.76s/it]
 61%|██████    | 548/900 [17:13<11:46,  2.01s/it]
 61%|██████    | 549/900 [17:13<08:39,  1.48s/it]
 61%|██████    | 550/900 [17:14<06:27,  1.11s/it]
 61%|██████    | 551/900 [17:14<04:56,  1.18it/s]
 61%|██████▏   | 552/900 [17:14<03:52,  1.50it/s]
 61%|██████▏   | 553/900 [17:29<29:09,  5.04s/it]
 62%|██████▏   | 554/900 [17:30<20:47,  3.61s/it]
 62%|██████▏   | 555/900 [17:30<14:56,  2.60s/it]
 62%|██████▏   | 556/900 [17:30<10:51,  1.89s/it]
 62%|██████▏   | 557/900 [17:30<08:00,  1.40s/it]
 62%|██████▏   | 558/900 [17:30<06:00,  1.05s/it]
 62%|██████▏   | 559/900 [17:31<04:37,  1.23it/s]
 62%|██████▏   | 560/900 [17:31<03:39,  1.55it/s]
 62%|██████▏   | 561/900 [17:41<20:17,  3.59s/it]
 62%|██████▏   | 562/900 [17:42<14:35,  2.59s/it]
 63%|██████▎   | 563/900 [17:42<10:37,  1.89s/it]
 63%|██████▎   | 564/900 [17:42<07:50,  1.40s/it]
 63%|██████▎   | 565/900 [17:42<05:53,  1.05s/it]
 63%|██████▎   | 566/900 [17:43<04:36,  1.21it/s]
 63%|██████▎   | 567/900 [17:43<03:38,  1.53it/s]
 63%|██████▎   | 568/900 [17:43<02:57,  1.87it/s]
 63%|██████▎   | 569/900 [17:58<26:24,  4.79s/it]
 63%|██████▎   | 570/900 [17:58<18:50,  3.43s/it]
 63%|██████▎   | 571/900 [17:58<13:33,  2.47s/it]
 64%|██████▎   | 572/900 [17:59<09:52,  1.81s/it]
 64%|██████▎   | 573/900 [17:59<07:17,  1.34s/it]
 64%|██████▍   | 574/900 [17:59<05:29,  1.01s/it]
 64%|██████▍   | 575/900 [17:59<04:14,  1.28it/s]
 64%|██████▍   | 576/900 [18:00<03:21,  1.61it/s]
 64%|██████▍   | 577/900 [18:21<36:24,  6.76s/it]
 64%|██████▍   | 578/900 [18:21<25:49,  4.81s/it]
 64%|██████▍   | 579/900 [18:21<18:25,  3.44s/it]
 64%|██████▍   | 580/900 [18:22<13:15,  2.48s/it]
 65%|██████▍   | 581/900 [18:22<09:38,  1.81s/it]
 65%|██████▍   | 582/900 [18:22<07:08,  1.35s/it]
 65%|██████▍   | 583/900 [18:22<05:22,  1.02s/it]
 65%|██████▍   | 584/900 [18:23<04:09,  1.27it/s]
 65%|██████▌   | 585/900 [18:47<41:11,  7.84s/it]
 65%|██████▌   | 586/900 [18:47<29:08,  5.57s/it]
 65%|██████▌   | 587/900 [18:47<20:43,  3.97s/it]
 65%|██████▌   | 588/900 [18:48<14:51,  2.86s/it]
 65%|██████▌   | 589/900 [18:48<10:44,  2.07s/it]
 66%|██████▌   | 590/900 [18:48<07:53,  1.53s/it]
 66%|██████▌   | 591/900 [18:48<05:53,  1.14s/it]
 66%|██████▌   | 592/900 [18:49<04:28,  1.15it/s]
 66%|██████▌   | 593/900 [19:12<38:44,  7.57s/it]
 66%|██████▌   | 594/900 [19:12<27:24,  5.37s/it]
 66%|██████▌   | 595/900 [19:12<19:28,  3.83s/it]
 66%|██████▌   | 596/900 [19:13<13:56,  2.75s/it]
 66%|██████▋   | 597/900 [19:13<10:04,  2.00s/it]
 66%|██████▋   | 598/900 [19:13<07:23,  1.47s/it]
 67%|██████▋   | 599/900 [19:13<05:29,  1.10s/it]
 67%|██████▋   | 600/900 [19:13<04:11,  1.19it/s]
 67%|██████▋   | 601/900 [19:26<22:13,  4.46s/it]
 67%|██████▋   | 602/900 [19:27<15:51,  3.19s/it]
 67%|██████▋   | 603/900 [19:27<11:25,  2.31s/it]
 67%|██████▋   | 604/900 [19:27<08:19,  1.69s/it]
 67%|██████▋   | 605/900 [19:27<06:09,  1.25s/it]
 67%|██████▋   | 606/900 [19:28<04:38,  1.05it/s]
 67%|██████▋   | 607/900 [19:28<03:35,  1.36it/s]
 68%|██████▊   | 608/900 [19:28<02:50,  1.71it/s]
 68%|██████▊   | 609/900 [19:45<26:55,  5.55s/it]
 68%|██████▊   | 610/900 [19:45<19:08,  3.96s/it]
 68%|██████▊   | 611/900 [19:46<13:42,  2.85s/it]
 68%|██████▊   | 612/900 [19:46<09:54,  2.06s/it]
 68%|██████▊   | 613/900 [19:46<07:14,  1.52s/it]
 68%|██████▊   | 614/900 [19:46<05:23,  1.13s/it]
 68%|██████▊   | 615/900 [19:47<04:06,  1.16it/s]
 68%|██████▊   | 616/900 [19:47<03:12,  1.47it/s]
 69%|██████▊   | 617/900 [20:18<45:49,  9.72s/it]
 69%|██████▊   | 618/900 [20:18<32:18,  6.87s/it]
 69%|██████▉   | 619/900 [20:18<22:52,  4.88s/it]
 69%|██████▉   | 620/900 [20:18<16:17,  3.49s/it]
 69%|██████▉   | 621/900 [20:19<11:41,  2.52s/it]
 69%|██████▉   | 622/900 [20:19<08:29,  1.83s/it]
 69%|██████▉   | 623/900 [20:19<06:15,  1.36s/it]
 69%|██████▉   | 624/900 [20:19<04:42,  1.02s/it]
 69%|██████▉   | 625/900 [20:51<46:21, 10.12s/it]
 70%|██████▉   | 626/900 [20:51<32:40,  7.15s/it]
 70%|██████▉   | 627/900 [20:51<23:06,  5.08s/it]
 70%|██████▉   | 628/900 [20:51<16:27,  3.63s/it]
 70%|██████▉   | 629/900 [20:52<11:48,  2.61s/it]
 70%|███████   | 630/900 [20:52<08:33,  1.90s/it]
 70%|███████   | 631/900 [20:52<06:17,  1.41s/it]
 70%|███████   | 632/900 [20:52<04:43,  1.06s/it]
 70%|███████   | 633/900 [21:36<1:01:37, 13.85s/it]
 70%|███████   | 634/900 [21:36<43:18,  9.77s/it]  
 71%|███████   | 635/900 [21:37<30:31,  6.91s/it]
 71%|███████   | 636/900 [21:37<21:37,  4.91s/it]
 71%|███████   | 637/900 [21:37<15:23,  3.51s/it]
 71%|███████   | 638/900 [21:37<11:03,  2.53s/it]
 71%|███████   | 639/900 [21:38<08:01,  1.84s/it]
 71%|███████   | 640/900 [21:38<05:54,  1.36s/it]
 71%|███████   | 641/900 [21:49<19:12,  4.45s/it]
 71%|███████▏  | 642/900 [21:50<13:43,  3.19s/it]
 71%|███████▏  | 643/900 [21:50<09:53,  2.31s/it]
 72%|███████▏  | 644/900 [21:50<07:11,  1.69s/it]
 72%|███████▏  | 645/900 [21:50<05:19,  1.25s/it]
 72%|███████▏  | 646/900 [21:51<04:01,  1.05it/s]
 72%|███████▏  | 647/900 [21:51<03:06,  1.36it/s]
 72%|███████▏  | 648/900 [21:51<02:28,  1.70it/s]
 72%|███████▏  | 649/900 [22:53<1:19:53, 19.10s/it]
 72%|███████▏  | 650/900 [22:54<56:01, 13.44s/it]  
 72%|███████▏  | 651/900 [22:54<39:21,  9.49s/it]
 72%|███████▏  | 652/900 [22:54<27:44,  6.71s/it]
 73%|███████▎  | 653/900 [22:54<19:38,  4.77s/it]
 73%|███████▎  | 654/900 [22:55<13:59,  3.41s/it]
 73%|███████▎  | 655/900 [22:55<10:03,  2.46s/it]
 73%|███████▎  | 656/900 [22:55<07:18,  1.80s/it]
 73%|███████▎  | 657/900 [23:08<20:27,  5.05s/it]
 73%|███████▎  | 658/900 [23:08<14:31,  3.60s/it]
 73%|███████▎  | 658/900 [23:08<08:30,  2.11s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/log_1_env0.json.
+RubiksCubeThenBananaTask_1 complete: task_name: RubiksCubeThenBananaTask, run_name: RubiksCubeThenBananaTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the cube then the banana in the bowl, attributes: ['conjunction', 'simple'], success: True, episode_step: 659, duration: 43.93333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.58051438079158, 'joint_sparc_mean': -14.961050214754952, 'ee_isj': 14872.753184424564, 'joint_isj': 898302.3128753223, 'ee_path_length': 5.608732894661553, 'joint_rmse_mean': 1.7472841521863087, 'ee_speed_max': 1.9752566814422607, 'ee_speed_mean': 0.12214114516973495}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 5, 'TARGET_OBJECT_DROPPED': 7, 'GRIPPER_HIT_TABLE': 2}, instruction_type: default, timing: {'policy_inference_s': 1242.086, 'policy_inference_avg_ms': 1884.8, 'env_step_s': 139.659, 'env_step_avg_ms': 211.9, 'video_write_s': 6.728, 'video_write_avg_ms': 10.2, 'wall_total_s': 1388.472, 'it_per_sec': 0.47}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 3bdac3d0b5d44d0287b433696f5cc707-1
+[RoboLab] Running RubiksCubeThenBananaTask_2: 'Put the cube then the banana in the bowl' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:35<8:55:48, 35.76s/it]
  0%|          | 2/900 [00:35<3:42:19, 14.85s/it]
  0%|          | 3/900 [00:36<2:02:11,  8.17s/it]
  0%|          | 4/900 [00:36<1:15:09,  5.03s/it]
  1%|          | 5/900 [00:36<49:08,  3.29s/it]  
  1%|          | 6/900 [00:36<33:29,  2.25s/it]
  1%|          | 7/900 [00:37<23:32,  1.58s/it]
  1%|          | 8/900 [00:37<17:04,  1.15s/it]
  1%|          | 9/900 [00:42<36:48,  2.48s/it]
  1%|          | 10/900 [00:42<26:23,  1.78s/it]
  1%|          | 11/900 [00:43<19:17,  1.30s/it]
  1%|▏         | 12/900 [00:43<14:22,  1.03it/s]
  1%|▏         | 13/900 [00:43<10:59,  1.34it/s]
  2%|▏         | 14/900 [00:43<08:37,  1.71it/s]
  2%|▏         | 15/900 [00:43<06:58,  2.11it/s]
  2%|▏         | 16/900 [00:44<05:48,  2.53it/s]
  2%|▏         | 17/900 [00:52<39:21,  2.67s/it]
  2%|▏         | 18/900 [00:52<28:27,  1.94s/it]
  2%|▏         | 19/900 [00:52<20:51,  1.42s/it]
  2%|▏         | 20/900 [00:52<15:31,  1.06s/it]
  2%|▏         | 21/900 [00:53<11:48,  1.24it/s]
  2%|▏         | 22/900 [00:53<09:12,  1.59it/s]
  3%|▎         | 23/900 [00:53<07:22,  1.98it/s]
  3%|▎         | 24/900 [00:53<06:05,  2.39it/s]
  3%|▎         | 25/900 [00:59<28:38,  1.96s/it]
  3%|▎         | 26/900 [00:59<20:58,  1.44s/it]
  3%|▎         | 27/900 [00:59<15:37,  1.07s/it]
  3%|▎         | 28/900 [00:59<11:53,  1.22it/s]
  3%|▎         | 29/900 [01:00<09:16,  1.57it/s]
  3%|▎         | 30/900 [01:00<07:26,  1.95it/s]
  3%|▎         | 31/900 [01:00<06:09,  2.35it/s]
  4%|▎         | 32/900 [01:00<05:15,  2.75it/s]
  4%|▎         | 33/900 [01:09<39:20,  2.72s/it]
  4%|▍         | 34/900 [01:09<28:26,  1.97s/it]
  4%|▍         | 35/900 [01:09<20:48,  1.44s/it]
  4%|▍         | 36/900 [01:09<15:29,  1.08s/it]
  4%|▍         | 37/900 [01:09<11:45,  1.22it/s]
  4%|▍         | 38/900 [01:10<09:09,  1.57it/s]
  4%|▍         | 39/900 [01:10<07:19,  1.96it/s]
  4%|▍         | 40/900 [01:10<06:02,  2.37it/s]
  5%|▍         | 41/900 [01:21<53:01,  3.70s/it]
  5%|▍         | 42/900 [01:22<38:00,  2.66s/it]
  5%|▍         | 43/900 [01:22<27:29,  1.93s/it]
  5%|▍         | 44/900 [01:22<20:09,  1.41s/it]
  5%|▌         | 45/900 [01:22<15:01,  1.05s/it]
  5%|▌         | 46/900 [01:22<11:25,  1.25it/s]
  5%|▌         | 47/900 [01:23<08:55,  1.59it/s]
  5%|▌         | 48/900 [01:23<07:10,  1.98it/s]
  5%|▌         | 49/900 [01:31<40:11,  2.83s/it]
  6%|▌         | 50/900 [01:31<29:01,  2.05s/it]
  6%|▌         | 51/900 [01:32<21:14,  1.50s/it]
  6%|▌         | 52/900 [01:32<15:45,  1.12s/it]
  6%|▌         | 53/900 [01:32<11:57,  1.18it/s]
  6%|▌         | 54/900 [01:32<09:17,  1.52it/s]
  6%|▌         | 55/900 [01:33<07:28,  1.88it/s]
  6%|▌         | 56/900 [01:33<06:08,  2.29it/s]
  6%|▋         | 57/900 [01:38<24:40,  1.76s/it]
  6%|▋         | 58/900 [01:38<18:15,  1.30s/it]
  7%|▋         | 59/900 [01:38<13:47,  1.02it/s]
  7%|▋         | 60/900 [01:38<10:40,  1.31it/s]
  7%|▋         | 61/900 [01:39<08:29,  1.65it/s]
  7%|▋         | 62/900 [01:39<06:56,  2.01it/s]
  7%|▋         | 63/900 [01:39<05:50,  2.39it/s]
  7%|▋         | 64/900 [01:39<05:04,  2.75it/s]
  7%|▋         | 65/900 [01:50<46:35,  3.35s/it]
  7%|▋         | 66/900 [01:50<33:32,  2.41s/it]
  7%|▋         | 67/900 [01:50<24:27,  1.76s/it]
  8%|▊         | 68/900 [01:50<17:59,  1.30s/it]
  8%|▊         | 69/900 [01:50<13:30,  1.03it/s]
  8%|▊         | 70/900 [01:51<11:21,  1.22it/s]
  8%|▊         | 71/900 [01:51<08:51,  1.56it/s]
  8%|▊         | 72/900 [01:51<07:05,  1.95it/s]
  8%|▊         | 73/900 [02:48<3:59:19, 17.36s/it]
  8%|▊         | 74/900 [02:48<2:48:13, 12.22s/it]
  8%|▊         | 75/900 [02:48<1:58:31,  8.62s/it]
  8%|▊         | 76/900 [02:49<1:23:45,  6.10s/it]
  9%|▊         | 77/900 [02:49<59:28,  4.34s/it]  
  9%|▊         | 78/900 [02:49<42:26,  3.10s/it]
  9%|▉         | 79/900 [02:49<30:33,  2.23s/it]
  9%|▉         | 80/900 [02:50<22:14,  1.63s/it]
  9%|▉         | 81/900 [02:56<43:54,  3.22s/it]
  9%|▉         | 82/900 [02:57<31:36,  2.32s/it]
  9%|▉         | 83/900 [02:57<22:59,  1.69s/it]
  9%|▉         | 84/900 [02:57<16:57,  1.25s/it]
  9%|▉         | 85/900 [02:57<12:43,  1.07it/s]
 10%|▉         | 86/900 [02:58<09:49,  1.38it/s]
 10%|▉         | 87/900 [02:58<07:48,  1.74it/s]
 10%|▉         | 88/900 [02:58<06:24,  2.11it/s]
 10%|▉         | 89/900 [03:12<1:02:46,  4.64s/it]
 10%|█         | 90/900 [03:13<44:49,  3.32s/it]  
 10%|█         | 91/900 [03:13<32:16,  2.39s/it]
 10%|█         | 92/900 [03:13<23:31,  1.75s/it]
 10%|█         | 93/900 [03:13<17:23,  1.29s/it]
 10%|█         | 94/900 [03:14<13:04,  1.03it/s]
 11%|█         | 95/900 [03:14<10:02,  1.34it/s]
 11%|█         | 96/900 [03:14<07:56,  1.69it/s]
 11%|█         | 97/900 [03:22<37:02,  2.77s/it]
 11%|█         | 98/900 [03:22<26:50,  2.01s/it]
 11%|█         | 99/900 [03:22<19:39,  1.47s/it]
 11%|█         | 100/900 [03:23<14:37,  1.10s/it]
 11%|█         | 101/900 [03:23<11:05,  1.20it/s]
 11%|█▏        | 102/900 [03:23<08:36,  1.54it/s]
 11%|█▏        | 103/900 [03:23<06:53,  1.93it/s]
 12%|█▏        | 104/900 [03:23<05:41,  2.33it/s]
 12%|█▏        | 105/900 [03:34<46:26,  3.51s/it]
 12%|█▏        | 106/900 [03:34<33:19,  2.52s/it]
 12%|█▏        | 107/900 [03:35<24:07,  1.83s/it]
 12%|█▏        | 108/900 [03:35<17:43,  1.34s/it]
 12%|█▏        | 109/900 [03:35<13:13,  1.00s/it]
 12%|█▏        | 110/900 [03:35<10:04,  1.31it/s]
 12%|█▏        | 111/900 [03:35<07:52,  1.67it/s]
 12%|█▏        | 112/900 [03:36<06:20,  2.07it/s]
 13%|█▎        | 113/900 [03:45<40:19,  3.07s/it]
 13%|█▎        | 114/900 [03:45<29:01,  2.22s/it]
 13%|█▎        | 115/900 [03:45<21:14,  1.62s/it]
 13%|█▎        | 116/900 [03:46<16:44,  1.28s/it]
 13%|█▎        | 117/900 [03:46<12:31,  1.04it/s]
 13%|█▎        | 118/900 [03:46<09:34,  1.36it/s]
 13%|█▎        | 119/900 [03:46<07:32,  1.73it/s]
 13%|█▎        | 120/900 [03:47<06:06,  2.13it/s]
 13%|█▎        | 121/900 [03:53<31:15,  2.41s/it]
 14%|█▎        | 122/900 [03:54<22:40,  1.75s/it]
 14%|█▎        | 123/900 [03:54<16:39,  1.29s/it]
 14%|█▍        | 124/900 [03:54<12:28,  1.04it/s]
 14%|█▍        | 125/900 [03:54<09:32,  1.35it/s]
 14%|█▍        | 126/900 [03:55<07:29,  1.72it/s]
 14%|█▍        | 127/900 [03:55<06:05,  2.12it/s]
 14%|█▍        | 128/900 [03:55<05:03,  2.54it/s]
 14%|█▍        | 129/900 [04:02<29:19,  2.28s/it]
 14%|█▍        | 130/900 [04:02<21:19,  1.66s/it]
 15%|█▍        | 131/900 [04:02<15:43,  1.23s/it]
 15%|█▍        | 132/900 [04:02<11:50,  1.08it/s]
 15%|█▍        | 133/900 [04:02<09:05,  1.41it/s]
 15%|█▍        | 134/900 [04:03<07:10,  1.78it/s]
 15%|█▌        | 135/900 [04:03<05:51,  2.18it/s]
 15%|█▌        | 136/900 [04:03<04:55,  2.59it/s]
 15%|█▌        | 137/900 [04:15<49:25,  3.89s/it]
 15%|█▌        | 138/900 [04:15<35:29,  2.79s/it]
 15%|█▌        | 139/900 [04:16<25:42,  2.03s/it]
 16%|█▌        | 140/900 [04:16<18:52,  1.49s/it]
 16%|█▌        | 141/900 [04:16<14:07,  1.12s/it]
 16%|█▌        | 142/900 [04:16<10:46,  1.17it/s]
 16%|█▌        | 143/900 [04:17<08:27,  1.49it/s]
 16%|█▌        | 144/900 [04:17<06:52,  1.83it/s]
 16%|█▌        | 145/900 [04:25<36:20,  2.89s/it]
 16%|█▌        | 146/900 [04:25<26:21,  2.10s/it]
 16%|█▋        | 147/900 [04:26<19:16,  1.54s/it]
 16%|█▋        | 148/900 [04:26<14:17,  1.14s/it]
 17%|█▋        | 149/900 [04:26<10:51,  1.15it/s]
 17%|█▋        | 150/900 [04:26<08:27,  1.48it/s]
 17%|█▋        | 151/900 [04:27<06:45,  1.85it/s]
 17%|█▋        | 152/900 [04:27<05:32,  2.25it/s]
 17%|█▋        | 153/900 [04:51<1:33:29,  7.51s/it]
 17%|█▋        | 154/900 [04:51<1:06:10,  5.32s/it]
 17%|█▋        | 155/900 [04:51<47:04,  3.79s/it]  
 17%|█▋        | 156/900 [04:51<33:44,  2.72s/it]
 17%|█▋        | 157/900 [04:52<24:23,  1.97s/it]
 18%|█▊        | 158/900 [04:52<17:51,  1.44s/it]
 18%|█▊        | 159/900 [04:52<13:17,  1.08s/it]
 18%|█▊        | 160/900 [04:52<10:06,  1.22it/s]
 18%|█▊        | 161/900 [05:11<1:17:30,  6.29s/it]
 18%|█▊        | 162/900 [05:12<55:00,  4.47s/it]  
 18%|█▊        | 163/900 [05:12<39:16,  3.20s/it]
 18%|█▊        | 164/900 [05:12<28:16,  2.30s/it]
 18%|█▊        | 165/900 [05:12<20:34,  1.68s/it]
 18%|█▊        | 166/900 [05:13<15:11,  1.24s/it]
 19%|█▊        | 167/900 [05:13<11:25,  1.07it/s]
 19%|█▊        | 168/900 [05:13<08:48,  1.38it/s]
 19%|█▉        | 169/900 [05:22<37:30,  3.08s/it]
 19%|█▉        | 170/900 [05:22<27:01,  2.22s/it]
 19%|█▉        | 171/900 [05:22<19:41,  1.62s/it]
 19%|█▉        | 172/900 [05:22<14:33,  1.20s/it]
 19%|█▉        | 173/900 [05:22<10:58,  1.10it/s]
 19%|█▉        | 174/900 [05:23<08:28,  1.43it/s]
 19%|█▉        | 175/900 [05:23<06:43,  1.80it/s]
 20%|█▉        | 176/900 [05:23<05:29,  2.20it/s]
 20%|█▉        | 177/900 [05:44<1:19:39,  6.61s/it]
 20%|█▉        | 178/900 [05:44<56:27,  4.69s/it]  
 20%|█▉        | 179/900 [05:45<40:16,  3.35s/it]
 20%|██        | 180/900 [05:45<28:56,  2.41s/it]
 20%|██        | 181/900 [05:45<21:01,  1.75s/it]
 20%|██        | 182/900 [05:45<15:27,  1.29s/it]
 20%|██        | 183/900 [05:45<11:34,  1.03it/s]
 20%|██        | 184/900 [05:46<08:52,  1.35it/s]
 21%|██        | 185/900 [05:54<34:43,  2.91s/it]
 21%|██        | 186/900 [05:54<25:04,  2.11s/it]
 21%|██        | 187/900 [05:54<18:18,  1.54s/it]
 21%|██        | 188/900 [05:54<13:35,  1.14s/it]
 21%|██        | 189/900 [05:54<10:16,  1.15it/s]
 21%|██        | 190/900 [05:55<07:56,  1.49it/s]
 21%|██        | 191/900 [05:55<06:20,  1.86it/s]
 21%|██▏       | 192/900 [05:55<05:12,  2.26it/s]
 21%|██▏       | 193/900 [06:04<35:55,  3.05s/it]
 22%|██▏       | 194/900 [06:05<25:59,  2.21s/it]
 22%|██▏       | 195/900 [06:05<19:02,  1.62s/it]
 22%|██▏       | 196/900 [06:05<14:08,  1.20s/it]
 22%|██▏       | 197/900 [06:05<10:45,  1.09it/s]
 22%|██▏       | 198/900 [06:05<08:24,  1.39it/s]
 22%|██▏       | 199/900 [06:06<06:44,  1.73it/s]
 22%|██▏       | 200/900 [06:06<05:33,  2.10it/s]
 22%|██▏       | 201/900 [06:13<27:02,  2.32s/it]
 22%|██▏       | 202/900 [06:13<19:44,  1.70s/it]
 23%|██▎       | 203/900 [06:13<14:40,  1.26s/it]
 23%|██▎       | 204/900 [06:13<11:07,  1.04it/s]
 23%|██▎       | 205/900 [06:14<08:36,  1.35it/s]
 23%|██▎       | 206/900 [06:14<06:52,  1.68it/s]
 23%|██▎       | 207/900 [06:14<05:39,  2.04it/s]
 23%|██▎       | 208/900 [06:14<04:48,  2.40it/s]
 23%|██▎       | 209/900 [06:39<1:28:48,  7.71s/it]
 23%|██▎       | 210/900 [06:39<1:02:55,  5.47s/it]
 23%|██▎       | 211/900 [06:40<44:49,  3.90s/it]  
 24%|██▎       | 212/900 [06:40<32:10,  2.81s/it]
 24%|██▎       | 213/900 [06:40<23:20,  2.04s/it]
 24%|██▍       | 214/900 [06:40<17:09,  1.50s/it]
 24%|██▍       | 215/900 [06:41<12:50,  1.12s/it]
 24%|██▍       | 216/900 [06:41<09:49,  1.16it/s]
 24%|██▍       | 217/900 [06:58<1:05:19,  5.74s/it]
 24%|██▍       | 218/900 [06:58<46:29,  4.09s/it]  
 24%|██▍       | 219/900 [06:58<33:19,  2.94s/it]
 24%|██▍       | 220/900 [06:59<24:06,  2.13s/it]
 25%|██▍       | 221/900 [06:59<17:41,  1.56s/it]
 25%|██▍       | 222/900 [06:59<13:11,  1.17s/it]
 25%|██▍       | 223/900 [06:59<10:02,  1.12it/s]
 25%|██▍       | 224/900 [07:00<07:50,  1.44it/s]
 25%|██▌       | 225/900 [07:14<54:58,  4.89s/it]
 25%|██▌       | 226/900 [07:14<39:10,  3.49s/it]
 25%|██▌       | 227/900 [07:15<28:07,  2.51s/it]
 25%|██▌       | 228/900 [07:15<20:24,  1.82s/it]
 25%|██▌       | 229/900 [07:15<15:00,  1.34s/it]
 26%|██▌       | 230/900 [07:15<11:13,  1.01s/it]
 26%|██▌       | 231/900 [07:16<08:34,  1.30it/s]
 26%|██▌       | 232/900 [07:16<06:43,  1.66it/s]
 26%|██▌       | 233/900 [07:46<1:46:19,  9.56s/it]
 26%|██▌       | 234/900 [07:47<1:15:03,  6.76s/it]
 26%|██▌       | 235/900 [07:47<53:11,  4.80s/it]  
 26%|██▌       | 236/900 [07:47<37:54,  3.42s/it]
 26%|██▋       | 237/900 [07:47<27:12,  2.46s/it]
 26%|██▋       | 238/900 [07:47<19:44,  1.79s/it]
 27%|██▋       | 239/900 [07:48<14:30,  1.32s/it]
 27%|██▋       | 240/900 [07:48<10:51,  1.01it/s]
 27%|██▋       | 241/900 [08:06<1:07:15,  6.12s/it]
 27%|██▋       | 242/900 [08:06<47:44,  4.35s/it]  
 27%|██▋       | 243/900 [08:06<34:05,  3.11s/it]
 27%|██▋       | 244/900 [08:07<24:32,  2.24s/it]
 27%|██▋       | 245/900 [08:07<17:51,  1.64s/it]
 27%|██▋       | 246/900 [08:07<13:12,  1.21s/it]
 27%|██▋       | 247/900 [08:07<09:56,  1.10it/s]
 28%|██▊       | 248/900 [08:07<07:38,  1.42it/s]
 28%|██▊       | 249/900 [08:16<32:24,  2.99s/it]
 28%|██▊       | 250/900 [08:16<23:20,  2.15s/it]
 28%|██▊       | 251/900 [08:16<17:01,  1.57s/it]
 28%|██▊       | 252/900 [08:16<12:36,  1.17s/it]
 28%|██▊       | 253/900 [08:17<09:31,  1.13it/s]
 28%|██▊       | 254/900 [08:17<07:21,  1.46it/s]
 28%|██▊       | 255/900 [08:17<05:51,  1.83it/s]
 28%|██▊       | 256/900 [08:17<04:48,  2.24it/s]
 29%|██▊       | 257/900 [08:37<1:08:15,  6.37s/it]
 29%|██▊       | 258/900 [08:38<48:25,  4.53s/it]  
 29%|██▉       | 259/900 [08:38<34:33,  3.23s/it]
 29%|██▉       | 260/900 [08:38<24:52,  2.33s/it]
 29%|██▉       | 261/900 [08:38<18:04,  1.70s/it]
 29%|██▉       | 262/900 [08:39<13:19,  1.25s/it]
 29%|██▉       | 263/900 [08:39<10:00,  1.06it/s]
 29%|██▉       | 264/900 [08:39<07:40,  1.38it/s]
 29%|██▉       | 265/900 [08:49<38:37,  3.65s/it]
 30%|██▉       | 266/900 [08:50<27:41,  2.62s/it]
 30%|██▉       | 267/900 [08:50<20:03,  1.90s/it]
 30%|██▉       | 268/900 [08:50<14:42,  1.40s/it]
 30%|██▉       | 269/900 [08:50<10:58,  1.04s/it]
 30%|███       | 270/900 [08:51<08:22,  1.25it/s]
 30%|███       | 271/900 [08:51<06:32,  1.60it/s]
 30%|███       | 272/900 [08:51<05:14,  1.99it/s]
 30%|███       | 273/900 [08:59<28:38,  2.74s/it]
 30%|███       | 274/900 [08:59<20:45,  1.99s/it]
 31%|███       | 275/900 [08:59<15:14,  1.46s/it]
 31%|███       | 276/900 [09:00<11:22,  1.09s/it]
 31%|███       | 277/900 [09:00<08:40,  1.20it/s]
 31%|███       | 278/900 [09:00<06:47,  1.53it/s]
 31%|███       | 279/900 [09:00<05:28,  1.89it/s]
 31%|███       | 280/900 [09:01<04:33,  2.27it/s]
 31%|███       | 281/900 [09:35<1:48:29, 10.52s/it]
 31%|███▏      | 282/900 [09:35<1:16:32,  7.43s/it]
 31%|███▏      | 283/900 [09:35<54:12,  5.27s/it]  
 32%|███▏      | 284/900 [09:35<38:38,  3.76s/it]
 32%|███▏      | 285/900 [09:36<27:46,  2.71s/it]
 32%|███▏      | 286/900 [09:36<20:05,  1.96s/it]
 32%|███▏      | 287/900 [09:36<14:43,  1.44s/it]
 32%|███▏      | 288/900 [09:36<10:58,  1.08s/it]
 32%|███▏      | 289/900 [09:50<49:10,  4.83s/it]
 32%|███▏      | 290/900 [09:50<35:03,  3.45s/it]
 32%|███▏      | 291/900 [09:50<25:11,  2.48s/it]
 32%|███▏      | 292/900 [09:51<18:16,  1.80s/it]
 33%|███▎      | 293/900 [09:51<13:27,  1.33s/it]
 33%|███▎      | 294/900 [09:51<10:05,  1.00it/s]
 33%|███▎      | 295/900 [09:51<07:43,  1.30it/s]
 33%|███▎      | 296/900 [09:51<06:04,  1.66it/s]
 33%|███▎      | 297/900 [10:00<31:28,  3.13s/it]
 33%|███▎      | 298/900 [10:01<22:39,  2.26s/it]
 33%|███▎      | 299/900 [10:01<16:29,  1.65s/it]
 33%|███▎      | 300/900 [10:01<12:11,  1.22s/it]
 33%|███▎      | 301/900 [10:01<09:10,  1.09it/s]
 34%|███▎      | 302/900 [10:02<07:03,  1.41it/s]
 34%|███▎      | 303/900 [10:02<05:34,  1.78it/s]
 34%|███▍      | 304/900 [10:02<04:32,  2.18it/s]
 34%|███▍      | 305/900 [10:19<53:19,  5.38s/it]
 34%|███▍      | 306/900 [10:19<37:58,  3.84s/it]
 34%|███▍      | 307/900 [10:19<27:14,  2.76s/it]
 34%|███▍      | 308/900 [10:20<19:44,  2.00s/it]
 34%|███▍      | 309/900 [10:20<14:28,  1.47s/it]
 34%|███▍      | 310/900 [10:20<10:47,  1.10s/it]
 35%|███▍      | 311/900 [10:20<08:13,  1.19it/s]
 35%|███▍      | 312/900 [10:21<06:26,  1.52it/s]
 35%|███▍      | 313/900 [10:42<1:06:59,  6.85s/it]
 35%|███▍      | 314/900 [10:42<47:29,  4.86s/it]  
 35%|███▌      | 315/900 [10:42<33:52,  3.47s/it]
 35%|███▌      | 316/900 [10:43<24:22,  2.50s/it]
 35%|███▌      | 317/900 [10:43<17:42,  1.82s/it]
 35%|███▌      | 318/900 [10:43<13:04,  1.35s/it]
 35%|███▌      | 319/900 [10:43<09:50,  1.02s/it]
 36%|███▌      | 320/900 [10:43<07:34,  1.28it/s]
 36%|███▌      | 321/900 [10:51<26:25,  2.74s/it]
 36%|███▌      | 322/900 [10:51<19:05,  1.98s/it]
 36%|███▌      | 323/900 [10:51<13:57,  1.45s/it]
 36%|███▌      | 324/900 [10:51<10:22,  1.08s/it]
 36%|███▌      | 325/900 [10:52<07:52,  1.22it/s]
 36%|███▌      | 326/900 [10:52<06:07,  1.56it/s]
 36%|███▋      | 327/900 [10:52<04:53,  1.95it/s]
 36%|███▋      | 328/900 [10:52<04:02,  2.36it/s]
 37%|███▋      | 329/900 [11:09<49:33,  5.21s/it]
 37%|███▋      | 330/900 [11:09<35:15,  3.71s/it]
 37%|███▋      | 331/900 [11:09<25:14,  2.66s/it]
 37%|███▋      | 332/900 [11:09<18:15,  1.93s/it]
 37%|███▋      | 333/900 [11:10<13:22,  1.42s/it]
 37%|███▋      | 334/900 [11:10<09:57,  1.06s/it]
 37%|███▋      | 335/900 [11:10<07:33,  1.25it/s]
 37%|███▋      | 336/900 [11:10<05:53,  1.60it/s]
 37%|███▋      | 337/900 [11:22<37:06,  3.96s/it]
 38%|███▊      | 338/900 [11:22<26:32,  2.83s/it]
 38%|███▊      | 339/900 [11:22<19:09,  2.05s/it]
 38%|███▊      | 340/900 [11:23<13:59,  1.50s/it]
 38%|███▊      | 341/900 [11:23<10:22,  1.11s/it]
 38%|███▊      | 342/900 [11:23<07:51,  1.18it/s]
 38%|███▊      | 343/900 [11:23<06:05,  1.52it/s]
 38%|███▊      | 344/900 [11:23<04:51,  1.91it/s]
 38%|███▊      | 345/900 [11:37<41:03,  4.44s/it]
 38%|███▊      | 346/900 [11:37<29:17,  3.17s/it]
 39%|███▊      | 347/900 [11:37<21:03,  2.28s/it]
 39%|███▊      | 348/900 [11:38<15:18,  1.66s/it]
 39%|███▉      | 349/900 [11:38<11:16,  1.23s/it]
 39%|███▉      | 350/900 [11:38<08:27,  1.08it/s]
 39%|███▉      | 351/900 [11:38<06:29,  1.41it/s]
 39%|███▉      | 352/900 [11:38<05:06,  1.79it/s]
 39%|███▉      | 353/900 [11:53<42:04,  4.62s/it]
 39%|███▉      | 354/900 [11:53<30:00,  3.30s/it]
 39%|███▉      | 355/900 [11:53<21:32,  2.37s/it]
 40%|███▉      | 356/900 [11:53<15:37,  1.72s/it]
 40%|███▉      | 357/900 [11:53<11:30,  1.27s/it]
 40%|███▉      | 358/900 [11:54<08:37,  1.05it/s]
 40%|███▉      | 359/900 [11:54<06:36,  1.37it/s]
 40%|████      | 360/900 [11:54<05:11,  1.73it/s]
 40%|████      | 361/900 [12:15<1:00:32,  6.74s/it]
 40%|████      | 362/900 [12:15<42:54,  4.78s/it]  
 40%|████      | 363/900 [12:16<30:41,  3.43s/it]
 40%|████      | 364/900 [12:16<22:02,  2.47s/it]
 41%|████      | 365/900 [12:16<15:58,  1.79s/it]
 41%|████      | 366/900 [12:16<11:45,  1.32s/it]
 41%|████      | 367/900 [12:17<08:47,  1.01it/s]
 41%|████      | 368/900 [12:17<06:43,  1.32it/s]
 41%|████      | 369/900 [12:41<1:08:25,  7.73s/it]
 41%|████      | 370/900 [12:41<48:22,  5.48s/it]  
 41%|████      | 371/900 [12:41<34:22,  3.90s/it]
 41%|████▏     | 372/900 [12:41<24:35,  2.79s/it]
 41%|████▏     | 373/900 [12:42<17:44,  2.02s/it]
 42%|████▏     | 374/900 [12:42<12:57,  1.48s/it]
 42%|████▏     | 375/900 [12:42<09:37,  1.10s/it]
 42%|████▏     | 376/900 [12:42<07:16,  1.20it/s]
 42%|████▏     | 377/900 [12:51<27:54,  3.20s/it]
 42%|████▏     | 378/900 [12:51<20:03,  2.31s/it]
 42%|████▏     | 379/900 [12:51<14:34,  1.68s/it]
 42%|████▏     | 380/900 [12:52<10:45,  1.24s/it]
 42%|████▏     | 381/900 [12:52<08:05,  1.07it/s]
 42%|████▏     | 382/900 [12:52<06:13,  1.39it/s]
 43%|████▎     | 383/900 [12:52<04:55,  1.75it/s]
 43%|████▎     | 384/900 [12:53<04:00,  2.14it/s]
 43%|████▎     | 385/900 [13:02<27:15,  3.18s/it]
 43%|████▎     | 386/900 [13:02<19:36,  2.29s/it]
 43%|████▎     | 387/900 [13:02<14:15,  1.67s/it]
 43%|████▎     | 388/900 [13:03<10:31,  1.23s/it]
 43%|████▎     | 389/900 [13:03<07:54,  1.08it/s]
 43%|████▎     | 390/900 [13:03<06:04,  1.40it/s]
 43%|████▎     | 391/900 [13:03<04:47,  1.77it/s]
 44%|████▎     | 392/900 [13:04<03:53,  2.18it/s]
 44%|████▎     | 393/900 [13:18<38:06,  4.51s/it]
 44%|████▍     | 394/900 [13:18<27:11,  3.22s/it]
 44%|████▍     | 395/900 [13:18<19:33,  2.32s/it]
 44%|████▍     | 396/900 [13:18<14:12,  1.69s/it]
 44%|████▍     | 397/900 [13:18<10:28,  1.25s/it]
 44%|████▍     | 398/900 [13:19<07:51,  1.06it/s]
 44%|████▍     | 399/900 [13:19<06:02,  1.38it/s]
 44%|████▍     | 400/900 [13:19<04:45,  1.75it/s]
 45%|████▍     | 401/900 [13:29<28:16,  3.40s/it]
 45%|████▍     | 402/900 [13:29<20:17,  2.44s/it]
 45%|████▍     | 403/900 [13:29<14:42,  1.78s/it]
 45%|████▍     | 404/900 [13:30<10:49,  1.31s/it]
 45%|████▌     | 405/900 [13:30<08:06,  1.02it/s]
 45%|████▌     | 406/900 [13:30<06:12,  1.33it/s]
 45%|████▌     | 407/900 [13:30<04:52,  1.69it/s]
 45%|████▌     | 408/900 [13:31<03:57,  2.07it/s]
 45%|████▌     | 409/900 [13:40<25:30,  3.12s/it]
 46%|████▌     | 410/900 [13:40<18:25,  2.26s/it]
 46%|████▌     | 411/900 [13:40<13:27,  1.65s/it]
 46%|████▌     | 412/900 [13:41<09:59,  1.23s/it]
 46%|████▌     | 413/900 [13:41<07:32,  1.08it/s]
 46%|████▌     | 414/900 [13:41<05:51,  1.38it/s]
 46%|████▌     | 415/900 [13:41<04:40,  1.73it/s]
 46%|████▌     | 416/900 [13:42<03:51,  2.09it/s]
 46%|████▋     | 417/900 [13:55<35:38,  4.43s/it]
 46%|████▋     | 418/900 [13:55<25:30,  3.17s/it]
 47%|████▋     | 419/900 [13:56<18:23,  2.30s/it]
 47%|████▋     | 420/900 [13:56<13:24,  1.68s/it]
 47%|████▋     | 421/900 [13:56<09:57,  1.25s/it]
 47%|████▋     | 422/900 [13:56<07:31,  1.06it/s]
 47%|████▋     | 423/900 [13:57<05:51,  1.36it/s]
 47%|████▋     | 424/900 [13:57<04:39,  1.70it/s]
 47%|████▋     | 425/900 [14:16<48:08,  6.08s/it]
 47%|████▋     | 426/900 [14:16<34:11,  4.33s/it]
 47%|████▋     | 427/900 [14:16<24:27,  3.10s/it]
 48%|████▊     | 428/900 [14:16<17:39,  2.24s/it]
 48%|████▊     | 429/900 [14:17<12:53,  1.64s/it]
 48%|████▊     | 430/900 [14:17<09:34,  1.22s/it]
 48%|████▊     | 431/900 [14:17<07:15,  1.08it/s]
 48%|████▊     | 432/900 [14:17<05:37,  1.38it/s]
 48%|████▊     | 433/900 [14:33<39:34,  5.09s/it]
 48%|████▊     | 434/900 [14:33<28:12,  3.63s/it]
 48%|████▊     | 435/900 [14:33<20:15,  2.61s/it]
 48%|████▊     | 436/900 [14:33<14:42,  1.90s/it]
 49%|████▊     | 437/900 [14:34<10:50,  1.40s/it]
 49%|████▊     | 438/900 [14:34<08:08,  1.06s/it]
 49%|████▉     | 439/900 [14:34<06:14,  1.23it/s]
 49%|████▉     | 440/900 [14:34<04:55,  1.56it/s]
 49%|████▉     | 441/900 [14:43<22:58,  3.00s/it]
 49%|████▉     | 442/900 [14:43<16:36,  2.18s/it]
 49%|████▉     | 443/900 [14:43<12:10,  1.60s/it]
 49%|████▉     | 444/900 [14:44<09:03,  1.19s/it]
 49%|████▉     | 445/900 [14:44<06:52,  1.10it/s]
 50%|████▉     | 446/900 [14:44<05:21,  1.41it/s]
 50%|████▉     | 447/900 [14:44<04:17,  1.76it/s]
 50%|████▉     | 448/900 [14:45<03:32,  2.12it/s]
 50%|████▉     | 449/900 [15:03<43:03,  5.73s/it]
 50%|█████     | 450/900 [15:03<30:38,  4.08s/it]
 50%|█████     | 451/900 [15:03<21:57,  2.93s/it]
 50%|█████     | 452/900 [15:03<15:52,  2.13s/it]
 50%|█████     | 453/900 [15:04<11:37,  1.56s/it]
 50%|█████     | 454/900 [15:04<08:40,  1.17s/it]
 51%|█████     | 455/900 [15:04<06:35,  1.12it/s]
 51%|█████     | 456/900 [15:04<05:08,  1.44it/s]
 51%|█████     | 457/900 [15:18<33:02,  4.47s/it]
 51%|█████     | 458/900 [15:18<23:33,  3.20s/it]
 51%|█████     | 459/900 [15:18<16:56,  2.31s/it]
 51%|█████     | 460/900 [15:18<12:19,  1.68s/it]
 51%|█████     | 461/900 [15:19<09:05,  1.24s/it]
 51%|█████▏    | 462/900 [15:19<06:49,  1.07it/s]
 51%|█████▏    | 463/900 [15:19<05:14,  1.39it/s]
 52%|█████▏    | 464/900 [15:19<04:08,  1.75it/s]
 52%|█████▏    | 465/900 [15:32<31:34,  4.36s/it]
 52%|█████▏    | 466/900 [15:33<22:31,  3.11s/it]
 52%|█████▏    | 467/900 [15:33<16:11,  2.24s/it]
 52%|█████▏    | 468/900 [15:33<11:46,  1.64s/it]
 52%|█████▏    | 469/900 [15:33<08:42,  1.21s/it]
 52%|█████▏    | 470/900 [15:33<06:33,  1.09it/s]
 52%|█████▏    | 471/900 [15:34<05:02,  1.42it/s]
 52%|█████▏    | 472/900 [15:34<03:59,  1.79it/s]
 53%|█████▎    | 473/900 [16:04<1:07:06,  9.43s/it]
 53%|█████▎    | 474/900 [16:04<47:19,  6.67s/it]  
 53%|█████▎    | 475/900 [16:04<33:30,  4.73s/it]
 53%|█████▎    | 476/900 [16:05<23:51,  3.38s/it]
 53%|█████▎    | 477/900 [16:05<17:07,  2.43s/it]
 53%|█████▎    | 478/900 [16:05<12:25,  1.77s/it]
 53%|█████▎    | 479/900 [16:05<09:08,  1.30s/it]
 53%|█████▎    | 480/900 [16:06<06:50,  1.02it/s]
 53%|█████▎    | 481/900 [16:21<36:09,  5.18s/it]
 54%|█████▎    | 482/900 [16:21<25:42,  3.69s/it]
 54%|█████▎    | 483/900 [16:21<18:25,  2.65s/it]
 54%|█████▍    | 484/900 [16:21<13:18,  1.92s/it]
 54%|█████▍    | 485/900 [16:21<09:45,  1.41s/it]
 54%|█████▍    | 486/900 [16:22<07:15,  1.05s/it]
 54%|█████▍    | 487/900 [16:22<05:30,  1.25it/s]
 54%|█████▍    | 488/900 [16:22<04:19,  1.59it/s]
 54%|█████▍    | 489/900 [16:37<34:13,  5.00s/it]
 54%|█████▍    | 490/900 [16:37<24:23,  3.57s/it]
 55%|█████▍    | 491/900 [16:38<17:31,  2.57s/it]
 55%|█████▍    | 492/900 [16:38<12:44,  1.87s/it]
 55%|█████▍    | 493/900 [16:38<09:22,  1.38s/it]
 55%|█████▍    | 494/900 [16:39<07:07,  1.05s/it]
 55%|█████▌    | 495/900 [16:39<05:27,  1.24it/s]
 55%|█████▌    | 496/900 [16:39<04:18,  1.56it/s]
 55%|█████▌    | 497/900 [17:15<1:16:04, 11.33s/it]
 55%|█████▌    | 498/900 [17:15<53:34,  8.00s/it]  
 55%|█████▌    | 499/900 [17:16<37:50,  5.66s/it]
 56%|█████▌    | 500/900 [17:16<27:42,  4.16s/it]
 56%|█████▌    | 501/900 [17:17<19:48,  2.98s/it]
 56%|█████▌    | 502/900 [17:17<14:15,  2.15s/it]
 56%|█████▌    | 503/900 [17:17<10:24,  1.57s/it]
 56%|█████▌    | 504/900 [17:17<07:42,  1.17s/it]
 56%|█████▌    | 505/900 [17:43<56:33,  8.59s/it]
 56%|█████▌    | 506/900 [17:43<39:55,  6.08s/it]
 56%|█████▋    | 507/900 [17:44<28:19,  4.32s/it]
 56%|█████▋    | 508/900 [17:44<20:12,  3.09s/it]
 57%|█████▋    | 509/900 [17:44<14:31,  2.23s/it]
 57%|█████▋    | 510/900 [17:44<10:34,  1.63s/it]
 57%|█████▋    | 511/900 [17:44<07:48,  1.20s/it]
 57%|█████▋    | 512/900 [17:45<05:52,  1.10it/s]
 57%|█████▋    | 513/900 [17:59<31:48,  4.93s/it]
 57%|█████▋    | 514/900 [17:59<22:38,  3.52s/it]
 57%|█████▋    | 515/900 [17:59<16:13,  2.53s/it]
 57%|█████▋    | 516/900 [18:00<11:45,  1.84s/it]
 57%|█████▋    | 517/900 [18:00<08:37,  1.35s/it]
 58%|█████▊    | 518/900 [18:00<06:26,  1.01s/it]
 58%|█████▊    | 519/900 [18:00<04:54,  1.29it/s]
 58%|█████▊    | 520/900 [18:01<03:50,  1.65it/s]
 58%|█████▊    | 521/900 [18:19<37:18,  5.91s/it]
 58%|█████▊    | 522/900 [18:19<26:27,  4.20s/it]
 58%|█████▊    | 523/900 [18:19<18:53,  3.01s/it]
 58%|█████▊    | 524/900 [18:19<13:35,  2.17s/it]
 58%|█████▊    | 525/900 [18:20<09:53,  1.58s/it]
 58%|█████▊    | 526/900 [18:20<07:19,  1.17s/it]
 59%|█████▊    | 527/900 [18:20<05:31,  1.13it/s]
 59%|█████▊    | 528/900 [18:20<04:18,  1.44it/s]
 59%|█████▉    | 529/900 [18:32<24:14,  3.92s/it]
 59%|█████▉    | 530/900 [18:32<17:21,  2.82s/it]
 59%|█████▉    | 531/900 [18:32<12:32,  2.04s/it]
 59%|█████▉    | 532/900 [18:32<09:10,  1.49s/it]
 59%|█████▉    | 533/900 [18:33<06:48,  1.11s/it]
 59%|█████▉    | 534/900 [18:33<05:10,  1.18it/s]
 59%|█████▉    | 535/900 [18:33<04:02,  1.50it/s]
 60%|█████▉    | 536/900 [18:33<03:15,  1.86it/s]
 60%|█████▉    | 537/900 [18:48<29:12,  4.83s/it]
 60%|█████▉    | 538/900 [18:49<20:49,  3.45s/it]
 60%|█████▉    | 539/900 [18:49<14:58,  2.49s/it]
 60%|██████    | 540/900 [18:49<10:52,  1.81s/it]
 60%|██████    | 541/900 [18:49<08:01,  1.34s/it]
 60%|██████    | 542/900 [18:49<06:01,  1.01s/it]
 60%|██████    | 543/900 [18:50<04:37,  1.29it/s]
 60%|██████    | 544/900 [18:50<03:38,  1.63it/s]
 61%|██████    | 545/900 [19:03<26:34,  4.49s/it]
 61%|██████    | 546/900 [19:04<18:58,  3.22s/it]
 61%|██████    | 547/900 [19:04<13:37,  2.32s/it]
 61%|██████    | 548/900 [19:04<09:54,  1.69s/it]
 61%|██████    | 549/900 [19:04<07:18,  1.25s/it]
 61%|██████    | 550/900 [19:05<05:28,  1.07it/s]
 61%|██████    | 551/900 [19:05<04:11,  1.39it/s]
 61%|██████▏   | 552/900 [19:05<03:18,  1.75it/s]
 61%|██████▏   | 553/900 [19:26<38:55,  6.73s/it]
 62%|██████▏   | 554/900 [19:26<27:33,  4.78s/it]
 62%|██████▏   | 555/900 [19:27<19:37,  3.41s/it]
 62%|██████▏   | 556/900 [19:27<14:04,  2.45s/it]
 62%|██████▏   | 557/900 [19:27<10:11,  1.78s/it]
 62%|██████▏   | 558/900 [19:27<07:28,  1.31s/it]
 62%|██████▏   | 559/900 [19:27<05:35,  1.02it/s]
 62%|██████▏   | 560/900 [19:28<04:16,  1.32it/s]
 62%|██████▏   | 561/900 [19:44<30:23,  5.38s/it]
 62%|██████▏   | 562/900 [19:44<21:35,  3.83s/it]
 63%|██████▎   | 563/900 [19:44<15:26,  2.75s/it]
 63%|██████▎   | 564/900 [19:44<11:08,  1.99s/it]
 63%|██████▎   | 565/900 [19:45<08:08,  1.46s/it]
 63%|██████▎   | 566/900 [19:45<06:02,  1.08s/it]
 63%|██████▎   | 567/900 [19:45<04:34,  1.21it/s]
 63%|██████▎   | 568/900 [19:45<03:33,  1.55it/s]
 63%|██████▎   | 569/900 [19:59<25:38,  4.65s/it]
 63%|██████▎   | 570/900 [20:00<18:17,  3.33s/it]
 63%|██████▎   | 571/900 [20:00<13:09,  2.40s/it]
 64%|██████▎   | 572/900 [20:00<09:34,  1.75s/it]
 64%|██████▎   | 573/900 [20:00<07:04,  1.30s/it]
 64%|██████▍   | 574/900 [20:01<05:19,  1.02it/s]
 64%|██████▍   | 575/900 [20:01<04:06,  1.32it/s]
 64%|██████▍   | 576/900 [20:01<03:16,  1.65it/s]
 64%|██████▍   | 577/900 [20:21<34:30,  6.41s/it]
 64%|██████▍   | 578/900 [20:21<24:27,  4.56s/it]
 64%|██████▍   | 579/900 [20:21<17:24,  3.25s/it]
 64%|██████▍   | 580/900 [20:22<12:29,  2.34s/it]
 65%|██████▍   | 581/900 [20:22<09:03,  1.71s/it]
 65%|██████▍   | 582/900 [20:22<06:40,  1.26s/it]
 65%|██████▍   | 583/900 [20:22<04:59,  1.06it/s]
 65%|██████▍   | 584/900 [20:23<03:49,  1.38it/s]
 65%|██████▌   | 585/900 [20:40<30:57,  5.90s/it]
 65%|██████▌   | 586/900 [20:41<21:56,  4.19s/it]
 65%|██████▌   | 587/900 [20:41<15:39,  3.00s/it]
 65%|██████▌   | 588/900 [20:41<11:15,  2.17s/it]
 65%|██████▌   | 589/900 [20:41<08:11,  1.58s/it]
 66%|██████▌   | 590/900 [20:42<06:03,  1.17s/it]
 66%|██████▌   | 591/900 [20:42<04:34,  1.13it/s]
 66%|██████▌   | 592/900 [20:42<03:33,  1.44it/s]
 66%|██████▌   | 593/900 [21:06<39:59,  7.82s/it]
 66%|██████▌   | 594/900 [21:07<28:16,  5.55s/it]
 66%|██████▌   | 595/900 [21:07<20:06,  3.96s/it]
 66%|██████▌   | 596/900 [21:07<14:23,  2.84s/it]
 66%|██████▋   | 597/900 [21:07<10:24,  2.06s/it]
 66%|██████▋   | 598/900 [21:08<07:37,  1.51s/it]
 67%|██████▋   | 599/900 [21:08<05:40,  1.13s/it]
 67%|██████▋   | 600/900 [21:08<04:18,  1.16it/s]
 67%|██████▋   | 601/900 [21:30<35:38,  7.15s/it]
 67%|██████▋   | 602/900 [21:30<25:13,  5.08s/it]
 67%|██████▋   | 603/900 [21:30<17:56,  3.63s/it]
 67%|██████▋   | 604/900 [21:31<12:52,  2.61s/it]
 67%|██████▋   | 605/900 [21:31<09:19,  1.90s/it]
 67%|██████▋   | 606/900 [21:31<06:49,  1.39s/it]
 67%|██████▋   | 607/900 [21:31<05:04,  1.04s/it]
 68%|██████▊   | 608/900 [21:32<03:51,  1.26it/s]
 68%|██████▊   | 609/900 [21:55<37:29,  7.73s/it]
 68%|██████▊   | 610/900 [21:56<26:27,  5.47s/it]
 68%|██████▊   | 611/900 [21:56<18:46,  3.90s/it]
 68%|██████▊   | 612/900 [21:56<13:23,  2.79s/it]
 68%|██████▊   | 613/900 [21:56<09:39,  2.02s/it]
 68%|██████▊   | 614/900 [21:57<07:02,  1.48s/it]
 68%|██████▊   | 615/900 [21:57<05:13,  1.10s/it]
 68%|██████▊   | 616/900 [21:57<03:57,  1.20it/s]
 69%|██████▊   | 617/900 [22:15<28:51,  6.12s/it]
 69%|██████▊   | 618/900 [22:16<20:25,  4.35s/it]
 69%|██████▉   | 619/900 [22:16<14:33,  3.11s/it]
 69%|██████▉   | 620/900 [22:16<10:26,  2.24s/it]
 69%|██████▉   | 621/900 [22:16<07:35,  1.63s/it]
 69%|██████▉   | 622/900 [22:17<05:35,  1.21s/it]
 69%|██████▉   | 623/900 [22:17<04:12,  1.10it/s]
 69%|██████▉   | 624/900 [22:17<03:14,  1.42it/s]
 69%|██████▉   | 625/900 [22:49<46:47, 10.21s/it]
 70%|██████▉   | 626/900 [22:50<32:57,  7.22s/it]
 70%|██████▉   | 627/900 [22:50<23:18,  5.12s/it]
 70%|██████▉   | 628/900 [22:50<16:34,  3.66s/it]
 70%|██████▉   | 629/900 [22:50<11:52,  2.63s/it]
 70%|███████   | 630/900 [22:51<08:36,  1.91s/it]
 70%|███████   | 631/900 [22:51<06:19,  1.41s/it]
 70%|███████   | 632/900 [22:51<04:43,  1.06s/it]
 70%|███████   | 633/900 [23:10<28:05,  6.31s/it]
 70%|███████   | 634/900 [23:10<19:54,  4.49s/it]
 71%|███████   | 635/900 [23:10<14:11,  3.21s/it]
 71%|███████   | 636/900 [23:10<10:12,  2.32s/it]
 71%|███████   | 637/900 [23:11<07:25,  1.69s/it]
 71%|███████   | 638/900 [23:11<05:29,  1.26s/it]
 71%|███████   | 639/900 [23:11<04:07,  1.05it/s]
 71%|███████   | 640/900 [23:11<03:10,  1.36it/s]
 71%|███████   | 641/900 [23:27<23:15,  5.39s/it]
 71%|███████▏  | 642/900 [23:28<16:29,  3.84s/it]
 71%|███████▏  | 643/900 [23:28<11:46,  2.75s/it]
 72%|███████▏  | 644/900 [23:28<08:29,  1.99s/it]
 72%|███████▏  | 645/900 [23:28<06:12,  1.46s/it]
 72%|███████▏  | 646/900 [23:29<04:36,  1.09s/it]
 72%|███████▏  | 647/900 [23:29<03:29,  1.21it/s]
 72%|███████▏  | 648/900 [23:29<02:42,  1.55it/s]
 72%|███████▏  | 649/900 [23:42<17:38,  4.22s/it]
 72%|███████▏  | 650/900 [23:42<12:34,  3.02s/it]
 72%|███████▏  | 651/900 [23:42<09:02,  2.18s/it]
 72%|███████▏  | 652/900 [23:42<06:34,  1.59s/it]
 73%|███████▎  | 653/900 [23:42<04:51,  1.18s/it]
 73%|███████▎  | 654/900 [23:43<03:39,  1.12it/s]
 73%|███████▎  | 655/900 [23:43<02:49,  1.45it/s]
 73%|███████▎  | 656/900 [23:43<02:13,  1.82it/s]
 73%|███████▎  | 657/900 [25:03<1:38:54, 24.42s/it]
 73%|███████▎  | 658/900 [25:03<1:09:12, 17.16s/it]
 73%|███████▎  | 659/900 [25:04<48:30, 12.08s/it]  
 73%|███████▎  | 660/900 [25:04<34:04,  8.52s/it]
 73%|███████▎  | 661/900 [25:04<24:00,  6.03s/it]
 74%|███████▎  | 662/900 [25:04<17:00,  4.29s/it]
 74%|███████▎  | 663/900 [25:05<12:06,  3.07s/it]
 74%|███████▍  | 664/900 [25:05<08:41,  2.21s/it]
 74%|███████▍  | 665/900 [25:20<23:38,  6.03s/it]
 74%|███████▍  | 666/900 [25:20<16:44,  4.29s/it]
 74%|███████▍  | 667/900 [25:20<11:55,  3.07s/it]
 74%|███████▍  | 668/900 [25:20<08:34,  2.22s/it]
 74%|███████▍  | 669/900 [25:21<06:13,  1.62s/it]
 74%|███████▍  | 670/900 [25:21<04:35,  1.20s/it]
 75%|███████▍  | 671/900 [25:21<03:27,  1.11it/s]
 75%|███████▍  | 672/900 [25:21<02:39,  1.43it/s]
 75%|███████▍  | 673/900 [25:46<30:01,  7.94s/it]
 75%|███████▍  | 674/900 [25:46<21:11,  5.63s/it]
 75%|███████▌  | 675/900 [25:47<15:01,  4.01s/it]
 75%|███████▌  | 676/900 [25:47<10:44,  2.88s/it]
 75%|███████▌  | 677/900 [25:47<07:45,  2.09s/it]
 75%|███████▌  | 678/900 [25:47<05:40,  1.53s/it]
 75%|███████▌  | 679/900 [25:47<04:13,  1.15s/it]
 76%|███████▌  | 680/900 [25:48<03:12,  1.14it/s]
 76%|███████▌  | 681/900 [26:03<18:35,  5.09s/it]
 76%|███████▌  | 682/900 [26:03<13:13,  3.64s/it]
 76%|███████▌  | 683/900 [26:03<09:28,  2.62s/it]
 76%|███████▌  | 684/900 [26:03<06:52,  1.91s/it]
 76%|███████▌  | 685/900 [26:04<05:03,  1.41s/it]
 76%|███████▌  | 686/900 [26:04<03:46,  1.06s/it]
 76%|███████▋  | 687/900 [26:04<02:53,  1.23it/s]
 76%|███████▋  | 688/900 [26:04<02:16,  1.55it/s]
 77%|███████▋  | 689/900 [26:19<17:30,  4.98s/it]
 77%|███████▋  | 690/900 [26:20<12:27,  3.56s/it]
 77%|███████▋  | 691/900 [26:20<08:55,  2.56s/it]
 77%|███████▋  | 692/900 [26:20<06:28,  1.87s/it]
 77%|███████▋  | 693/900 [26:20<04:45,  1.38s/it]
 77%|███████▋  | 694/900 [26:21<03:33,  1.04s/it]
 77%|███████▋  | 695/900 [26:21<02:43,  1.26it/s]
 77%|███████▋  | 696/900 [26:21<02:07,  1.61it/s]
 77%|███████▋  | 697/900 [26:56<36:45, 10.87s/it]
 78%|███████▊  | 698/900 [26:56<25:49,  7.67s/it]
 78%|███████▊  | 699/900 [26:56<18:12,  5.44s/it]
 78%|███████▊  | 700/900 [26:57<12:54,  3.87s/it]
 78%|███████▊  | 701/900 [26:57<09:12,  2.78s/it]
 78%|███████▊  | 702/900 [26:57<06:38,  2.01s/it]
 78%|███████▊  | 703/900 [26:57<04:50,  1.48s/it]
 78%|███████▊  | 704/900 [26:57<03:36,  1.10s/it]
 78%|███████▊  | 705/900 [27:57<1:00:32, 18.63s/it]
 78%|███████▊  | 706/900 [27:57<42:23, 13.11s/it]  
 79%|███████▊  | 707/900 [27:57<29:43,  9.24s/it]
 79%|███████▊  | 708/900 [27:58<20:54,  6.54s/it]
 79%|███████▉  | 709/900 [27:58<14:46,  4.64s/it]
 79%|███████▉  | 710/900 [27:58<10:29,  3.31s/it]
 79%|███████▉  | 711/900 [27:58<07:31,  2.39s/it]
 79%|███████▉  | 712/900 [27:59<05:26,  1.74s/it]
 79%|███████▉  | 713/900 [28:31<34:32, 11.08s/it]
 79%|███████▉  | 714/900 [28:32<24:16,  7.83s/it]
 79%|███████▉  | 715/900 [28:32<17:07,  5.55s/it]
 80%|███████▉  | 716/900 [28:32<12:08,  3.96s/it]
 80%|███████▉  | 717/900 [28:32<08:40,  2.84s/it]
 80%|███████▉  | 718/900 [28:33<06:14,  2.06s/it]
 80%|███████▉  | 719/900 [28:33<04:36,  1.53s/it]
 80%|████████  | 720/900 [28:33<03:25,  1.14s/it]
 80%|████████  | 721/900 [29:03<28:41,  9.62s/it]
 80%|████████  | 722/900 [29:03<20:11,  6.81s/it]
 80%|████████  | 723/900 [29:03<14:16,  4.84s/it]
 80%|████████  | 724/900 [29:03<10:09,  3.46s/it]
 81%|████████  | 725/900 [29:04<07:17,  2.50s/it]
 81%|████████  | 726/900 [29:04<05:17,  1.82s/it]
 81%|████████  | 727/900 [29:04<03:53,  1.35s/it]
 81%|████████  | 728/900 [29:04<02:55,  1.02s/it]
 81%|████████  | 729/900 [30:02<51:24, 18.04s/it]
 81%|████████  | 730/900 [30:02<35:59, 12.70s/it]
 81%|████████  | 731/900 [30:03<25:15,  8.97s/it]
 81%|████████▏ | 732/900 [30:03<17:47,  6.35s/it]
 81%|████████▏ | 733/900 [30:03<12:35,  4.52s/it]
 82%|████████▏ | 734/900 [30:03<08:57,  3.24s/it]
 82%|████████▏ | 735/900 [30:04<06:26,  2.34s/it]
 82%|████████▏ | 736/900 [30:04<04:40,  1.71s/it]
 82%|████████▏ | 737/900 [30:33<26:58,  9.93s/it]
 82%|████████▏ | 738/900 [30:33<18:58,  7.03s/it]
 82%|████████▏ | 739/900 [30:33<13:23,  4.99s/it]
 82%|████████▏ | 740/900 [30:34<09:31,  3.57s/it]
 82%|████████▏ | 741/900 [30:34<06:48,  2.57s/it]
 82%|████████▏ | 742/900 [30:34<04:55,  1.87s/it]
 83%|████████▎ | 743/900 [30:34<03:37,  1.38s/it]
 83%|████████▎ | 744/900 [30:35<02:42,  1.04s/it]
 83%|████████▎ | 745/900 [30:49<12:42,  4.92s/it]
 83%|████████▎ | 746/900 [30:49<09:01,  3.52s/it]
 83%|████████▎ | 747/900 [30:49<06:27,  2.54s/it]
 83%|████████▎ | 748/900 [30:49<04:40,  1.85s/it]
 83%|████████▎ | 749/900 [30:50<03:26,  1.37s/it]
 83%|████████▎ | 750/900 [30:50<02:34,  1.03s/it]
 83%|████████▎ | 751/900 [30:50<01:58,  1.26it/s]
 84%|████████▎ | 752/900 [30:50<01:33,  1.59it/s]
 84%|████████▎ | 753/900 [31:16<20:09,  8.23s/it]
 84%|████████▍ | 754/900 [31:17<14:11,  5.84s/it]
 84%|████████▍ | 755/900 [31:17<10:03,  4.16s/it]
 84%|████████▍ | 756/900 [31:17<07:10,  2.99s/it]
 84%|████████▍ | 757/900 [31:17<05:09,  2.17s/it]
 84%|████████▍ | 758/900 [31:18<03:46,  1.59s/it]
 84%|████████▍ | 759/900 [31:18<02:47,  1.19s/it]
 84%|████████▍ | 760/900 [31:18<02:06,  1.11it/s]
 85%|████████▍ | 761/900 [31:31<10:22,  4.48s/it]
 85%|████████▍ | 762/900 [31:31<07:22,  3.21s/it]
 85%|████████▍ | 763/900 [31:31<05:17,  2.32s/it]
 85%|████████▍ | 764/900 [31:32<03:50,  1.69s/it]
 85%|████████▌ | 765/900 [31:32<02:49,  1.26s/it]
 85%|████████▌ | 766/900 [31:32<02:07,  1.05it/s]
 85%|████████▌ | 767/900 [31:32<01:38,  1.35it/s]
 85%|████████▌ | 768/900 [31:33<01:17,  1.70it/s]
 85%|████████▌ | 768/900 [31:48<05:27,  2.48s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/log_2_env0.json.
+RubiksCubeThenBananaTask_2 complete: task_name: RubiksCubeThenBananaTask, run_name: RubiksCubeThenBananaTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the cube then the banana in the bowl, attributes: ['conjunction', 'simple'], success: True, episode_step: 769, duration: 51.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.431478203051345, 'joint_sparc_mean': -13.353935087947649, 'ee_isj': 2620.1477571581327, 'joint_isj': 154591.8950602076, 'ee_path_length': 4.722605834972617, 'joint_rmse_mean': 1.1909369532417746, 'ee_speed_max': 0.5749222636222839, 'ee_speed_mean': 0.08726136386394501}, events: {'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_FULLY_CLOSED': 14, 'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 5, 'OBJECT_BUMPED': 2, 'MULTIPLE_OBJECTS_GRABBED': 1, 'WRONG_OBJECT_GRABBED': 2, 'wrong_objects_grabbed': ['banana', 'banana']}, instruction_type: default, timing: {'policy_inference_s': 1739.865, 'policy_inference_avg_ms': 2262.5, 'env_step_s': 160.602, 'env_step_avg_ms': 208.8, 'video_write_s': 7.258, 'video_write_avg_ms': 9.4, 'wall_total_s': 1907.725, 'it_per_sec': 0.4}, score: 1.0, reason: Wrong object that was grabbed is now detached: 'banana', harness_episode_id: ef1f44dbaaae416ea378b8aa9918acec-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-31T00:29:43Z [30,356,012ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.187446 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-31T00:29:47Z [30,360,728ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-31T00:29:47Z [30,360,728ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-31T00:29:47Z [30,360,736ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-31T00:29:47Z [30,360,736ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-31T00:29:47Z [30,360,744ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-31T00:29:47Z [30,360,752ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-31T00:29:48Z [30,361,539ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1385))' not available in the MDL representation.
+2026-10-31T00:29:48Z [30,361,539ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1385))' not available in the MDL representation.
+2026-10-31T00:29:49Z [30,362,020ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1442))' not available in the MDL representation.
+2026-10-31T00:29:49Z [30,362,020ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1442))' not available in the MDL representation.
+2026-10-31T00:29:50Z [30,363,044ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1385))' not available in the MDL representation.
+2026-10-31T00:29:50Z [30,363,044ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1385))' not available in the MDL representation.
+2026-10-31T00:29:50Z [30,363,047ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1442))' not available in the MDL representation.
+2026-10-31T00:29:50Z [30,363,048ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1442))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.953654 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BananaInBowlTask                              │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pick up the banana and place it in the bowl   │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BananaInBowlTaskSceneEnvCfg                   │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BananaInBowlTask_0: 'Pick up the banana and place it in the bowl' (run 0, 1 envs)
+
  0%|          | 0/750 [00:00<?, ?it/s]
  0%|          | 1/750 [00:30<6:17:48, 30.27s/it]
  0%|          | 2/750 [00:30<2:36:55, 12.59s/it]
  0%|          | 3/750 [00:30<1:26:18,  6.93s/it]
  1%|          | 4/750 [00:30<53:09,  4.28s/it]  
  1%|          | 5/750 [00:31<34:51,  2.81s/it]
  1%|          | 6/750 [00:31<23:48,  1.92s/it]
  1%|          | 7/750 [00:31<16:48,  1.36s/it]
  1%|          | 8/750 [00:31<12:13,  1.01it/s]
  1%|          | 9/750 [00:36<25:15,  2.05s/it]
  1%|▏         | 10/750 [00:36<18:12,  1.48s/it]
  1%|▏         | 11/750 [00:36<13:23,  1.09s/it]
  2%|▏         | 12/750 [00:36<10:05,  1.22it/s]
  2%|▏         | 13/750 [00:36<07:46,  1.58it/s]
  2%|▏         | 14/750 [00:37<06:09,  1.99it/s]
  2%|▏         | 15/750 [00:37<05:02,  2.43it/s]
  2%|▏         | 16/750 [00:37<04:16,  2.87it/s]
  2%|▏         | 17/750 [00:43<24:44,  2.03s/it]
  2%|▏         | 18/750 [00:43<18:02,  1.48s/it]
  3%|▎         | 19/750 [00:43<13:20,  1.10s/it]
  3%|▎         | 20/750 [00:44<10:03,  1.21it/s]
  3%|▎         | 21/750 [00:44<07:46,  1.56it/s]
  3%|▎         | 22/750 [00:44<06:09,  1.97it/s]
  3%|▎         | 23/750 [00:44<05:02,  2.40it/s]
  3%|▎         | 24/750 [00:44<04:14,  2.85it/s]
  3%|▎         | 25/750 [00:49<18:25,  1.52s/it]
  3%|▎         | 26/750 [00:49<13:36,  1.13s/it]
  4%|▎         | 27/750 [00:49<10:14,  1.18it/s]
  4%|▎         | 28/750 [00:49<07:52,  1.53it/s]
  4%|▍         | 29/750 [00:49<06:13,  1.93it/s]
  4%|▍         | 30/750 [00:50<05:05,  2.36it/s]
  4%|▍         | 31/750 [00:50<04:17,  2.80it/s]
  4%|▍         | 32/750 [00:50<03:44,  3.20it/s]
  4%|▍         | 33/750 [00:57<26:45,  2.24s/it]
  5%|▍         | 34/750 [00:57<19:25,  1.63s/it]
  5%|▍         | 35/750 [00:57<14:18,  1.20s/it]
  5%|▍         | 36/750 [00:57<10:43,  1.11it/s]
  5%|▍         | 37/750 [00:58<08:11,  1.45it/s]
  5%|▌         | 38/750 [00:58<06:26,  1.84it/s]
  5%|▌         | 39/750 [00:58<05:14,  2.26it/s]
  5%|▌         | 40/750 [00:58<04:23,  2.69it/s]
  5%|▌         | 41/750 [01:07<34:29,  2.92s/it]
  6%|▌         | 42/750 [01:07<24:50,  2.11s/it]
  6%|▌         | 43/750 [01:07<18:03,  1.53s/it]
  6%|▌         | 44/750 [01:08<13:20,  1.13s/it]
  6%|▌         | 45/750 [01:08<10:00,  1.17it/s]
  6%|▌         | 46/750 [01:08<07:43,  1.52it/s]
  6%|▋         | 47/750 [01:08<06:07,  1.91it/s]
  6%|▋         | 48/750 [01:08<04:59,  2.34it/s]
  7%|▋         | 49/750 [01:15<26:03,  2.23s/it]
  7%|▋         | 50/750 [01:15<18:56,  1.62s/it]
  7%|▋         | 51/750 [01:15<13:56,  1.20s/it]
  7%|▋         | 52/750 [01:15<10:25,  1.12it/s]
  7%|▋         | 53/750 [01:16<07:58,  1.46it/s]
  7%|▋         | 54/750 [01:16<06:17,  1.84it/s]
  7%|▋         | 55/750 [01:16<05:06,  2.27it/s]
  7%|▋         | 56/750 [01:16<04:15,  2.71it/s]
  8%|▊         | 57/750 [01:27<39:57,  3.46s/it]
  8%|▊         | 58/750 [01:27<28:37,  2.48s/it]
  8%|▊         | 59/750 [01:27<20:43,  1.80s/it]
  8%|▊         | 60/750 [01:28<15:10,  1.32s/it]
  8%|▊         | 61/750 [01:28<11:17,  1.02it/s]
  8%|▊         | 62/750 [01:28<08:34,  1.34it/s]
  8%|▊         | 63/750 [01:28<06:40,  1.72it/s]
  9%|▊         | 64/750 [01:28<05:24,  2.12it/s]
  9%|▊         | 65/750 [01:33<20:38,  1.81s/it]
  9%|▉         | 66/750 [01:33<15:07,  1.33s/it]
  9%|▉         | 67/750 [01:34<11:15,  1.01it/s]
  9%|▉         | 68/750 [01:34<08:31,  1.33it/s]
  9%|▉         | 69/750 [01:34<06:38,  1.71it/s]
  9%|▉         | 70/750 [01:34<05:17,  2.14it/s]
  9%|▉         | 71/750 [01:34<04:22,  2.58it/s]
 10%|▉         | 72/750 [01:35<03:44,  3.02it/s]
 10%|▉         | 73/750 [01:50<54:06,  4.80s/it]
 10%|▉         | 74/750 [01:50<38:30,  3.42s/it]
 10%|█         | 75/750 [01:50<27:34,  2.45s/it]
 10%|█         | 76/750 [01:50<19:57,  1.78s/it]
 10%|█         | 77/750 [01:51<14:36,  1.30s/it]
 10%|█         | 78/750 [01:51<10:52,  1.03it/s]
 11%|█         | 79/750 [01:51<08:15,  1.35it/s]
 11%|█         | 80/750 [01:51<06:25,  1.74it/s]
 11%|█         | 81/750 [02:05<50:44,  4.55s/it]
 11%|█         | 82/750 [02:05<36:08,  3.25s/it]
 11%|█         | 83/750 [02:06<25:56,  2.33s/it]
 11%|█         | 84/750 [02:06<18:48,  1.69s/it]
 11%|█▏        | 85/750 [02:06<13:48,  1.25s/it]
 11%|█▏        | 86/750 [02:06<10:18,  1.07it/s]
 12%|█▏        | 87/750 [02:06<07:52,  1.40it/s]
 12%|█▏        | 88/750 [02:07<06:09,  1.79it/s]
 12%|█▏        | 89/750 [02:16<34:11,  3.10s/it]
 12%|█▏        | 90/750 [02:16<24:33,  2.23s/it]
 12%|█▏        | 91/750 [02:16<17:49,  1.62s/it]
 12%|█▏        | 92/750 [02:16<13:06,  1.20s/it]
 12%|█▏        | 93/750 [02:16<09:50,  1.11it/s]
 13%|█▎        | 94/750 [02:17<07:32,  1.45it/s]
 13%|█▎        | 95/750 [02:17<05:56,  1.83it/s]
 13%|█▎        | 96/750 [02:17<04:49,  2.26it/s]
 13%|█▎        | 97/750 [02:23<21:40,  1.99s/it]
 13%|█▎        | 98/750 [02:23<15:48,  1.46s/it]
 13%|█▎        | 99/750 [02:23<11:41,  1.08s/it]
 13%|█▎        | 100/750 [02:23<08:49,  1.23it/s]
 13%|█▎        | 101/750 [02:23<06:48,  1.59it/s]
 14%|█▎        | 102/750 [02:24<05:24,  2.00it/s]
 14%|█▎        | 103/750 [02:24<04:25,  2.44it/s]
 14%|█▍        | 104/750 [02:24<03:44,  2.88it/s]
 14%|█▍        | 105/750 [02:35<37:26,  3.48s/it]
 14%|█▍        | 106/750 [02:35<26:49,  2.50s/it]
 14%|█▍        | 107/750 [02:35<19:23,  1.81s/it]
 14%|█▍        | 108/750 [02:35<14:11,  1.33s/it]
 15%|█▍        | 109/750 [02:36<10:35,  1.01it/s]
 15%|█▍        | 110/750 [02:36<08:03,  1.32it/s]
 15%|█▍        | 111/750 [02:36<06:17,  1.69it/s]
 15%|█▍        | 112/750 [02:36<05:02,  2.11it/s]
 15%|█▌        | 113/750 [02:48<41:29,  3.91s/it]
 15%|█▌        | 114/750 [02:48<29:38,  2.80s/it]
 15%|█▌        | 115/750 [02:49<21:19,  2.02s/it]
 15%|█▌        | 116/750 [02:49<15:32,  1.47s/it]
 16%|█▌        | 117/750 [02:49<11:28,  1.09s/it]
 16%|█▌        | 118/750 [02:49<08:39,  1.22it/s]
 16%|█▌        | 119/750 [02:49<06:40,  1.58it/s]
 16%|█▌        | 120/750 [02:50<05:17,  1.98it/s]
 16%|█▌        | 121/750 [02:56<23:59,  2.29s/it]
 16%|█▋        | 122/750 [02:56<17:25,  1.67s/it]
 16%|█▋        | 123/750 [02:56<12:48,  1.23s/it]
 17%|█▋        | 124/750 [02:57<09:37,  1.08it/s]
 17%|█▋        | 125/750 [02:57<07:21,  1.41it/s]
 17%|█▋        | 126/750 [02:57<05:47,  1.80it/s]
 17%|█▋        | 127/750 [02:57<04:40,  2.22it/s]
 17%|█▋        | 128/750 [02:57<03:53,  2.66it/s]
 17%|█▋        | 129/750 [03:06<28:48,  2.78s/it]
 17%|█▋        | 130/750 [03:06<20:46,  2.01s/it]
 17%|█▋        | 131/750 [03:06<15:08,  1.47s/it]
 18%|█▊        | 132/750 [03:06<11:12,  1.09s/it]
 18%|█▊        | 133/750 [03:07<08:27,  1.22it/s]
 18%|█▊        | 134/750 [03:07<06:30,  1.58it/s]
 18%|█▊        | 135/750 [03:07<05:09,  1.99it/s]
 18%|█▊        | 136/750 [03:07<04:13,  2.42it/s]
 18%|█▊        | 137/750 [03:17<33:35,  3.29s/it]
 18%|█▊        | 138/750 [03:17<24:06,  2.36s/it]
 19%|█▊        | 139/750 [03:18<17:27,  1.72s/it]
 19%|█▊        | 140/750 [03:18<12:49,  1.26s/it]
 19%|█▉        | 141/750 [03:18<09:35,  1.06it/s]
 19%|█▉        | 142/750 [03:18<07:18,  1.39it/s]
 19%|█▉        | 143/750 [03:18<05:44,  1.76it/s]
 19%|█▉        | 144/750 [03:19<04:38,  2.18it/s]
 19%|█▉        | 145/750 [03:32<42:14,  4.19s/it]
 19%|█▉        | 146/750 [03:32<30:10,  3.00s/it]
 20%|█▉        | 147/750 [03:32<21:41,  2.16s/it]
 20%|█▉        | 148/750 [03:32<15:46,  1.57s/it]
 20%|█▉        | 149/750 [03:32<11:37,  1.16s/it]
 20%|██        | 150/750 [03:33<08:44,  1.14it/s]
 20%|██        | 151/750 [03:33<06:42,  1.49it/s]
 20%|██        | 152/750 [03:33<05:18,  1.88it/s]
 20%|██        | 153/750 [03:40<25:40,  2.58s/it]
 21%|██        | 154/750 [03:41<18:32,  1.87s/it]
 21%|██        | 155/750 [03:41<13:33,  1.37s/it]
 21%|██        | 156/750 [03:41<10:04,  1.02s/it]
 21%|██        | 157/750 [03:41<07:39,  1.29it/s]
 21%|██        | 158/750 [03:41<06:00,  1.64it/s]
 21%|██        | 159/750 [03:42<04:52,  2.02it/s]
 21%|██▏       | 160/750 [03:42<04:03,  2.42it/s]
 21%|██▏       | 161/750 [03:50<28:02,  2.86s/it]
 22%|██▏       | 162/750 [03:51<20:15,  2.07s/it]
 22%|██▏       | 163/750 [03:51<14:49,  1.52s/it]
 22%|██▏       | 164/750 [03:51<11:01,  1.13s/it]
 22%|██▏       | 165/750 [03:51<08:22,  1.17it/s]
 22%|██▏       | 166/750 [03:51<06:28,  1.50it/s]
 22%|██▏       | 167/750 [03:52<05:12,  1.86it/s]
 22%|██▏       | 168/750 [03:52<04:17,  2.26it/s]
 23%|██▎       | 169/750 [03:57<18:12,  1.88s/it]
 23%|██▎       | 170/750 [03:57<13:24,  1.39s/it]
 23%|██▎       | 171/750 [03:58<10:01,  1.04s/it]
 23%|██▎       | 172/750 [03:58<07:38,  1.26it/s]
 23%|██▎       | 173/750 [03:58<05:56,  1.62it/s]
 23%|██▎       | 174/750 [03:58<04:45,  2.02it/s]
 23%|██▎       | 175/750 [03:59<03:55,  2.44it/s]
 23%|██▎       | 176/750 [03:59<03:20,  2.86it/s]
 24%|██▎       | 177/750 [04:13<43:26,  4.55s/it]
 24%|██▎       | 178/750 [04:13<30:56,  3.25s/it]
 24%|██▍       | 179/750 [04:13<22:13,  2.34s/it]
 24%|██▍       | 180/750 [04:14<16:08,  1.70s/it]
 24%|██▍       | 181/750 [04:14<11:52,  1.25s/it]
 24%|██▍       | 182/750 [04:14<08:53,  1.07it/s]
 24%|██▍       | 183/750 [04:14<06:48,  1.39it/s]
 25%|██▍       | 184/750 [04:15<05:20,  1.76it/s]
 25%|██▍       | 185/750 [04:31<51:04,  5.42s/it]
 25%|██▍       | 186/750 [04:31<36:17,  3.86s/it]
 25%|██▍       | 187/750 [04:32<25:56,  2.76s/it]
 25%|██▌       | 188/750 [04:32<18:42,  2.00s/it]
 25%|██▌       | 189/750 [04:32<13:37,  1.46s/it]
 25%|██▌       | 190/750 [04:32<10:05,  1.08s/it]
 25%|██▌       | 191/750 [04:33<07:38,  1.22it/s]
 26%|██▌       | 192/750 [04:33<05:54,  1.57it/s]
 26%|██▌       | 193/750 [04:40<23:07,  2.49s/it]
 26%|██▌       | 194/750 [04:40<16:43,  1.81s/it]
 26%|██▌       | 195/750 [04:40<12:15,  1.33s/it]
 26%|██▌       | 196/750 [04:40<09:07,  1.01it/s]
 26%|██▋       | 197/750 [04:40<06:56,  1.33it/s]
 26%|██▋       | 198/750 [04:41<05:24,  1.70it/s]
 27%|██▋       | 199/750 [04:41<04:21,  2.11it/s]
 27%|██▋       | 200/750 [04:41<03:36,  2.54it/s]
 27%|██▋       | 201/750 [05:08<1:15:32,  8.26s/it]
 27%|██▋       | 202/750 [05:08<53:20,  5.84s/it]  
 27%|██▋       | 203/750 [05:08<37:53,  4.16s/it]
 27%|██▋       | 204/750 [05:08<27:04,  2.98s/it]
 27%|██▋       | 205/750 [05:08<19:31,  2.15s/it]
 27%|██▋       | 206/750 [05:09<14:15,  1.57s/it]
 28%|██▊       | 207/750 [05:09<10:33,  1.17s/it]
 28%|██▊       | 208/750 [05:09<07:58,  1.13it/s]
 28%|██▊       | 209/750 [05:26<51:04,  5.66s/it]
 28%|██▊       | 210/750 [05:26<36:16,  4.03s/it]
 28%|██▊       | 211/750 [05:26<25:54,  2.88s/it]
 28%|██▊       | 212/750 [05:27<18:39,  2.08s/it]
 28%|██▊       | 213/750 [05:27<13:33,  1.52s/it]
 29%|██▊       | 214/750 [05:27<10:00,  1.12s/it]
 29%|██▊       | 215/750 [05:27<07:33,  1.18it/s]
 29%|██▉       | 216/750 [05:27<05:49,  1.53it/s]
 29%|██▉       | 217/750 [05:38<31:47,  3.58s/it]
 29%|██▉       | 218/750 [05:38<22:45,  2.57s/it]
 29%|██▉       | 219/750 [05:38<16:26,  1.86s/it]
 29%|██▉       | 220/750 [05:38<12:01,  1.36s/it]
 29%|██▉       | 221/750 [05:39<08:56,  1.01s/it]
 30%|██▉       | 222/750 [05:39<06:46,  1.30it/s]
 30%|██▉       | 223/750 [05:39<05:16,  1.67it/s]
 30%|██▉       | 224/750 [05:39<04:12,  2.08it/s]
 30%|███       | 225/750 [05:55<43:10,  4.93s/it]
 30%|███       | 226/750 [05:55<30:42,  3.52s/it]
 30%|███       | 227/750 [05:55<21:59,  2.52s/it]
 30%|███       | 228/750 [05:55<15:53,  1.83s/it]
 31%|███       | 229/750 [05:55<11:37,  1.34s/it]
 31%|███       | 230/750 [05:56<08:39,  1.00it/s]
 31%|███       | 231/750 [05:56<06:34,  1.32it/s]
 31%|███       | 232/750 [05:56<05:07,  1.68it/s]
 31%|███       | 233/750 [06:09<37:22,  4.34s/it]
 31%|███       | 234/750 [06:09<26:37,  3.10s/it]
 31%|███▏      | 235/750 [06:09<19:07,  2.23s/it]
 31%|███▏      | 236/750 [06:10<13:53,  1.62s/it]
 32%|███▏      | 237/750 [06:10<10:16,  1.20s/it]
 32%|███▏      | 238/750 [06:10<07:45,  1.10it/s]
 32%|███▏      | 239/750 [06:10<06:00,  1.42it/s]
 32%|███▏      | 240/750 [06:11<04:46,  1.78it/s]
 32%|███▏      | 241/750 [06:22<31:18,  3.69s/it]
 32%|███▏      | 242/750 [06:22<22:27,  2.65s/it]
 32%|███▏      | 243/750 [06:22<16:15,  1.92s/it]
 33%|███▎      | 244/750 [06:22<11:54,  1.41s/it]
 33%|███▎      | 245/750 [06:22<08:54,  1.06s/it]
 33%|███▎      | 246/750 [06:23<06:47,  1.24it/s]
 33%|███▎      | 247/750 [06:23<05:19,  1.58it/s]
 33%|███▎      | 248/750 [06:23<04:16,  1.96it/s]
 33%|███▎      | 249/750 [06:30<20:51,  2.50s/it]
 33%|███▎      | 250/750 [06:30<15:08,  1.82s/it]
 33%|███▎      | 251/750 [06:31<11:08,  1.34s/it]
 34%|███▎      | 252/750 [06:31<08:22,  1.01s/it]
 34%|███▎      | 253/750 [06:31<06:25,  1.29it/s]
 34%|███▍      | 254/750 [06:31<05:03,  1.63it/s]
 34%|███▍      | 255/750 [06:32<04:06,  2.01it/s]
 34%|███▍      | 256/750 [06:32<03:26,  2.39it/s]
 34%|███▍      | 257/750 [06:48<41:00,  4.99s/it]
 34%|███▍      | 258/750 [06:48<29:14,  3.57s/it]
 35%|███▍      | 259/750 [06:48<21:01,  2.57s/it]
 35%|███▍      | 260/750 [06:48<15:15,  1.87s/it]
 35%|███▍      | 261/750 [06:48<11:13,  1.38s/it]
 35%|███▍      | 262/750 [06:49<08:25,  1.03s/it]
 35%|███▌      | 263/750 [06:49<06:27,  1.26it/s]
 35%|███▌      | 264/750 [06:49<05:05,  1.59it/s]
 35%|███▌      | 265/750 [07:48<2:26:31, 18.13s/it]
 35%|███▌      | 266/750 [07:48<1:42:56, 12.76s/it]
 36%|███▌      | 267/750 [07:49<1:12:28,  9.00s/it]
 36%|███▌      | 268/750 [07:49<51:11,  6.37s/it]  
 36%|███▌      | 269/750 [07:49<36:19,  4.53s/it]
 36%|███▌      | 270/750 [07:49<25:55,  3.24s/it]
 36%|███▌      | 271/750 [07:50<18:40,  2.34s/it]
 36%|███▋      | 272/750 [07:50<13:38,  1.71s/it]
 36%|███▋      | 273/750 [08:32<1:49:51, 13.82s/it]
 37%|███▋      | 274/750 [08:32<1:17:47,  9.81s/it]
 37%|███▋      | 275/750 [08:33<54:53,  6.93s/it]  
 37%|███▋      | 276/750 [08:33<38:53,  4.92s/it]
 37%|███▋      | 277/750 [08:33<27:43,  3.52s/it]
 37%|███▋      | 278/750 [08:33<19:56,  2.53s/it]
 37%|███▋      | 279/750 [08:33<14:28,  1.84s/it]
 37%|███▋      | 280/750 [08:34<10:39,  1.36s/it]
 37%|███▋      | 281/750 [08:55<56:22,  7.21s/it]
 38%|███▊      | 282/750 [08:55<39:56,  5.12s/it]
 38%|███▊      | 283/750 [08:55<28:26,  3.65s/it]
 38%|███▊      | 284/750 [08:55<20:26,  2.63s/it]
 38%|███▊      | 285/750 [08:56<14:50,  1.92s/it]
 38%|███▊      | 286/750 [08:56<10:54,  1.41s/it]
 38%|███▊      | 287/750 [08:56<08:10,  1.06s/it]
 38%|███▊      | 288/750 [08:56<06:15,  1.23it/s]
 39%|███▊      | 289/750 [09:16<50:40,  6.59s/it]
 39%|███▊      | 290/750 [09:17<35:56,  4.69s/it]
 39%|███▉      | 291/750 [09:17<25:37,  3.35s/it]
 39%|███▉      | 292/750 [09:17<18:27,  2.42s/it]
 39%|███▉      | 293/750 [09:17<13:25,  1.76s/it]
 39%|███▉      | 294/750 [09:18<09:54,  1.30s/it]
 39%|███▉      | 295/750 [09:18<07:28,  1.01it/s]
 39%|███▉      | 296/750 [09:18<05:44,  1.32it/s]
 39%|███▉      | 296/750 [09:25<14:27,  1.91s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/log_0_env0.json.
+BananaInBowlTask_0 complete: task_name: BananaInBowlTask, run_name: BananaInBowlTask_0, run: 0, env_id: 0, policy: harness, instruction: Pick up the banana and place it in the bowl, attributes: ['semantics', 'simple'], success: True, episode_step: 297, duration: 19.8, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.685862738300875, 'joint_sparc_mean': -6.364435979732723, 'ee_isj': 2213.7549666677037, 'joint_isj': 222725.77701781067, 'ee_path_length': 2.2549259964313837, 'joint_rmse_mean': 1.7104834886666185, 'ee_speed_max': 1.0635356903076172, 'ee_speed_mean': 0.10649648308753967}, events: {'GRIPPER_FULLY_CLOSED': 1, 'GRIPPER_HIT_TABLE': 1, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_HIT_OBJECT': 1, 'MULTIPLE_OBJECTS_GRABBED': 1, 'TARGET_OBJECT_DROPPED': 1, 'wrong_objects_grabbed': ['bowl']}, instruction_type: default, timing: {'policy_inference_s': 504.444, 'policy_inference_avg_ms': 1698.5, 'env_step_s': 57.016, 'env_step_avg_ms': 192.0, 'video_write_s': 3.504, 'video_write_avg_ms': 11.8, 'wall_total_s': 564.964, 'it_per_sec': 0.53}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: f5eb462091e64fa289b4e74d3fcab7d1-0
+[RoboLab] Running BananaInBowlTask_1: 'Pick up the banana and place it in the bowl' (run 1, 1 envs)
+
  0%|          | 0/750 [00:00<?, ?it/s]
  0%|          | 1/750 [00:30<6:17:59, 30.28s/it]
  0%|          | 2/750 [00:30<2:36:57, 12.59s/it]
  0%|          | 3/750 [00:30<1:26:20,  6.93s/it]
  1%|          | 4/750 [00:30<53:09,  4.28s/it]  
  1%|          | 5/750 [00:31<34:50,  2.81s/it]
  1%|          | 6/750 [00:31<23:47,  1.92s/it]
  1%|          | 7/750 [00:31<16:48,  1.36s/it]
  1%|          | 8/750 [00:31<12:16,  1.01it/s]
  1%|          | 9/750 [00:42<51:31,  4.17s/it]
  1%|▏         | 10/750 [00:43<36:20,  2.95s/it]
  1%|▏         | 11/750 [00:43<25:54,  2.10s/it]
  2%|▏         | 12/750 [00:43<18:45,  1.52s/it]
  2%|▏         | 13/750 [00:43<13:47,  1.12s/it]
  2%|▏         | 14/750 [00:43<10:20,  1.19it/s]
  2%|▏         | 15/750 [00:44<07:58,  1.54it/s]
  2%|▏         | 16/750 [00:44<06:17,  1.94it/s]
  2%|▏         | 17/750 [00:57<54:07,  4.43s/it]
  2%|▏         | 18/750 [00:57<38:33,  3.16s/it]
  3%|▎         | 19/750 [00:58<27:40,  2.27s/it]
  3%|▎         | 20/750 [00:58<20:03,  1.65s/it]
  3%|▎         | 21/750 [00:58<14:43,  1.21s/it]
  3%|▎         | 22/750 [00:58<11:01,  1.10it/s]
  3%|▎         | 23/750 [00:58<08:26,  1.44it/s]
  3%|▎         | 24/750 [00:59<06:38,  1.82it/s]
  3%|▎         | 25/750 [01:04<24:34,  2.03s/it]
  3%|▎         | 26/750 [01:04<17:54,  1.48s/it]
  4%|▎         | 27/750 [01:05<13:14,  1.10s/it]
  4%|▎         | 28/750 [01:05<09:57,  1.21it/s]
  4%|▍         | 29/750 [01:05<07:42,  1.56it/s]
  4%|▍         | 30/750 [01:05<06:05,  1.97it/s]
  4%|▍         | 31/750 [01:05<04:58,  2.41it/s]
  4%|▍         | 32/750 [01:06<04:12,  2.84it/s]
  4%|▍         | 33/750 [01:17<42:17,  3.54s/it]
  5%|▍         | 34/750 [01:17<30:17,  2.54s/it]
  5%|▍         | 35/750 [01:17<21:53,  1.84s/it]
  5%|▍         | 36/750 [01:17<16:01,  1.35s/it]
  5%|▍         | 37/750 [01:17<11:55,  1.00s/it]
  5%|▌         | 38/750 [01:18<09:05,  1.31it/s]
  5%|▌         | 39/750 [01:18<07:14,  1.63it/s]
  5%|▌         | 40/750 [01:18<05:53,  2.01it/s]
  5%|▌         | 41/750 [01:31<51:02,  4.32s/it]
  6%|▌         | 42/750 [01:32<36:27,  3.09s/it]
  6%|▌         | 43/750 [01:32<26:15,  2.23s/it]
  6%|▌         | 44/750 [01:32<19:07,  1.63s/it]
  6%|▌         | 45/750 [01:32<14:07,  1.20s/it]
  6%|▌         | 46/750 [01:32<10:36,  1.11it/s]
  6%|▋         | 47/750 [01:33<08:08,  1.44it/s]
  6%|▋         | 48/750 [01:33<06:24,  1.83it/s]
  7%|▋         | 49/750 [01:44<45:06,  3.86s/it]
  7%|▋         | 50/750 [01:45<32:15,  2.77s/it]
  7%|▋         | 51/750 [01:45<23:16,  2.00s/it]
  7%|▋         | 52/750 [01:45<16:59,  1.46s/it]
  7%|▋         | 53/750 [01:45<12:36,  1.09s/it]
  7%|▋         | 54/750 [01:45<09:36,  1.21it/s]
  7%|▋         | 55/750 [01:46<07:29,  1.54it/s]
  7%|▋         | 56/750 [01:46<06:02,  1.92it/s]
  8%|▊         | 57/750 [01:54<32:32,  2.82s/it]
  8%|▊         | 58/750 [01:54<23:32,  2.04s/it]
  8%|▊         | 59/750 [01:55<17:14,  1.50s/it]
  8%|▊         | 60/750 [01:55<12:48,  1.11s/it]
  8%|▊         | 61/750 [01:55<09:42,  1.18it/s]
  8%|▊         | 62/750 [01:55<07:33,  1.52it/s]
  8%|▊         | 63/750 [01:55<06:03,  1.89it/s]
  9%|▊         | 64/750 [01:56<05:00,  2.28it/s]
  9%|▊         | 65/750 [02:06<40:31,  3.55s/it]
  9%|▉         | 66/750 [02:07<29:06,  2.55s/it]
  9%|▉         | 67/750 [02:07<21:07,  1.86s/it]
  9%|▉         | 68/750 [02:07<15:31,  1.37s/it]
  9%|▉         | 69/750 [02:07<11:36,  1.02s/it]
  9%|▉         | 70/750 [02:08<08:52,  1.28it/s]
  9%|▉         | 71/750 [02:08<06:57,  1.63it/s]
 10%|▉         | 72/750 [02:08<05:37,  2.01it/s]
 10%|▉         | 73/750 [02:22<51:01,  4.52s/it]
 10%|▉         | 74/750 [02:22<36:25,  3.23s/it]
 10%|█         | 75/750 [02:22<26:12,  2.33s/it]
 10%|█         | 76/750 [02:23<19:04,  1.70s/it]
 10%|█         | 77/750 [02:23<14:05,  1.26s/it]
 10%|█         | 78/750 [02:23<10:36,  1.06it/s]
 11%|█         | 79/750 [02:23<08:10,  1.37it/s]
 11%|█         | 80/750 [02:24<06:29,  1.72it/s]
 11%|█         | 81/750 [02:31<30:42,  2.75s/it]
 11%|█         | 82/750 [02:32<22:13,  2.00s/it]
 11%|█         | 83/750 [02:32<16:16,  1.46s/it]
 11%|█         | 84/750 [02:32<12:07,  1.09s/it]
 11%|█▏        | 85/750 [02:32<09:13,  1.20it/s]
 11%|█▏        | 86/750 [02:33<07:16,  1.52it/s]
 12%|█▏        | 87/750 [02:33<05:51,  1.89it/s]
 12%|█▏        | 88/750 [02:33<04:51,  2.27it/s]
 12%|█▏        | 89/750 [02:43<37:27,  3.40s/it]
 12%|█▏        | 90/750 [02:44<26:57,  2.45s/it]
 12%|█▏        | 91/750 [02:44<19:36,  1.78s/it]
 12%|█▏        | 92/750 [02:44<14:27,  1.32s/it]
 12%|█▏        | 93/750 [02:44<10:50,  1.01it/s]
 13%|█▎        | 94/750 [02:44<08:20,  1.31it/s]
 13%|█▎        | 95/750 [02:45<06:34,  1.66it/s]
 13%|█▎        | 96/750 [02:45<05:21,  2.04it/s]
 13%|█▎        | 97/750 [03:00<52:38,  4.84s/it]
 13%|█▎        | 98/750 [03:00<37:33,  3.46s/it]
 13%|█▎        | 99/750 [03:00<26:59,  2.49s/it]
 13%|█▎        | 100/750 [03:01<19:36,  1.81s/it]
 13%|█▎        | 101/750 [03:01<14:26,  1.34s/it]
 14%|█▎        | 102/750 [03:01<10:49,  1.00s/it]
 14%|█▎        | 103/750 [03:01<08:18,  1.30it/s]
 14%|█▍        | 104/750 [03:01<06:32,  1.65it/s]
 14%|█▍        | 105/750 [03:11<35:35,  3.31s/it]
 14%|█▍        | 106/750 [03:11<25:36,  2.39s/it]
 14%|█▍        | 107/750 [03:12<18:38,  1.74s/it]
 14%|█▍        | 108/750 [03:12<13:44,  1.28s/it]
 15%|█▍        | 109/750 [03:12<10:20,  1.03it/s]
 15%|█▍        | 110/750 [03:12<07:57,  1.34it/s]
 15%|█▍        | 111/750 [03:12<06:17,  1.69it/s]
 15%|█▍        | 112/750 [03:13<05:08,  2.07it/s]
 15%|█▌        | 113/750 [03:18<20:43,  1.95s/it]
 15%|█▌        | 114/750 [03:18<15:13,  1.44s/it]
 15%|█▌        | 115/750 [03:19<11:21,  1.07s/it]
 15%|█▌        | 116/750 [03:19<08:39,  1.22it/s]
 16%|█▌        | 117/750 [03:19<06:44,  1.56it/s]
 16%|█▌        | 118/750 [03:19<05:25,  1.94it/s]
 16%|█▌        | 119/750 [03:19<04:30,  2.33it/s]
 16%|█▌        | 120/750 [03:20<03:51,  2.72it/s]
 16%|█▌        | 121/750 [03:28<27:49,  2.65s/it]
 16%|█▋        | 122/750 [03:28<20:10,  1.93s/it]
 16%|█▋        | 123/750 [03:28<14:49,  1.42s/it]
 17%|█▋        | 124/750 [03:28<11:03,  1.06s/it]
 17%|█▋        | 125/750 [03:29<08:26,  1.23it/s]
 17%|█▋        | 126/750 [03:29<06:36,  1.57it/s]
 17%|█▋        | 127/750 [03:29<05:18,  1.96it/s]
 17%|█▋        | 128/750 [03:29<04:23,  2.36it/s]
 17%|█▋        | 129/750 [03:36<24:22,  2.36s/it]
 17%|█▋        | 130/750 [03:36<17:40,  1.71s/it]
 17%|█▋        | 131/750 [03:36<12:58,  1.26s/it]
 18%|█▊        | 132/750 [03:37<09:42,  1.06it/s]
 18%|█▊        | 133/750 [03:37<07:27,  1.38it/s]
 18%|█▊        | 134/750 [03:37<05:52,  1.75it/s]
 18%|█▊        | 135/750 [03:37<04:44,  2.16it/s]
 18%|█▊        | 136/750 [03:38<03:58,  2.58it/s]
 18%|█▊        | 137/750 [03:44<22:31,  2.20s/it]
 18%|█▊        | 138/750 [03:44<16:23,  1.61s/it]
 19%|█▊        | 139/750 [03:44<12:07,  1.19s/it]
 19%|█▊        | 140/750 [03:45<09:07,  1.11it/s]
 19%|█▉        | 141/750 [03:45<07:00,  1.45it/s]
 19%|█▉        | 142/750 [03:45<05:30,  1.84it/s]
 19%|█▉        | 143/750 [03:45<04:27,  2.27it/s]
 19%|█▉        | 144/750 [03:45<03:43,  2.71it/s]
 19%|█▉        | 145/750 [03:56<35:17,  3.50s/it]
 19%|█▉        | 146/750 [03:56<25:16,  2.51s/it]
 20%|█▉        | 147/750 [03:57<18:16,  1.82s/it]
 20%|█▉        | 148/750 [03:57<13:21,  1.33s/it]
 20%|█▉        | 149/750 [03:57<09:55,  1.01it/s]
 20%|██        | 150/750 [03:57<07:31,  1.33it/s]
 20%|██        | 151/750 [03:57<05:51,  1.70it/s]
 20%|██        | 152/750 [03:58<04:41,  2.12it/s]
 20%|██        | 153/750 [04:10<39:45,  4.00s/it]
 21%|██        | 154/750 [04:10<28:23,  2.86s/it]
 21%|██        | 155/750 [04:10<20:26,  2.06s/it]
 21%|██        | 156/750 [04:10<14:53,  1.50s/it]
 21%|██        | 157/750 [04:11<11:00,  1.11s/it]
 21%|██        | 158/750 [04:11<08:18,  1.19it/s]
 21%|██        | 159/750 [04:11<06:24,  1.54it/s]
 21%|██▏       | 160/750 [04:11<05:06,  1.93it/s]
 21%|██▏       | 161/750 [04:20<29:57,  3.05s/it]
 22%|██▏       | 162/750 [04:20<21:34,  2.20s/it]
 22%|██▏       | 163/750 [04:21<15:42,  1.61s/it]
 22%|██▏       | 164/750 [04:21<11:37,  1.19s/it]
 22%|██▏       | 165/750 [04:21<08:45,  1.11it/s]
 22%|██▏       | 166/750 [04:21<06:44,  1.44it/s]
 22%|██▏       | 167/750 [04:22<05:19,  1.82it/s]
 22%|██▏       | 168/750 [04:22<04:22,  2.22it/s]
 23%|██▎       | 169/750 [04:29<23:00,  2.38s/it]
 23%|██▎       | 170/750 [04:29<16:43,  1.73s/it]
 23%|██▎       | 171/750 [04:29<12:19,  1.28s/it]
 23%|██▎       | 172/750 [04:29<09:11,  1.05it/s]
 23%|██▎       | 173/750 [04:30<07:00,  1.37it/s]
 23%|██▎       | 174/750 [04:30<05:28,  1.75it/s]
 23%|██▎       | 175/750 [04:30<04:23,  2.18it/s]
 23%|██▎       | 176/750 [04:30<03:39,  2.62it/s]
 24%|██▎       | 177/750 [04:40<29:57,  3.14s/it]
 24%|██▎       | 178/750 [04:40<21:30,  2.26s/it]
 24%|██▍       | 179/750 [04:40<15:36,  1.64s/it]
 24%|██▍       | 180/750 [04:40<11:29,  1.21s/it]
 24%|██▍       | 181/750 [04:40<08:35,  1.10it/s]
 24%|██▍       | 182/750 [04:41<06:33,  1.44it/s]
 24%|██▍       | 183/750 [04:41<05:09,  1.83it/s]
 25%|██▍       | 184/750 [04:41<04:09,  2.27it/s]
 25%|██▍       | 185/750 [04:57<48:57,  5.20s/it]
 25%|██▍       | 186/750 [04:58<34:47,  3.70s/it]
 25%|██▍       | 187/750 [04:58<24:52,  2.65s/it]
 25%|██▌       | 188/750 [04:58<17:57,  1.92s/it]
 25%|██▌       | 189/750 [04:58<13:07,  1.40s/it]
 25%|██▌       | 190/750 [04:58<09:43,  1.04s/it]
 25%|██▌       | 191/750 [04:59<07:21,  1.27it/s]
 26%|██▌       | 192/750 [04:59<05:43,  1.63it/s]
 26%|██▌       | 193/750 [05:06<23:54,  2.57s/it]
 26%|██▌       | 194/750 [05:06<17:16,  1.86s/it]
 26%|██▌       | 195/750 [05:06<12:37,  1.36s/it]
 26%|██▌       | 196/750 [05:07<09:23,  1.02s/it]
 26%|██▋       | 197/750 [05:07<07:07,  1.29it/s]
 26%|██▋       | 198/750 [05:07<05:31,  1.66it/s]
 27%|██▋       | 199/750 [05:07<04:25,  2.08it/s]
 27%|██▋       | 200/750 [05:07<03:38,  2.51it/s]
 27%|██▋       | 201/750 [05:22<43:41,  4.78s/it]
 27%|██▋       | 202/750 [05:23<31:04,  3.40s/it]
 27%|██▋       | 203/750 [05:23<22:15,  2.44s/it]
 27%|██▋       | 204/750 [05:23<16:06,  1.77s/it]
 27%|██▋       | 205/750 [05:23<11:48,  1.30s/it]
 27%|██▋       | 206/750 [05:23<08:47,  1.03it/s]
 28%|██▊       | 207/750 [05:24<06:41,  1.35it/s]
 28%|██▊       | 208/750 [05:24<05:12,  1.73it/s]
 28%|██▊       | 209/750 [05:37<39:21,  4.37s/it]
 28%|██▊       | 210/750 [05:37<28:02,  3.12s/it]
 28%|██▊       | 211/750 [05:37<20:08,  2.24s/it]
 28%|██▊       | 212/750 [05:38<14:36,  1.63s/it]
 28%|██▊       | 213/750 [05:38<10:44,  1.20s/it]
 29%|██▊       | 214/750 [05:38<08:02,  1.11it/s]
 29%|██▊       | 215/750 [05:38<06:09,  1.45it/s]
 29%|██▉       | 216/750 [05:38<04:53,  1.82it/s]
 29%|██▉       | 217/750 [05:45<22:06,  2.49s/it]
 29%|██▉       | 218/750 [05:46<16:02,  1.81s/it]
 29%|██▉       | 219/750 [05:46<11:47,  1.33s/it]
 29%|██▉       | 220/750 [05:46<08:48,  1.00it/s]
 29%|██▉       | 221/750 [05:46<06:43,  1.31it/s]
 30%|██▉       | 222/750 [05:46<05:16,  1.67it/s]
 30%|██▉       | 223/750 [05:47<04:14,  2.07it/s]
 30%|██▉       | 224/750 [05:47<03:30,  2.49it/s]
 30%|███       | 225/750 [05:54<22:09,  2.53s/it]
 30%|███       | 226/750 [05:55<16:03,  1.84s/it]
 30%|███       | 227/750 [05:55<11:48,  1.36s/it]
 30%|███       | 228/750 [05:55<08:50,  1.02s/it]
 31%|███       | 229/750 [05:55<06:42,  1.30it/s]
 31%|███       | 230/750 [05:55<05:11,  1.67it/s]
 31%|███       | 231/750 [05:56<04:09,  2.08it/s]
 31%|███       | 232/750 [05:56<03:24,  2.53it/s]
 31%|███       | 233/750 [06:06<28:25,  3.30s/it]
 31%|███       | 234/750 [06:06<20:22,  2.37s/it]
 31%|███▏      | 235/750 [06:06<14:44,  1.72s/it]
 31%|███▏      | 236/750 [06:07<10:49,  1.26s/it]
 32%|███▏      | 237/750 [06:07<08:04,  1.06it/s]
 32%|███▏      | 238/750 [06:07<06:09,  1.38it/s]
 32%|███▏      | 239/750 [06:07<04:49,  1.76it/s]
 32%|███▏      | 240/750 [06:07<03:53,  2.18it/s]
 32%|███▏      | 241/750 [06:22<40:47,  4.81s/it]
 32%|███▏      | 242/750 [06:23<29:04,  3.43s/it]
 32%|███▏      | 243/750 [06:23<20:52,  2.47s/it]
 33%|███▎      | 244/750 [06:23<15:08,  1.80s/it]
 33%|███▎      | 245/750 [06:23<11:08,  1.32s/it]
 33%|███▎      | 246/750 [06:23<08:20,  1.01it/s]
 33%|███▎      | 247/750 [06:24<06:22,  1.32it/s]
 33%|███▎      | 248/750 [06:24<05:00,  1.67it/s]
 33%|███▎      | 249/750 [06:33<26:55,  3.22s/it]
 33%|███▎      | 250/750 [06:33<19:21,  2.32s/it]
 33%|███▎      | 251/750 [06:34<14:04,  1.69s/it]
 34%|███▎      | 252/750 [06:34<10:22,  1.25s/it]
 34%|███▎      | 253/750 [06:34<07:47,  1.06it/s]
 34%|███▍      | 254/750 [06:34<05:59,  1.38it/s]
 34%|███▍      | 255/750 [06:35<04:43,  1.75it/s]
 34%|███▍      | 256/750 [06:35<03:51,  2.14it/s]
 34%|███▍      | 257/750 [06:51<42:56,  5.23s/it]
 34%|███▍      | 258/750 [06:51<30:32,  3.73s/it]
 35%|███▍      | 259/750 [06:52<21:49,  2.67s/it]
 35%|███▍      | 260/750 [06:52<15:44,  1.93s/it]
 35%|███▍      | 261/750 [06:52<11:29,  1.41s/it]
 35%|███▍      | 262/750 [06:52<08:31,  1.05s/it]
 35%|███▌      | 263/750 [06:52<06:26,  1.26it/s]
 35%|███▌      | 264/750 [06:53<04:59,  1.62it/s]
 35%|███▌      | 265/750 [07:08<41:07,  5.09s/it]
 35%|███▌      | 266/750 [07:08<29:13,  3.62s/it]
 36%|███▌      | 267/750 [07:08<20:53,  2.60s/it]
 36%|███▌      | 268/750 [07:09<15:05,  1.88s/it]
 36%|███▌      | 269/750 [07:09<11:00,  1.37s/it]
 36%|███▌      | 270/750 [07:09<08:10,  1.02s/it]
 36%|███▌      | 271/750 [07:09<06:11,  1.29it/s]
 36%|███▋      | 272/750 [07:09<04:48,  1.66it/s]
 36%|███▋      | 273/750 [07:25<40:56,  5.15s/it]
 37%|███▋      | 274/750 [07:25<29:04,  3.67s/it]
 37%|███▋      | 275/750 [07:26<20:47,  2.63s/it]
 37%|███▋      | 276/750 [07:26<15:00,  1.90s/it]
 37%|███▋      | 277/750 [07:26<10:57,  1.39s/it]
 37%|███▋      | 278/750 [07:26<08:07,  1.03s/it]
 37%|███▋      | 279/750 [07:26<06:08,  1.28it/s]
 37%|███▋      | 280/750 [07:27<04:47,  1.63it/s]
 37%|███▋      | 281/750 [08:07<1:38:09, 12.56s/it]
 38%|███▊      | 282/750 [08:07<1:09:04,  8.86s/it]
 38%|███▊      | 283/750 [08:08<48:46,  6.27s/it]  
 38%|███▊      | 284/750 [08:08<34:35,  4.45s/it]
 38%|███▊      | 285/750 [08:08<24:40,  3.18s/it]
 38%|███▊      | 286/750 [08:08<17:45,  2.30s/it]
 38%|███▊      | 287/750 [08:08<12:55,  1.67s/it]
 38%|███▊      | 288/750 [08:09<09:31,  1.24s/it]
 39%|███▊      | 289/750 [08:17<25:28,  3.32s/it]
 39%|███▊      | 290/750 [08:17<18:18,  2.39s/it]
 39%|███▉      | 291/750 [08:17<13:15,  1.73s/it]
 39%|███▉      | 292/750 [08:17<09:43,  1.27s/it]
 39%|███▉      | 293/750 [08:18<07:14,  1.05it/s]
 39%|███▉      | 294/750 [08:18<05:31,  1.38it/s]
 39%|███▉      | 295/750 [08:18<04:18,  1.76it/s]
 39%|███▉      | 296/750 [08:18<03:29,  2.16it/s]
 40%|███▉      | 297/750 [08:26<19:01,  2.52s/it]
 40%|███▉      | 298/750 [08:26<13:47,  1.83s/it]
 40%|███▉      | 299/750 [08:26<10:08,  1.35s/it]
 40%|████      | 300/750 [08:26<07:33,  1.01s/it]
 40%|████      | 301/750 [08:26<05:46,  1.30it/s]
 40%|████      | 302/750 [08:27<04:30,  1.65it/s]
 40%|████      | 303/750 [08:27<03:38,  2.05it/s]
 41%|████      | 304/750 [08:27<03:01,  2.46it/s]
 41%|████      | 305/750 [08:34<17:17,  2.33s/it]
 41%|████      | 306/750 [08:34<12:34,  1.70s/it]
 41%|████      | 307/750 [08:34<09:16,  1.26s/it]
 41%|████      | 308/750 [08:35<06:58,  1.06it/s]
 41%|████      | 309/750 [08:35<05:20,  1.38it/s]
 41%|████▏     | 310/750 [08:35<04:09,  1.76it/s]
 41%|████▏     | 311/750 [08:35<03:20,  2.19it/s]
 42%|████▏     | 312/750 [08:35<02:46,  2.64it/s]
 42%|████▏     | 313/750 [08:50<33:04,  4.54s/it]
 42%|████▏     | 314/750 [08:50<23:33,  3.24s/it]
 42%|████▏     | 315/750 [08:50<16:53,  2.33s/it]
 42%|████▏     | 316/750 [08:50<12:14,  1.69s/it]
 42%|████▏     | 317/750 [08:50<08:58,  1.24s/it]
 42%|████▏     | 318/750 [08:51<06:42,  1.07it/s]
 43%|████▎     | 319/750 [08:51<05:06,  1.41it/s]
 43%|████▎     | 320/750 [08:51<03:59,  1.80it/s]
 43%|████▎     | 321/750 [09:05<32:21,  4.53s/it]
 43%|████▎     | 322/750 [09:05<23:02,  3.23s/it]
 43%|████▎     | 323/750 [09:05<16:31,  2.32s/it]
 43%|████▎     | 324/750 [09:05<11:58,  1.69s/it]
 43%|████▎     | 325/750 [09:06<08:47,  1.24s/it]
 43%|████▎     | 326/750 [09:06<06:34,  1.07it/s]
 44%|████▎     | 327/750 [09:06<05:04,  1.39it/s]
 44%|████▎     | 328/750 [09:06<04:00,  1.75it/s]
 44%|████▍     | 329/750 [09:18<27:47,  3.96s/it]
 44%|████▍     | 330/750 [09:18<19:51,  2.84s/it]
 44%|████▍     | 331/750 [09:19<14:19,  2.05s/it]
 44%|████▍     | 332/750 [09:19<10:27,  1.50s/it]
 44%|████▍     | 333/750 [09:19<07:45,  1.12s/it]
 45%|████▍     | 334/750 [09:19<05:52,  1.18it/s]
 45%|████▍     | 335/750 [09:19<04:33,  1.52it/s]
 45%|████▍     | 336/750 [09:20<03:38,  1.89it/s]
 45%|████▍     | 337/750 [09:39<41:44,  6.06s/it]
 45%|████▌     | 338/750 [09:39<29:36,  4.31s/it]
 45%|████▌     | 339/750 [09:39<21:09,  3.09s/it]
 45%|████▌     | 340/750 [09:39<15:14,  2.23s/it]
 45%|████▌     | 341/750 [09:40<11:06,  1.63s/it]
 46%|████▌     | 342/750 [09:40<08:13,  1.21s/it]
 46%|████▌     | 343/750 [09:40<06:12,  1.09it/s]
 46%|████▌     | 344/750 [09:40<04:47,  1.41it/s]
 46%|████▌     | 345/750 [10:05<53:07,  7.87s/it]
 46%|████▌     | 346/750 [10:05<37:34,  5.58s/it]
 46%|████▋     | 347/750 [10:05<26:42,  3.98s/it]
 46%|████▋     | 348/750 [10:06<19:06,  2.85s/it]
 47%|████▋     | 349/750 [10:06<13:49,  2.07s/it]
 47%|████▋     | 350/750 [10:06<10:06,  1.52s/it]
 47%|████▋     | 351/750 [10:06<07:31,  1.13s/it]
 47%|████▋     | 352/750 [10:07<05:43,  1.16it/s]
 47%|████▋     | 353/750 [10:30<49:56,  7.55s/it]
 47%|████▋     | 354/750 [10:30<35:19,  5.35s/it]
 47%|████▋     | 355/750 [10:30<25:07,  3.82s/it]
 47%|████▋     | 356/750 [10:30<18:00,  2.74s/it]
 48%|████▊     | 357/750 [10:31<13:01,  1.99s/it]
 48%|████▊     | 358/750 [10:31<09:32,  1.46s/it]
 48%|████▊     | 359/750 [10:31<07:06,  1.09s/it]
 48%|████▊     | 360/750 [10:31<05:25,  1.20it/s]
 48%|████▊     | 361/750 [10:50<40:12,  6.20s/it]
 48%|████▊     | 362/750 [10:50<28:31,  4.41s/it]
 48%|████▊     | 363/750 [10:50<20:20,  3.15s/it]
 49%|████▊     | 364/750 [10:51<14:38,  2.28s/it]
 49%|████▊     | 365/750 [10:51<10:39,  1.66s/it]
 49%|████▉     | 366/750 [10:51<07:51,  1.23s/it]
 49%|████▉     | 367/750 [10:51<05:55,  1.08it/s]
 49%|████▉     | 368/750 [10:52<04:35,  1.39it/s]
 49%|████▉     | 369/750 [11:14<46:27,  7.32s/it]
 49%|████▉     | 370/750 [11:15<32:51,  5.19s/it]
 49%|████▉     | 371/750 [11:15<23:21,  3.70s/it]
 50%|████▉     | 372/750 [11:15<16:44,  2.66s/it]
 50%|████▉     | 373/750 [11:15<12:07,  1.93s/it]
 50%|████▉     | 374/750 [11:15<08:53,  1.42s/it]
 50%|█████     | 375/750 [11:16<06:38,  1.06s/it]
 50%|█████     | 376/750 [11:16<05:04,  1.23it/s]
 50%|█████     | 377/750 [11:24<17:48,  2.86s/it]
 50%|█████     | 378/750 [11:24<12:49,  2.07s/it]
 51%|█████     | 379/750 [11:24<09:21,  1.51s/it]
 51%|█████     | 380/750 [11:24<06:56,  1.12s/it]
 51%|█████     | 381/750 [11:24<05:14,  1.17it/s]
 51%|█████     | 382/750 [11:25<04:03,  1.51it/s]
 51%|█████     | 383/750 [11:25<03:14,  1.89it/s]
 51%|█████     | 384/750 [11:25<02:39,  2.30it/s]
 51%|█████     | 384/750 [11:41<11:08,  1.83s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/log_1_env0.json.
+BananaInBowlTask_1 complete: task_name: BananaInBowlTask, run_name: BananaInBowlTask_1, run: 1, env_id: 0, policy: harness, instruction: Pick up the banana and place it in the bowl, attributes: ['semantics', 'simple'], success: True, episode_step: 385, duration: 25.666666666666668, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.318717423127447, 'joint_sparc_mean': -9.490662723782853, 'ee_isj': 1751.7685024916414, 'joint_isj': 42032.17383209263, 'ee_path_length': 2.944689657329507, 'joint_rmse_mean': 1.1326222489578923, 'ee_speed_max': 0.5462213754653931, 'ee_speed_mean': 0.11200319975614548}, events: {'TARGET_OBJECT_DROPPED': 10, 'GRIPPER_HIT_TABLE': 2, 'GRIPPER_FULLY_CLOSED': 5}, instruction_type: default, timing: {'policy_inference_s': 622.485, 'policy_inference_avg_ms': 1616.8, 'env_step_s': 75.527, 'env_step_avg_ms': 196.2, 'video_write_s': 3.627, 'video_write_avg_ms': 9.4, 'wall_total_s': 701.638, 'it_per_sec': 0.55}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: b57c7147ef404a059fecf68592114af1-1
+[RoboLab] Running BananaInBowlTask_2: 'Pick up the banana and place it in the bowl' (run 2, 1 envs)
+
  0%|          | 0/750 [00:00<?, ?it/s]
  0%|          | 1/750 [00:36<7:38:55, 36.76s/it]
  0%|          | 2/750 [00:36<3:10:15, 15.26s/it]
  0%|          | 3/750 [00:37<1:44:22,  8.38s/it]
  1%|          | 4/750 [00:37<1:04:03,  5.15s/it]
  1%|          | 5/750 [00:37<41:47,  3.37s/it]  
  1%|          | 6/750 [00:37<28:23,  2.29s/it]
  1%|          | 7/750 [00:37<19:53,  1.61s/it]
  1%|          | 8/750 [00:38<14:18,  1.16s/it]
  1%|          | 9/750 [00:46<41:42,  3.38s/it]
  1%|▏         | 10/750 [00:46<29:32,  2.40s/it]
  1%|▏         | 11/750 [00:46<21:13,  1.72s/it]
  2%|▏         | 12/750 [00:47<15:29,  1.26s/it]
  2%|▏         | 13/750 [00:47<11:31,  1.07it/s]
  2%|▏         | 14/750 [00:47<08:46,  1.40it/s]
  2%|▏         | 15/750 [00:47<06:51,  1.78it/s]
  2%|▏         | 16/750 [00:47<05:31,  2.21it/s]
  2%|▏         | 17/750 [00:55<30:23,  2.49s/it]
  2%|▏         | 18/750 [00:55<21:57,  1.80s/it]
  3%|▎         | 19/750 [00:55<16:04,  1.32s/it]
  3%|▎         | 20/750 [00:55<11:57,  1.02it/s]
  3%|▎         | 21/750 [00:55<09:04,  1.34it/s]
  3%|▎         | 22/750 [00:56<07:04,  1.72it/s]
  3%|▎         | 23/750 [00:56<05:40,  2.13it/s]
  3%|▎         | 24/750 [00:56<04:41,  2.58it/s]
  3%|▎         | 25/750 [01:07<43:59,  3.64s/it]
  3%|▎         | 26/750 [01:07<31:27,  2.61s/it]
  4%|▎         | 27/750 [01:08<22:42,  1.88s/it]
  4%|▎         | 28/750 [01:08<16:35,  1.38s/it]
  4%|▍         | 29/750 [01:08<12:19,  1.03s/it]
  4%|▍         | 30/750 [01:08<09:20,  1.29it/s]
  4%|▍         | 31/750 [01:08<07:16,  1.65it/s]
  4%|▍         | 32/750 [01:09<05:51,  2.04it/s]
  4%|▍         | 33/750 [01:15<25:54,  2.17s/it]
  5%|▍         | 34/750 [01:15<18:52,  1.58s/it]
  5%|▍         | 35/750 [01:15<13:58,  1.17s/it]
  5%|▍         | 36/750 [01:15<10:32,  1.13it/s]
  5%|▍         | 37/750 [01:16<08:08,  1.46it/s]
  5%|▌         | 38/750 [01:16<06:28,  1.83it/s]
  5%|▌         | 39/750 [01:16<05:17,  2.24it/s]
  5%|▌         | 40/750 [01:16<04:29,  2.64it/s]
  5%|▌         | 41/750 [01:27<42:06,  3.56s/it]
  6%|▌         | 42/750 [01:27<30:14,  2.56s/it]
  6%|▌         | 43/750 [01:28<21:55,  1.86s/it]
  6%|▌         | 44/750 [01:28<16:07,  1.37s/it]
  6%|▌         | 45/750 [01:28<12:03,  1.03s/it]
  6%|▌         | 46/750 [01:28<09:12,  1.27it/s]
  6%|▋         | 47/750 [01:29<07:12,  1.63it/s]
  6%|▋         | 48/750 [01:29<05:47,  2.02it/s]
  7%|▋         | 49/750 [01:34<21:10,  1.81s/it]
  7%|▋         | 50/750 [01:34<15:33,  1.33s/it]
  7%|▋         | 51/750 [01:34<11:38,  1.00it/s]
  7%|▋         | 52/750 [01:34<08:53,  1.31it/s]
  7%|▋         | 53/750 [01:34<06:58,  1.66it/s]
  7%|▋         | 54/750 [01:35<05:37,  2.06it/s]
  7%|▋         | 55/750 [01:35<04:41,  2.47it/s]
  7%|▋         | 56/750 [01:35<04:02,  2.86it/s]
  8%|▊         | 57/750 [01:51<56:11,  4.87s/it]
  8%|▊         | 58/750 [01:51<40:02,  3.47s/it]
  8%|▊         | 59/750 [01:51<28:44,  2.50s/it]
  8%|▊         | 60/750 [01:51<20:49,  1.81s/it]
  8%|▊         | 61/750 [01:51<15:18,  1.33s/it]
  8%|▊         | 62/750 [01:52<11:27,  1.00it/s]
  8%|▊         | 63/750 [01:52<08:47,  1.30it/s]
  9%|▊         | 64/750 [01:52<06:55,  1.65it/s]
  9%|▊         | 65/750 [01:57<22:11,  1.94s/it]
  9%|▉         | 66/750 [01:57<16:17,  1.43s/it]
  9%|▉         | 67/750 [01:58<12:07,  1.06s/it]
  9%|▉         | 68/750 [01:58<09:13,  1.23it/s]
  9%|▉         | 69/750 [01:58<07:12,  1.57it/s]
  9%|▉         | 70/750 [01:58<05:46,  1.96it/s]
  9%|▉         | 71/750 [01:58<04:47,  2.36it/s]
 10%|▉         | 72/750 [01:59<04:05,  2.76it/s]
 10%|▉         | 73/750 [02:04<22:08,  1.96s/it]
 10%|▉         | 74/750 [02:05<16:13,  1.44s/it]
 10%|█         | 75/750 [02:05<12:05,  1.08s/it]
 10%|█         | 76/750 [02:05<09:12,  1.22it/s]
 10%|█         | 77/750 [02:05<07:09,  1.57it/s]
 10%|█         | 78/750 [02:06<05:43,  1.95it/s]
 11%|█         | 79/750 [02:06<04:43,  2.36it/s]
 11%|█         | 80/750 [02:06<04:01,  2.77it/s]
 11%|█         | 81/750 [02:12<23:04,  2.07s/it]
 11%|█         | 82/750 [02:12<16:51,  1.51s/it]
 11%|█         | 83/750 [02:12<12:31,  1.13s/it]
 11%|█         | 84/750 [02:13<09:30,  1.17it/s]
 11%|█▏        | 85/750 [02:13<07:23,  1.50it/s]
 11%|█▏        | 86/750 [02:13<05:53,  1.88it/s]
 12%|█▏        | 87/750 [02:13<04:50,  2.29it/s]
 12%|█▏        | 88/750 [02:14<04:06,  2.68it/s]
 12%|█▏        | 89/750 [02:23<33:09,  3.01s/it]
 12%|█▏        | 90/750 [02:23<23:55,  2.18s/it]
 12%|█▏        | 91/750 [02:23<17:28,  1.59s/it]
 12%|█▏        | 92/750 [02:23<12:57,  1.18s/it]
 12%|█▏        | 93/750 [02:24<09:47,  1.12it/s]
 13%|█▎        | 94/750 [02:24<07:34,  1.44it/s]
 13%|█▎        | 95/750 [02:24<05:58,  1.83it/s]
 13%|█▎        | 96/750 [02:24<04:49,  2.26it/s]
 13%|█▎        | 97/750 [02:38<49:33,  4.55s/it]
 13%|█▎        | 98/750 [02:39<35:17,  3.25s/it]
 13%|█▎        | 99/750 [02:39<25:18,  2.33s/it]
 13%|█▎        | 100/750 [02:39<18:20,  1.69s/it]
 13%|█▎        | 101/750 [02:39<13:28,  1.25s/it]
 14%|█▎        | 102/750 [02:39<10:04,  1.07it/s]
 14%|█▎        | 103/750 [02:40<07:41,  1.40it/s]
 14%|█▍        | 104/750 [02:40<06:01,  1.79it/s]
 14%|█▍        | 105/750 [02:58<1:03:37,  5.92s/it]
 14%|█▍        | 106/750 [02:58<45:07,  4.20s/it]  
 14%|█▍        | 107/750 [02:59<32:11,  3.00s/it]
 14%|█▍        | 108/750 [02:59<23:08,  2.16s/it]
 15%|█▍        | 109/750 [02:59<16:48,  1.57s/it]
 15%|█▍        | 110/750 [02:59<12:23,  1.16s/it]
 15%|█▍        | 111/750 [02:59<09:18,  1.14it/s]
 15%|█▍        | 112/750 [03:00<07:08,  1.49it/s]
 15%|█▌        | 113/750 [03:24<1:24:07,  7.92s/it]
 15%|█▌        | 114/750 [03:25<59:24,  5.61s/it]  
 15%|█▌        | 115/750 [03:25<42:09,  3.98s/it]
 15%|█▌        | 116/750 [03:25<30:05,  2.85s/it]
 16%|█▌        | 117/750 [03:25<21:39,  2.05s/it]
 16%|█▌        | 118/750 [03:25<15:45,  1.50s/it]
 16%|█▌        | 119/750 [03:26<11:38,  1.11s/it]
 16%|█▌        | 120/750 [03:26<08:45,  1.20it/s]
 16%|█▌        | 121/750 [03:32<26:02,  2.48s/it]
 16%|█▋        | 122/750 [03:32<18:50,  1.80s/it]
 16%|█▋        | 123/750 [03:33<13:47,  1.32s/it]
 17%|█▋        | 124/750 [03:33<10:15,  1.02it/s]
 17%|█▋        | 125/750 [03:33<07:47,  1.34it/s]
 17%|█▋        | 126/750 [03:33<06:02,  1.72it/s]
 17%|█▋        | 127/750 [03:33<04:50,  2.14it/s]
 17%|█▋        | 128/750 [03:34<04:00,  2.58it/s]
 17%|█▋        | 129/750 [04:20<2:26:56, 14.20s/it]
 17%|█▋        | 130/750 [04:20<1:43:18, 10.00s/it]
 17%|█▋        | 131/750 [04:20<1:12:47,  7.06s/it]
 18%|█▊        | 132/750 [04:21<51:28,  5.00s/it]  
 18%|█▊        | 133/750 [04:21<36:35,  3.56s/it]
 18%|█▊        | 134/750 [04:21<26:11,  2.55s/it]
 18%|█▊        | 135/750 [04:21<18:55,  1.85s/it]
 18%|█▊        | 136/750 [04:21<13:50,  1.35s/it]
 18%|█▊        | 137/750 [04:31<38:04,  3.73s/it]
 18%|█▊        | 138/750 [04:31<27:12,  2.67s/it]
 19%|█▊        | 139/750 [04:31<19:36,  1.93s/it]
 19%|█▊        | 140/750 [04:31<14:18,  1.41s/it]
 19%|█▉        | 141/750 [04:31<10:36,  1.04s/it]
 19%|█▉        | 142/750 [04:32<08:01,  1.26it/s]
 19%|█▉        | 143/750 [04:32<06:12,  1.63it/s]
 19%|█▉        | 144/750 [04:32<04:57,  2.04it/s]
 19%|█▉        | 145/750 [04:38<21:32,  2.14s/it]
 19%|█▉        | 146/750 [04:38<15:39,  1.56s/it]
 20%|█▉        | 147/750 [04:38<11:32,  1.15s/it]
 20%|█▉        | 148/750 [04:39<08:40,  1.16it/s]
 20%|█▉        | 149/750 [04:39<06:39,  1.50it/s]
 20%|██        | 150/750 [04:39<05:15,  1.90it/s]
 20%|██        | 151/750 [04:39<04:16,  2.33it/s]
 20%|██        | 152/750 [04:39<03:35,  2.78it/s]
 20%|██        | 153/750 [04:53<43:16,  4.35s/it]
 21%|██        | 154/750 [04:53<30:49,  3.10s/it]
 21%|██        | 155/750 [04:53<22:08,  2.23s/it]
 21%|██        | 156/750 [04:54<16:04,  1.62s/it]
 21%|██        | 157/750 [04:54<11:49,  1.20s/it]
 21%|██        | 158/750 [04:54<08:51,  1.11it/s]
 21%|██        | 159/750 [04:54<06:47,  1.45it/s]
 21%|██▏       | 160/750 [04:54<05:19,  1.85it/s]
 21%|██▏       | 161/750 [05:05<35:37,  3.63s/it]
 22%|██▏       | 162/750 [05:06<25:29,  2.60s/it]
 22%|██▏       | 163/750 [05:06<18:23,  1.88s/it]
 22%|██▏       | 164/750 [05:06<13:26,  1.38s/it]
 22%|██▏       | 165/750 [05:06<09:59,  1.02s/it]
 22%|██▏       | 166/750 [05:06<07:34,  1.28it/s]
 22%|██▏       | 167/750 [05:07<05:53,  1.65it/s]
 22%|██▏       | 168/750 [05:07<04:42,  2.06it/s]
 23%|██▎       | 169/750 [05:18<36:24,  3.76s/it]
 23%|██▎       | 170/750 [05:18<26:01,  2.69s/it]
 23%|██▎       | 171/750 [05:19<18:46,  1.95s/it]
 23%|██▎       | 172/750 [05:19<13:40,  1.42s/it]
 23%|██▎       | 173/750 [05:19<10:07,  1.05s/it]
 23%|██▎       | 174/750 [05:19<07:39,  1.25it/s]
 23%|██▎       | 175/750 [05:19<06:00,  1.59it/s]
 23%|██▎       | 176/750 [05:20<04:51,  1.97it/s]
 24%|██▎       | 177/750 [05:36<49:31,  5.19s/it]
 24%|██▎       | 178/750 [05:36<35:16,  3.70s/it]
 24%|██▍       | 179/750 [05:36<25:18,  2.66s/it]
 24%|██▍       | 180/750 [05:36<18:20,  1.93s/it]
 24%|██▍       | 181/750 [05:37<13:27,  1.42s/it]
 24%|██▍       | 182/750 [05:37<10:03,  1.06s/it]
 24%|██▍       | 183/750 [05:37<07:39,  1.23it/s]
 25%|██▍       | 184/750 [05:37<05:59,  1.58it/s]
 25%|██▍       | 185/750 [05:52<45:59,  4.88s/it]
 25%|██▍       | 186/750 [05:52<32:47,  3.49s/it]
 25%|██▍       | 187/750 [05:53<23:32,  2.51s/it]
 25%|██▌       | 188/750 [05:53<17:01,  1.82s/it]
 25%|██▌       | 189/750 [05:53<12:27,  1.33s/it]
 25%|██▌       | 190/750 [05:53<09:15,  1.01it/s]
 25%|██▌       | 191/750 [05:53<07:01,  1.33it/s]
 26%|██▌       | 192/750 [05:54<05:28,  1.70it/s]
 26%|██▌       | 193/750 [06:13<57:52,  6.23s/it]
 26%|██▌       | 194/750 [06:13<40:59,  4.42s/it]
 26%|██▌       | 195/750 [06:13<29:12,  3.16s/it]
 26%|██▌       | 196/750 [06:14<20:58,  2.27s/it]
 26%|██▋       | 197/750 [06:14<15:12,  1.65s/it]
 26%|██▋       | 198/750 [06:14<11:11,  1.22s/it]
 27%|██▋       | 199/750 [06:14<08:21,  1.10it/s]
 27%|██▋       | 200/750 [06:14<06:22,  1.44it/s]
 27%|██▋       | 201/750 [06:29<44:43,  4.89s/it]
 27%|██▋       | 202/750 [06:29<31:47,  3.48s/it]
 27%|██▋       | 203/750 [06:29<22:46,  2.50s/it]
 27%|██▋       | 204/750 [06:30<16:28,  1.81s/it]
 27%|██▋       | 205/750 [06:30<12:03,  1.33s/it]
 27%|██▋       | 206/750 [06:30<08:58,  1.01it/s]
 28%|██▊       | 207/750 [06:30<06:49,  1.33it/s]
 28%|██▊       | 208/750 [06:30<05:19,  1.70it/s]
 28%|██▊       | 209/750 [06:37<21:34,  2.39s/it]
 28%|██▊       | 210/750 [06:37<15:36,  1.73s/it]
 28%|██▊       | 211/750 [06:37<11:26,  1.27s/it]
 28%|██▊       | 212/750 [06:38<08:32,  1.05it/s]
 28%|██▊       | 213/750 [06:38<06:30,  1.38it/s]
 29%|██▊       | 214/750 [06:38<05:04,  1.76it/s]
 29%|██▊       | 215/750 [06:38<04:04,  2.19it/s]
 29%|██▉       | 216/750 [06:38<03:21,  2.65it/s]
 29%|██▉       | 217/750 [07:27<2:11:01, 14.75s/it]
 29%|██▉       | 218/750 [07:27<1:32:08, 10.39s/it]
 29%|██▉       | 219/750 [07:27<1:04:58,  7.34s/it]
 29%|██▉       | 220/750 [07:27<45:58,  5.20s/it]  
 29%|██▉       | 221/750 [07:28<32:42,  3.71s/it]
 30%|██▉       | 222/750 [07:28<23:25,  2.66s/it]
 30%|██▉       | 223/750 [07:28<16:56,  1.93s/it]
 30%|██▉       | 224/750 [07:28<12:24,  1.41s/it]
 30%|███       | 225/750 [07:34<24:16,  2.77s/it]
 30%|███       | 226/750 [07:34<17:30,  2.01s/it]
 30%|███       | 227/750 [07:35<12:46,  1.47s/it]
 30%|███       | 228/750 [07:35<09:27,  1.09s/it]
 31%|███       | 229/750 [07:35<07:07,  1.22it/s]
 31%|███       | 230/750 [07:35<05:30,  1.57it/s]
 31%|███       | 231/750 [07:35<04:22,  1.98it/s]
 31%|███       | 232/750 [07:36<03:34,  2.42it/s]
 31%|███       | 233/750 [07:58<1:00:08,  6.98s/it]
 31%|███       | 234/750 [07:58<42:32,  4.95s/it]  
 31%|███▏      | 235/750 [07:58<30:14,  3.52s/it]
 31%|███▏      | 236/750 [07:59<21:38,  2.53s/it]
 32%|███▏      | 237/750 [07:59<15:37,  1.83s/it]
 32%|███▏      | 238/750 [07:59<11:25,  1.34s/it]
 32%|███▏      | 239/750 [07:59<08:30,  1.00it/s]
 32%|███▏      | 240/750 [07:59<06:27,  1.32it/s]
 32%|███▏      | 241/750 [08:05<19:23,  2.29s/it]
 32%|███▏      | 242/750 [08:05<14:07,  1.67s/it]
 32%|███▏      | 243/750 [08:06<10:25,  1.23s/it]
 33%|███▎      | 244/750 [08:06<07:50,  1.07it/s]
 33%|███▎      | 245/750 [08:06<06:02,  1.39it/s]
 33%|███▎      | 246/750 [08:06<04:47,  1.75it/s]
 33%|███▎      | 247/750 [08:07<03:53,  2.15it/s]
 33%|███▎      | 248/750 [08:07<03:16,  2.56it/s]
 33%|███▎      | 249/750 [08:16<24:19,  2.91s/it]
 33%|███▎      | 250/750 [08:16<17:32,  2.11s/it]
 33%|███▎      | 251/750 [08:16<12:48,  1.54s/it]
 34%|███▎      | 252/750 [08:16<09:29,  1.14s/it]
 34%|███▎      | 253/750 [08:16<07:09,  1.16it/s]
 34%|███▍      | 254/750 [08:17<05:32,  1.49it/s]
 34%|███▍      | 255/750 [08:17<04:25,  1.86it/s]
 34%|███▍      | 256/750 [08:17<03:36,  2.28it/s]
 34%|███▍      | 257/750 [08:31<37:58,  4.62s/it]
 34%|███▍      | 258/750 [08:32<27:04,  3.30s/it]
 35%|███▍      | 259/750 [08:32<19:27,  2.38s/it]
 35%|███▍      | 260/750 [08:32<14:07,  1.73s/it]
 35%|███▍      | 261/750 [08:32<10:24,  1.28s/it]
 35%|███▍      | 262/750 [08:33<07:48,  1.04it/s]
 35%|███▌      | 263/750 [08:33<05:58,  1.36it/s]
 35%|███▌      | 264/750 [08:33<04:43,  1.71it/s]
 35%|███▌      | 265/750 [08:40<19:19,  2.39s/it]
 35%|███▌      | 266/750 [08:40<14:02,  1.74s/it]
 36%|███▌      | 267/750 [08:40<10:21,  1.29s/it]
 36%|███▌      | 268/750 [08:40<07:46,  1.03it/s]
 36%|███▌      | 269/750 [08:40<05:59,  1.34it/s]
 36%|███▌      | 270/750 [08:41<04:43,  1.69it/s]
 36%|███▌      | 271/750 [08:41<03:50,  2.08it/s]
 36%|███▋      | 272/750 [08:41<03:13,  2.47it/s]
 36%|███▋      | 273/750 [08:49<20:42,  2.61s/it]
 37%|███▋      | 274/750 [08:49<14:59,  1.89s/it]
 37%|███▋      | 275/750 [08:49<11:00,  1.39s/it]
 37%|███▋      | 276/750 [08:50<08:13,  1.04s/it]
 37%|███▋      | 277/750 [08:50<06:16,  1.25it/s]
 37%|███▋      | 278/750 [08:50<04:55,  1.60it/s]
 37%|███▋      | 279/750 [08:50<03:56,  1.99it/s]
 37%|███▋      | 280/750 [08:50<03:16,  2.40it/s]
 37%|███▋      | 281/750 [09:05<35:51,  4.59s/it]
 38%|███▊      | 282/750 [09:05<25:35,  3.28s/it]
 38%|███▊      | 283/750 [09:05<18:23,  2.36s/it]
 38%|███▊      | 284/750 [09:05<13:22,  1.72s/it]
 38%|███▊      | 285/750 [09:06<09:51,  1.27s/it]
 38%|███▊      | 286/750 [09:06<07:24,  1.05it/s]
 38%|███▊      | 287/750 [09:06<05:41,  1.36it/s]
 38%|███▊      | 288/750 [09:06<04:28,  1.72it/s]
 39%|███▊      | 289/750 [09:16<24:13,  3.15s/it]
 39%|███▊      | 290/750 [09:16<17:26,  2.27s/it]
 39%|███▉      | 291/750 [09:16<12:38,  1.65s/it]
 39%|███▉      | 292/750 [09:16<09:16,  1.21s/it]
 39%|███▉      | 293/750 [09:16<06:55,  1.10it/s]
 39%|███▉      | 294/750 [09:17<05:17,  1.44it/s]
 39%|███▉      | 295/750 [09:17<04:09,  1.83it/s]
 39%|███▉      | 296/750 [09:17<03:29,  2.17it/s]
 40%|███▉      | 297/750 [09:29<30:06,  3.99s/it]
 40%|███▉      | 298/750 [09:30<21:53,  2.91s/it]
 40%|███▉      | 299/750 [09:30<16:15,  2.16s/it]
 40%|████      | 300/750 [09:30<11:48,  1.58s/it]
 40%|████      | 301/750 [09:30<08:42,  1.16s/it]
 40%|████      | 302/750 [09:31<06:33,  1.14it/s]
 40%|████      | 303/750 [09:31<05:01,  1.48it/s]
 41%|████      | 304/750 [09:31<03:57,  1.88it/s]
 41%|████      | 305/750 [09:40<21:37,  2.92s/it]
 41%|████      | 306/750 [09:40<15:32,  2.10s/it]
 41%|████      | 307/750 [09:40<11:19,  1.53s/it]
 41%|████      | 308/750 [09:40<08:20,  1.13s/it]
 41%|████      | 309/750 [09:40<06:16,  1.17it/s]
 41%|████▏     | 310/750 [09:41<04:49,  1.52it/s]
 41%|████▏     | 311/750 [09:41<03:49,  1.91it/s]
 42%|████▏     | 312/750 [09:41<03:06,  2.34it/s]
 42%|████▏     | 313/750 [09:48<17:07,  2.35s/it]
 42%|████▏     | 314/750 [09:48<12:26,  1.71s/it]
 42%|████▏     | 315/750 [09:48<09:10,  1.27s/it]
 42%|████▏     | 316/750 [09:48<06:53,  1.05it/s]
 42%|████▏     | 317/750 [09:49<05:17,  1.36it/s]
 42%|████▏     | 318/750 [09:49<04:10,  1.72it/s]
 43%|████▎     | 319/750 [09:49<03:23,  2.11it/s]
 43%|████▎     | 320/750 [09:49<02:51,  2.51it/s]
 43%|████▎     | 321/750 [09:56<16:34,  2.32s/it]
 43%|████▎     | 322/750 [09:56<12:04,  1.69s/it]
 43%|████▎     | 323/750 [09:57<08:52,  1.25s/it]
 43%|████▎     | 324/750 [09:57<06:38,  1.07it/s]
 43%|████▎     | 325/750 [09:57<05:04,  1.40it/s]
 43%|████▎     | 326/750 [09:57<03:57,  1.78it/s]
 44%|████▎     | 327/750 [09:57<03:11,  2.20it/s]
 44%|████▎     | 328/750 [09:58<02:39,  2.64it/s]
 44%|████▍     | 329/750 [10:06<19:53,  2.84s/it]
 44%|████▍     | 330/750 [10:06<14:21,  2.05s/it]
 44%|████▍     | 331/750 [10:07<10:29,  1.50s/it]
 44%|████▍     | 332/750 [10:07<07:47,  1.12s/it]
 44%|████▍     | 333/750 [10:07<05:54,  1.18it/s]
 45%|████▍     | 334/750 [10:07<04:34,  1.51it/s]
 45%|████▍     | 335/750 [10:07<03:38,  1.90it/s]
 45%|████▍     | 336/750 [10:08<02:59,  2.30it/s]
 45%|████▍     | 337/750 [10:15<16:09,  2.35s/it]
 45%|████▌     | 338/750 [10:15<11:44,  1.71s/it]
 45%|████▌     | 339/750 [10:15<08:38,  1.26s/it]
 45%|████▌     | 340/750 [10:15<06:29,  1.05it/s]
 45%|████▌     | 341/750 [10:15<04:59,  1.37it/s]
 46%|████▌     | 342/750 [10:16<03:56,  1.73it/s]
 46%|████▌     | 343/750 [10:16<03:11,  2.12it/s]
 46%|████▌     | 344/750 [10:16<02:41,  2.51it/s]
 46%|████▌     | 345/750 [10:24<18:09,  2.69s/it]
 46%|████▌     | 346/750 [10:24<13:08,  1.95s/it]
 46%|████▋     | 347/750 [10:25<09:37,  1.43s/it]
 46%|████▋     | 348/750 [10:25<07:10,  1.07s/it]
 47%|████▋     | 349/750 [10:25<05:27,  1.22it/s]
 47%|████▋     | 350/750 [10:25<04:16,  1.56it/s]
 47%|████▋     | 351/750 [10:25<03:25,  1.94it/s]
 47%|████▋     | 352/750 [10:26<02:50,  2.34it/s]
 47%|████▋     | 353/750 [10:37<25:11,  3.81s/it]
 47%|████▋     | 354/750 [10:38<18:02,  2.73s/it]
 47%|████▋     | 355/750 [10:38<13:02,  1.98s/it]
 47%|████▋     | 356/750 [10:38<09:33,  1.46s/it]
 48%|████▊     | 357/750 [10:38<07:07,  1.09s/it]
 48%|████▊     | 358/750 [10:39<05:25,  1.21it/s]
 48%|████▊     | 359/750 [10:39<04:13,  1.54it/s]
 48%|████▊     | 360/750 [10:39<03:23,  1.92it/s]
 48%|████▊     | 361/750 [10:49<21:16,  3.28s/it]
 48%|████▊     | 362/750 [10:49<15:17,  2.37s/it]
 48%|████▊     | 363/750 [10:49<11:07,  1.72s/it]
 49%|████▊     | 364/750 [10:49<08:11,  1.27s/it]
 49%|████▊     | 365/750 [10:50<06:09,  1.04it/s]
 49%|████▉     | 366/750 [10:50<04:43,  1.35it/s]
 49%|████▉     | 367/750 [10:50<03:44,  1.71it/s]
 49%|████▉     | 368/750 [10:50<03:02,  2.09it/s]
 49%|████▉     | 369/750 [11:08<35:58,  5.67s/it]
 49%|████▉     | 370/750 [11:08<25:32,  4.03s/it]
 49%|████▉     | 371/750 [11:08<18:15,  2.89s/it]
 50%|████▉     | 372/750 [11:09<13:10,  2.09s/it]
 50%|████▉     | 373/750 [11:09<09:36,  1.53s/it]
 50%|████▉     | 374/750 [11:09<07:07,  1.14s/it]
 50%|█████     | 375/750 [11:09<05:22,  1.16it/s]
 50%|█████     | 376/750 [11:10<04:10,  1.50it/s]
 50%|█████     | 377/750 [11:28<37:20,  6.01s/it]
 50%|█████     | 378/750 [11:28<26:28,  4.27s/it]
 51%|█████     | 379/750 [11:29<18:53,  3.06s/it]
 51%|█████     | 380/750 [11:29<13:36,  2.21s/it]
 51%|█████     | 381/750 [11:29<09:55,  1.61s/it]
 51%|█████     | 382/750 [11:29<07:20,  1.20s/it]
 51%|█████     | 383/750 [11:29<05:32,  1.10it/s]
 51%|█████     | 384/750 [11:30<04:17,  1.42it/s]
 51%|█████▏    | 385/750 [11:40<21:08,  3.48s/it]
 51%|█████▏    | 386/750 [11:40<15:11,  2.50s/it]
 52%|█████▏    | 387/750 [11:40<11:00,  1.82s/it]
 52%|█████▏    | 388/750 [11:40<08:05,  1.34s/it]
 52%|█████▏    | 389/750 [11:40<06:03,  1.01s/it]
 52%|█████▏    | 390/750 [11:41<04:38,  1.29it/s]
 52%|█████▏    | 391/750 [11:41<03:38,  1.64it/s]
 52%|█████▏    | 392/750 [11:41<02:57,  2.02it/s]
 52%|█████▏    | 393/750 [11:50<17:46,  2.99s/it]
 53%|█████▎    | 394/750 [11:50<12:45,  2.15s/it]
 53%|█████▎    | 395/750 [11:50<09:16,  1.57s/it]
 53%|█████▎    | 396/750 [11:51<06:49,  1.16s/it]
 53%|█████▎    | 397/750 [11:51<05:07,  1.15it/s]
 53%|█████▎    | 398/750 [11:51<03:56,  1.49it/s]
 53%|█████▎    | 399/750 [11:51<03:06,  1.89it/s]
 53%|█████▎    | 400/750 [11:51<02:31,  2.32it/s]
 53%|█████▎    | 401/750 [11:59<15:17,  2.63s/it]
 54%|█████▎    | 402/750 [11:59<11:01,  1.90s/it]
 54%|█████▎    | 403/750 [12:00<08:02,  1.39s/it]
 54%|█████▍    | 404/750 [12:00<05:57,  1.03s/it]
 54%|█████▍    | 405/750 [12:00<04:31,  1.27it/s]
 54%|█████▍    | 406/750 [12:00<03:29,  1.64it/s]
 54%|█████▍    | 407/750 [12:00<02:47,  2.05it/s]
 54%|█████▍    | 408/750 [12:01<02:17,  2.48it/s]
 55%|█████▍    | 409/750 [12:11<19:55,  3.51s/it]
 55%|█████▍    | 410/750 [12:12<14:14,  2.51s/it]
 55%|█████▍    | 411/750 [12:12<10:17,  1.82s/it]
 55%|█████▍    | 412/750 [12:12<07:31,  1.33s/it]
 55%|█████▌    | 413/750 [12:12<05:35,  1.01it/s]
 55%|█████▌    | 414/750 [12:12<04:13,  1.33it/s]
 55%|█████▌    | 415/750 [12:13<03:17,  1.70it/s]
 55%|█████▌    | 416/750 [12:13<02:37,  2.12it/s]
 56%|█████▌    | 417/750 [12:23<19:45,  3.56s/it]
 56%|█████▌    | 418/750 [12:24<14:07,  2.55s/it]
 56%|█████▌    | 419/750 [12:24<10:11,  1.85s/it]
 56%|█████▌    | 420/750 [12:24<07:26,  1.35s/it]
 56%|█████▌    | 421/750 [12:24<05:31,  1.01s/it]
 56%|█████▋    | 422/750 [12:24<04:10,  1.31it/s]
 56%|█████▋    | 423/750 [12:25<03:14,  1.68it/s]
 57%|█████▋    | 424/750 [12:25<02:35,  2.10it/s]
 57%|█████▋    | 425/750 [12:34<17:22,  3.21s/it]
 57%|█████▋    | 426/750 [12:35<12:27,  2.31s/it]
 57%|█████▋    | 427/750 [12:35<09:01,  1.68s/it]
 57%|█████▋    | 428/750 [12:35<06:37,  1.23s/it]
 57%|█████▋    | 429/750 [12:35<04:56,  1.08it/s]
 57%|█████▋    | 430/750 [12:35<03:46,  1.42it/s]
 57%|█████▋    | 431/750 [12:36<02:58,  1.79it/s]
 58%|█████▊    | 432/750 [12:36<02:25,  2.19it/s]
 58%|█████▊    | 433/750 [12:46<17:07,  3.24s/it]
 58%|█████▊    | 434/750 [12:46<12:17,  2.33s/it]
 58%|█████▊    | 435/750 [12:46<08:54,  1.70s/it]
 58%|█████▊    | 436/750 [12:46<06:31,  1.25s/it]
 58%|█████▊    | 437/750 [12:46<04:52,  1.07it/s]
 58%|█████▊    | 438/750 [12:47<03:42,  1.40it/s]
 59%|█████▊    | 439/750 [12:47<02:53,  1.79it/s]
 59%|█████▊    | 440/750 [12:47<02:19,  2.21it/s]
 59%|█████▉    | 441/750 [12:56<16:04,  3.12s/it]
 59%|█████▉    | 442/750 [12:57<11:31,  2.25s/it]
 59%|█████▉    | 443/750 [12:57<08:21,  1.63s/it]
 59%|█████▉    | 444/750 [12:57<06:08,  1.20s/it]
 59%|█████▉    | 445/750 [12:57<04:35,  1.11it/s]
 59%|█████▉    | 446/750 [12:57<03:31,  1.44it/s]
 60%|█████▉    | 447/750 [12:58<02:45,  1.83it/s]
 60%|█████▉    | 448/750 [12:58<02:14,  2.25it/s]
 60%|█████▉    | 449/750 [13:10<19:28,  3.88s/it]
 60%|██████    | 450/750 [13:10<13:55,  2.78s/it]
 60%|██████    | 451/750 [13:10<10:02,  2.02s/it]
 60%|██████    | 452/750 [13:10<07:19,  1.48s/it]
 60%|██████    | 453/750 [13:11<05:26,  1.10s/it]
 61%|██████    | 454/750 [13:11<04:06,  1.20it/s]
 61%|██████    | 455/750 [13:11<03:11,  1.54it/s]
 61%|██████    | 456/750 [13:11<02:33,  1.92it/s]
 61%|██████    | 457/750 [13:26<23:49,  4.88s/it]
 61%|██████    | 458/750 [13:27<16:56,  3.48s/it]
 61%|██████    | 459/750 [13:27<12:08,  2.50s/it]
 61%|██████▏   | 460/750 [13:27<08:47,  1.82s/it]
 61%|██████▏   | 461/750 [13:27<06:26,  1.34s/it]
 62%|██████▏   | 462/750 [13:27<04:48,  1.00s/it]
 62%|██████▏   | 463/750 [13:28<03:40,  1.30it/s]
 62%|██████▏   | 464/750 [13:28<02:52,  1.66it/s]
 62%|██████▏   | 465/750 [13:40<19:57,  4.20s/it]
 62%|██████▏   | 466/750 [13:41<14:14,  3.01s/it]
 62%|██████▏   | 467/750 [13:41<10:14,  2.17s/it]
 62%|██████▏   | 468/750 [13:41<07:27,  1.59s/it]
 63%|██████▎   | 469/750 [13:41<05:31,  1.18s/it]
 63%|██████▎   | 470/750 [13:42<04:09,  1.12it/s]
 63%|██████▎   | 471/750 [13:42<03:12,  1.45it/s]
 63%|██████▎   | 472/750 [13:42<02:32,  1.82it/s]
 63%|██████▎   | 473/750 [13:58<23:52,  5.17s/it]
 63%|██████▎   | 474/750 [13:58<16:57,  3.69s/it]
 63%|██████▎   | 475/750 [13:58<12:08,  2.65s/it]
 63%|██████▎   | 476/750 [13:59<08:46,  1.92s/it]
 64%|██████▎   | 477/750 [13:59<06:26,  1.41s/it]
 64%|██████▎   | 478/750 [13:59<04:47,  1.06s/it]
 64%|██████▍   | 479/750 [13:59<03:39,  1.24it/s]
 64%|██████▍   | 480/750 [14:00<02:51,  1.58it/s]
 64%|██████▍   | 481/750 [14:12<18:32,  4.14s/it]
 64%|██████▍   | 482/750 [14:12<13:14,  2.97s/it]
 64%|██████▍   | 483/750 [14:12<09:32,  2.15s/it]
 65%|██████▍   | 484/750 [14:13<06:57,  1.57s/it]
 65%|██████▍   | 485/750 [14:13<05:09,  1.17s/it]
 65%|██████▍   | 486/750 [14:13<03:53,  1.13it/s]
 65%|██████▍   | 487/750 [14:13<02:58,  1.47it/s]
 65%|██████▌   | 488/750 [14:13<02:20,  1.87it/s]
 65%|██████▌   | 489/750 [14:35<29:38,  6.81s/it]
 65%|██████▌   | 490/750 [14:35<20:55,  4.83s/it]
 65%|██████▌   | 491/750 [14:35<14:51,  3.44s/it]
 66%|██████▌   | 492/750 [14:36<10:37,  2.47s/it]
 66%|██████▌   | 493/750 [14:36<07:39,  1.79s/it]
 66%|██████▌   | 494/750 [14:36<05:35,  1.31s/it]
 66%|██████▌   | 495/750 [14:36<04:09,  1.02it/s]
 66%|██████▌   | 496/750 [14:36<03:08,  1.35it/s]
 66%|██████▋   | 497/750 [14:59<30:52,  7.32s/it]
 66%|██████▋   | 498/750 [14:59<21:46,  5.19s/it]
 67%|██████▋   | 499/750 [14:59<15:26,  3.69s/it]
 67%|██████▋   | 500/750 [15:00<11:32,  2.77s/it]
 67%|██████▋   | 501/750 [15:00<08:18,  2.00s/it]
 67%|██████▋   | 502/750 [15:00<06:01,  1.46s/it]
 67%|██████▋   | 503/750 [15:01<04:27,  1.08s/it]
 67%|██████▋   | 504/750 [15:01<03:20,  1.22it/s]
 67%|██████▋   | 505/750 [15:15<19:24,  4.75s/it]
 67%|██████▋   | 506/750 [15:15<13:47,  3.39s/it]
 68%|██████▊   | 507/750 [15:15<09:51,  2.43s/it]
 68%|██████▊   | 508/750 [15:15<07:06,  1.76s/it]
 68%|██████▊   | 509/750 [15:16<05:12,  1.30s/it]
 68%|██████▊   | 510/750 [15:16<03:52,  1.03it/s]
 68%|██████▊   | 511/750 [15:16<02:56,  1.35it/s]
 68%|██████▊   | 512/750 [15:16<02:18,  1.71it/s]
 68%|██████▊   | 513/750 [15:25<12:17,  3.11s/it]
 69%|██████▊   | 514/750 [15:25<08:49,  2.24s/it]
 69%|██████▊   | 515/750 [15:26<06:23,  1.63s/it]
 69%|██████▉   | 516/750 [15:26<04:42,  1.21s/it]
 69%|██████▉   | 517/750 [15:26<03:32,  1.10it/s]
 69%|██████▉   | 518/750 [15:26<02:42,  1.42it/s]
 69%|██████▉   | 519/750 [15:26<02:08,  1.80it/s]
 69%|██████▉   | 520/750 [15:27<01:44,  2.20it/s]
 69%|██████▉   | 521/750 [15:43<19:49,  5.19s/it]
 70%|██████▉   | 522/750 [15:43<14:03,  3.70s/it]
 70%|██████▉   | 523/750 [15:43<10:01,  2.65s/it]
 70%|██████▉   | 524/750 [15:44<07:13,  1.92s/it]
 70%|███████   | 525/750 [15:44<05:16,  1.41s/it]
 70%|███████   | 526/750 [15:44<03:54,  1.05s/it]
 70%|███████   | 527/750 [15:44<02:57,  1.26it/s]
 70%|███████   | 528/750 [15:44<02:17,  1.61it/s]
 71%|███████   | 529/750 [15:56<14:06,  3.83s/it]
 71%|███████   | 530/750 [15:56<10:03,  2.74s/it]
 71%|███████   | 531/750 [15:56<07:14,  1.98s/it]
 71%|███████   | 532/750 [15:56<05:16,  1.45s/it]
 71%|███████   | 533/750 [15:57<03:54,  1.08s/it]
 71%|███████   | 534/750 [15:57<02:57,  1.22it/s]
 71%|███████▏  | 535/750 [15:57<02:17,  1.57it/s]
 71%|███████▏  | 536/750 [15:57<01:49,  1.96it/s]
 72%|███████▏  | 537/750 [16:19<24:44,  6.97s/it]
 72%|███████▏  | 538/750 [16:19<17:27,  4.94s/it]
 72%|███████▏  | 539/750 [16:20<12:24,  3.53s/it]
 72%|███████▏  | 540/750 [16:20<08:52,  2.54s/it]
 72%|███████▏  | 541/750 [16:20<06:24,  1.84s/it]
 72%|███████▏  | 542/750 [16:20<04:42,  1.36s/it]
 72%|███████▏  | 543/750 [16:21<03:30,  1.02s/it]
 73%|███████▎  | 544/750 [16:21<02:40,  1.28it/s]
 73%|███████▎  | 545/750 [16:30<11:01,  3.23s/it]
 73%|███████▎  | 546/750 [16:30<07:54,  2.33s/it]
 73%|███████▎  | 547/750 [16:30<05:44,  1.70s/it]
 73%|███████▎  | 548/750 [16:30<04:12,  1.25s/it]
 73%|███████▎  | 549/750 [16:31<03:07,  1.07it/s]
 73%|███████▎  | 550/750 [16:31<02:22,  1.40it/s]
 73%|███████▎  | 551/750 [16:31<01:51,  1.79it/s]
 74%|███████▎  | 552/750 [16:31<01:29,  2.22it/s]
 74%|███████▎  | 553/750 [16:43<12:40,  3.86s/it]
 74%|███████▍  | 554/750 [16:43<09:01,  2.76s/it]
 74%|███████▍  | 555/750 [16:43<06:28,  1.99s/it]
 74%|███████▍  | 556/750 [16:44<04:42,  1.46s/it]
 74%|███████▍  | 557/750 [16:44<03:28,  1.08s/it]
 74%|███████▍  | 558/750 [16:44<02:36,  1.23it/s]
 75%|███████▍  | 559/750 [16:44<02:00,  1.59it/s]
 75%|███████▍  | 560/750 [16:44<01:34,  2.00it/s]
 75%|███████▍  | 561/750 [17:06<21:31,  6.83s/it]
 75%|███████▍  | 562/750 [17:06<15:10,  4.84s/it]
 75%|███████▌  | 563/750 [17:06<10:45,  3.45s/it]
 75%|███████▌  | 564/750 [17:07<07:40,  2.48s/it]
 75%|███████▌  | 565/750 [17:07<05:31,  1.79s/it]
 75%|███████▌  | 566/750 [17:07<04:01,  1.31s/it]
 76%|███████▌  | 567/750 [17:07<02:59,  1.02it/s]
 76%|███████▌  | 568/750 [17:07<02:16,  1.34it/s]
 76%|███████▌  | 569/750 [17:25<17:17,  5.73s/it]
 76%|███████▌  | 570/750 [17:25<12:14,  4.08s/it]
 76%|███████▌  | 571/750 [17:25<08:43,  2.92s/it]
 76%|███████▋  | 572/750 [17:25<06:16,  2.11s/it]
 76%|███████▋  | 573/750 [17:26<04:33,  1.55s/it]
 77%|███████▋  | 574/750 [17:26<03:22,  1.15s/it]
 77%|███████▋  | 575/750 [17:26<02:32,  1.15it/s]
 77%|███████▋  | 576/750 [17:26<01:57,  1.49it/s]
 77%|███████▋  | 577/750 [17:39<12:03,  4.18s/it]
 77%|███████▋  | 578/750 [17:39<08:34,  2.99s/it]
 77%|███████▋  | 579/750 [17:39<06:08,  2.16s/it]
 77%|███████▋  | 580/750 [17:39<04:27,  1.57s/it]
 77%|███████▋  | 581/750 [17:40<03:17,  1.17s/it]
 78%|███████▊  | 582/750 [17:40<02:27,  1.14it/s]
 78%|███████▊  | 583/750 [17:40<01:53,  1.47it/s]
 78%|███████▊  | 584/750 [17:40<01:29,  1.86it/s]
 78%|███████▊  | 585/750 [18:00<17:43,  6.45s/it]
 78%|███████▊  | 586/750 [18:01<12:31,  4.58s/it]
 78%|███████▊  | 587/750 [18:01<08:53,  3.28s/it]
 78%|███████▊  | 588/750 [18:01<06:22,  2.36s/it]
 79%|███████▊  | 589/750 [18:01<04:37,  1.72s/it]
 79%|███████▊  | 590/750 [18:02<03:23,  1.27s/it]
 79%|███████▉  | 591/750 [18:02<02:32,  1.04it/s]
 79%|███████▉  | 592/750 [18:02<01:56,  1.36it/s]
 79%|███████▉  | 593/750 [18:13<09:38,  3.68s/it]
 79%|███████▉  | 594/750 [18:13<06:52,  2.64s/it]
 79%|███████▉  | 595/750 [18:13<04:57,  1.92s/it]
 79%|███████▉  | 596/750 [18:13<03:36,  1.41s/it]
 80%|███████▉  | 597/750 [18:13<02:40,  1.05s/it]
 80%|███████▉  | 598/750 [18:14<02:01,  1.25it/s]
 80%|███████▉  | 599/750 [18:14<01:34,  1.60it/s]
 80%|████████  | 600/750 [18:14<01:15,  2.00it/s]
 80%|████████  | 601/750 [18:43<22:37,  9.11s/it]
 80%|████████  | 602/750 [18:44<15:53,  6.44s/it]
 80%|████████  | 603/750 [18:44<11:11,  4.57s/it]
 81%|████████  | 604/750 [18:44<07:55,  3.26s/it]
 81%|████████  | 605/750 [18:44<05:39,  2.34s/it]
 81%|████████  | 606/750 [18:44<04:04,  1.70s/it]
 81%|████████  | 607/750 [18:45<02:58,  1.25s/it]
 81%|████████  | 608/750 [18:45<02:12,  1.07it/s]
 81%|████████  | 609/750 [18:56<09:12,  3.92s/it]
 81%|████████▏ | 610/750 [18:56<06:32,  2.80s/it]
 81%|████████▏ | 611/750 [18:56<04:41,  2.02s/it]
 82%|████████▏ | 612/750 [18:56<03:23,  1.48s/it]
 82%|████████▏ | 613/750 [18:56<02:30,  1.09s/it]
 82%|████████▏ | 614/750 [18:57<01:52,  1.21it/s]
 82%|████████▏ | 615/750 [18:57<01:26,  1.57it/s]
 82%|████████▏ | 616/750 [18:57<01:07,  1.98it/s]
 82%|████████▏ | 617/750 [19:16<13:15,  5.98s/it]
 82%|████████▏ | 618/750 [19:16<09:20,  4.25s/it]
 83%|████████▎ | 619/750 [19:16<06:37,  3.03s/it]
 83%|████████▎ | 620/750 [19:16<04:43,  2.18s/it]
 83%|████████▎ | 621/750 [19:17<03:24,  1.59s/it]
 83%|████████▎ | 622/750 [19:17<02:29,  1.17s/it]
 83%|████████▎ | 623/750 [19:17<01:51,  1.14it/s]
 83%|████████▎ | 624/750 [19:17<01:25,  1.48it/s]
 83%|████████▎ | 625/750 [19:28<07:47,  3.74s/it]
 83%|████████▎ | 626/750 [19:28<05:31,  2.68s/it]
 84%|████████▎ | 627/750 [19:28<03:57,  1.93s/it]
 84%|████████▎ | 628/750 [19:29<02:52,  1.41s/it]
 84%|████████▍ | 629/750 [19:29<02:07,  1.05s/it]
 84%|████████▍ | 630/750 [19:29<01:35,  1.26it/s]
 84%|████████▍ | 631/750 [19:29<01:13,  1.62it/s]
 84%|████████▍ | 632/750 [19:29<00:57,  2.03it/s]
 84%|████████▍ | 633/750 [19:40<06:36,  3.39s/it]
 85%|████████▍ | 634/750 [19:40<04:42,  2.43s/it]
 85%|████████▍ | 635/750 [19:40<03:22,  1.76s/it]
 85%|████████▍ | 636/750 [19:40<02:27,  1.29s/it]
 85%|████████▍ | 637/750 [19:40<01:49,  1.04it/s]
 85%|████████▌ | 638/750 [19:41<01:22,  1.36it/s]
 85%|████████▌ | 639/750 [19:41<01:03,  1.74it/s]
 85%|████████▌ | 640/750 [19:41<00:51,  2.15it/s]
 85%|████████▌ | 641/750 [19:55<07:59,  4.40s/it]
 86%|████████▌ | 642/750 [19:55<05:39,  3.14s/it]
 86%|████████▌ | 643/750 [19:55<04:01,  2.26s/it]
 86%|████████▌ | 644/750 [19:55<02:53,  1.64s/it]
 86%|████████▌ | 645/750 [19:55<02:06,  1.21s/it]
 86%|████████▌ | 646/750 [19:56<01:34,  1.10it/s]
 86%|████████▋ | 647/750 [19:56<01:11,  1.43it/s]
 86%|████████▋ | 648/750 [19:56<00:56,  1.82it/s]
 87%|████████▋ | 649/750 [20:06<05:43,  3.40s/it]
 87%|████████▋ | 650/750 [20:06<04:04,  2.45s/it]
 87%|████████▋ | 651/750 [20:06<02:56,  1.78s/it]
 87%|████████▋ | 652/750 [20:07<02:08,  1.31s/it]
 87%|████████▋ | 653/750 [20:07<01:35,  1.02it/s]
 87%|████████▋ | 654/750 [20:07<01:12,  1.32it/s]
 87%|████████▋ | 655/750 [20:07<00:56,  1.69it/s]
 87%|████████▋ | 656/750 [20:08<00:45,  2.07it/s]
 88%|████████▊ | 657/750 [20:29<10:29,  6.77s/it]
 88%|████████▊ | 658/750 [20:29<07:22,  4.81s/it]
 88%|████████▊ | 659/750 [20:29<05:12,  3.43s/it]
 88%|████████▊ | 660/750 [20:30<03:42,  2.47s/it]
 88%|████████▊ | 661/750 [20:30<02:39,  1.79s/it]
 88%|████████▊ | 662/750 [20:30<01:56,  1.32s/it]
 88%|████████▊ | 663/750 [20:30<01:26,  1.01it/s]
 89%|████████▊ | 664/750 [20:31<01:05,  1.32it/s]
 89%|████████▊ | 665/750 [20:46<07:17,  5.15s/it]
 89%|████████▉ | 666/750 [20:46<05:08,  3.67s/it]
 89%|████████▉ | 667/750 [20:46<03:38,  2.63s/it]
 89%|████████▉ | 668/750 [20:47<02:36,  1.91s/it]
 89%|████████▉ | 669/750 [20:47<01:53,  1.40s/it]
 89%|████████▉ | 670/750 [20:47<01:23,  1.05s/it]
 89%|████████▉ | 671/750 [20:47<01:03,  1.25it/s]
 90%|████████▉ | 672/750 [20:48<00:48,  1.60it/s]
 90%|████████▉ | 673/750 [21:05<07:16,  5.66s/it]
 90%|████████▉ | 674/750 [21:05<05:06,  4.03s/it]
 90%|█████████ | 675/750 [21:05<03:36,  2.88s/it]
 90%|█████████ | 676/750 [21:06<02:33,  2.08s/it]
 90%|█████████ | 677/750 [21:06<01:50,  1.52s/it]
 90%|█████████ | 678/750 [21:06<01:20,  1.12s/it]
 91%|█████████ | 679/750 [21:06<01:00,  1.18it/s]
 91%|█████████ | 680/750 [21:06<00:45,  1.53it/s]
 91%|█████████ | 681/750 [21:16<03:43,  3.23s/it]
 91%|█████████ | 682/750 [21:16<02:38,  2.32s/it]
 91%|█████████ | 683/750 [21:16<01:53,  1.69s/it]
 91%|█████████ | 684/750 [21:16<01:21,  1.24s/it]
 91%|█████████▏| 685/750 [21:16<01:00,  1.08it/s]
 91%|█████████▏| 686/750 [21:17<00:46,  1.37it/s]
 92%|█████████▏| 687/750 [21:17<00:35,  1.76it/s]
 92%|█████████▏| 688/750 [21:17<00:28,  2.18it/s]
 92%|█████████▏| 689/750 [21:29<04:05,  4.02s/it]
 92%|█████████▏| 690/750 [21:30<02:52,  2.87s/it]
 92%|█████████▏| 691/750 [21:30<02:02,  2.07s/it]
 92%|█████████▏| 692/750 [21:30<01:27,  1.51s/it]
 92%|█████████▏| 693/750 [21:30<01:03,  1.12s/it]
 93%|█████████▎| 694/750 [21:30<00:47,  1.19it/s]
 93%|█████████▎| 695/750 [21:31<00:35,  1.54it/s]
 93%|█████████▎| 696/750 [21:31<00:27,  1.94it/s]
 93%|█████████▎| 697/750 [21:42<03:19,  3.76s/it]
 93%|█████████▎| 698/750 [21:42<02:20,  2.69s/it]
 93%|█████████▎| 699/750 [21:43<01:39,  1.94s/it]
 93%|█████████▎| 700/750 [21:43<01:11,  1.42s/it]
 93%|█████████▎| 701/750 [21:43<00:51,  1.05s/it]
 94%|█████████▎| 702/750 [21:43<00:38,  1.25it/s]
 94%|█████████▎| 703/750 [21:43<00:29,  1.62it/s]
 94%|█████████▍| 704/750 [21:44<00:22,  2.03it/s]
 94%|█████████▍| 705/750 [21:55<02:46,  3.71s/it]
 94%|█████████▍| 706/750 [21:55<01:56,  2.66s/it]
 94%|█████████▍| 707/750 [21:55<01:22,  1.92s/it]
 94%|█████████▍| 708/750 [21:55<00:58,  1.40s/it]
 95%|█████████▍| 709/750 [21:56<00:42,  1.04s/it]
 95%|█████████▍| 710/750 [21:56<00:31,  1.27it/s]
 95%|█████████▍| 711/750 [21:56<00:23,  1.63it/s]
 95%|█████████▍| 712/750 [21:56<00:18,  2.04it/s]
 95%|█████████▌| 713/750 [22:07<02:13,  3.61s/it]
 95%|█████████▌| 714/750 [22:07<01:33,  2.59s/it]
 95%|█████████▌| 715/750 [22:07<01:05,  1.88s/it]
 95%|█████████▌| 716/750 [22:08<00:46,  1.38s/it]
 96%|█████████▌| 717/750 [22:08<00:34,  1.03s/it]
 96%|█████████▌| 718/750 [22:08<00:25,  1.27it/s]
 96%|█████████▌| 719/750 [22:08<00:19,  1.62it/s]
 96%|█████████▌| 720/750 [22:09<00:14,  2.02it/s]
 96%|█████████▌| 721/750 [22:20<01:49,  3.76s/it]
 96%|█████████▋| 722/750 [22:20<01:15,  2.70s/it]
 96%|█████████▋| 723/750 [22:20<00:52,  1.96s/it]
 97%|█████████▋| 724/750 [22:21<00:37,  1.44s/it]
 97%|█████████▋| 725/750 [22:21<00:26,  1.08s/it]
 97%|█████████▋| 726/750 [22:21<00:19,  1.22it/s]
 97%|█████████▋| 727/750 [22:21<00:14,  1.57it/s]
 97%|█████████▋| 728/750 [22:22<00:11,  1.95it/s]
 97%|█████████▋| 729/750 [22:50<03:09,  9.02s/it]
 97%|█████████▋| 730/750 [22:51<02:07,  6.38s/it]
 97%|█████████▋| 731/750 [22:51<01:26,  4.53s/it]
 98%|█████████▊| 732/750 [22:51<00:58,  3.23s/it]
 98%|█████████▊| 733/750 [22:51<00:39,  2.32s/it]
 98%|█████████▊| 734/750 [22:51<00:26,  1.68s/it]
 98%|█████████▊| 735/750 [22:52<00:18,  1.24s/it]
 98%|█████████▊| 736/750 [22:52<00:12,  1.08it/s]
 98%|█████████▊| 737/750 [23:02<00:47,  3.69s/it]
 98%|█████████▊| 738/750 [23:02<00:31,  2.65s/it]
 99%|█████████▊| 739/750 [23:02<00:21,  1.91s/it]
 99%|█████████▊| 740/750 [23:03<00:14,  1.41s/it]
 99%|█████████▉| 741/750 [23:03<00:09,  1.06s/it]
 99%|█████████▉| 742/750 [23:03<00:06,  1.24it/s]
 99%|█████████▉| 743/750 [23:03<00:04,  1.58it/s]
 99%|█████████▉| 744/750 [23:04<00:03,  1.95it/s]
 99%|█████████▉| 745/750 [23:13<00:15,  3.17s/it]
 99%|█████████▉| 746/750 [23:13<00:09,  2.28s/it]
100%|█████████▉| 747/750 [23:13<00:04,  1.66s/it]
100%|█████████▉| 748/750 [23:14<00:02,  1.23s/it]
100%|█████████▉| 749/750 [23:14<00:00,  1.08it/s]
100%|█████████▉| 749/750 [23:14<00:01,  1.86s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/log_2_env0.json.
+BananaInBowlTask_2 complete: task_name: BananaInBowlTask, run_name: BananaInBowlTask_2, run: 2, env_id: 0, policy: harness, instruction: Pick up the banana and place it in the bowl, attributes: ['semantics', 'simple'], success: False, episode_step: 750, duration: 50.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -10.752785846452607, 'joint_sparc_mean': -15.33758666887077, 'ee_isj': 2326.129568259509, 'joint_isj': 41302.16393015196, 'ee_path_length': 4.9669276976201076, 'joint_rmse_mean': 1.1125851058520049, 'ee_speed_max': 0.39064082503318787, 'ee_speed_mean': 0.09434475004673004}, events: {'GRIPPER_FULLY_CLOSED': 13, 'TARGET_OBJECT_DROPPED': 13, 'GRIPPER_HIT_OBJECT': 1}, instruction_type: default, timing: {'policy_inference_s': 1242.261, 'policy_inference_avg_ms': 1656.3, 'env_step_s': 145.924, 'env_step_avg_ms': 194.6, 'video_write_s': 5.827, 'video_write_avg_ms': 7.8, 'wall_total_s': 1394.012, 'it_per_sec': 0.54}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=banana) (step 1/2), harness_episode_id: 4cbf25fbc9774e61aa5428059742d6d2-2
+-------------------------------------------------------------------- EXPERIMENT SUMMARY --------------------------------------------------------------------
+Task Name                Success    %     95% CI         Score(total) Score(fail) Time(s) EE SPARC PathLen(m) Speed(cm/s) it/s Walltime(m)
+------------------------------------------------------------------------------------------------------------------------------------------------------------
+TOTAL (6 tasks)          6/18     33.3%   [16.3-56.6]    0.361        0.042       30.40   -10.26   10.64      22.1        0.45 30.0       
+------------------------------------------------------------------------------------------------------------------------------------------------------------
+BananaInBowlTask         2/3      66.7%   [19.4-93.2]    0.667        0.000       22.73   -9.25    3.39       10.4        0.54 14.8       
+ClampInRightBinTask      1/3      33.3%   [6.8-80.6]     0.333        0.000       25.67   -9.44    10.94      20.9        0.52 24.5       
+FoodPacking1BoxesTask    1/3      33.3%   [6.8-80.6]     0.333        0.000       16.07   -12.46   11.53      24.1        0.68 16.1       
+MarkerInMugTask          0/3      0.0%    [0.6-60.2]     0.000        0.000       -       -11.52   14.79      37.7        0.25 39.7       
+RubiksCubeThenBananaTask 2/3      66.7%   [19.4-93.2]    0.833        0.500       47.60   -9.17    5.66       10.5        0.42 31.4       
+SpoonInMugTask           0/3      0.0%    [0.6-60.2]     0.000        0.000       -       -9.70    17.54      29.1        0.28 53.8       
+------------------------------------------------------------------------------------------------------------------------------------------------------------
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7a3b90d1ca12c0f178bc5cd193a2c4dfeb57fb3d
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.episodes.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ffb9a6f7111afe5f92cf201f317c1e459b42f5a1203a61c26324b4e82eee068
+size 36212
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..63ece15c3c4f946a30fa07ae0af8da51eb99511b
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bc494418a52895c1d073ead273fb9872e724c698b892d1fe5da2051ea789fb7
+size 4671279
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0001/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ddb6b5ffd752cd2a5ced32fd5d1a876663f1680e
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0001/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fc8bf815eb9e6b249f04ddf6432fbd2a0606b6712ec4700d268c85b6e0869b4
+size 21169764
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0001/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0001/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d5b776cbee85c28e514c1dc5aacb0137b7fcd1b8
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0001/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b6a4658d8ddde250890bb580ca9fd99038d38972a8209121adec4c9420f4585
+size 31320
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0001/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0002/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0002/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0ff165387cac6e7ed58552f530f545dfeb28f840
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0002/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfa184817ba2cb66f29e890eab999985b0093edb4d0a39d1d81e399fd471980e
+size 23579229
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0002/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0002/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..63af1120244b7913a2b2c4d1990a38c56f3eeaee
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0002/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59553f283487d85f5afddeabf0316a931caaba24f530c34112e5a1990ca4a6f6
+size 28480
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0002/stderr.log b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0002/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..8c16c3e9192a7943986213b7ba7e437e8259de77
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0002/stderr.log
@@ -0,0 +1 @@
+2026-10-30T17:17:20.488524Z ERROR codex_core::tools::router: error=unable to locate image at `/tmp_scene.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0003/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0003/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..967ddffc4d499e889e1a973d0276aaeed2db20a5
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0003/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fab98ed10ed9870b74836dea880f85e6f7992f718c9acbf7d09cd438849f8f3
+size 21672400
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0003/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0003/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1382f6c990d81ef750b9ce5c64a7c7275dd07c7a
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0003/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:644b63ab4d2a661093c2619fc187cbb3d81080a16dc5ea625e18365dee0bc9a9
+size 31423
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0003/stderr.log b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0003/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0004/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0004/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2a6e17aae661df514db484222cd2db4754374bc7
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0004/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:188e322f75ff93ecb9cb73de8c81402e68b9ee42fa3dabf9a19e5680ffecb2db
+size 33086702
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0004/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0004/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2c8d20750e6d7a87fa7025ba5fba67c638f986a9
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0004/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7765af096b00a1a73cb37ee46061612b5530b79157a07591339c10ddc9d5214
+size 64127
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0004/stderr.log b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0004/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0005/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0005/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..01708ba6fde7897cd2262d42bbae48b4649d664f
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0005/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0653e47a67bd2d865e8c5d885af6eba646aebbc8ee9440a0b0f0cadeb3dbc0a2
+size 34958594
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0005/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0005/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..91472994a5ea4f9efe57ba3b67baf36e2d724922
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0005/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:065e0beb1f6608539d79c2a020356013f6b723c4c5bc604a7870bc36d0e76b25
+size 33694
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0005/stderr.log b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0005/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0006/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0006/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..afe151de4f7552f881be12d6286f6fa5f3878588
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0006/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d58715cffc3ca1bb047577ab46e6b36e0a57ed3bebe8f747503fdcbf2f7ceb1f
+size 34539192
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0006/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0006/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..38b80f6547c78e7d2527ab3ce0ba74cfe9761e77
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0006/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27a83926188d53b7802248e67830ae1fc8ff262ebffebce69485689d097df35a
+size 37076
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0006/stderr.log b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0006/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..11752d6d67e38053ee6b9522254069d795da238a
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0006/stderr.log
@@ -0,0 +1 @@
+2026-10-30T19:56:11.588645Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0007/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0007/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a746194f781bedecd1f04a2808d0f9c9f35ad142
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0007/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90ce5db69b4a72532bf15400f635cb95d15acca6931280397baac5c1aeebbd01
+size 30969873
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0007/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0007/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..56e16464512d8c5fb4a53469e23618f3df5ab75e
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0007/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88a42e9f4c1ffe2e5984e18142addfa18b2c20f3654024d0052471ac1f931a75
+size 20306
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0007/stderr.log b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0007/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0008/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0008/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..970f3c047d89a5566c6ccee7dfb8f148f4fee12e
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0008/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d8248d61517cd12f6c4d641a121758bf935ce07dceb2990d49dc64da6c7b4a1
+size 30512656
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0008/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0008/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5481a80116fd8a1eb8202db730349169b350e6fb
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0008/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e823667a056be99bf0938b8852117eae8c1dd261efd82ba0d06e6786c4507ac7
+size 35363
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0008/stderr.log b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0008/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0009/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0009/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..44440cc600801d54830be1ab213683f67a560658
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0009/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68a2487b68930756de0b9fb2ed99f18856b9571b479d6bd04be9e9d11cf48842
+size 13490644
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0009/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0009/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d37d78dafe1753c68e95ee075837c4eeb2cc2648
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0009/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b617beac0b1e989e81d88aa372d18144be27e3ed4afe41e624c4a4ed1893f5e
+size 15011
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0009/stderr.log b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0009/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0010/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0010/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a2cab523ed8f8462157396ceca9c61875652df15
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0010/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb8e9e3f3f0920e15ecf33c77c51e7d29cdd686987f84ec38edf016dcfd089fe
+size 9046887
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0010/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0010/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5ab85b1e63af401db17764fb82ad4019d38609d9
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0010/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca0d584b92007c6aad280b67b13c7ca86628f4ccabad7bdaa93b6b88483ae9aa
+size 10152
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0010/stderr.log b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0010/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0011/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0011/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c34c39a6faf5991f31ec0cde7581e239a80b7ce0
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0011/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad86bc4219a73037e8a3365ae43039cfe5fa7ff849a526f2cfd44deb407aa5c3
+size 31652571
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0011/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0011/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9efb0f84a5a83d24c06fed9c47d6cd05753888e0
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0011/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca753db0f5fc104813a46495243ee6c3ca378288811a75abc047a6616709fa47
+size 27394
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0011/stderr.log b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0011/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0012/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0012/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..67b7cf0cb6476c0684cd432e245a71db69f8b6f9
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0012/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba73d331345f6b7b3b21665916db0dde47226025849addf6fa546161d976a073
+size 31684288
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0012/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0012/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a02d98beb43d144734e97e4c3525a580c41519d5
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0012/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18e3b5b826f1ccd5f98491440fdbfd78a6b1200fb04cb6f9888ffa91baa224f7
+size 26017
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0012/stderr.log b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0012/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0013/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0013/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..49f55386aae624b69251d60650b7ec9b51e3ab0f
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0013/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b9fd240899670bdee2afc448f0ab54d0e3b0721c673c40fe4af4e1e7f78707e
+size 31175708
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0013/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0013/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fc08f5fbd0e5c27345ee19d0bb5817513e0055e1
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0013/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ff0dadfbbfc2b056d33fd4c8c03eedbca9787afc9432734136bf955e69cf56a
+size 38944
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0013/stderr.log b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0013/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0014/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0014/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e3b11351f903ab5d37bbb0807680d007a9b8ef42
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0014/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c5ededa12ba8a707acf48223ad9b056fb9d6e05b9be961a8c50cc44a3893b46
+size 22862985
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0014/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0014/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b3df16ac8fa94b4c2613c1596834f49ab58c2541
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0014/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d51d755a09fcc63877fddeb9a9e28c16cba857f40ac25b24234556eb0b41801
+size 28755
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0014/stderr.log b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0014/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0015/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0015/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0feff465a6ba2145b105c39fe50337487af486c2
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0015/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e9b15340475376f05a886446c505f3e12078bf61df930a3b51b56c66c42b7da
+size 26586393
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0015/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0015/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f4306accb46d80c62e8c2ddfce4c21bacfd4cacc
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0015/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa44faa8392e1e4c85d6405f0e6b94ef51d264491848cf12f726008f72669fe9
+size 30028
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0015/stderr.log b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0015/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0016/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0016/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ca720b6de5d25c72e6684d3caceb245185eaea32
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0016/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb9bc30c4f4e22d835e9dc6a6509c4059a25582d208699a2cfa0dc06418f209c
+size 10969463
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0016/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0016/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..09aadbd8f6b8dafbaba4f27b6c3881762dc2555f
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0016/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93b7844212f2896fc1f9745faec89608440e2e3739c8e2193478eaad160ae044
+size 13289
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0016/stderr.log b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0016/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0017/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0017/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..06ea843a3f5555944814abaced8288c70cc27df7
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0017/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb2f124701f3858a664d0c58d30f4f87bde8a28a877187fbca5e04186dc8a2ce
+size 14214939
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0017/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0017/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9331f29eadda009b4a088dc44c648a3fff137399
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0017/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbb3905a46aaf9460e7e2240e083e34c19751da98599f6b5b5430714ed4b2849
+size 16981
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0017/stderr.log b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0017/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0018/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0018/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c8167f01d2d636b656253ca4eb338e1d6d226a0c
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0018/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaa73eaad6e1334d21a31631e8eeb8bae3e4860b81742d09452f175858240d94
+size 26047780
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0018/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0018/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..650f4e6f170336cdb14fe737e273bde874a26325
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0018/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af7201ba15a657b203ebb58367d8833855a32e81d040104ed18c5dc02f9dd7f9
+size 28892
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0018/stderr.log b/harness_robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval/episode-0018/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb020ff285d624275e5fb19d4592fd002782590a
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cc461901cbcaef0f2df32d8d1e0f74e18da092d1d142f67ebd9a0cad4caca67
+size 7584899
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4936097cdcf70f5b134f6bafb3428a631a52f0a1
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddbe812130b381dc8c1d5f0266bf40c3faf232fb489979a7ebc38c399746c195
+size 1767962
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_1.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8684a0d4ae23dcf5be560a9c95d0249c97e3704f
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06cf4663d42e6b4430570dedfb4fbf002a36cd660c694397cbbad3f4709b88d0
+size 9830008
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_1_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2d6d77becd2515b132b0d41f1e39740866f55fd4
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77982cb44082ca5f6cb26c794bcad3544b9b7fe8233af421dfb9d6e6aedf428b
+size 2345982
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_2.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..21afa1023c78a7635be2ad599554652f635872a7
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0b3fbf3de0bcc51d9a4ec9ab36e49026069bfe16f9e05dd2532777d3c5812bf
+size 18150916
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_2_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..499d9ff67af5fcadd11b5e863d4866bb7889c8de
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d83ce01ce5102bb33a1346a9a8934ce40aec60a9d78ffd5e0cd4be92665e8df
+size 4027925
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/env_cfg.json b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..2caaa6fffd2df32750335e613e8e323e23f0108d
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:6", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/banana_bowl.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471946001052856, -5.8164543588645756e-05, -0.3470015227794647], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.5611012578010559, 0.15261490643024445, 0.030349360778927803], "rot": [0.9999998211860657, -0.00038860940411786313, -0.00045113630375182354, 5.555720606926124e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "banana": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/banana", "spawn": null, "init_state": {"pos": [0.5097271203994751, -0.115806944668293, 0.02117740921676159], "rot": [0.9999991655349731, -0.0006239555700669702, -0.0011311464245367135, -1.079676892718864e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana", "/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 50, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "banana", "container": "bowl", "gripper_name": "gripper", "tolerance": 0.0, "require_contact_with": true, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"banana": [["functools.partial(<function object_grabbed at 0x7fec6abc1760>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7fec6ac9cd60>, object='banana', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "BananaInBowlTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Pick up the banana and place it in the bowl", "contact_object_list": ["banana", "bowl", "table"], "_instruction_variants": {"default": "Pick up the banana and place it in the bowl", "vague": "Put the fruit in the bowl", "specific": "Grasp the yellow banana and place it inside the red bowl on the table"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/log_0_env0.json b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..39b3277e8086cdbec2470c4d5f2cd8c5f9bd8ed4
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 0, "success": true, "final_step": 297, "events": [{"step": 171, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 237, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 249, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 296, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 296, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 296, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 297, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 1.0}, {"step": 297, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 297, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/log_1_env0.json b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ac1d17b56ede172d0069e433072d24ec1f2bb24
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 1, "success": true, "final_step": 385, "events": [{"step": 39, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 41, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 41, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 54, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 68, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 76, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 126, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 126, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 127, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 129, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 171, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 194, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 228, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 228, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 258, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 258, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 258, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 280, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 281, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 281, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 283, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 290, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 290, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 308, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 308, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 309, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 309, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 327, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 353, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 353, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 367, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 385, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 385, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/log_2_env0.json b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8aaf96c6f74fac53318119e4f451bd842ec9b36e
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 2, "success": false, "final_step": 750, "events": [{"step": 40, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 87, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 95, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 95, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 130, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 175, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 187, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 187, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 187, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 225, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 265, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 280, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 290, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 290, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 345, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 370, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 370, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 379, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 393, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 393, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 431, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 433, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 433, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 449, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 477, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 486, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 486, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 512, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 538, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 545, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 547, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 547, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 587, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 588, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 589, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 589, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 590, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 591, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 591, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 601, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 666, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 667, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 667, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 667, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 690, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 724, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 724, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 725, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 725, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 740, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 745, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 745, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/run_0.hdf5 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d2b61e4c8fd94614a335b1a6bbef30e34535d3cb
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eddac0850b7afc4df8adf2a7e67aafb6a41c1742b22a20ff75467ddbbbd373f7
+size 246308
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/run_1.hdf5 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d03561951b6e261d1e0be5f50de63726acd4a34e
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ade8e1e4fb66d56368c3039dd3887cd5d3351f8fc3237b18969869897c49ffb
+size 279837
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/run_2.hdf5 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5e03b3120808191883d8d501e4a92ac1ee3bc69e
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/BananaInBowlTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18d2df66434f78ba3b4642dbe5f9dd2c04f947809f395c9f591692dbf25b4a89
+size 398019
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_0.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..217565c61bf665033d79164eeeb7d4385d8506eb
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bad19a10e6987b777e0afac5f5e5bf27e5f55396bd73924a417c916953abf979
+size 17377196
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_0_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..11bc499defc150774d39385478bfb0a0e24e352d
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2df6305a9100c631d741f8cbd6d68e67c1fb067265874de3b1e990f3a959f004
+size 5075088
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_1.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f63e99cb2484f767ef7b21af9b8a458e7c1dbde3
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4a465965fecbde57f1104f71b909cf3668fe7fcc926fd7aad49237f305f25b2
+size 18894717
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_1_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f9a64ceb5e88a95eece15f65f5f81ce604cabd1
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1542748526ad112832a58ad119fe966f9894fd0d6dc1d81279920e51faf63437
+size 5846374
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_2.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2741e20e842a6e0d3178904ef9e97a2e6ed2a798
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:441609444ad67683c02836cfa625e191ed32bc8053aef0f87b5281810fb6d49f
+size 8160571
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_2_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bf392a5c74c23ed63db98ee1f895cd776c6bf2c6
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5b574e4095e4c0a9b0cf81ee79849ee3779d502453107a3f2e646ba466534b1
+size 2655648
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/env_cfg.json b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0c08a06fbcfb9dea545335d13074df5ad280a02
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:6", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/tools_container.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5472192168235779, -6.671319715678692e-05, -0.34699884057044983], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "cordless_drill": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "spawn": null, "init_state": {"pos": [0.3832567632198334, -0.030917689204216003, 0.030837547034025192], "rot": [0.9999994039535522, -0.00027199709796938646, -0.0010573647388851387, 9.483031953932822e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spring_clamp": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spring_clamp", "spawn": null, "init_state": {"pos": [0.610592782497406, -0.10363898426294327, 0.020865194499492645], "rot": [0.9999879002571106, -0.0009466228789025711, 0.004823782103845945, -0.0001853934054501256], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "red_hammer": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_hammer", "spawn": null, "init_state": {"pos": [0.5201451778411865, 0.10229665040969849, 0.019043944776058197], "rot": [0.9999916553497314, 0.001956507091222201, 0.0035756124492796327, 0.0002762363453186856], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "husky_hammer": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "spawn": null, "init_state": {"pos": [0.6765944957733154, 0.03523700684309006, 0.042902205139398575], "rot": [0.9967283010482788, -0.0003913133814819076, 0.080657131044, -0.0051930699013370074], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "left_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/left_bin", "spawn": null, "init_state": {"pos": [0.6125770980231825, 0.3813693225383758, 0.002997465431690216], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "right_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/right_bin", "spawn": null, "init_state": {"pos": [0.6041571790080553, -0.31333314564369297, 0.01092683715758294], "rot": [-0.012439837218431385, 0.0, 0.0, 0.9999226222313301], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/left_bin", "/World/envs/env_.*/scene/right_bin", "/World/envs/env_.*/scene/red_hammer", "/World/envs/env_.*/scene/husky_hammer", "/World/envs/env_.*/scene/cordless_drill", "/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__left_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/left_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__red_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__red_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__red_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "husky_hammer__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "husky_hammer__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "husky_hammer__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spring_clamp__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spring_clamp", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "spring_clamp", "container": "right_bin", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"spring_clamp": [["functools.partial(<function object_grabbed at 0x7fec6abc1760>, object='spring_clamp')", 0.0], ["functools.partial(<function object_in_container at 0x7fec6ac9cd60>, object='spring_clamp', container='right_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "spatial", "simple"], "_task_attributes": ["semantics", "spatial", "simple"], "_task_name": "ClampInRightBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the spring clamp in the right bin", "contact_object_list": ["left_bin", "right_bin", "red_hammer", "husky_hammer", "cordless_drill", "spring_clamp", "table"], "_instruction_variants": {"default": "Put the spring clamp in the right bin", "vague": "Put the clamp in the right bin", "specific": "Pick up the spring clamp from the table and place it in the bin on the right side"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/log_0_env0.json b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7a2a794898370ffab3335097e80427b13114017
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClampInRightBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 80, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 81, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.072m", "score": 0.0}, {"step": 81, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.078m", "score": 0.0}, {"step": 81, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.159m", "score": 0.0}, {"step": 84, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 86, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.082m", "score": 0.0}, {"step": 86, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.089m", "score": 0.0}, {"step": 86, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.059m", "score": 0.0}, {"step": 101, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'left_bin' nudged 0.068m", "score": 0.0}, {"step": 132, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 699, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 715, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp'])", "score": 0.0}, {"step": 715, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 719, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 762, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_hammer'", "score": 0.0}, {"step": 764, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_hammer' (target objects: ['spring_clamp'])", "score": 0.0}, {"step": 767, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'husky_hammer' (target objects: ['spring_clamp'])", "score": 0.0}, {"step": 769, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.056m", "score": 0.0}, {"step": 774, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'husky_hammer'", "score": 0.0}, {"step": 774, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 780, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.063m", "score": 0.0}, {"step": 831, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 832, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 832, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 842, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 877, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 898, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/log_1_env0.json b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..74f6b8b9d5f8a4d600f9574502550458e81f76fe
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClampInRightBinTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 29, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 36, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 46, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 51, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 106, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 130, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 162, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 163, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 194, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 233, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 241, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 244, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 244, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 273, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 293, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 295, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 295, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 295, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 315, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 0.0}, {"step": 354, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 385, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 393, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 393, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 449, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 467, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 467, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 467, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 568, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 579, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 579, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 580, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 581, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 581, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 585, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 593, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 593, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 594, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 601, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 601, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 616, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 625, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 625, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 659, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 698, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['spring_clamp'])", "score": 0.0}, {"step": 699, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 699, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 723, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 729, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 729, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 730, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 731, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 731, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 740, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 757, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 788, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 788, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 810, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 817, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 820, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 820, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 850, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 890, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/log_2_env0.json b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f51f577fceebcae1c662eb83d3bf038512826483
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClampInRightBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 385, "events": [{"step": 53, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 58, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 95, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 103, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 103, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 105, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 109, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 109, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 109, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 147, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 170, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 193, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 227, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 234, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 235, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 238, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 238, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 265, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 270, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 272, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 277, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 344, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 381, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 385, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 385, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/run_0.hdf5 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..111d3216322aaabd3c7a200df78b7e32064fc83a
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f40e8006f38fef72fab435db3751fbce47c5098adca6fbf7602faea23a195af1
+size 668395
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/run_1.hdf5 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a76364e3c813da0725e979f363668f8452e17bfb
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75b527119752e7428a8f026c155ec132e78fb3936d487617871088f490c6b887
+size 670751
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/run_2.hdf5 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0b73ec5a7fa1ba794a243b05c4dfb8e918cac92f
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/ClampInRightBinTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:977fea93388db3fe0c4fa066dac277940574d7551bbdb5ac419ce469acca506d
+size 419658
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_0.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..61ebe27365f2c2e805f5b453e17270ba0060c279
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6703934dd66574b201a2f6c42b91288324a5811436583fd8328287d03842c418
+size 6337887
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_0_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ef794c3b99fce42e4f9b731c82eca00cfadfaee6
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f50402bca44f9f457bb478687d997d11a1252f20d6fe835d2297cdff2e01878
+size 1563812
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_1.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fc75b54228e925f0bfa9be949635b09a96a91549
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fa351d405f0e830c9fa2d735e9d14280f9db995998f5aa24a82b7a9a957aa19
+size 19541520
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_1_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..57ca259242c5e11db17d6367a9979dbb6ca26fb5
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88c423b63fb8a2b88d0f984ee748055222867b5690903e4242622f32f0e54973
+size 4036775
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_2.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..10b24edf4ed62f0325b218e812b91566c38d610c
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0f866c6e89247a539ec14783f458087eb8bd67e474b903311d147e5e5b0a8f5
+size 22567374
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_2_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..27565569a0605786b0bbbd1ce3380c1794433629
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:481de097f1b40210a60ccdcb0bc6d189973f9ce85d4b53b6d079b8b865418868
+size 4813322
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/env_cfg.json b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..78cf72e6681b3c4718ca6c767435fadf00e6dcb3
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:6", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/foodpacking_1bin_1box_1can.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5472070574760437, -7.31465988792479e-05, -0.3470000624656677], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bin_a06": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bin_a06", "spawn": null, "init_state": {"pos": [0.6623992323875427, 0.3591690957546234, 0.0030019916594028473], "rot": [-8.307394522785846e-07, 3.147776841841252e-05, -0.0006731755060114463, 0.9999997729215733], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "cheez_it": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/cheez_it", "spawn": null, "init_state": {"pos": [0.4740942120552063, -0.2727200388908386, 0.10890547186136246], "rot": [0.7055808901786804, -0.014833274869134935, 0.014101319604489647, 0.7083337731301039], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "mustard": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mustard", "spawn": null, "init_state": {"pos": [0.5671444535255432, 0.3033906817436218, 0.10240653157234192], "rot": [0.9991520047187805, -0.03916314610531943, 0.012512041950778364, -0.0022289593530075767], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "tomato_soup_can": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/tomato_soup_can", "spawn": null, "init_state": {"pos": [0.41869235038757324, -0.00021113763796165586, 0.0539], "rot": [0.9997684955596924, -0.001414528593515839, -0.021422391810506817, 0.0014267180115947436], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bin_a06", "/World/envs/env_.*/scene/cheez_it", "/World/envs/env_.*/scene/mustard", "/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bin_a06": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bin_a06"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__cheez_it": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cheez_it"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__cheez_it": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cheez_it"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cheez_it__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cheez_it__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cheez_it__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mustard__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mustard__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "tomato_soup_can__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/tomato_soup_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["cheez_it"], "container": "bin_a06", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"cheez_it": [["functools.partial(<function object_grabbed at 0x7fec6abc1760>, object='cheez_it')", 0.0], ["functools.partial(<function object_in_container at 0x7fec6ac9cd60>, object='cheez_it', container='bin_a06', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "FoodPacking1BoxesTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Pack boxed foods into the bin", "contact_object_list": ["bin_a06", "cheez_it", "mustard", "tomato_soup_can", "table"], "_instruction_variants": {"default": "Pack boxed foods into the bin", "vague": "Pack boxes", "specific": "Pick up the boxed food item and place it inside the bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/log_0_env0.json b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..101a05cf3151fff7fb9a820c774b0392fb1bb5f1
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1BoxesTask", "env_id": 0, "run": 0, "success": true, "final_step": 241, "events": [{"step": 130, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 157, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 158, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 158, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 184, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 185, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 185, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 192, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 194, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 194, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 218, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 225, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 225, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/log_1_env0.json b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4fa60208f19cbdfa18d2c5e34f29c07481a3979
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1BoxesTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 29, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bin_a06'", "score": 0.0}, {"step": 37, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'mustard'", "score": 0.0}, {"step": 48, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'mustard' displaced 1.334m", "score": 0.0}, {"step": 49, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'bin_a06'", "score": 0.0}, {"step": 50, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'bin_a06' displaced 0.673m", "score": 0.0}, {"step": 727, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 738, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 738, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 746, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 792, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 798, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 834, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 837, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 839, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 846, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 848, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/log_2_env0.json b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..595324ec92a2c97beea87e9db66d02f9b92b8f27
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1BoxesTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 242, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 247, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 434, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 613, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 722, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 752, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 752, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 831, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 841, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 841, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 842, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/run_0.hdf5 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..dfcb7330eaeed7ec19154e5f0766656b1f65d4c4
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c06e1e87ec4fc5360e38c46cc1148b7c39262b0a137ef82858d63260ed44e919
+size 296533
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/run_1.hdf5 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d16c89247851ebf0b1e06a7e0719a8cb22c7f147
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0927eef20305b8ae0da671a6dffe7604469bd15669587878a5a6726b0770a837
+size 527491
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/run_2.hdf5 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2f174449fbcdffecf4ab264195d59539d6b76b23
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/FoodPacking1BoxesTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eae96acab7e9fe97356f447d5b6c91806f9f818a61e8adf6ec7ac1982d66670a
+size 545296
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_0.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4270286832edb3ad5d7162786068ccf06758b102
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4ce3491002c1b2e56449851e38b85db2269a727c89d9b92e2dee8b7a668b223
+size 13193348
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_0_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac23e2053a1b9d0acb9779343320c8c9d336cfc9
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86b5e7cf40fe45bacddc2b59d69b9b99bf1ea197ef96bb9926d4360f48e7e6b9
+size 4110763
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_1.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7c8c33ba761a239c244867cffdb8122ff22f58b7
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8041e7eb8cdd94cc946e0d9ac1af9662e8b5b828f30aab5e84777916634df65b
+size 15729756
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_1_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..00742242f666f40d6c3cd86725ba5acd9b4cd478
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e93be06d6f57ac6fe0b4b9aacb2c8390df95be770c58b18cf81bbf2452ad094
+size 4168710
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_2.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ae39adc6620e3aadada5d42406e39320ff3f4537
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21909a0c277bbff2df198513ee3565be022eb34bfa878535f53737db7bbb714f
+size 15154297
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_2_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e11489da312769a1bc2490717c8573df6aefe04e
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0563e7e880b56d15a798cf094a76c8145ffcf3f504e8b03be426a8cecada52b8
+size 3732620
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/env_cfg.json b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..998ba8e87a52b6acb554b7e400a055b92b9a3028
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:6", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/workdesk.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471952557563782, -5.7007273426279426e-05, -0.34700003266334534], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "ceramic_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "spawn": null, "init_state": {"pos": [0.5655824542045593, 0.39568954706192017, 0.0027951188385486603], "rot": [0.9999956488609314, -0.0013778374201923783, 0.002603331074112206, 0.00016275922976974298], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "glasses": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/glasses", "spawn": null, "init_state": {"pos": [0.37124938133654595, 0.29659840893221917, 0.03227695450186716], "rot": [0.4273157119750972, -0.015990343268805527, -0.03444884042195584, 0.9033044163597035], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "keyboard": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/keyboard", "spawn": null, "init_state": {"pos": [0.5687880516052246, 5.0032977014780045e-06, 0.016385065391659737], "rot": [-0.7005698680877687, -0.03917650350080723, 0.03929619707333615, 0.7114231303496614], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lizard_figurine": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "spawn": null, "init_state": {"pos": [0.4766277074813843, -0.33743277192115784, 0.002630986273288727], "rot": [0.9999714493751526, 0.0003277087147036105, 0.007385121812528196, -0.0015662111508582132], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "marker": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/marker", "spawn": null, "init_state": {"pos": [0.27481383085250854, 0.10892250388860703, 0.010260401293635368], "rot": [0.9989923238754272, 0.004751523488879603, 0.044627085782936914, -0.0004278750173696138], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "remote_control": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/remote_control", "spawn": null, "init_state": {"pos": [0.33648618299162875, -0.19670675229143017, -0.010288537479937594], "rot": [-0.42810720205307023, 0.4305316395122437, 0.5649770350390105, -0.5587196799896348], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "rubiks_cube": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "spawn": null, "init_state": {"pos": [0.2985665202140808, 3.550387918949127e-05, 0.03410554304718971], "rot": [0.9999994039535522, -0.0005342179525544714, 0.0009522065246690963, 2.540429600415186e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "smartphone": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/smartphone", "spawn": null, "init_state": {"pos": [0.8168365955352783, -6.481632590293884e-05, 0.008198646828532219], "rot": [0.9999836087226868, 0.005709951708535049, -0.00040675238505646157, 0.00011528198446181194], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "wooden_bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "spawn": null, "init_state": {"pos": [0.8202225565910339, 0.3134598135948181, 0.002887912094593048], "rot": [0.9999970197677612, -0.0022493436574678623, 0.00041227879664728766, 0.0008549473084342874], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spoon_big": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spoon_big", "spawn": null, "init_state": {"pos": [0.7698599419794054, 0.3079741632230389, 0.06094201279041829], "rot": [0.9425379037857056, -0.01870708349599302, 0.33354574366700335, 0.004425136828130295], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "computer_mouse": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "spawn": null, "init_state": {"pos": [0.34163936972618103, -0.32050621509552, 0.023606833070516586], "rot": [0.7058029770851135, 0.708408178087422, 2.853572373409142e-05, -9.971139678230239e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "yogurt_cup": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "spawn": null, "init_state": {"pos": [0.8163773417472839, -0.3472857177257538, 0.0297689288854599], "rot": [0.9999990463256836, 5.759209633328075e-05, -0.0013798338055492074, 9.462706871107092e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "oatmeal_raisin_cookies": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/oatmeal_raisin_cookies", "spawn": null, "init_state": {"pos": [0.8128421902656555, -0.16538779437541962, 0.08616513013839722], "rot": [0.9999673366546631, -0.0026672647498280433, -0.007627426968820995, 0.00018352212217179786], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "granola_bars": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/granola_bars", "spawn": null, "init_state": {"pos": [0.6988375186920166, 0.41800934076309204, 0.06365979462862015], "rot": [0.999995768070221, -0.0027827891895433705, 0.0008484750262059328, 4.0131460484704446e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug", "/World/envs/env_.*/scene/glasses", "/World/envs/env_.*/scene/keyboard", "/World/envs/env_.*/scene/lizard_figurine", "/World/envs/env_.*/scene/marker", "/World/envs/env_.*/scene/remote_control", "/World/envs/env_.*/scene/rubiks_cube", "/World/envs/env_.*/scene/smartphone", "/World/envs/env_.*/scene/wooden_bowl", "/World/envs/env_.*/scene/spoon_big", "/World/envs/env_.*/scene/computer_mouse", "/World/envs/env_.*/scene/yogurt_cup", "/World/envs/env_.*/scene/oatmeal_raisin_cookies", "/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__glasses": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/glasses"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__keyboard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/keyboard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__glasses": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/glasses"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__keyboard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/keyboard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__keyboard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/keyboard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "computer_mouse__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "computer_mouse__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "computer_mouse__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "computer_mouse__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "yogurt_cup__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "yogurt_cup__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "yogurt_cup__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "oatmeal_raisin_cookies__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/oatmeal_raisin_cookies", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "oatmeal_raisin_cookies__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/oatmeal_raisin_cookies", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "granola_bars__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/granola_bars", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 40, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "marker", "container": "ceramic_mug", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"marker": [["functools.partial(<function object_grabbed at 0x7fec6abc1760>, object='marker')", 0.0], ["functools.partial(<function object_in_container at 0x7fec6ac9cd60>, object='marker', container='ceramic_mug', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["affordance", "moderate"], "_task_attributes": ["affordance", "moderate"], "_task_name": "MarkerInMugTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the whiteboard marker in the mug", "contact_object_list": ["ceramic_mug", "glasses", "keyboard", "lizard_figurine", "marker", "remote_control", "rubiks_cube", "smartphone", "wooden_bowl", "spoon_big", "computer_mouse", "yogurt_cup", "oatmeal_raisin_cookies", "granola_bars", "table"], "_instruction_variants": {"default": "Put the whiteboard marker in the mug", "vague": "Put the marker in the mug", "specific": "Pick up the marker and drop it vertically into the mug, make sure the marker stands upright"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/log_0_env0.json b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e87897f8dba8ff4a0812a2c2703484aedc455af5
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MarkerInMugTask", "env_id": 0, "run": 0, "success": false, "final_step": 600, "events": [{"step": 115, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 133, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 151, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 176, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.068m", "score": 0.0}, {"step": 189, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 208, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 208, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 272, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 275, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.165m", "score": 0.0}, {"step": 281, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'computer_mouse' nudged 0.138m", "score": 0.0}, {"step": 300, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 300, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 311, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 481, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'ceramic_mug'", "score": 0.0}, {"step": 481, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'granola_bars'", "score": 0.0}, {"step": 483, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'oatmeal_raisin_cookies'", "score": 0.0}, {"step": 492, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'oatmeal_raisin_cookies' displaced 1.886m", "score": 0.0}, {"step": 493, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'granola_bars' displaced 1.774m", "score": 0.0}, {"step": 503, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'ceramic_mug' displaced 1.664m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/log_1_env0.json b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ef2c726d585c47a697e64a721f9b12f117549cd
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MarkerInMugTask", "env_id": 0, "run": 1, "success": false, "final_step": 600, "events": [{"step": 159, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 178, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 221, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 221, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 289, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 337, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 337, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 370, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 370, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 385, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 413, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['marker'])", "score": 0.0}, {"step": 413, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 413, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 416, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 424, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 424, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 425, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.101m", "score": 0.0}, {"step": 425, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'granola_bars' nudged 0.053m", "score": 0.0}, {"step": 441, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 449, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['marker'])", "score": 0.0}, {"step": 465, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 558, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['marker'])", "score": 0.0}, {"step": 563, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 563, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 565, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 566, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 569, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 569, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 571, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'ceramic_mug'", "score": 0.0}, {"step": 580, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'ceramic_mug' displaced 0.729m", "score": 0.0}, {"step": 583, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 585, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 585, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 595, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.063m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/log_2_env0.json b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e63f6437386148b373de43b7305b381f03065669
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MarkerInMugTask", "env_id": 0, "run": 2, "success": false, "final_step": 600, "events": [{"step": 85, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'glasses'", "score": 0.0}, {"step": 87, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 116, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 132, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 250, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 306, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 370, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 405, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.074m", "score": 0.0}, {"step": 418, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 482, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 510, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 526, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 529, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 529, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 530, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 532, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 532, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 533, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 586, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/run_0.hdf5 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7ab5c35e41ee45084702086463cd2a32eb47242f
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e2e86d36940265c3505865008a157b58d9f28796e00fefd2e1fedf24a9bc826
+size 883241
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/run_1.hdf5 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4ca67905d23908f6c2423f984098b483c54dc847
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:278160551609b3c2dbd2c926e59a2e1d30ad2b14f5417173b574fb0075f678cd
+size 899240
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/run_2.hdf5 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7e777ff6144a086bb2b52820adfbdc7b49d0c837
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/MarkerInMugTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d75b2cdbedca697e7c7b93d4970c33cdc077f11d3b07e4f957813e335001d05b
+size 887865
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_0.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1e639d290a56b68c61b05259684cd3f32af6fd1d
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4aff07f5ecf0cf5a97188d03aaf44c81fe0ac6ec4d372092808ceab0596d123
+size 16219542
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_0_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5fc7c67514c254b528a94de101a4736d7355e3d3
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff5a2f24cd7e4f269f7d7864fac615c99801c4559b39de4796a58716cd8ca68b
+size 4396480
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_1.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0d656fcdb5dcabe38f02c37e5a9ecd96d9f0faec
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdae6973df60bae90c1e823e056096326e8787ed1fb2163408abb6730c1a81b5
+size 12334875
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_1_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..71d46cca1de1a7e44369631cbd207dd899d7b16c
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:627b1680de0203baa270a7fe2e17833a69fc1ee01def7436d7792047d50f6d5e
+size 3067091
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_2.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..97c6aa9eb202aaf95fc628f43c08a5bf0a7db82a
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45852823708489cfff72bacee33f7e2cdf3020cbadb5036e3bd9d8a83c7484fa
+size 13755794
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_2_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d65506b75485dc73096027549c1cd5c45c39f133
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:531747f306c0c76db32337b178a550d48e890ee76aa4b83c05f3ce882b24ae82
+size 3288173
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/env_cfg.json b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec8c84f1947aa206414d444e353d148051a4c83c
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:6", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/rubiks_cube_banana_bowl.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.44258353114128113, 0.12658219039440155, 0.07732785493135452], "rot": [0.9999999403953552, -5.875354421326538e-05, -0.0003236202968188691, -0.00010501052579296266], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "rubiks_cube": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "spawn": null, "init_state": {"pos": [0.4306528866291046, -0.09742811322212219, 0.08113233000040054], "rot": [0.9999990463256836, -0.0009071399440944852, 0.0010379400315123045, 8.441170612118017e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "banana": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/banana", "spawn": null, "init_state": {"pos": [0.538878858089447, -0.07555567473173141, 0.0684281587600708], "rot": [0.9999781250953674, -0.002664888769974798, -0.006051987813043361, 0.00014540326035168], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.19858434796333313, 0.02206825464963913, 0.05000072345137596], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube", "/World/envs/env_.*/scene/banana", "/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:objects_placed_in_container_in_order", "params": {"objects": ["rubiks_cube", "banana"], "container": "bowl", "tolerance": 0.0, "require_contact_with": true, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"rubiks_cube": [["functools.partial(<function object_grabbed at 0x7fec6abc1760>, object='rubiks_cube')", 0.0], ["functools.partial(<function object_in_container at 0x7fec6ac9cd60>, object='rubiks_cube', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}, {"conditions": {"banana": [["functools.partial(<function object_grabbed at 0x7fec6abc1760>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7fec6ac9cd60>, object='banana', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["conjunction", "simple"], "_task_attributes": ["conjunction", "simple"], "_task_name": "RubiksCubeThenBananaTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the cube then the banana in the bowl", "contact_object_list": ["rubiks_cube", "banana", "bowl", "table"], "_instruction_variants": {"default": "Put the cube then the banana in the bowl", "vague": "Put the cube then banana in the bowl", "specific": "First pick up the rubiks cube that's on the table and place it in the bowl, then pick up the yellow banana and place it in the bowl"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/log_0_env0.json b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cc25081074b7cb687298c34eedb7eb5b1241f8c
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeThenBananaTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 30, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 54, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['rubiks_cube'])", "score": 0.0}, {"step": 56, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 56, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 95, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['rubiks_cube'])", "score": 0.0}, {"step": 96, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 96, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 125, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 126, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 126, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 178, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 183, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 190, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 190, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 231, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 274, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 298, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 298, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 325, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.068m", "score": 0.0}, {"step": 348, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 394, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['rubiks_cube'])", "score": 0.0}, {"step": 396, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 417, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 440, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 457, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['rubiks_cube'])", "score": 0.0}, {"step": 463, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 465, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['rubiks_cube'])", "score": 0.0}, {"step": 466, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 468, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 498, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 529, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 529, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 530, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 569, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 579, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 595, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 595, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 596, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 599, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 601, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 601, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 650, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 697, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 697, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 746, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 747, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 747, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 748, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 759, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 760, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 760, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 772, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 777, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 777, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 806, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 806, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 807, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 807, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 818, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 827, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 831, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 831, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 851, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 866, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 883, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.055m", "score": 0.5}, {"step": 895, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 895, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/log_1_env0.json b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d85979aca77f21ac4165537e237ab4767c5e875
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeThenBananaTask", "env_id": 0, "run": 1, "success": true, "final_step": 659, "events": [{"step": 31, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 171, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 201, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 201, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 202, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 202, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 226, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 294, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 321, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 355, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 379, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 379, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 380, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 380, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 381, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 402, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 404, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 404, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 406, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 411, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 441, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 477, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 492, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 657, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 657, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 659, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/log_2_env0.json b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..117301788d546604e4e4b9b3f3e841aab7b5b320
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeThenBananaTask", "env_id": 0, "run": 2, "success": true, "final_step": 769, "events": [{"step": 57, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 100, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 137, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 147, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 162, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 193, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 225, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 225, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 284, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 284, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 285, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 285, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 305, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 320, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 320, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 320, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 346, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 378, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 409, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 409, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 410, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 410, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 417, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 457, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 457, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}, {"step": 473, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.107m", "score": 1.0}, {"step": 514, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 546, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 569, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana'", "score": 1.0}, {"step": 595, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 1.0}, {"step": 606, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 641, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 658, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 677, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana' (target objects: [])", "score": 1.0}, {"step": 695, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana'", "score": 1.0}, {"step": 695, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 722, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana' (target objects: [])", "score": 1.0}, {"step": 737, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.060m", "score": 1.0}, {"step": 766, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 769, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana'", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/run_0.hdf5 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f7a11c9c0a331493a0fd5f1475c7892fb130965c
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1711d82d5a62a41b555d02fd75984ae52bf0f0cf64693003394e18fda9b87611
+size 512929
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/run_1.hdf5 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..232601ccaea14c49601012d74f0b619ce2bf1850
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85366732a821f0bcaa6755f05eadc68e2c2ccb20e5d974094cf42607a1089d46
+size 416200
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/run_2.hdf5 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..db4156f74ce2ea90df16db75e80a6b797d9a89d1
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/RubiksCubeThenBananaTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09b245564f9942b8650875d1061b91b8ef13907c4ea20874369e2086af1cb082
+size 461961
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_0.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7bb877ddfc20342570e75225b996aa60ebdd8e34
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ea8d2096ae199fe2521d3dec63b14364dbbdd420f84c08dd35d8a869a601413
+size 21293845
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_0_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b92544f4ae7b6487019d63346b11b27d2ffe986e
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:470e1e3ec2aeaa0aea1b8ad29378014e17767814c568242a463bdc0e381591c3
+size 4855660
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_1.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..faa0857e35eedfe9c70b342c27eb77214a6f651e
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc040e61de3f53b1508ac5418f064dc83c83a7ec5d2340cfe9039f14b3301980
+size 22752981
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_1_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d0e6a816291299f76bd3582ef545298f4e755b1
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c84526e87f6136831783341b38d5e9b636807c244f1923faa7d87b3d2f1a05f
+size 5286832
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_2.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0241aba27f88cd193ff68195d6844e777d8a7720
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55f738165017d9243cd9dcb2f565e3be0544591f80e807f07f2eaf6b6908056a
+size 20390684
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_2_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f87149c5b2a9a6e35c722c00cd358e82d99d271c
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:085c870b19abe986fdc1555083877d2a82882346ddb9a7b767ee4037e7c05040
+size 5207514
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/env_cfg.json b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccf7e510403b4efcb3bc15e1d4caa2a0ac707501
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:6", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/workdesk_bin.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471949577331543, -5.7009914598893374e-05, -0.3470000624656677], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "ceramic_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "spawn": null, "init_state": {"pos": [0.5123468041419983, 0.3956894874572754, 0.002794858068227768], "rot": [0.9999955892562866, -0.0013856729552302854, 0.0026219909588924067, 0.00016291668032326505], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "glasses": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/glasses", "spawn": null, "init_state": {"pos": [0.3693132698535919, 0.2950078547000885, 0.031487610191106796], "rot": [0.42606157064437866, -0.034701488878072034, -0.07400851689471265, 0.9009939423307658], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "keyboard": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/keyboard", "spawn": null, "init_state": {"pos": [0.568644940853121, -0.11254113912582395, 0.11716901154635895], "rot": [-0.6714183688163762, -0.1971906099306493, -0.13382883191844386, 0.7017143871394401], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lizard_figurine": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "spawn": null, "init_state": {"pos": [0.42867201566696167, 0.07189248502254486, 0.0026061907410621643], "rot": [0.9354749917984009, 0.0040454753115796195, 0.007782344312363656, -0.3532840344061546], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "marker": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/marker", "spawn": null, "init_state": {"pos": [0.2747778296470642, 0.10900786519050598, 0.012070379219949245], "rot": [0.9990788102149963, -0.0007191888330277831, 0.04290336132224691, -0.0005615461356871434], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "remote_control": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/remote_control", "spawn": null, "init_state": {"pos": [0.2856173565106219, -0.1395261124187606, -0.01028998661786311], "rot": [-0.5370074510574339, 0.540642016494328, 0.46072053347530584, -0.45504483025738696], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "smartphone": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/smartphone", "spawn": null, "init_state": {"pos": [0.30194494128227234, 0.04649155214428902, 0.04082714021205902], "rot": [0.9708831906318665, -0.17378550277725408, 0.16100684515602603, -0.035513729540099466], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "wooden_bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "spawn": null, "init_state": {"pos": [0.8202221989631653, 0.31346437335014343, 0.002888549119234085], "rot": [0.9999969601631165, -0.0022227631037289174, 0.0004132512641459786, 0.0009839776948003978], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spoon_big": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spoon_big", "spawn": null, "init_state": {"pos": [0.7689590454101562, 0.308388352394104, 0.04886004328727722], "rot": [0.9490694999694824, -0.003299362267567515, 0.31502998714271885, 0.003507939161726195], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "computer_mouse": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "spawn": null, "init_state": {"pos": [0.34163898229599, -0.32050642371177673, 0.0236058346927166], "rot": [0.705802083015442, 0.7084090677896465, 3.4570693814590804e-05, -0.00010530590905583741], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "yogurt_cup": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "spawn": null, "init_state": {"pos": [0.29424038529396057, -0.05287781357765198, 0.02977272868156433], "rot": [0.9999986290931702, 0.00043958571664288624, -0.0015963226817922438, -1.816792782932948e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "granola_bars": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/granola_bars", "spawn": null, "init_state": {"pos": [0.664033830165863, 0.39246994256973267, 0.021376578137278557], "rot": [0.7041239738464357, -0.015542179661679794, 0.7097817974233512, 0.013329296776092835], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "grey_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/grey_bin", "spawn": null, "init_state": {"pos": [0.573340117931366, -0.21034985780715942, 0.0030006133019924164], "rot": [0.9258334636688232, -1.9307484551176733e-06, -2.3411986636799397e-06, 0.3779317366162583], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug", "/World/envs/env_.*/scene/glasses", "/World/envs/env_.*/scene/keyboard", "/World/envs/env_.*/scene/lizard_figurine", "/World/envs/env_.*/scene/marker", "/World/envs/env_.*/scene/remote_control", "/World/envs/env_.*/scene/smartphone", "/World/envs/env_.*/scene/wooden_bowl", "/World/envs/env_.*/scene/spoon_big", "/World/envs/env_.*/scene/computer_mouse", "/World/envs/env_.*/scene/yogurt_cup", "/World/envs/env_.*/scene/granola_bars", "/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__glasses": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/glasses"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__keyboard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/keyboard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__glasses": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/glasses"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__keyboard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/keyboard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__keyboard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/keyboard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "computer_mouse__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "computer_mouse__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "computer_mouse__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "computer_mouse__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "yogurt_cup__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "yogurt_cup__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "yogurt_cup__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "granola_bars__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/granola_bars", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "granola_bars__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/granola_bars", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "spoon_big", "container": "ceramic_mug", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"spoon_big": [["functools.partial(<function object_grabbed at 0x7fec6abc1760>, object='spoon_big')", 0.0], ["functools.partial(<function object_in_container at 0x7fec6ac9cd60>, object='spoon_big', container='ceramic_mug', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["affordance", "spatial", "moderate"], "_task_attributes": ["affordance", "spatial", "moderate"], "_task_name": "SpoonInMugTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the metal spoon that's in the wooden bowl in the mug", "contact_object_list": ["ceramic_mug", "glasses", "keyboard", "lizard_figurine", "marker", "remote_control", "smartphone", "wooden_bowl", "spoon_big", "computer_mouse", "yogurt_cup", "granola_bars", "grey_bin", "table"], "_instruction_variants": {"default": "Put the metal spoon that's in the wooden bowl in the mug", "vague": "Put the spoon in the mug", "specific": "Take the metal spoon in the wooden bowl and place it inside the ceramic mug with the handle sticking out"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/log_0_env0.json b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8aff7af396f8eaf9b17aaf9d30f268b0ac17c54a
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonInMugTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 130, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'granola_bars'", "score": 0.0}, {"step": 148, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 150, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 153, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 153, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 157, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 158, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 158, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 168, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 188, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 188, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 189, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 189, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 191, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.063m", "score": 0.0}, {"step": 225, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 226, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 226, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 228, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 228, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'granola_bars' nudged 0.203m", "score": 0.0}, {"step": 229, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.181m", "score": 0.0}, {"step": 230, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.155m", "score": 0.0}, {"step": 239, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'glasses' nudged 0.100m", "score": 0.0}, {"step": 247, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'keyboard' nudged 0.145m", "score": 0.0}, {"step": 247, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.132m", "score": 0.0}, {"step": 248, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.090m", "score": 0.0}, {"step": 259, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'wooden_bowl'", "score": 0.0}, {"step": 512, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 519, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.169m", "score": 0.0}, {"step": 681, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 683, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.082m", "score": 0.0}, {"step": 692, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.064m", "score": 0.0}, {"step": 699, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 707, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 709, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 712, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 714, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'glasses'", "score": 0.0}, {"step": 716, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'granola_bars' nudged 0.143m", "score": 0.0}, {"step": 720, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'ceramic_mug'", "score": 0.0}, {"step": 723, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'glasses' displaced 0.705m", "score": 0.0}, {"step": 739, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.171m", "score": 0.0}, {"step": 740, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'ceramic_mug' displaced 1.626m", "score": 0.0}, {"step": 760, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'granola_bars' nudged 0.056m", "score": 0.0}, {"step": 813, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'granola_bars'", "score": 0.0}, {"step": 819, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'granola_bars' displaced 0.700m", "score": 0.0}, {"step": 839, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 861, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 887, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/log_1_env0.json b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa21d1741b7ad078e46e8b15e3fbb59534062570
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonInMugTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 26, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lizard_figurine'", "score": 0.0}, {"step": 33, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.104m", "score": 0.0}, {"step": 575, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'granola_bars'", "score": 0.0}, {"step": 603, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 603, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 605, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 605, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 721, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 727, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 727, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 771, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 826, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 850, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/log_2_env0.json b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2db8307921e9498eb5225940770a959e396f0bd1
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonInMugTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 72, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'granola_bars'", "score": 0.0}, {"step": 86, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.392m", "score": 0.0}, {"step": 105, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'keyboard'", "score": 0.0}, {"step": 109, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'keyboard' displaced 1.463m", "score": 0.0}, {"step": 160, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 164, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'granola_bars' nudged 0.451m", "score": 0.0}, {"step": 166, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'wooden_bowl'", "score": 0.0}, {"step": 189, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'wooden_bowl' displaced 1.037m", "score": 0.0}, {"step": 522, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 534, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'computer_mouse'", "score": 0.0}, {"step": 535, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'computer_mouse' displaced 0.798m", "score": 0.0}, {"step": 548, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'grey_bin'", "score": 0.0}, {"step": 550, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'grey_bin' displaced 0.771m", "score": 0.0}, {"step": 714, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/run_0.hdf5 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e85f96437e1315fe83f717cdc3cf66d121b67486
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c579d4055483a5d503cd23816857c40a29e8363704917a62c6d878e7c52a665
+size 1092376
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/run_1.hdf5 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..67580145269ca6c42122502e166b91a0765d6d8d
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9da2c96423579fa8856fa7eb097ab61aa57f93faeb11a60bca3ea03f73a6dbb
+size 1057189
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/run_2.hdf5 b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1d7c653fa704d94731cbbfabd908e78495b931df
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/SpoonInMugTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fbdd010bff39f0c2e7f03c9f9a8e51b9d3600648d843ac3fde01c6c784766bc
+size 1009124
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/robolab/episode_results.jsonl b/harness_robolab_exploration/embo_sol/gpu_6/robolab/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ad430d418b7d140e4b4fdf459db645405732584c
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/robolab/episode_results.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e073d020d95858735557ab0b81eebce49fa376fb9b9568d05dbd0f538502557a
+size 21852
diff --git a/harness_robolab_exploration/embo_sol/gpu_6/server.log b/harness_robolab_exploration/embo_sol/gpu_6/server.log
new file mode 100644
index 0000000000000000000000000000000000000000..0e516bb8485182143f7b91a715df27c9cc01aed9
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_6/server.log
@@ -0,0 +1,42 @@
+[2026-10-30T16:03:41Z] GPU 6: Starting worker at MarkerInMugTask/0 (resume=false)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6.1-sol; effort: medium; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: False; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8022
+INFO:websockets.server:server listening on 127.0.0.1:8022
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 40486) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 6ff0c866fdd546bbaef5f2aec49eb5b2-0 (codex/gpt-6.1-sol) ended: wall=1841.135s harness=1497.855s tokens=5379065 usage_complete=False decisions=75 executed_steps=600 steps_complete=True network_wait=792.321713283658 rate_limit_wait=0 rate_limit_count=0 excluded=792.321713283658 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 23ff8804fbfe408a8a4c85ae9a92a49d-1 (codex/gpt-6.1-sol) ended: wall=2085.265s harness=1735.276s tokens=6452455 usage_complete=False decisions=75 executed_steps=600 steps_complete=True network_wait=125.07403002679348 rate_limit_wait=0 rate_limit_count=0 excluded=125.07403002679348 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode d3bdfbd51d734f79a035f30ab43898ce-2 (codex/gpt-6.1-sol) ended: wall=1728.115s harness=1390.099s tokens=6165127 usage_complete=True decisions=75 executed_steps=600 steps_complete=True network_wait=576.6665574088693 rate_limit_wait=0 rate_limit_count=0 excluded=576.6665574088693 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 67a71043d56549ffb38ee656e81b135f-0 (codex/gpt-6.1-sol) ended: wall=2776.592s harness=2295.163s tokens=10134063 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=1105.2144437506795 rate_limit_wait=0 rate_limit_count=0 excluded=1086.1991257593036 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode ea330ca85696466cb8f9da9e57b056e3-1 (codex/gpt-6.1-sol) ended: wall=2450.832s harness=1993.964s tokens=9617520 usage_complete=True decisions=113 executed_steps=900 steps_complete=True network_wait=187.3584344536066 rate_limit_wait=0 rate_limit_count=0 excluded=187.3584344536066 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 63e5d4c0004140179d4f3b7d020668b7-2 (codex/gpt-6.1-sol) ended: wall=2934.825s harness=2472.108s tokens=9015601 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=251.1700914502144 rate_limit_wait=0 rate_limit_count=0 excluded=251.1700914502144 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 20cf4271fa534902ac116b3a027c3378-0 (codex/gpt-6.1-sol) ended: wall=1192.188s harness=939.015s tokens=5375670 usage_complete=True decisions=113 executed_steps=900 steps_complete=True network_wait=43.04044049233198 rate_limit_wait=0 rate_limit_count=0 excluded=43.04044049233198 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 1fe17206922b4958bfc0f4b2b5ece3e6-1 (codex/gpt-6.1-sol) ended: wall=2327.282s harness=2069.650s tokens=9960193 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=11.071615919470787 rate_limit_wait=0 rate_limit_count=0 excluded=11.071615919470787 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode a39cbb8462844737997c44b08960e215-2 (codex/gpt-6.1-sol) ended: wall=828.941s harness=716.450s tokens=3546220 usage_complete=False decisions=49 executed_steps=385 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode c700404cddbd47cabe88d3376c6d32e7-0 (codex/gpt-6.1-sol) ended: wall=385.878s harness=325.031s tokens=2188284 usage_complete=True decisions=31 executed_steps=241 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode b241fcf0535843dc9112430bf7c4b385-1 (codex/gpt-6.1-sol) ended: wall=1199.716s harness=980.138s tokens=5676826 usage_complete=True decisions=113 executed_steps=900 steps_complete=True network_wait=62.869434759020805 rate_limit_wait=0 rate_limit_count=0 excluded=62.869434759020805 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode f922526c3c47488c80b5edd794691051-2 (codex/gpt-6.1-sol) ended: wall=1201.331s harness=984.375s tokens=5358586 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=41.91836115717888 rate_limit_wait=0 rate_limit_count=0 excluded=41.91836115717888 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 3f6eaf729781443d900add899b1b1acb-0 (codex/gpt-6.1-sol) ended: wall=2287.364s harness=2076.375s tokens=9885918 usage_complete=True decisions=113 executed_steps=900 steps_complete=True network_wait=74.12035458534956 rate_limit_wait=0 rate_limit_count=0 excluded=74.12035458534956 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 3bdac3d0b5d44d0287b433696f5cc707-1 (codex/gpt-6.1-sol) ended: wall=1355.498s harness=1200.747s tokens=6681564 usage_complete=False decisions=83 executed_steps=659 steps_complete=True network_wait=33.37119098752737 rate_limit_wait=0 rate_limit_count=0 excluded=33.37119098752737 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode ef1f44dbaaae416ea378b8aa9918acec-2 (codex/gpt-6.1-sol) ended: wall=1818.955s harness=1641.085s tokens=8124353 usage_complete=False decisions=97 executed_steps=769 steps_complete=True network_wait=89.23427511751652 rate_limit_wait=0 rate_limit_count=0 excluded=89.23427511751652 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode f5eb462091e64fa289b4e74d3fcab7d1-0 (codex/gpt-6.1-sol) ended: wall=515.473s harness=450.997s tokens=2686149 usage_complete=True decisions=38 executed_steps=297 steps_complete=True network_wait=49.90238480269909 rate_limit_wait=0 rate_limit_count=0 excluded=49.90238480269909 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode b57c7147ef404a059fecf68592114af1-1 (codex/gpt-6.1-sol) ended: wall=691.489s harness=607.521s tokens=3623053 usage_complete=True decisions=49 executed_steps=385 steps_complete=True network_wait=10.405050821602345 rate_limit_wait=0 rate_limit_count=0 excluded=10.405050821602345 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 4cbf25fbc9774e61aa5428059742d6d2-2 (codex/gpt-6.1-sol) ended: wall=1311.081s harness=1149.770s tokens=7668403 usage_complete=False decisions=94 executed_steps=750 steps_complete=True network_wait=83.46521281450987 rate_limit_wait=0 rate_limit_count=0 excluded=83.46521281450987 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_6/harness/20261030T160344.643455Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 40486) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/client.log b/harness_robolab_exploration/embo_sol/gpu_7/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..7455d6d4ba8c9a9432e7680c13b166a25518d5a8
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/client.log
@@ -0,0 +1,992 @@
+[2026-10-30T16:03:41Z] GPU 7: Starting worker at SmallPumpkinInBinTask/0 (resume=false)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:7
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261030_160347.log
+2026-10-30T16:03:47Z [13ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-10-30T16:03:52Z [4,973ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-30T16:03:52Z [4,974ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-30T16:03:52Z [5,077ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-10-30T16:03:53Z [6,571ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-30T16:03:53Z [6,572ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-30T16:03:53Z [6,574ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 701747
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-10-30T16:03:57Z [10,676ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-10-30T16:03:57Z [10,676ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 912.86  22.49  17.12  16.26  18.38  18.39  18.07  18.17 
+     1  22.44 919.12  17.84  17.93  18.08  17.98  17.93  18.06 
+     2   6.82  20.13 913.21  14.86  14.75  14.35  14.03  14.94 
+     3  10.29   5.67  16.99 921.83  18.28  18.99  17.97  15.63 
+     4  13.90  12.36   3.62   9.18 920.79  22.27  22.49  17.72 
+     5  16.47  14.88  19.85   7.54  12.07 920.74  21.76  19.32 
+     6  16.07  16.45  18.09  18.12  21.58  20.70 920.74  22.24 
+     7  18.18  18.27  15.76  13.40   7.49  21.10  17.25 895.42 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   2.83  11.27  10.77  14.31  29.79  18.32  17.38  59.56 
+     1  16.07   1.33  10.43  12.74  28.59  11.36  15.27  28.19 
+     2 235.89  11.56   1.35  11.64  18.24  15.20  14.24  11.29 
+     3 197.19 102.12  11.38   1.37  21.86  13.66  11.98  11.37 
+     4  25.80 253.23  27.23  28.72   1.43  26.61  26.15  25.38 
+     5  20.26 172.08 206.84  25.86  33.40   1.39  25.26  25.47 
+     6  20.51  19.92 249.82  20.76  26.46  27.14   1.36  11.35 
+     7  11.28  14.78  53.02 217.73  19.33  18.63  15.79   1.32 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.32   6.82   6.66   7.23   8.37   8.07   7.94   8.75 
+     1   6.96   2.24   6.62   7.21   8.23   7.96   8.04   7.96 
+     2   6.97   6.89   2.35   7.49   8.32   8.14   8.81   7.88 
+     3   7.34   7.13   7.33   2.53   8.76   8.69   8.52   8.41 
+     4   7.96   7.92   7.82   8.38   2.80   9.22   9.07   9.03 
+     5   7.63   7.71   7.92   8.30   9.13   2.73   9.08   8.95 
+     6   7.85   7.67   7.79   8.26   9.19   9.05   2.89   9.13 
+     7   7.55   7.57   7.80   8.32   9.07   8.98   8.95   2.72 
+2026-10-30T16:04:01Z [14,392ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 3.6 GB/s.
+2026-10-30T16:04:01Z [14,392ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 253.2 us.
+2026-10-30T16:04:01Z [14,392ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-10-30T16:04:04Z [17,749ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-30T16:04:04Z [17,750ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-30T16:04:04Z [17,848ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-30T16:04:04Z [17,848ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-30T16:04:04Z [17,860ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-30T16:04:04Z [17,860ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-30T16:04:05Z [18,085ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-30T16:04:05Z [18,085ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-30T16:04:05Z [18,092ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-30T16:04:05Z [18,092ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-30T16:04:05Z [18,105ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-30T16:04:05Z [18,105ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-30T16:04:06Z [18,996ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-10-30T16:04:10Z [23,254ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-10-30T16:04:21Z [33,918ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-10-30T16:04:21Z [34,898ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-10-30T16:04:36Z [49,422ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-10-30T16:04:36Z [49,424ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-10-30T16:04:36Z [49,818ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-10-30T16:04:40Z [53,805ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-30T16:04:40Z [53,805ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-30T16:04:40Z [53,806ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-30T16:04:40Z [53,816ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-10-30T16:04:40Z [53,832ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-30T16:04:40Z [53,832ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['SmallPumpkinInBinTask', 'ReorientWhiteMugsTask', 'TakeSpatulaOffShelfTask', 'RedItemsInBinTask', 'MustardInLeftBinTask']
+2026-10-30T16:04:56Z [69,191ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55d7f95805d0>)
+
+2026-10-30T16:04:56Z [69,192ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55d7f95805d0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Environments   : SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/robolab
+══════════════════════════════════════════════════════════════
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-30T16:05:02Z [75,142ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.304425 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-30T16:05:26Z [99,393ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-30T16:05:26Z [99,394ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T16:05:26Z [99,430ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-30T16:05:26Z [99,430ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T16:05:26Z [99,439ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T16:05:26Z [99,448ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-30T16:05:26Z [99,755ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-30T16:05:26Z [99,788ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-30T16:05:31Z [104,180ms] [Warning] [omni.hydra] Parameter 'coat_roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((47))' not available in the MDL representation.
+2026-10-30T16:05:31Z [104,181ms] [Warning] [omni.hydra] Parameter 'coat_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((47))' not available in the MDL representation.
+2026-10-30T16:05:31Z [104,181ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_color' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((47))' not available in the MDL representation.
+2026-10-30T16:05:31Z [104,181ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((47))' not available in the MDL representation.
+2026-10-30T16:05:31Z [104,181ms] [Warning] [omni.hydra] Parameter 'enable_diffuse_transmission' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((47))' not available in the MDL representation.
+2026-10-30T16:05:31Z [104,181ms] [Warning] [omni.hydra] Parameter 'enable_specular_transmission' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((47))' not available in the MDL representation.
+2026-10-30T16:05:31Z [104,182ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((47))' not available in the MDL representation.
+2026-10-30T16:05:31Z [104,182ms] [Warning] [omni.hydra] Parameter 'metalness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((47))' not available in the MDL representation.
+2026-10-30T16:05:31Z [104,182ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((47))' not available in the MDL representation.
+2026-10-30T16:05:31Z [104,182ms] [Warning] [omni.hydra] Parameter 'specular_reflection_ior' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((47))' not available in the MDL representation.
+2026-10-30T16:05:31Z [104,182ms] [Warning] [omni.hydra] Parameter 'specular_reflection_roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((47))' not available in the MDL representation.
+2026-10-30T16:05:31Z [104,183ms] [Warning] [omni.hydra] Parameter 'specular_reflection_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((47))' not available in the MDL representation.
+2026-10-30T16:05:31Z [104,183ms] [Warning] [omni.hydra] Parameter 'specular_retro_reflection_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((47))' not available in the MDL representation.
+2026-10-30T16:05:31Z [104,183ms] [Warning] [omni.hydra] Parameter 'specular_transmission_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((47))' not available in the MDL representation.
+2026-10-30T16:05:31Z [104,183ms] [Warning] [omni.hydra] Parameter 'subsurface_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((47))' not available in the MDL representation.
+2026-10-30T16:05:31Z [104,208ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((53))' not available in the MDL representation.
+2026-10-30T16:05:31Z [104,208ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((53))' not available in the MDL representation.
+2026-10-30T16:05:31Z [104,249ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((59))' not available in the MDL representation.
+2026-10-30T16:05:31Z [104,250ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((59))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,247ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((70))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,247ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((70))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,336ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((95))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,336ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((95))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,394ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,395ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-10-30T16:05:32Z [105,395ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-10-30T16:05:33Z [106,524ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-10-30T16:05:33Z [106,525ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-10-30T16:05:33Z [106,525ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-10-30T16:05:33Z [106,639ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((162))' not available in the MDL representation.
+2026-10-30T16:05:33Z [106,639ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((162))' not available in the MDL representation.
+2026-10-30T16:05:33Z [106,652ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-10-30T16:05:33Z [106,653ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-10-30T16:05:33Z [106,653ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-10-30T16:05:33Z [106,829ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((194))' not available in the MDL representation.
+2026-10-30T16:05:33Z [106,829ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((194))' not available in the MDL representation.
+2026-10-30T16:05:33Z [106,829ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((194))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,034ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((225))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,034ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((225))' not available in the MDL representation.
+2026-10-30T16:05:35Z [108,897ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-10-30T16:05:36Z [109,260ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((59))' not available in the MDL representation.
+2026-10-30T16:05:36Z [109,260ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((59))' not available in the MDL representation.
+2026-10-30T16:05:36Z [109,264ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((95))' not available in the MDL representation.
+2026-10-30T16:05:36Z [109,264ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((95))' not available in the MDL representation.
+2026-10-30T16:05:36Z [109,265ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-10-30T16:05:36Z [109,266ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-10-30T16:05:36Z [109,266ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-10-30T16:05:36Z [109,269ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-10-30T16:05:36Z [109,269ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-10-30T16:05:36Z [109,269ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-10-30T16:05:36Z [109,271ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((162))' not available in the MDL representation.
+2026-10-30T16:05:36Z [109,272ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((162))' not available in the MDL representation.
+2026-10-30T16:05:36Z [109,272ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-10-30T16:05:36Z [109,272ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-10-30T16:05:36Z [109,273ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-10-30T16:05:36Z [109,275ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((194))' not available in the MDL representation.
+2026-10-30T16:05:36Z [109,275ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((194))' not available in the MDL representation.
+2026-10-30T16:05:36Z [109,275ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((194))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 31.973487 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : SmallPumpkinInBinTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the small pumpkin in the bin              │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : SmallPumpkinInBinTaskSceneEnvCfg              │
+│  Attributes  : size, simple                                  │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running SmallPumpkinInBinTask_0: 'Put the small pumpkin in the bin' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:25<6:28:08, 25.90s/it]
  0%|          | 2/900 [00:26<2:45:52, 11.08s/it]
  0%|          | 3/900 [00:27<1:34:53,  6.35s/it]
  0%|          | 4/900 [00:28<1:01:34,  4.12s/it]
  1%|          | 5/900 [00:28<43:05,  2.89s/it]  
  1%|          | 6/900 [00:29<31:59,  2.15s/it]
  1%|          | 7/900 [00:30<24:58,  1.68s/it]
  1%|          | 8/900 [00:30<20:32,  1.38s/it]
  1%|          | 9/900 [00:36<40:58,  2.76s/it]
  1%|          | 10/900 [00:37<31:29,  2.12s/it]
  1%|          | 11/900 [00:38<24:58,  1.69s/it]
  1%|▏         | 12/900 [00:38<20:29,  1.39s/it]
  1%|▏         | 13/900 [00:39<17:28,  1.18s/it]
  2%|▏         | 14/900 [00:40<15:25,  1.04s/it]
  2%|▏         | 15/900 [00:40<14:08,  1.04it/s]
  2%|▏         | 16/900 [00:41<13:02,  1.13it/s]
  2%|▏         | 17/900 [00:54<1:05:29,  4.45s/it]
  2%|▏         | 18/900 [00:55<48:52,  3.32s/it]  
  2%|▏         | 19/900 [00:55<37:12,  2.53s/it]
  2%|▏         | 20/900 [00:56<29:01,  1.98s/it]
  2%|▏         | 21/900 [00:57<23:27,  1.60s/it]
  2%|▏         | 22/900 [00:57<19:32,  1.34s/it]
  3%|▎         | 23/900 [00:58<16:53,  1.16s/it]
  3%|▎         | 24/900 [00:59<14:56,  1.02s/it]
  3%|▎         | 25/900 [01:04<33:54,  2.33s/it]
  3%|▎         | 26/900 [01:05<26:58,  1.85s/it]
  3%|▎         | 27/900 [01:06<21:55,  1.51s/it]
  3%|▎         | 28/900 [01:06<18:18,  1.26s/it]
  3%|▎         | 29/900 [01:07<15:55,  1.10s/it]
  3%|▎         | 30/900 [01:08<14:15,  1.02it/s]
  3%|▎         | 31/900 [01:09<13:07,  1.10it/s]
  4%|▎         | 32/900 [01:09<12:06,  1.19it/s]
  4%|▎         | 33/900 [01:19<50:31,  3.50s/it]
  4%|▍         | 34/900 [01:20<38:12,  2.65s/it]
  4%|▍         | 35/900 [01:20<29:36,  2.05s/it]
  4%|▍         | 36/900 [01:21<23:45,  1.65s/it]
  4%|▍         | 37/900 [01:22<19:45,  1.37s/it]
  4%|▍         | 38/900 [01:22<17:00,  1.18s/it]
  4%|▍         | 39/900 [01:23<14:50,  1.03s/it]
  4%|▍         | 40/900 [01:24<13:16,  1.08it/s]
  5%|▍         | 41/900 [01:34<54:26,  3.80s/it]
  5%|▍         | 42/900 [01:35<41:02,  2.87s/it]
  5%|▍         | 43/900 [01:36<31:51,  2.23s/it]
  5%|▍         | 44/900 [01:37<25:27,  1.78s/it]
  5%|▌         | 45/900 [01:37<20:46,  1.46s/it]
  5%|▌         | 46/900 [01:38<17:30,  1.23s/it]
  5%|▌         | 47/900 [01:39<15:13,  1.07s/it]
  5%|▌         | 48/900 [01:39<13:37,  1.04it/s]
  5%|▌         | 49/900 [01:49<52:04,  3.67s/it]
  6%|▌         | 50/900 [01:50<39:21,  2.78s/it]
  6%|▌         | 51/900 [01:51<30:25,  2.15s/it]
  6%|▌         | 52/900 [01:51<24:12,  1.71s/it]
  6%|▌         | 53/900 [01:52<19:50,  1.41s/it]
  6%|▌         | 54/900 [01:53<16:48,  1.19s/it]
  6%|▌         | 55/900 [01:53<14:44,  1.05s/it]
  6%|▌         | 56/900 [01:54<13:14,  1.06it/s]2026-10-30T16:07:47Z [240,261ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+
  6%|▋         | 57/900 [02:09<1:12:28,  5.16s/it]
  6%|▋         | 58/900 [02:10<53:31,  3.81s/it]  
  7%|▋         | 59/900 [02:10<40:13,  2.87s/it]
  7%|▋         | 60/900 [02:11<31:23,  2.24s/it]
  7%|▋         | 61/900 [02:12<24:59,  1.79s/it]
  7%|▋         | 62/900 [02:13<20:42,  1.48s/it]
  7%|▋         | 63/900 [02:13<17:22,  1.25s/it]
  7%|▋         | 64/900 [02:14<15:00,  1.08s/it]
  7%|▋         | 65/900 [02:26<58:44,  4.22s/it]
  7%|▋         | 66/900 [02:26<44:13,  3.18s/it]
  7%|▋         | 67/900 [02:27<33:51,  2.44s/it]
  8%|▊         | 68/900 [02:28<26:54,  1.94s/it]
  8%|▊         | 69/900 [02:29<21:51,  1.58s/it]
  8%|▊         | 70/900 [02:29<18:18,  1.32s/it]
  8%|▊         | 71/900 [02:30<15:47,  1.14s/it]
  8%|▊         | 72/900 [02:31<13:58,  1.01s/it]
  8%|▊         | 73/900 [02:43<58:42,  4.26s/it]
  8%|▊         | 74/900 [02:43<43:54,  3.19s/it]
  8%|▊         | 75/900 [02:44<33:32,  2.44s/it]
  8%|▊         | 76/900 [02:45<26:16,  1.91s/it]
  9%|▊         | 77/900 [02:45<21:12,  1.55s/it]
  9%|▊         | 78/900 [02:46<17:32,  1.28s/it]
  9%|▉         | 79/900 [02:47<14:58,  1.09s/it]
  9%|▉         | 80/900 [02:47<13:11,  1.04it/s]
  9%|▉         | 81/900 [02:57<47:45,  3.50s/it]
  9%|▉         | 82/900 [02:57<36:07,  2.65s/it]
  9%|▉         | 83/900 [02:58<28:00,  2.06s/it]
  9%|▉         | 84/900 [02:59<22:18,  1.64s/it]
  9%|▉         | 85/900 [03:00<18:25,  1.36s/it]
 10%|▉         | 86/900 [03:00<15:40,  1.16s/it]
 10%|▉         | 87/900 [03:01<13:47,  1.02s/it]
 10%|▉         | 88/900 [03:02<12:27,  1.09it/s]
 10%|▉         | 89/900 [03:08<33:53,  2.51s/it]
 10%|█         | 90/900 [03:09<26:32,  1.97s/it]
 10%|█         | 91/900 [03:09<21:24,  1.59s/it]
 10%|█         | 92/900 [03:10<17:52,  1.33s/it]
 10%|█         | 93/900 [03:11<15:17,  1.14s/it]
 10%|█         | 94/900 [03:11<13:30,  1.01s/it]
 11%|█         | 95/900 [03:12<12:15,  1.09it/s]
 11%|█         | 96/900 [03:13<11:25,  1.17it/s]
 11%|█         | 97/900 [03:25<55:16,  4.13s/it]
 11%|█         | 98/900 [03:25<41:24,  3.10s/it]
 11%|█         | 99/900 [03:26<31:39,  2.37s/it]
 11%|█         | 100/900 [03:27<24:49,  1.86s/it]
 11%|█         | 101/900 [03:27<20:00,  1.50s/it]
 11%|█▏        | 102/900 [03:28<16:42,  1.26s/it]
 11%|█▏        | 103/900 [03:29<14:24,  1.08s/it]
 12%|█▏        | 104/900 [03:29<12:45,  1.04it/s]
 12%|█▏        | 105/900 [03:42<59:34,  4.50s/it]
 12%|█▏        | 106/900 [03:43<44:26,  3.36s/it]
 12%|█▏        | 107/900 [03:43<33:39,  2.55s/it]
 12%|█▏        | 108/900 [03:44<26:09,  1.98s/it]
 12%|█▏        | 109/900 [03:45<21:03,  1.60s/it]
 12%|█▏        | 110/900 [03:45<17:23,  1.32s/it]
 12%|█▏        | 111/900 [03:46<15:00,  1.14s/it]
 12%|█▏        | 112/900 [03:47<13:13,  1.01s/it]
 13%|█▎        | 113/900 [04:02<1:08:01,  5.19s/it]
 13%|█▎        | 114/900 [04:02<50:22,  3.84s/it]  
 13%|█▎        | 115/900 [04:03<37:51,  2.89s/it]
 13%|█▎        | 116/900 [04:04<29:10,  2.23s/it]
 13%|█▎        | 117/900 [04:05<23:00,  1.76s/it]
 13%|█▎        | 118/900 [04:05<18:46,  1.44s/it]
 13%|█▎        | 119/900 [04:06<15:52,  1.22s/it]
 13%|█▎        | 120/900 [04:07<13:55,  1.07s/it]
 13%|█▎        | 121/900 [04:13<35:35,  2.74s/it]
 14%|█▎        | 122/900 [04:14<27:40,  2.13s/it]
 14%|█▎        | 123/900 [04:15<22:07,  1.71s/it]
 14%|█▍        | 124/900 [04:15<18:11,  1.41s/it]
 14%|█▍        | 125/900 [04:16<15:26,  1.20s/it]
 14%|█▍        | 126/900 [04:17<13:35,  1.05s/it]
 14%|█▍        | 127/900 [04:18<12:18,  1.05it/s]
 14%|█▍        | 128/900 [04:18<11:17,  1.14it/s]
 14%|█▍        | 129/900 [04:32<1:02:29,  4.86s/it]
 14%|█▍        | 130/900 [04:33<46:38,  3.63s/it]  
 15%|█▍        | 131/900 [04:34<35:19,  2.76s/it]
 15%|█▍        | 132/900 [04:35<27:22,  2.14s/it]
 15%|█▍        | 133/900 [04:35<21:50,  1.71s/it]
 15%|█▍        | 134/900 [04:36<18:11,  1.43s/it]
 15%|█▌        | 135/900 [04:37<15:25,  1.21s/it]
 15%|█▌        | 136/900 [04:37<13:31,  1.06s/it]
 15%|█▌        | 137/900 [04:53<1:10:03,  5.51s/it]
 15%|█▌        | 138/900 [04:54<51:35,  4.06s/it]  
 15%|█▌        | 139/900 [04:55<38:39,  3.05s/it]
 16%|█▌        | 140/900 [04:55<29:40,  2.34s/it]
 16%|█▌        | 141/900 [04:56<23:23,  1.85s/it]
 16%|█▌        | 142/900 [04:57<18:59,  1.50s/it]
 16%|█▌        | 143/900 [04:58<15:59,  1.27s/it]
 16%|█▌        | 144/900 [04:58<13:50,  1.10s/it]
 16%|█▌        | 145/900 [05:39<2:43:15, 12.97s/it]
 16%|█▌        | 146/900 [05:40<1:56:47,  9.29s/it]
 16%|█▋        | 147/900 [05:40<1:24:20,  6.72s/it]
 16%|█▋        | 148/900 [05:41<1:01:30,  4.91s/it]
 17%|█▋        | 149/900 [05:42<45:37,  3.64s/it]  
 17%|█▋        | 150/900 [05:42<34:28,  2.76s/it]
 17%|█▋        | 151/900 [05:43<26:41,  2.14s/it]
 17%|█▋        | 152/900 [05:44<21:17,  1.71s/it]
 17%|█▋        | 153/900 [05:54<53:27,  4.29s/it]
 17%|█▋        | 154/900 [05:55<39:57,  3.21s/it]
 17%|█▋        | 155/900 [05:56<30:32,  2.46s/it]
 17%|█▋        | 156/900 [05:56<23:57,  1.93s/it]
 17%|█▋        | 157/900 [05:57<19:17,  1.56s/it]
 18%|█▊        | 158/900 [05:58<15:56,  1.29s/it]
 18%|█▊        | 159/900 [05:58<13:40,  1.11s/it]
 18%|█▊        | 160/900 [05:59<12:08,  1.02it/s]
 18%|█▊        | 161/900 [06:10<50:52,  4.13s/it]
 18%|█▊        | 162/900 [06:11<38:11,  3.11s/it]
 18%|█▊        | 163/900 [06:12<29:29,  2.40s/it]
 18%|█▊        | 164/900 [06:13<23:23,  1.91s/it]
 18%|█▊        | 165/900 [06:13<19:02,  1.55s/it]
 18%|█▊        | 166/900 [06:14<16:00,  1.31s/it]
 19%|█▊        | 167/900 [06:15<13:47,  1.13s/it]
 19%|█▊        | 168/900 [06:16<12:19,  1.01s/it]
 19%|█▉        | 169/900 [06:25<42:54,  3.52s/it]
 19%|█▉        | 170/900 [06:26<32:23,  2.66s/it]
 19%|█▉        | 171/900 [06:26<25:03,  2.06s/it]
 19%|█▉        | 172/900 [06:27<19:56,  1.64s/it]
 19%|█▉        | 173/900 [06:28<16:22,  1.35s/it]
 19%|█▉        | 174/900 [06:28<13:51,  1.15s/it]
 19%|█▉        | 175/900 [06:29<12:07,  1.00s/it]
 20%|█▉        | 176/900 [06:30<10:55,  1.10it/s]
 20%|█▉        | 177/900 [06:38<39:00,  3.24s/it]
 20%|█▉        | 178/900 [06:39<29:53,  2.48s/it]
 20%|█▉        | 179/900 [06:40<23:25,  1.95s/it]
 20%|██        | 180/900 [06:40<19:02,  1.59s/it]
 20%|██        | 181/900 [06:41<15:50,  1.32s/it]
 20%|██        | 182/900 [06:42<13:45,  1.15s/it]
 20%|██        | 183/900 [06:43<12:07,  1.01s/it]
 20%|██        | 184/900 [06:43<11:01,  1.08it/s]
 21%|██        | 185/900 [08:17<5:41:04, 28.62s/it]
 21%|██        | 186/900 [08:17<4:01:01, 20.25s/it]
 21%|██        | 187/900 [08:18<2:51:01, 14.39s/it]
 21%|██        | 188/900 [08:19<2:02:04, 10.29s/it]
 21%|██        | 189/900 [08:19<1:28:00,  7.43s/it]
 21%|██        | 190/900 [08:20<1:04:06,  5.42s/it]
 21%|██        | 191/900 [08:21<47:12,  4.00s/it]  
 21%|██▏       | 192/900 [08:22<35:25,  3.00s/it]
 21%|██▏       | 193/900 [08:46<1:49:48,  9.32s/it]
 22%|██▏       | 194/900 [08:46<1:19:10,  6.73s/it]
 22%|██▏       | 195/900 [08:47<57:58,  4.93s/it]  
 22%|██▏       | 196/900 [08:48<43:10,  3.68s/it]
 22%|██▏       | 197/900 [08:48<32:29,  2.77s/it]
 22%|██▏       | 198/900 [08:49<25:09,  2.15s/it]
 22%|██▏       | 199/900 [08:50<19:53,  1.70s/it]
 22%|██▏       | 200/900 [08:50<16:10,  1.39s/it]
 22%|██▏       | 201/900 [09:07<1:09:39,  5.98s/it]
 22%|██▏       | 202/900 [09:08<51:09,  4.40s/it]  
 23%|██▎       | 203/900 [09:09<38:14,  3.29s/it]
 23%|██▎       | 204/900 [09:09<29:09,  2.51s/it]
 23%|██▎       | 205/900 [09:10<22:51,  1.97s/it]
 23%|██▎       | 206/900 [09:11<18:26,  1.59s/it]
 23%|██▎       | 207/900 [09:11<15:19,  1.33s/it]
 23%|██▎       | 208/900 [09:12<13:06,  1.14s/it]
 23%|██▎       | 209/900 [10:37<5:01:12, 26.15s/it]
 23%|██▎       | 210/900 [10:37<3:32:56, 18.52s/it]
 23%|██▎       | 211/900 [10:38<2:31:16, 13.17s/it]
 24%|██▎       | 212/900 [10:39<1:48:07,  9.43s/it]
 24%|██▎       | 213/900 [10:39<1:17:57,  6.81s/it]
 24%|██▍       | 214/900 [10:40<56:53,  4.98s/it]  
 24%|██▍       | 215/900 [10:41<42:08,  3.69s/it]
 24%|██▍       | 216/900 [10:42<31:58,  2.81s/it]
 24%|██▍       | 217/900 [12:53<7:51:31, 41.42s/it]
 24%|██▍       | 218/900 [12:54<5:32:03, 29.21s/it]
 24%|██▍       | 219/900 [12:55<3:54:32, 20.66s/it]
 24%|██▍       | 220/900 [12:55<2:46:21, 14.68s/it]
 25%|██▍       | 221/900 [12:56<1:58:41, 10.49s/it]
 25%|██▍       | 222/900 [12:57<1:25:23,  7.56s/it]
 25%|██▍       | 223/900 [12:57<1:02:06,  5.50s/it]
 25%|██▍       | 224/900 [12:58<45:58,  4.08s/it]  
 25%|██▌       | 225/900 [14:22<5:14:25, 27.95s/it]
 25%|██▌       | 226/900 [14:23<3:43:07, 19.86s/it]
 25%|██▌       | 227/900 [14:24<2:38:27, 14.13s/it]
 25%|██▌       | 228/900 [14:24<1:53:15, 10.11s/it]
 25%|██▌       | 229/900 [14:25<1:21:31,  7.29s/it]
 26%|██▌       | 230/900 [14:26<59:20,  5.31s/it]  
 26%|██▌       | 231/900 [14:26<43:51,  3.93s/it]
 26%|██▌       | 232/900 [14:27<33:03,  2.97s/it]
 26%|██▌       | 233/900 [14:57<2:03:54, 11.15s/it]
 26%|██▌       | 234/900 [14:58<1:29:03,  8.02s/it]
 26%|██▌       | 235/900 [14:59<1:04:33,  5.83s/it]
 26%|██▌       | 236/900 [14:59<47:29,  4.29s/it]  
 26%|██▋       | 237/900 [15:00<35:34,  3.22s/it]
 26%|██▋       | 238/900 [15:01<27:17,  2.47s/it]
 27%|██▋       | 239/900 [15:02<21:21,  1.94s/it]
 27%|██▋       | 240/900 [15:02<17:17,  1.57s/it]
 27%|██▋       | 241/900 [15:19<1:06:31,  6.06s/it]
 27%|██▋       | 242/900 [15:20<48:51,  4.46s/it]  
 27%|██▋       | 243/900 [15:20<36:38,  3.35s/it]
 27%|██▋       | 244/900 [15:21<28:03,  2.57s/it]
 27%|██▋       | 245/900 [15:22<22:00,  2.02s/it]
 27%|██▋       | 246/900 [15:23<17:57,  1.65s/it]
 27%|██▋       | 247/900 [15:23<14:55,  1.37s/it]
 28%|██▊       | 248/900 [15:24<12:47,  1.18s/it]
 28%|██▊       | 249/900 [15:34<41:08,  3.79s/it]
 28%|██▊       | 250/900 [15:35<31:05,  2.87s/it]
 28%|██▊       | 251/900 [15:35<24:03,  2.22s/it]
 28%|██▊       | 252/900 [15:36<19:10,  1.78s/it]
 28%|██▊       | 253/900 [15:37<15:43,  1.46s/it]
 28%|██▊       | 254/900 [15:38<13:19,  1.24s/it]
 28%|██▊       | 255/900 [15:38<11:39,  1.08s/it]
 28%|██▊       | 256/900 [15:39<10:31,  1.02it/s]
 29%|██▊       | 257/900 [15:54<55:20,  5.16s/it]
 29%|██▊       | 258/900 [15:55<41:01,  3.83s/it]
 29%|██▉       | 259/900 [15:55<31:00,  2.90s/it]
 29%|██▉       | 260/900 [15:56<24:00,  2.25s/it]
 29%|██▉       | 261/900 [15:57<19:06,  1.79s/it]
 29%|██▉       | 262/900 [15:58<15:42,  1.48s/it]
 29%|██▉       | 263/900 [15:58<13:20,  1.26s/it]
 29%|██▉       | 264/900 [15:59<11:39,  1.10s/it]
 29%|██▉       | 265/900 [16:46<2:36:57, 14.83s/it]
 30%|██▉       | 266/900 [16:47<1:51:58, 10.60s/it]
 30%|██▉       | 267/900 [16:47<1:20:31,  7.63s/it]
 30%|██▉       | 268/900 [16:48<58:32,  5.56s/it]  
 30%|██▉       | 269/900 [16:49<43:09,  4.10s/it]
 30%|███       | 270/900 [16:50<32:26,  3.09s/it]
 30%|███       | 271/900 [16:50<24:52,  2.37s/it]
 30%|███       | 272/900 [16:51<19:32,  1.87s/it]
 30%|███       | 273/900 [17:13<1:21:55,  7.84s/it]
 30%|███       | 274/900 [17:13<59:28,  5.70s/it]  
 31%|███       | 275/900 [17:14<43:51,  4.21s/it]
 31%|███       | 276/900 [17:15<32:54,  3.16s/it]
 31%|███       | 277/900 [17:16<25:14,  2.43s/it]
 31%|███       | 278/900 [17:16<19:54,  1.92s/it]
 31%|███       | 279/900 [17:17<16:08,  1.56s/it]
 31%|███       | 280/900 [17:18<13:31,  1.31s/it]
 31%|███       | 281/900 [18:06<2:37:32, 15.27s/it]
 31%|███▏      | 282/900 [18:06<1:52:19, 10.91s/it]
 31%|███▏      | 283/900 [18:07<1:20:42,  7.85s/it]
 32%|███▏      | 284/900 [18:08<58:39,  5.71s/it]  
 32%|███▏      | 285/900 [18:08<43:13,  4.22s/it]
 32%|███▏      | 286/900 [18:09<32:27,  3.17s/it]
 32%|███▏      | 287/900 [18:10<24:54,  2.44s/it]
 32%|███▏      | 288/900 [18:11<19:36,  1.92s/it]
 32%|███▏      | 289/900 [18:26<59:47,  5.87s/it]
 32%|███▏      | 290/900 [18:26<44:00,  4.33s/it]
 32%|███▏      | 291/900 [18:27<33:01,  3.25s/it]
 32%|███▏      | 292/900 [18:28<25:20,  2.50s/it]
 33%|███▎      | 293/900 [18:29<19:52,  1.97s/it]
 33%|███▎      | 294/900 [18:29<16:04,  1.59s/it]
 33%|███▎      | 295/900 [18:30<13:18,  1.32s/it]
 33%|███▎      | 296/900 [18:31<11:22,  1.13s/it]
 33%|███▎      | 297/900 [18:57<1:26:29,  8.61s/it]
 33%|███▎      | 298/900 [18:58<1:02:31,  6.23s/it]
 33%|███▎      | 299/900 [18:58<45:48,  4.57s/it]  
 33%|███▎      | 300/900 [18:59<34:06,  3.41s/it]
 33%|███▎      | 301/900 [19:00<25:56,  2.60s/it]
 34%|███▎      | 302/900 [19:00<20:12,  2.03s/it]
 34%|███▎      | 303/900 [19:01<16:12,  1.63s/it]
 34%|███▍      | 304/900 [19:02<13:24,  1.35s/it]
 34%|███▍      | 305/900 [19:09<31:09,  3.14s/it]
 34%|███▍      | 306/900 [19:10<23:53,  2.41s/it]
 34%|███▍      | 307/900 [19:11<18:58,  1.92s/it]
 34%|███▍      | 308/900 [19:11<15:22,  1.56s/it]
 34%|███▍      | 309/900 [19:12<12:50,  1.30s/it]
 34%|███▍      | 310/900 [19:13<11:03,  1.13s/it]
 35%|███▍      | 311/900 [19:13<09:49,  1.00s/it]
 35%|███▍      | 312/900 [19:14<09:01,  1.09it/s]
 35%|███▍      | 313/900 [20:14<3:02:47, 18.68s/it]
 35%|███▍      | 314/900 [20:15<2:09:45, 13.29s/it]
 35%|███▌      | 315/900 [20:16<1:32:40,  9.51s/it]
 35%|███▌      | 316/900 [20:16<1:06:45,  6.86s/it]
 35%|███▌      | 317/900 [20:17<48:40,  5.01s/it]  
 35%|███▌      | 318/900 [20:18<35:59,  3.71s/it]
 35%|███▌      | 319/900 [20:18<27:09,  2.80s/it]
 36%|███▌      | 320/900 [20:19<20:58,  2.17s/it]
 36%|███▌      | 321/900 [20:48<1:39:46, 10.34s/it]
 36%|███▌      | 322/900 [20:49<1:11:44,  7.45s/it]
 36%|███▌      | 323/900 [20:50<52:06,  5.42s/it]  
 36%|███▌      | 324/900 [20:51<38:22,  4.00s/it]
 36%|███▌      | 325/900 [20:51<28:47,  3.00s/it]
 36%|███▌      | 326/900 [20:52<22:08,  2.31s/it]
 36%|███▋      | 327/900 [20:53<17:26,  1.83s/it]
 36%|███▋      | 328/900 [20:53<14:09,  1.48s/it]
 37%|███▋      | 329/900 [21:29<1:50:46, 11.64s/it]
 37%|███▋      | 330/900 [21:29<1:19:23,  8.36s/it]
 37%|███▋      | 331/900 [21:30<57:25,  6.06s/it]  
 37%|███▋      | 332/900 [21:31<42:06,  4.45s/it]
 37%|███▋      | 333/900 [21:31<31:23,  3.32s/it]
 37%|███▋      | 334/900 [21:32<23:55,  2.54s/it]
 37%|███▋      | 335/900 [21:33<18:40,  1.98s/it]
 37%|███▋      | 336/900 [21:33<15:01,  1.60s/it]
 37%|███▋      | 337/900 [22:26<2:38:23, 16.88s/it]
 38%|███▊      | 338/900 [22:27<1:52:37, 12.02s/it]
 38%|███▊      | 339/900 [22:27<1:20:37,  8.62s/it]
 38%|███▊      | 340/900 [22:28<58:16,  6.24s/it]  
 38%|███▊      | 341/900 [22:29<42:39,  4.58s/it]
 38%|███▊      | 342/900 [22:29<31:46,  3.42s/it]
 38%|███▊      | 343/900 [22:30<24:12,  2.61s/it]
 38%|███▊      | 344/900 [22:31<18:49,  2.03s/it]
 38%|███▊      | 345/900 [22:44<48:27,  5.24s/it]
 38%|███▊      | 346/900 [22:44<35:48,  3.88s/it]
 39%|███▊      | 347/900 [22:45<26:49,  2.91s/it]
 39%|███▊      | 348/900 [22:46<20:32,  2.23s/it]
 39%|███▉      | 349/900 [22:46<16:09,  1.76s/it]
 39%|███▉      | 350/900 [22:47<13:06,  1.43s/it]
 39%|███▉      | 351/900 [22:48<10:58,  1.20s/it]
 39%|███▉      | 352/900 [22:48<09:28,  1.04s/it]
 39%|███▉      | 353/900 [24:19<4:15:42, 28.05s/it]
 39%|███▉      | 354/900 [24:20<3:00:36, 19.85s/it]
 39%|███▉      | 355/900 [24:21<2:08:04, 14.10s/it]
 40%|███▉      | 356/900 [24:21<1:31:26, 10.09s/it]
 40%|███▉      | 357/900 [24:22<1:05:48,  7.27s/it]
 40%|███▉      | 358/900 [24:23<47:51,  5.30s/it]  
 40%|███▉      | 359/900 [24:24<35:17,  3.91s/it]
 40%|████      | 360/900 [24:24<26:31,  2.95s/it]
 40%|████      | 361/900 [24:41<1:03:53,  7.11s/it]
 40%|████      | 362/900 [24:42<46:29,  5.18s/it]  
 40%|████      | 363/900 [24:42<34:17,  3.83s/it]
 40%|████      | 364/900 [24:43<25:49,  2.89s/it]
 41%|████      | 365/900 [24:44<19:52,  2.23s/it]
 41%|████      | 366/900 [24:44<15:43,  1.77s/it]
 41%|████      | 367/900 [24:45<12:50,  1.45s/it]
 41%|████      | 368/900 [24:46<10:52,  1.23s/it]
 41%|████      | 369/900 [25:17<1:29:25, 10.10s/it]
 41%|████      | 370/900 [25:17<1:04:20,  7.28s/it]
 41%|████      | 371/900 [25:18<46:49,  5.31s/it]  
 41%|████▏     | 372/900 [25:19<34:39,  3.94s/it]
 41%|████▏     | 373/900 [25:20<26:08,  2.98s/it]
 42%|████▏     | 374/900 [25:20<20:14,  2.31s/it]
 42%|████▏     | 375/900 [25:21<16:06,  1.84s/it]
 42%|████▏     | 376/900 [25:22<13:11,  1.51s/it]
 42%|████▏     | 377/900 [25:48<1:17:28,  8.89s/it]
 42%|████▏     | 378/900 [25:49<56:00,  6.44s/it]  
 42%|████▏     | 379/900 [25:49<41:02,  4.73s/it]
 42%|████▏     | 380/900 [25:50<30:32,  3.52s/it]
 42%|████▏     | 381/900 [25:51<23:11,  2.68s/it]
 42%|████▏     | 382/900 [25:52<18:05,  2.09s/it]
 43%|████▎     | 383/900 [25:52<14:30,  1.68s/it]
 43%|████▎     | 384/900 [25:53<11:59,  1.39s/it]
 43%|████▎     | 385/900 [26:49<2:33:06, 17.84s/it]
 43%|████▎     | 386/900 [26:50<1:48:49, 12.70s/it]
 43%|████▎     | 387/900 [26:51<1:17:50,  9.11s/it]
 43%|████▎     | 388/900 [26:51<56:14,  6.59s/it]  
 43%|████▎     | 389/900 [26:52<41:06,  4.83s/it]
 43%|████▎     | 390/900 [26:53<30:33,  3.59s/it]
 43%|████▎     | 391/900 [26:54<23:11,  2.73s/it]
 44%|████▎     | 392/900 [26:54<18:00,  2.13s/it]
 44%|████▎     | 393/900 [28:31<4:17:09, 30.43s/it]
 44%|████▍     | 394/900 [28:31<3:01:27, 21.52s/it]
 44%|████▍     | 395/900 [28:32<2:08:32, 15.27s/it]
 44%|████▍     | 396/900 [28:33<1:31:32, 10.90s/it]
 44%|████▍     | 397/900 [28:33<1:05:41,  7.84s/it]
 44%|████▍     | 398/900 [28:34<47:37,  5.69s/it]  
 44%|████▍     | 399/900 [28:35<34:57,  4.19s/it]
 44%|████▍     | 400/900 [28:36<26:08,  3.14s/it]
 45%|████▍     | 401/900 [28:58<1:14:22,  8.94s/it]
 45%|████▍     | 402/900 [28:59<53:40,  6.47s/it]  
 45%|████▍     | 403/900 [28:59<39:14,  4.74s/it]
 45%|████▍     | 404/900 [29:00<29:08,  3.53s/it]
 45%|████▌     | 405/900 [29:01<22:04,  2.68s/it]
 45%|████▌     | 406/900 [29:02<17:07,  2.08s/it]
 45%|████▌     | 407/900 [29:02<13:39,  1.66s/it]
 45%|████▌     | 408/900 [29:03<11:14,  1.37s/it]
 45%|████▌     | 409/900 [29:48<1:58:54, 14.53s/it]
 46%|████▌     | 410/900 [29:49<1:24:45, 10.38s/it]
 46%|████▌     | 411/900 [29:50<1:00:58,  7.48s/it]
 46%|████▌     | 412/900 [29:50<44:19,  5.45s/it]  
 46%|████▌     | 413/900 [29:51<32:41,  4.03s/it]
 46%|████▌     | 414/900 [29:52<24:41,  3.05s/it]
 46%|████▌     | 415/900 [29:52<19:00,  2.35s/it]
 46%|████▌     | 416/900 [29:53<15:02,  1.86s/it]
 46%|████▋     | 417/900 [30:21<1:17:02,  9.57s/it]
 46%|████▋     | 418/900 [30:21<55:31,  6.91s/it]  
 47%|████▋     | 419/900 [30:22<40:31,  5.06s/it]
 47%|████▋     | 420/900 [30:23<30:02,  3.76s/it]
 47%|████▋     | 421/900 [30:24<22:43,  2.85s/it]
 47%|████▋     | 422/900 [30:24<17:35,  2.21s/it]
 47%|████▋     | 423/900 [30:25<13:59,  1.76s/it]
 47%|████▋     | 424/900 [30:26<11:28,  1.45s/it]
 47%|████▋     | 425/900 [30:49<1:02:35,  7.91s/it]
 47%|████▋     | 426/900 [30:49<45:26,  5.75s/it]  
 47%|████▋     | 427/900 [30:50<33:26,  4.24s/it]
 48%|████▊     | 428/900 [30:51<25:02,  3.18s/it]
 48%|████▊     | 429/900 [30:52<19:11,  2.45s/it]
 48%|████▊     | 430/900 [30:52<15:08,  1.93s/it]
 48%|████▊     | 431/900 [30:53<12:14,  1.57s/it]
 48%|████▊     | 432/900 [30:54<10:13,  1.31s/it]
 48%|████▊     | 433/900 [31:24<1:18:18, 10.06s/it]
 48%|████▊     | 434/900 [31:25<56:22,  7.26s/it]  
 48%|████▊     | 435/900 [31:26<41:00,  5.29s/it]
 48%|████▊     | 436/900 [31:26<30:19,  3.92s/it]
 49%|████▊     | 437/900 [31:27<22:51,  2.96s/it]
 49%|████▊     | 438/900 [31:28<17:37,  2.29s/it]
 49%|████▉     | 439/900 [31:29<13:58,  1.82s/it]
 49%|████▉     | 440/900 [31:29<11:23,  1.49s/it]
 49%|████▉     | 441/900 [32:36<2:40:45, 21.01s/it]
 49%|████▉     | 442/900 [32:37<1:53:57, 14.93s/it]
 49%|████▉     | 443/900 [32:37<1:21:13, 10.66s/it]
 49%|████▉     | 444/900 [32:38<58:20,  7.68s/it]  
 49%|████▉     | 445/900 [32:39<42:21,  5.59s/it]
 50%|████▉     | 446/900 [32:39<31:09,  4.12s/it]
 50%|████▉     | 447/900 [32:40<23:18,  3.09s/it]
 50%|████▉     | 448/900 [32:41<17:51,  2.37s/it]
 50%|████▉     | 449/900 [34:52<5:09:00, 41.11s/it]
 50%|█████     | 450/900 [34:53<3:37:24, 28.99s/it]
 50%|█████     | 451/900 [34:54<2:33:27, 20.51s/it]
 50%|█████     | 452/900 [34:54<1:48:45, 14.56s/it]
 50%|█████     | 453/900 [34:55<1:17:31, 10.41s/it]
 50%|█████     | 454/900 [34:56<55:40,  7.49s/it]  
 51%|█████     | 455/900 [34:56<40:25,  5.45s/it]
 51%|█████     | 456/900 [34:57<29:47,  4.03s/it]
 51%|█████     | 457/900 [37:29<5:57:19, 48.40s/it]
 51%|█████     | 458/900 [37:30<4:11:04, 34.08s/it]
 51%|█████     | 459/900 [37:30<2:56:52, 24.06s/it]
 51%|█████     | 460/900 [37:31<2:05:07, 17.06s/it]
 51%|█████     | 461/900 [37:32<1:28:57, 12.16s/it]
 51%|█████▏    | 462/900 [37:33<1:03:40,  8.72s/it]
 51%|█████▏    | 463/900 [37:33<46:04,  6.33s/it]  
 52%|█████▏    | 464/900 [37:34<33:46,  4.65s/it]
 52%|█████▏    | 465/900 [37:59<1:17:39, 10.71s/it]
 52%|█████▏    | 466/900 [38:00<55:49,  7.72s/it]  
 52%|█████▏    | 467/900 [38:00<40:32,  5.62s/it]
 52%|█████▏    | 468/900 [38:01<29:53,  4.15s/it]
 52%|█████▏    | 469/900 [38:02<22:27,  3.13s/it]
 52%|█████▏    | 470/900 [38:03<17:13,  2.40s/it]
 52%|█████▏    | 471/900 [38:03<13:32,  1.89s/it]
 52%|█████▏    | 472/900 [38:04<10:59,  1.54s/it]
 53%|█████▎    | 473/900 [38:43<1:30:48, 12.76s/it]
 53%|█████▎    | 474/900 [38:44<1:04:53,  9.14s/it]
 53%|█████▎    | 475/900 [38:44<46:47,  6.60s/it]  
 53%|█████▎    | 476/900 [38:45<34:07,  4.83s/it]
 53%|█████▎    | 477/900 [38:46<25:14,  3.58s/it]
 53%|█████▎    | 478/900 [38:46<19:01,  2.71s/it]
 53%|█████▎    | 479/900 [38:47<14:43,  2.10s/it]
 53%|█████▎    | 480/900 [38:48<11:43,  1.67s/it]
 53%|█████▎    | 481/900 [39:19<1:13:45, 10.56s/it]
 54%|█████▎    | 482/900 [39:20<52:57,  7.60s/it]  
 54%|█████▎    | 483/900 [39:20<38:28,  5.54s/it]
 54%|█████▍    | 484/900 [39:21<28:23,  4.09s/it]
 54%|█████▍    | 485/900 [39:22<21:18,  3.08s/it]
 54%|█████▍    | 486/900 [39:23<16:24,  2.38s/it]
 54%|█████▍    | 487/900 [39:23<12:58,  1.88s/it]
 54%|█████▍    | 488/900 [39:24<10:34,  1.54s/it]
 54%|█████▍    | 489/900 [40:04<1:28:38, 12.94s/it]
 54%|█████▍    | 490/900 [40:04<1:03:22,  9.27s/it]
 55%|█████▍    | 491/900 [40:05<45:45,  6.71s/it]  
 55%|█████▍    | 492/900 [40:06<33:24,  4.91s/it]
 55%|█████▍    | 493/900 [40:06<24:44,  3.65s/it]
 55%|█████▍    | 494/900 [40:07<18:38,  2.76s/it]
 55%|█████▌    | 495/900 [40:08<14:26,  2.14s/it]
 55%|█████▌    | 496/900 [40:09<11:30,  1.71s/it]
 55%|█████▌    | 497/900 [40:56<1:42:36, 15.28s/it]
 55%|█████▌    | 498/900 [40:56<1:13:01, 10.90s/it]
 55%|█████▌    | 499/900 [40:57<52:21,  7.83s/it]  
 56%|█████▌    | 500/900 [40:58<38:51,  5.83s/it]
 56%|█████▌    | 501/900 [40:59<28:29,  4.28s/it]
 56%|█████▌    | 502/900 [40:59<21:13,  3.20s/it]
 56%|█████▌    | 503/900 [41:00<16:08,  2.44s/it]
 56%|█████▌    | 504/900 [41:01<12:37,  1.91s/it]
 56%|█████▌    | 505/900 [42:39<3:22:57, 30.83s/it]
 56%|█████▌    | 506/900 [42:40<2:23:02, 21.78s/it]
 56%|█████▋    | 507/900 [42:40<1:41:10, 15.45s/it]
 56%|█████▋    | 508/900 [42:41<1:11:58, 11.02s/it]
 57%|█████▋    | 509/900 [42:42<51:36,  7.92s/it]  
 57%|█████▋    | 510/900 [42:42<37:21,  5.75s/it]
 57%|█████▋    | 511/900 [42:43<27:24,  4.23s/it]
 57%|█████▋    | 512/900 [42:44<20:27,  3.16s/it]
 57%|█████▋    | 513/900 [43:24<1:31:39, 14.21s/it]
 57%|█████▋    | 514/900 [43:24<1:05:24, 10.17s/it]
 57%|█████▋    | 515/900 [43:25<47:02,  7.33s/it]  
 57%|█████▋    | 516/900 [43:26<34:15,  5.35s/it]
 57%|█████▋    | 517/900 [43:27<25:19,  3.97s/it]
 58%|█████▊    | 518/900 [43:27<19:03,  2.99s/it]
 58%|█████▊    | 519/900 [43:28<14:42,  2.32s/it]
 58%|█████▊    | 520/900 [43:29<11:37,  1.84s/it]
 58%|█████▊    | 521/900 [43:42<33:32,  5.31s/it]
 58%|█████▊    | 522/900 [43:43<24:48,  3.94s/it]
 58%|█████▊    | 523/900 [43:44<18:44,  2.98s/it]
 58%|█████▊    | 524/900 [43:45<14:32,  2.32s/it]
 58%|█████▊    | 525/900 [43:45<11:29,  1.84s/it]
 58%|█████▊    | 526/900 [43:46<09:20,  1.50s/it]
 59%|█████▊    | 527/900 [43:47<07:49,  1.26s/it]
 59%|█████▊    | 528/900 [43:47<06:47,  1.10s/it]
 59%|█████▉    | 529/900 [44:01<30:32,  4.94s/it]
 59%|█████▉    | 530/900 [44:02<22:36,  3.67s/it]
 59%|█████▉    | 531/900 [44:03<17:01,  2.77s/it]
 59%|█████▉    | 532/900 [44:03<13:06,  2.14s/it]
 59%|█████▉    | 533/900 [44:04<10:23,  1.70s/it]
 59%|█████▉    | 534/900 [44:05<08:30,  1.40s/it]
 59%|█████▉    | 535/900 [44:05<07:14,  1.19s/it]
 60%|█████▉    | 536/900 [44:06<06:19,  1.04s/it]
 60%|█████▉    | 537/900 [44:33<52:28,  8.67s/it]
 60%|█████▉    | 538/900 [44:33<37:53,  6.28s/it]
 60%|█████▉    | 539/900 [44:34<27:45,  4.61s/it]
 60%|██████    | 540/900 [44:35<20:40,  3.45s/it]
 60%|██████    | 541/900 [44:35<15:42,  2.63s/it]
 60%|██████    | 542/900 [44:36<12:21,  2.07s/it]
 60%|██████    | 543/900 [44:37<09:53,  1.66s/it]
 60%|██████    | 544/900 [44:38<08:11,  1.38s/it]
 61%|██████    | 545/900 [44:54<34:58,  5.91s/it]
 61%|██████    | 546/900 [44:55<25:43,  4.36s/it]
 61%|██████    | 547/900 [44:56<19:16,  3.27s/it]
 61%|██████    | 548/900 [44:56<14:42,  2.51s/it]
 61%|██████    | 549/900 [44:57<11:34,  1.98s/it]
 61%|██████    | 550/900 [44:58<09:23,  1.61s/it]
 61%|██████    | 551/900 [44:59<07:52,  1.35s/it]
 61%|██████▏   | 552/900 [44:59<06:44,  1.16s/it]
 61%|██████▏   | 553/900 [45:29<55:46,  9.64s/it]
 62%|██████▏   | 554/900 [45:29<40:12,  6.97s/it]
 62%|██████▏   | 555/900 [45:30<29:19,  5.10s/it]
 62%|██████▏   | 556/900 [45:31<21:44,  3.79s/it]
 62%|██████▏   | 557/900 [45:32<16:24,  2.87s/it]
 62%|██████▏   | 558/900 [45:32<12:43,  2.23s/it]
 62%|██████▏   | 559/900 [45:33<10:08,  1.79s/it]
 62%|██████▏   | 560/900 [45:34<08:17,  1.46s/it]
 62%|██████▏   | 561/900 [46:28<1:36:58, 17.16s/it]
 62%|██████▏   | 562/900 [46:28<1:08:52, 12.23s/it]
 63%|██████▎   | 563/900 [46:29<49:15,  8.77s/it]  
 63%|██████▎   | 564/900 [46:30<35:35,  6.35s/it]
 63%|██████▎   | 565/900 [46:30<26:02,  4.66s/it]
 63%|██████▎   | 566/900 [46:31<19:21,  3.48s/it]
 63%|██████▎   | 567/900 [46:32<14:41,  2.65s/it]
 63%|██████▎   | 568/900 [46:33<11:27,  2.07s/it]
 63%|██████▎   | 569/900 [46:59<52:22,  9.49s/it]
 63%|██████▎   | 570/900 [47:00<37:41,  6.85s/it]
 63%|██████▎   | 571/900 [47:01<27:28,  5.01s/it]
 64%|██████▎   | 572/900 [47:02<20:20,  3.72s/it]
 64%|██████▎   | 573/900 [47:02<15:21,  2.82s/it]
 64%|██████▍   | 574/900 [47:03<11:52,  2.18s/it]
 64%|██████▍   | 575/900 [47:04<09:24,  1.74s/it]
 64%|██████▍   | 576/900 [47:04<07:41,  1.42s/it]
 64%|██████▍   | 577/900 [47:34<52:45,  9.80s/it]
 64%|██████▍   | 578/900 [47:34<37:54,  7.06s/it]
 64%|██████▍   | 579/900 [47:35<27:33,  5.15s/it]
 64%|██████▍   | 580/900 [47:36<20:19,  3.81s/it]
 65%|██████▍   | 581/900 [47:36<15:16,  2.87s/it]
 65%|██████▍   | 582/900 [47:37<11:44,  2.22s/it]
 65%|██████▍   | 583/900 [47:38<09:16,  1.76s/it]
 65%|██████▍   | 584/900 [47:38<07:33,  1.43s/it]
 65%|██████▌   | 585/900 [50:33<4:40:02, 53.34s/it]
 65%|██████▌   | 586/900 [50:34<3:16:30, 37.55s/it]
 65%|██████▌   | 587/900 [50:34<2:18:12, 26.49s/it]
 65%|██████▌   | 588/900 [50:35<1:37:32, 18.76s/it]
 65%|██████▌   | 589/900 [50:36<1:09:07, 13.34s/it]
 66%|██████▌   | 590/900 [50:36<49:18,  9.54s/it]  
 66%|██████▌   | 591/900 [50:37<35:28,  6.89s/it]
 66%|██████▌   | 592/900 [50:38<25:47,  5.03s/it]
 66%|██████▌   | 593/900 [50:58<48:44,  9.53s/it]
 66%|██████▌   | 594/900 [50:59<35:04,  6.88s/it]
 66%|██████▌   | 595/900 [50:59<25:28,  5.01s/it]
 66%|██████▌   | 596/900 [51:00<18:48,  3.71s/it]
 66%|██████▋   | 597/900 [51:01<14:09,  2.80s/it]
 66%|██████▋   | 598/900 [51:01<10:55,  2.17s/it]
 67%|██████▋   | 599/900 [51:02<08:38,  1.72s/it]
 67%|██████▋   | 600/900 [51:03<07:03,  1.41s/it]
 67%|██████▋   | 601/900 [51:31<47:26,  9.52s/it]
 67%|██████▋   | 602/900 [51:32<34:07,  6.87s/it]
 67%|██████▋   | 603/900 [51:32<24:50,  5.02s/it]
 67%|██████▋   | 604/900 [51:33<18:21,  3.72s/it]
 67%|██████▋   | 605/900 [51:34<13:49,  2.81s/it]
 67%|██████▋   | 606/900 [51:35<10:39,  2.18s/it]
 67%|██████▋   | 607/900 [51:35<08:26,  1.73s/it]
 68%|██████▊   | 608/900 [51:36<06:54,  1.42s/it]
 68%|██████▊   | 609/900 [51:49<23:37,  4.87s/it]
 68%|██████▊   | 610/900 [51:49<17:27,  3.61s/it]
 68%|██████▊   | 611/900 [51:50<13:10,  2.74s/it]
 68%|██████▊   | 612/900 [51:51<10:11,  2.12s/it]
 68%|██████▊   | 613/900 [51:52<08:05,  1.69s/it]
 68%|██████▊   | 614/900 [51:52<06:39,  1.40s/it]
 68%|██████▊   | 615/900 [51:53<05:38,  1.19s/it]
 68%|██████▊   | 616/900 [51:54<04:56,  1.04s/it]
 69%|██████▊   | 617/900 [52:19<39:06,  8.29s/it]
 69%|██████▊   | 618/900 [52:20<28:17,  6.02s/it]
 69%|██████▉   | 619/900 [52:20<20:45,  4.43s/it]
 69%|██████▉   | 620/900 [52:21<15:30,  3.32s/it]
 69%|██████▉   | 621/900 [52:22<11:49,  2.54s/it]
 69%|██████▉   | 622/900 [52:23<09:16,  2.00s/it]
 69%|██████▉   | 623/900 [52:23<07:26,  1.61s/it]
 69%|██████▉   | 624/900 [52:24<06:11,  1.35s/it]
 69%|██████▉   | 625/900 [53:07<1:04:07, 13.99s/it]
 70%|██████▉   | 626/900 [53:08<45:41, 10.01s/it]  
 70%|██████▉   | 627/900 [53:09<32:49,  7.21s/it]
 70%|██████▉   | 628/900 [53:10<23:50,  5.26s/it]
 70%|██████▉   | 629/900 [53:10<17:35,  3.90s/it]
 70%|███████   | 630/900 [53:11<13:13,  2.94s/it]
 70%|███████   | 631/900 [53:12<10:10,  2.27s/it]
 70%|███████   | 632/900 [53:12<08:03,  1.80s/it]
 70%|███████   | 633/900 [53:41<43:24,  9.76s/it]
 70%|███████   | 634/900 [53:41<31:13,  7.04s/it]
 71%|███████   | 635/900 [53:42<22:41,  5.14s/it]
 71%|███████   | 636/900 [53:43<16:46,  3.81s/it]
 71%|███████   | 637/900 [53:44<12:40,  2.89s/it]
 71%|███████   | 638/900 [53:44<09:46,  2.24s/it]
 71%|███████   | 639/900 [53:45<07:45,  1.78s/it]
 71%|███████   | 640/900 [53:46<06:20,  1.46s/it]
 71%|███████   | 641/900 [54:26<56:31, 13.10s/it]
 71%|███████▏  | 642/900 [54:27<40:18,  9.38s/it]
 71%|███████▏  | 643/900 [54:27<28:59,  6.77s/it]
 72%|███████▏  | 644/900 [54:28<21:05,  4.94s/it]
 72%|███████▏  | 645/900 [54:29<15:36,  3.67s/it]
 72%|███████▏  | 646/900 [54:29<11:50,  2.80s/it]
 72%|███████▏  | 647/900 [54:30<09:10,  2.17s/it]
 72%|███████▏  | 648/900 [54:31<07:17,  1.74s/it]
 72%|███████▏  | 649/900 [56:46<2:54:23, 41.69s/it]
 72%|███████▏  | 650/900 [56:47<2:02:29, 29.40s/it]
 72%|███████▏  | 651/900 [56:47<1:26:17, 20.79s/it]
 72%|███████▏  | 652/900 [56:48<1:01:02, 14.77s/it]
 73%|███████▎  | 653/900 [56:49<43:27, 10.56s/it]  
 73%|███████▎  | 654/900 [56:49<31:10,  7.60s/it]
 73%|███████▎  | 655/900 [56:50<22:37,  5.54s/it]
 73%|███████▎  | 656/900 [56:51<16:37,  4.09s/it]
 73%|███████▎  | 657/900 [57:05<29:20,  7.25s/it]
 73%|███████▎  | 658/900 [57:06<21:18,  5.28s/it]
 73%|███████▎  | 659/900 [57:07<15:39,  3.90s/it]
 73%|███████▎  | 660/900 [57:08<11:42,  2.93s/it]
 73%|███████▎  | 661/900 [57:08<08:58,  2.25s/it]
 74%|███████▎  | 662/900 [57:09<07:04,  1.78s/it]
 74%|███████▎  | 663/900 [57:10<05:45,  1.46s/it]
 74%|███████▍  | 664/900 [57:10<04:49,  1.23s/it]
 74%|███████▍  | 665/900 [58:48<1:58:36, 30.28s/it]
 74%|███████▍  | 666/900 [58:49<1:23:27, 21.40s/it]
 74%|███████▍  | 667/900 [58:50<58:57, 15.18s/it]  
 74%|███████▍  | 668/900 [58:50<41:53, 10.83s/it]
 74%|███████▍  | 669/900 [58:51<30:02,  7.80s/it]
 74%|███████▍  | 670/900 [58:52<21:47,  5.69s/it]
 75%|███████▍  | 671/900 [58:53<16:00,  4.19s/it]
 75%|███████▍  | 672/900 [58:53<11:58,  3.15s/it]
 75%|███████▍  | 673/900 [1:00:38<2:07:26, 33.68s/it]
 75%|███████▍  | 674/900 [1:00:39<1:29:37, 23.79s/it]
 75%|███████▌  | 675/900 [1:00:40<1:03:16, 16.87s/it]
 75%|███████▌  | 676/900 [1:00:40<44:52, 12.02s/it]  
 75%|███████▌  | 677/900 [1:00:41<32:02,  8.62s/it]
 75%|███████▌  | 678/900 [1:00:42<23:05,  6.24s/it]
 75%|███████▌  | 679/900 [1:00:42<16:51,  4.58s/it]
 76%|███████▌  | 680/900 [1:00:43<12:31,  3.42s/it]
 76%|███████▌  | 681/900 [1:01:37<1:07:54, 18.60s/it]
 76%|███████▌  | 682/900 [1:01:38<48:03, 13.23s/it]  
 76%|███████▌  | 683/900 [1:01:39<34:13,  9.46s/it]
 76%|███████▌  | 684/900 [1:01:39<24:35,  6.83s/it]
 76%|███████▌  | 685/900 [1:01:40<17:53,  4.99s/it]
 76%|███████▌  | 686/900 [1:01:41<13:11,  3.70s/it]
 76%|███████▋  | 687/900 [1:01:41<09:54,  2.79s/it]
 76%|███████▋  | 688/900 [1:01:42<07:37,  2.16s/it]
 77%|███████▋  | 689/900 [1:02:19<44:21, 12.61s/it]
 77%|███████▋  | 690/900 [1:02:20<31:35,  9.03s/it]
 77%|███████▋  | 691/900 [1:02:20<22:44,  6.53s/it]
 77%|███████▋  | 692/900 [1:02:21<16:36,  4.79s/it]
 77%|███████▋  | 693/900 [1:02:22<12:18,  3.57s/it]
 77%|███████▋  | 694/900 [1:02:23<09:19,  2.72s/it]
 77%|███████▋  | 695/900 [1:02:23<07:15,  2.12s/it]
 77%|███████▋  | 696/900 [1:02:24<05:48,  1.71s/it]
 77%|███████▋  | 697/900 [1:03:09<49:29, 14.63s/it]
 78%|███████▊  | 698/900 [1:03:10<35:13, 10.46s/it]
 78%|███████▊  | 699/900 [1:03:10<25:13,  7.53s/it]
 78%|███████▊  | 700/900 [1:03:11<18:14,  5.47s/it]
 78%|███████▊  | 701/900 [1:03:12<13:23,  4.04s/it]
 78%|███████▊  | 702/900 [1:03:12<10:01,  3.04s/it]
 78%|███████▊  | 703/900 [1:03:13<07:40,  2.34s/it]
 78%|███████▊  | 704/900 [1:03:14<06:01,  1.84s/it]
 78%|███████▊  | 705/900 [1:03:39<29:04,  8.94s/it]
 78%|███████▊  | 706/900 [1:03:40<20:54,  6.47s/it]
 79%|███████▊  | 707/900 [1:03:41<15:12,  4.73s/it]
 79%|███████▊  | 708/900 [1:03:41<11:14,  3.52s/it]
 79%|███████▉  | 709/900 [1:03:42<08:29,  2.67s/it]
 79%|███████▉  | 710/900 [1:03:43<06:35,  2.08s/it]
 79%|███████▉  | 711/900 [1:03:43<05:14,  1.66s/it]
 79%|███████▉  | 712/900 [1:03:44<04:17,  1.37s/it]
 79%|███████▉  | 713/900 [1:04:40<55:42, 17.88s/it]
 79%|███████▉  | 714/900 [1:04:41<39:26, 12.72s/it]
 79%|███████▉  | 715/900 [1:04:42<28:05,  9.11s/it]
 80%|███████▉  | 716/900 [1:04:42<20:11,  6.58s/it]
 80%|███████▉  | 717/900 [1:04:43<14:41,  4.82s/it]
 80%|███████▉  | 718/900 [1:04:44<10:50,  3.58s/it]
 80%|███████▉  | 719/900 [1:04:44<08:10,  2.71s/it]
 80%|████████  | 720/900 [1:04:45<06:17,  2.10s/it]
 80%|████████  | 721/900 [1:06:13<1:23:10, 27.88s/it]
 80%|████████  | 722/900 [1:06:14<58:33, 19.74s/it]  
 80%|████████  | 723/900 [1:06:15<41:23, 14.03s/it]
 80%|████████  | 724/900 [1:06:15<29:26, 10.04s/it]
 81%|████████  | 725/900 [1:06:16<21:06,  7.24s/it]
 81%|████████  | 726/900 [1:06:17<15:18,  5.28s/it]
 81%|████████  | 727/900 [1:06:18<11:18,  3.92s/it]
 81%|████████  | 728/900 [1:06:18<08:30,  2.97s/it]
 81%|████████  | 729/900 [1:07:10<50:00, 17.55s/it]
 81%|████████  | 730/900 [1:07:11<35:23, 12.49s/it]
 81%|████████  | 731/900 [1:07:11<25:14,  8.96s/it]
 81%|████████▏ | 732/900 [1:07:12<18:10,  6.49s/it]
 81%|████████▏ | 733/900 [1:07:13<13:14,  4.76s/it]
 82%|████████▏ | 734/900 [1:07:13<09:48,  3.54s/it]
 82%|████████▏ | 735/900 [1:07:14<07:25,  2.70s/it]
 82%|████████▏ | 736/900 [1:07:15<05:45,  2.11s/it]
 82%|████████▏ | 737/900 [1:08:52<1:23:17, 30.66s/it]
 82%|████████▏ | 738/900 [1:08:53<58:31, 21.68s/it]  
 82%|████████▏ | 739/900 [1:08:54<41:17, 15.39s/it]
 82%|████████▏ | 740/900 [1:08:54<29:17, 10.99s/it]
 82%|████████▏ | 741/900 [1:08:55<20:57,  7.91s/it]
 82%|████████▏ | 742/900 [1:08:56<15:08,  5.75s/it]
 83%|████████▎ | 743/900 [1:08:56<11:04,  4.23s/it]
 83%|████████▎ | 744/900 [1:08:57<08:16,  3.18s/it]
 83%|████████▎ | 745/900 [1:09:46<43:16, 16.75s/it]
 83%|████████▎ | 746/900 [1:09:46<30:39, 11.94s/it]
 83%|████████▎ | 747/900 [1:09:47<21:50,  8.57s/it]
 83%|████████▎ | 748/900 [1:09:48<15:42,  6.20s/it]
 83%|████████▎ | 749/900 [1:09:48<11:26,  4.55s/it]
 83%|████████▎ | 750/900 [1:09:49<08:27,  3.39s/it]
 83%|████████▎ | 751/900 [1:09:50<06:24,  2.58s/it]
 84%|████████▎ | 752/900 [1:09:50<04:57,  2.01s/it]
 84%|████████▎ | 753/900 [1:10:25<28:50, 11.77s/it]
 84%|████████▍ | 754/900 [1:10:26<20:32,  8.44s/it]
 84%|████████▍ | 755/900 [1:10:26<14:46,  6.11s/it]
 84%|████████▍ | 756/900 [1:10:27<10:45,  4.48s/it]
 84%|████████▍ | 757/900 [1:10:28<07:57,  3.34s/it]
 84%|████████▍ | 758/900 [1:10:28<06:01,  2.54s/it]
 84%|████████▍ | 759/900 [1:10:29<04:39,  1.98s/it]
 84%|████████▍ | 760/900 [1:10:30<03:44,  1.60s/it]
 85%|████████▍ | 761/900 [1:10:56<20:35,  8.89s/it]
 85%|████████▍ | 762/900 [1:10:56<14:48,  6.44s/it]
 85%|████████▍ | 763/900 [1:10:57<10:46,  4.72s/it]
 85%|████████▍ | 764/900 [1:10:58<07:59,  3.52s/it]
 85%|████████▌ | 765/900 [1:10:59<06:01,  2.68s/it]
 85%|████████▌ | 766/900 [1:10:59<04:39,  2.09s/it]
 85%|████████▌ | 767/900 [1:11:00<03:43,  1.68s/it]
 85%|████████▌ | 768/900 [1:11:01<03:03,  1.39s/it]
 85%|████████▌ | 769/900 [1:11:22<16:24,  7.52s/it]
 86%|████████▌ | 770/900 [1:11:23<11:52,  5.48s/it]
 86%|████████▌ | 771/900 [1:11:24<08:42,  4.05s/it]
 86%|████████▌ | 772/900 [1:11:25<06:31,  3.06s/it]
 86%|████████▌ | 773/900 [1:11:25<04:59,  2.36s/it]
 86%|████████▌ | 774/900 [1:11:26<03:54,  1.86s/it]
 86%|████████▌ | 775/900 [1:11:27<03:11,  1.53s/it]
 86%|████████▌ | 776/900 [1:11:28<02:39,  1.29s/it]
 86%|████████▋ | 777/900 [1:12:19<33:42, 16.44s/it]
 86%|████████▋ | 778/900 [1:12:20<23:49, 11.71s/it]
 87%|████████▋ | 779/900 [1:12:21<16:58,  8.41s/it]
 87%|████████▋ | 780/900 [1:12:22<12:13,  6.11s/it]
 87%|████████▋ | 781/900 [1:12:22<08:55,  4.50s/it]
 87%|████████▋ | 782/900 [1:12:23<06:36,  3.36s/it]
 87%|████████▋ | 783/900 [1:12:24<05:00,  2.57s/it]
 87%|████████▋ | 784/900 [1:12:24<03:53,  2.02s/it]
 87%|████████▋ | 785/900 [1:12:57<21:19, 11.13s/it]
 87%|████████▋ | 786/900 [1:12:57<15:12,  8.00s/it]
 87%|████████▋ | 787/900 [1:12:58<10:55,  5.80s/it]
 88%|████████▊ | 788/900 [1:12:59<07:58,  4.27s/it]
 88%|████████▊ | 789/900 [1:13:00<05:55,  3.20s/it]
 88%|████████▊ | 790/900 [1:13:00<04:30,  2.46s/it]
 88%|████████▊ | 791/900 [1:13:01<03:30,  1.93s/it]
 88%|████████▊ | 792/900 [1:13:02<02:49,  1.57s/it]
 88%|████████▊ | 793/900 [1:14:24<45:58, 25.78s/it]
 88%|████████▊ | 794/900 [1:14:25<32:15, 18.26s/it]
 88%|████████▊ | 795/900 [1:14:25<22:44, 12.99s/it]
 88%|████████▊ | 796/900 [1:14:26<16:08,  9.31s/it]
 89%|████████▊ | 797/900 [1:14:27<11:33,  6.73s/it]
 89%|████████▊ | 798/900 [1:14:28<08:22,  4.92s/it]
 89%|████████▉ | 799/900 [1:14:28<06:09,  3.66s/it]
 89%|████████▉ | 800/900 [1:14:29<04:37,  2.77s/it]
 89%|████████▉ | 801/900 [1:15:07<22:12, 13.46s/it]
 89%|████████▉ | 802/900 [1:15:08<15:43,  9.63s/it]
 89%|████████▉ | 803/900 [1:15:09<11:14,  6.95s/it]
 89%|████████▉ | 804/900 [1:15:09<08:07,  5.08s/it]
 89%|████████▉ | 805/900 [1:15:10<05:57,  3.76s/it]
 90%|████████▉ | 806/900 [1:15:11<04:26,  2.84s/it]
 90%|████████▉ | 807/900 [1:15:12<03:23,  2.19s/it]
 90%|████████▉ | 808/900 [1:15:12<02:40,  1.75s/it]
 90%|████████▉ | 809/900 [1:15:38<13:24,  8.84s/it]
 90%|█████████ | 810/900 [1:15:38<09:35,  6.40s/it]
 90%|█████████ | 811/900 [1:15:39<06:56,  4.68s/it]
 90%|█████████ | 812/900 [1:15:40<05:06,  3.48s/it]
 90%|█████████ | 813/900 [1:15:40<03:50,  2.64s/it]
 90%|█████████ | 814/900 [1:15:41<02:56,  2.05s/it]
 91%|█████████ | 815/900 [1:15:42<02:19,  1.64s/it]
 91%|█████████ | 816/900 [1:15:42<01:53,  1.35s/it]
 91%|█████████ | 817/900 [1:16:07<11:25,  8.25s/it]
 91%|█████████ | 818/900 [1:16:07<08:11,  5.99s/it]
 91%|█████████ | 819/900 [1:16:08<05:56,  4.41s/it]
 91%|█████████ | 820/900 [1:16:09<04:23,  3.30s/it]
 91%|█████████ | 821/900 [1:16:10<03:18,  2.52s/it]
 91%|█████████▏| 822/900 [1:16:10<02:33,  1.97s/it]
 91%|█████████▏| 823/900 [1:16:11<02:02,  1.59s/it]
 92%|█████████▏| 824/900 [1:16:12<01:40,  1.33s/it]
 92%|█████████▏| 825/900 [1:17:16<25:13, 20.18s/it]
 92%|█████████▏| 826/900 [1:17:17<17:41, 14.34s/it]
 92%|█████████▏| 827/900 [1:17:17<12:28, 10.25s/it]
 92%|█████████▏| 828/900 [1:17:18<08:52,  7.39s/it]
 92%|█████████▏| 829/900 [1:17:19<06:22,  5.39s/it]
 92%|█████████▏| 830/900 [1:17:19<04:39,  3.99s/it]
 92%|█████████▏| 831/900 [1:17:20<03:28,  3.02s/it]
 92%|█████████▏| 832/900 [1:17:21<02:38,  2.32s/it]
 93%|█████████▎| 833/900 [1:17:54<13:02, 11.68s/it]
 93%|█████████▎| 834/900 [1:17:55<09:14,  8.40s/it]
 93%|█████████▎| 835/900 [1:17:56<06:36,  6.10s/it]
 93%|█████████▎| 836/900 [1:17:57<04:47,  4.49s/it]
 93%|█████████▎| 837/900 [1:17:57<03:31,  3.36s/it]
 93%|█████████▎| 838/900 [1:17:58<02:39,  2.57s/it]
 93%|█████████▎| 839/900 [1:17:59<02:02,  2.01s/it]
 93%|█████████▎| 840/900 [1:17:59<01:37,  1.62s/it]
 93%|█████████▎| 841/900 [1:18:15<05:43,  5.82s/it]
 94%|█████████▎| 842/900 [1:18:16<04:08,  4.29s/it]
 94%|█████████▎| 843/900 [1:18:17<03:03,  3.22s/it]
 94%|█████████▍| 844/900 [1:18:17<02:18,  2.46s/it]
 94%|█████████▍| 845/900 [1:18:18<01:46,  1.94s/it]
 94%|█████████▍| 846/900 [1:18:19<01:25,  1.57s/it]
 94%|█████████▍| 847/900 [1:18:19<01:09,  1.31s/it]
 94%|█████████▍| 848/900 [1:18:20<00:58,  1.13s/it]
 94%|█████████▍| 849/900 [1:18:41<06:00,  7.06s/it]
 94%|█████████▍| 850/900 [1:18:42<04:17,  5.15s/it]
 95%|█████████▍| 851/900 [1:18:42<03:06,  3.81s/it]
 95%|█████████▍| 852/900 [1:18:43<02:17,  2.87s/it]
 95%|█████████▍| 853/900 [1:18:44<01:44,  2.22s/it]
 95%|█████████▍| 854/900 [1:18:44<01:20,  1.76s/it]
 95%|█████████▌| 855/900 [1:18:45<01:04,  1.43s/it]
 95%|█████████▌| 856/900 [1:18:46<00:53,  1.21s/it]
 95%|█████████▌| 857/900 [1:19:08<05:22,  7.49s/it]
 95%|█████████▌| 858/900 [1:19:09<03:49,  5.46s/it]
 95%|█████████▌| 859/900 [1:19:09<02:45,  4.03s/it]
 96%|█████████▌| 860/900 [1:19:10<02:01,  3.03s/it]
 96%|█████████▌| 861/900 [1:19:11<01:30,  2.32s/it]
 96%|█████████▌| 862/900 [1:19:11<01:09,  1.83s/it]
 96%|█████████▌| 863/900 [1:19:12<00:54,  1.49s/it]
 96%|█████████▌| 864/900 [1:19:13<00:44,  1.24s/it]
 96%|█████████▌| 865/900 [1:19:59<08:32, 14.65s/it]
 96%|█████████▌| 866/900 [1:19:59<05:55, 10.47s/it]
 96%|█████████▋| 867/900 [1:20:00<04:08,  7.53s/it]
 96%|█████████▋| 868/900 [1:20:01<02:55,  5.48s/it]
 97%|█████████▋| 869/900 [1:20:01<02:05,  4.04s/it]
 97%|█████████▋| 870/900 [1:20:02<01:31,  3.04s/it]
 97%|█████████▋| 871/900 [1:20:03<01:07,  2.34s/it]
 97%|█████████▋| 872/900 [1:20:04<00:51,  1.85s/it]
 97%|█████████▋| 873/900 [1:20:22<03:04,  6.82s/it]
 97%|█████████▋| 874/900 [1:20:23<02:09,  4.99s/it]
 97%|█████████▋| 875/900 [1:20:23<01:32,  3.71s/it]
 97%|█████████▋| 876/900 [1:20:24<01:07,  2.82s/it]
 97%|█████████▋| 877/900 [1:20:25<00:50,  2.19s/it]
 98%|█████████▊| 878/900 [1:20:26<00:38,  1.75s/it]
 98%|█████████▊| 879/900 [1:20:26<00:30,  1.43s/it]
 98%|█████████▊| 880/900 [1:20:27<00:24,  1.22s/it]
 98%|█████████▊| 881/900 [1:21:02<03:37, 11.43s/it]
 98%|█████████▊| 882/900 [1:21:03<02:28,  8.23s/it]
 98%|█████████▊| 883/900 [1:21:04<01:41,  5.98s/it]
 98%|█████████▊| 884/900 [1:21:05<01:10,  4.41s/it]
 98%|█████████▊| 885/900 [1:21:05<00:49,  3.31s/it]
 98%|█████████▊| 886/900 [1:21:06<00:35,  2.53s/it]
 99%|█████████▊| 887/900 [1:21:07<00:25,  1.99s/it]
 99%|█████████▊| 888/900 [1:21:07<00:19,  1.61s/it]
 99%|█████████▉| 889/900 [1:21:44<02:12, 12.00s/it]
 99%|█████████▉| 890/900 [1:21:44<01:26,  8.61s/it]
 99%|█████████▉| 891/900 [1:21:45<00:56,  6.24s/it]
 99%|█████████▉| 892/900 [1:21:46<00:36,  4.58s/it]
 99%|█████████▉| 893/900 [1:21:46<00:23,  3.42s/it]
 99%|█████████▉| 894/900 [1:21:47<00:15,  2.61s/it]
 99%|█████████▉| 895/900 [1:21:48<00:10,  2.04s/it]
100%|█████████▉| 896/900 [1:21:49<00:06,  1.65s/it]
100%|█████████▉| 897/900 [1:22:17<00:29,  9.76s/it]
100%|█████████▉| 898/900 [1:22:18<00:14,  7.04s/it]
100%|█████████▉| 899/900 [1:22:19<00:05,  5.14s/it]
100%|█████████▉| 899/900 [1:22:20<00:05,  5.50s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/log_0_env0.json.
+SmallPumpkinInBinTask_0 complete: task_name: SmallPumpkinInBinTask, run_name: SmallPumpkinInBinTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the small pumpkin in the bin, attributes: ['size', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -12.030872242852404, 'joint_sparc_mean': -18.796124391515328, 'ee_isj': 4125.356044672315, 'joint_isj': 571453.8621349589, 'ee_path_length': 6.609102201088649, 'joint_rmse_mean': 1.3173367483652978, 'ee_speed_max': 0.571734607219696, 'ee_speed_mean': 0.10615330934524536}, events: {'OBJECT_BUMPED': 2, 'GRIPPER_FULLY_CLOSED': 16, 'GRIPPER_HIT_OBJECT': 2, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_HIT_TABLE': 9, 'MULTIPLE_OBJECTS_GRABBED': 1, 'TARGET_OBJECT_DROPPED': 19, 'wrong_objects_grabbed': ['pumpkinlarge']}, instruction_type: default, timing: {'policy_inference_s': 4311.365, 'policy_inference_avg_ms': 4790.4, 'env_step_s': 620.729, 'env_step_avg_ms': 689.7, 'video_write_s': 7.123, 'video_write_avg_ms': 7.9, 'wall_total_s': 4939.218, 'it_per_sec': 0.18}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=pumpkinsmall) (step 1/2), harness_episode_id: 080bde2ca4b04b2d8cbf5946775e8ad7-0
+[RoboLab] Running SmallPumpkinInBinTask_1: 'Put the small pumpkin in the bin' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:23<5:49:31, 23.33s/it]
  0%|          | 2/900 [00:24<2:29:55, 10.02s/it]
  0%|          | 3/900 [00:24<1:26:06,  5.76s/it]
  0%|          | 4/900 [00:25<56:09,  3.76s/it]  
  1%|          | 5/900 [00:26<39:34,  2.65s/it]
  1%|          | 6/900 [00:26<29:35,  1.99s/it]
  1%|          | 7/900 [00:27<23:18,  1.57s/it]
  1%|          | 8/900 [00:28<19:08,  1.29s/it]
  1%|          | 9/900 [00:35<48:10,  3.24s/it]
  1%|          | 10/900 [00:36<36:26,  2.46s/it]
  1%|          | 11/900 [00:37<28:24,  1.92s/it]
  1%|▏         | 12/900 [00:37<22:56,  1.55s/it]
  1%|▏         | 13/900 [00:38<19:05,  1.29s/it]
  2%|▏         | 14/900 [00:39<16:25,  1.11s/it]
  2%|▏         | 15/900 [00:39<14:31,  1.02it/s]
  2%|▏         | 16/900 [00:40<13:12,  1.12it/s]
  2%|▏         | 17/900 [00:46<34:11,  2.32s/it]
  2%|▏         | 18/900 [00:46<26:57,  1.83s/it]
  2%|▏         | 19/900 [00:47<21:52,  1.49s/it]
  2%|▏         | 20/900 [00:48<18:20,  1.25s/it]
  2%|▏         | 21/900 [00:49<15:55,  1.09s/it]
  2%|▏         | 22/900 [00:49<14:12,  1.03it/s]
  3%|▎         | 23/900 [00:50<13:06,  1.11it/s]
  3%|▎         | 24/900 [00:51<12:20,  1.18it/s]
  3%|▎         | 25/900 [00:57<35:06,  2.41s/it]
  3%|▎         | 26/900 [00:57<27:31,  1.89s/it]
  3%|▎         | 27/900 [00:58<22:24,  1.54s/it]
  3%|▎         | 28/900 [00:59<18:40,  1.29s/it]
  3%|▎         | 29/900 [01:00<16:04,  1.11s/it]
  3%|▎         | 30/900 [01:00<14:17,  1.01it/s]
  3%|▎         | 31/900 [01:01<12:59,  1.11it/s]
  4%|▎         | 32/900 [01:02<12:05,  1.20it/s]
  4%|▎         | 33/900 [01:13<56:10,  3.89s/it]
  4%|▍         | 34/900 [01:13<42:16,  2.93s/it]
  4%|▍         | 35/900 [01:14<32:35,  2.26s/it]
  4%|▍         | 36/900 [01:15<25:46,  1.79s/it]
  4%|▍         | 37/900 [01:15<21:06,  1.47s/it]
  4%|▍         | 38/900 [01:16<17:44,  1.24s/it]
  4%|▍         | 39/900 [01:17<15:18,  1.07s/it]
  4%|▍         | 40/900 [01:17<13:39,  1.05it/s]
  5%|▍         | 41/900 [02:28<5:13:04, 21.87s/it]
  5%|▍         | 42/900 [02:29<3:41:50, 15.51s/it]
  5%|▍         | 43/900 [02:30<2:38:02, 11.07s/it]
  5%|▍         | 44/900 [02:30<1:53:31,  7.96s/it]
  5%|▌         | 45/900 [02:31<1:22:18,  5.78s/it]
  5%|▌         | 46/900 [02:32<1:00:26,  4.25s/it]
  5%|▌         | 47/900 [02:32<45:22,  3.19s/it]  
  5%|▌         | 48/900 [02:33<34:42,  2.44s/it]
  5%|▌         | 49/900 [02:39<48:50,  3.44s/it]
  6%|▌         | 50/900 [02:40<37:10,  2.62s/it]
  6%|▌         | 51/900 [02:40<28:56,  2.05s/it]
  6%|▌         | 52/900 [02:41<23:13,  1.64s/it]
  6%|▌         | 53/900 [02:42<19:11,  1.36s/it]
  6%|▌         | 54/900 [02:42<16:18,  1.16s/it]
  6%|▌         | 55/900 [02:43<14:22,  1.02s/it]
  6%|▌         | 56/900 [02:44<12:58,  1.08it/s]
  6%|▋         | 57/900 [02:51<41:33,  2.96s/it]
  6%|▋         | 58/900 [02:52<31:59,  2.28s/it]
  7%|▋         | 59/900 [02:53<25:16,  1.80s/it]
  7%|▋         | 60/900 [02:53<20:34,  1.47s/it]
  7%|▋         | 61/900 [02:54<17:14,  1.23s/it]
  7%|▋         | 62/900 [02:55<14:54,  1.07s/it]
  7%|▋         | 63/900 [02:56<13:40,  1.02it/s]
  7%|▋         | 64/900 [02:56<12:40,  1.10it/s]
  7%|▋         | 65/900 [03:02<32:29,  2.34s/it]
  7%|▋         | 66/900 [03:03<25:33,  1.84s/it]
  7%|▋         | 67/900 [03:03<20:46,  1.50s/it]
  8%|▊         | 68/900 [03:04<17:29,  1.26s/it]
  8%|▊         | 69/900 [03:05<15:13,  1.10s/it]
  8%|▊         | 70/900 [03:06<13:49,  1.00it/s]
  8%|▊         | 71/900 [03:06<12:41,  1.09it/s]
  8%|▊         | 72/900 [03:07<11:53,  1.16it/s]
  8%|▊         | 73/900 [03:16<46:53,  3.40s/it]
  8%|▊         | 74/900 [03:17<35:41,  2.59s/it]
  8%|▊         | 75/900 [03:18<27:53,  2.03s/it]
  8%|▊         | 76/900 [03:18<22:21,  1.63s/it]
  9%|▊         | 77/900 [03:19<18:25,  1.34s/it]
  9%|▊         | 78/900 [03:20<15:42,  1.15s/it]
  9%|▉         | 79/900 [03:21<13:50,  1.01s/it]
  9%|▉         | 80/900 [03:21<12:31,  1.09it/s]
  9%|▉         | 81/900 [03:31<48:27,  3.55s/it]
  9%|▉         | 82/900 [03:32<36:44,  2.69s/it]
  9%|▉         | 83/900 [03:32<28:39,  2.10s/it]
  9%|▉         | 84/900 [03:33<22:54,  1.68s/it]
  9%|▉         | 85/900 [03:34<18:54,  1.39s/it]
 10%|▉         | 86/900 [03:34<16:06,  1.19s/it]
 10%|▉         | 87/900 [03:35<14:08,  1.04s/it]
 10%|▉         | 88/900 [03:36<12:46,  1.06it/s]
 10%|▉         | 89/900 [03:42<34:22,  2.54s/it]
 10%|█         | 90/900 [03:43<26:55,  1.99s/it]
 10%|█         | 91/900 [03:44<21:46,  1.61s/it]
 10%|█         | 92/900 [03:44<18:05,  1.34s/it]
 10%|█         | 93/900 [03:45<15:31,  1.15s/it]
 10%|█         | 94/900 [03:46<13:41,  1.02s/it]
 11%|█         | 95/900 [03:46<12:21,  1.09it/s]
 11%|█         | 96/900 [03:47<11:26,  1.17it/s]
 11%|█         | 97/900 [03:52<27:51,  2.08s/it]
 11%|█         | 98/900 [03:53<22:12,  1.66s/it]
 11%|█         | 99/900 [03:53<18:21,  1.38s/it]
 11%|█         | 100/900 [03:54<15:41,  1.18s/it]
 11%|█         | 101/900 [03:55<13:44,  1.03s/it]
 11%|█▏        | 102/900 [03:56<12:32,  1.06it/s]
 11%|█▏        | 103/900 [03:56<11:34,  1.15it/s]
 12%|█▏        | 104/900 [03:57<10:50,  1.22it/s]
 12%|█▏        | 105/900 [04:11<1:04:35,  4.87s/it]
 12%|█▏        | 106/900 [04:12<47:59,  3.63s/it]  
 12%|█▏        | 107/900 [04:13<36:21,  2.75s/it]
 12%|█▏        | 108/900 [04:13<28:08,  2.13s/it]
 12%|█▏        | 109/900 [04:14<22:31,  1.71s/it]
 12%|█▏        | 110/900 [04:15<18:34,  1.41s/it]
 12%|█▏        | 111/900 [04:16<15:50,  1.21s/it]
 12%|█▏        | 112/900 [04:16<13:56,  1.06s/it]
 13%|█▎        | 113/900 [04:23<37:12,  2.84s/it]
 13%|█▎        | 114/900 [04:24<28:45,  2.19s/it]
 13%|█▎        | 115/900 [04:25<22:51,  1.75s/it]
 13%|█▎        | 116/900 [04:25<18:50,  1.44s/it]
 13%|█▎        | 117/900 [04:26<15:54,  1.22s/it]
 13%|█▎        | 118/900 [04:27<13:53,  1.07s/it]
 13%|█▎        | 119/900 [04:28<12:26,  1.05it/s]
 13%|█▎        | 120/900 [04:28<11:32,  1.13it/s]
 13%|█▎        | 121/900 [04:38<45:47,  3.53s/it]
 14%|█▎        | 122/900 [04:39<34:44,  2.68s/it]
 14%|█▎        | 123/900 [04:39<26:58,  2.08s/it]
 14%|█▍        | 124/900 [04:40<21:34,  1.67s/it]
 14%|█▍        | 125/900 [04:41<17:46,  1.38s/it]
 14%|█▍        | 126/900 [04:41<15:05,  1.17s/it]
 14%|█▍        | 127/900 [04:42<13:13,  1.03s/it]
 14%|█▍        | 128/900 [04:43<11:56,  1.08it/s]
 14%|█▍        | 129/900 [05:00<1:12:32,  5.65s/it]
 14%|█▍        | 130/900 [05:00<53:28,  4.17s/it]  
 15%|█▍        | 131/900 [05:01<40:10,  3.14s/it]
 15%|█▍        | 132/900 [05:02<30:53,  2.41s/it]
 15%|█▍        | 133/900 [05:02<24:26,  1.91s/it]
 15%|█▍        | 134/900 [05:03<19:47,  1.55s/it]
 15%|█▌        | 135/900 [05:04<16:28,  1.29s/it]
 15%|█▌        | 136/900 [05:05<14:12,  1.12s/it]
 15%|█▌        | 137/900 [05:26<1:33:17,  7.34s/it]
 15%|█▌        | 138/900 [05:27<1:07:53,  5.35s/it]
 15%|█▌        | 139/900 [05:28<50:12,  3.96s/it]  
 16%|█▌        | 140/900 [05:28<37:45,  2.98s/it]
 16%|█▌        | 141/900 [05:29<29:07,  2.30s/it]
 16%|█▌        | 142/900 [05:30<23:00,  1.82s/it]
 16%|█▌        | 143/900 [05:31<18:43,  1.48s/it]
 16%|█▌        | 144/900 [05:31<15:44,  1.25s/it]
 16%|█▌        | 145/900 [05:47<1:09:39,  5.54s/it]
 16%|█▌        | 146/900 [05:48<51:23,  4.09s/it]  
 16%|█▋        | 147/900 [05:48<38:32,  3.07s/it]
 16%|█▋        | 148/900 [05:49<29:36,  2.36s/it]
 17%|█▋        | 149/900 [05:50<23:21,  1.87s/it]
 17%|█▋        | 150/900 [05:50<19:01,  1.52s/it]
 17%|█▋        | 151/900 [05:51<16:00,  1.28s/it]
 17%|█▋        | 152/900 [05:52<13:58,  1.12s/it]
 17%|█▋        | 153/900 [06:02<46:04,  3.70s/it]
 17%|█▋        | 154/900 [06:02<34:52,  2.80s/it]
 17%|█▋        | 155/900 [06:03<27:07,  2.18s/it]
 17%|█▋        | 156/900 [06:04<21:39,  1.75s/it]
 17%|█▋        | 157/900 [06:05<17:55,  1.45s/it]
 18%|█▊        | 158/900 [06:05<15:17,  1.24s/it]
 18%|█▊        | 159/900 [06:06<13:24,  1.09s/it]
 18%|█▊        | 160/900 [06:07<12:03,  1.02it/s]
 18%|█▊        | 161/900 [06:27<1:23:23,  6.77s/it]
 18%|█▊        | 162/900 [06:28<1:01:00,  4.96s/it]
 18%|█▊        | 163/900 [06:28<45:22,  3.69s/it]  
 18%|█▊        | 164/900 [06:29<34:22,  2.80s/it]
 18%|█▊        | 165/900 [06:30<26:40,  2.18s/it]
 18%|█▊        | 166/900 [06:31<21:15,  1.74s/it]
 19%|█▊        | 167/900 [06:31<17:28,  1.43s/it]
 19%|█▊        | 168/900 [06:32<14:58,  1.23s/it]
 19%|█▉        | 169/900 [07:02<1:58:38,  9.74s/it]
 19%|█▉        | 170/900 [07:02<1:25:25,  7.02s/it]
 19%|█▉        | 171/900 [07:03<1:02:13,  5.12s/it]
 19%|█▉        | 172/900 [07:04<46:00,  3.79s/it]  
 19%|█▉        | 173/900 [07:04<34:41,  2.86s/it]
 19%|█▉        | 174/900 [07:05<26:45,  2.21s/it]
 19%|█▉        | 175/900 [07:06<21:11,  1.75s/it]
 20%|█▉        | 176/900 [07:07<17:20,  1.44s/it]
 20%|█▉        | 177/900 [07:24<1:15:07,  6.23s/it]
 20%|█▉        | 178/900 [07:25<55:11,  4.59s/it]  
 20%|█▉        | 179/900 [07:26<41:30,  3.45s/it]
 20%|██        | 180/900 [07:26<31:41,  2.64s/it]
 20%|██        | 181/900 [07:27<24:48,  2.07s/it]
 20%|██        | 182/900 [07:28<20:02,  1.67s/it]
 20%|██        | 183/900 [07:28<16:36,  1.39s/it]
 20%|██        | 184/900 [07:29<14:13,  1.19s/it]
 21%|██        | 185/900 [07:43<1:00:16,  5.06s/it]
 21%|██        | 186/900 [07:44<44:43,  3.76s/it]  
 21%|██        | 187/900 [07:45<33:48,  2.85s/it]
 21%|██        | 188/900 [07:45<26:09,  2.20s/it]
 21%|██        | 189/900 [07:46<20:51,  1.76s/it]
 21%|██        | 190/900 [07:47<17:07,  1.45s/it]
 21%|██        | 191/900 [07:48<14:31,  1.23s/it]
 21%|██▏       | 192/900 [07:48<12:41,  1.08s/it]
 21%|██▏       | 193/900 [08:00<51:07,  4.34s/it]
 22%|██▏       | 194/900 [08:01<38:17,  3.25s/it]
 22%|██▏       | 195/900 [08:02<29:18,  2.49s/it]
 22%|██▏       | 196/900 [08:02<23:03,  1.96s/it]
 22%|██▏       | 197/900 [08:03<18:39,  1.59s/it]
 22%|██▏       | 198/900 [08:04<15:33,  1.33s/it]
 22%|██▏       | 199/900 [08:05<13:19,  1.14s/it]
 22%|██▏       | 200/900 [08:05<11:44,  1.01s/it]
 22%|██▏       | 201/900 [09:19<4:26:08, 22.85s/it]
 22%|██▏       | 202/900 [09:20<3:08:27, 16.20s/it]
 23%|██▎       | 203/900 [09:20<2:14:09, 11.55s/it]
 23%|██▎       | 204/900 [09:21<1:36:11,  8.29s/it]
 23%|██▎       | 205/900 [09:22<1:09:39,  6.01s/it]
 23%|██▎       | 206/900 [09:23<51:06,  4.42s/it]  
 23%|██▎       | 207/900 [09:23<38:08,  3.30s/it]
 23%|██▎       | 208/900 [09:24<29:03,  2.52s/it]
 23%|██▎       | 209/900 [09:35<59:23,  5.16s/it]
 23%|██▎       | 210/900 [09:36<43:59,  3.83s/it]
 23%|██▎       | 211/900 [09:37<33:16,  2.90s/it]
 24%|██▎       | 212/900 [09:37<25:43,  2.24s/it]
 24%|██▎       | 213/900 [09:38<20:28,  1.79s/it]
 24%|██▍       | 214/900 [09:39<16:43,  1.46s/it]
 24%|██▍       | 215/900 [09:40<14:07,  1.24s/it]
 24%|██▍       | 216/900 [09:40<12:23,  1.09s/it]
 24%|██▍       | 217/900 [09:50<41:21,  3.63s/it]
 24%|██▍       | 218/900 [09:51<31:23,  2.76s/it]
 24%|██▍       | 219/900 [09:51<24:24,  2.15s/it]
 24%|██▍       | 220/900 [09:52<19:31,  1.72s/it]
 25%|██▍       | 221/900 [09:53<16:06,  1.42s/it]
 25%|██▍       | 222/900 [09:53<13:43,  1.21s/it]
 25%|██▍       | 223/900 [09:54<12:03,  1.07s/it]
 25%|██▍       | 224/900 [09:55<10:53,  1.03it/s]
 25%|██▌       | 225/900 [10:02<32:36,  2.90s/it]
 25%|██▌       | 226/900 [10:03<25:16,  2.25s/it]
 25%|██▌       | 227/900 [10:04<20:08,  1.80s/it]
 25%|██▌       | 228/900 [10:05<16:34,  1.48s/it]
 25%|██▌       | 229/900 [10:05<14:05,  1.26s/it]
 26%|██▌       | 230/900 [10:06<12:20,  1.11s/it]
 26%|██▌       | 231/900 [10:07<11:05,  1.01it/s]
 26%|██▌       | 232/900 [10:08<10:08,  1.10it/s]
 26%|██▌       | 233/900 [10:57<2:51:57, 15.47s/it]
 26%|██▌       | 234/900 [10:58<2:02:32, 11.04s/it]
 26%|██▌       | 235/900 [10:58<1:27:56,  7.93s/it]
 26%|██▌       | 236/900 [10:59<1:03:45,  5.76s/it]
 26%|██▋       | 237/900 [11:00<46:51,  4.24s/it]  
 26%|██▋       | 238/900 [11:00<35:04,  3.18s/it]
 27%|██▋       | 239/900 [11:01<26:51,  2.44s/it]
 27%|██▋       | 240/900 [11:02<21:06,  1.92s/it]
 27%|██▋       | 241/900 [11:19<1:10:00,  6.37s/it]
 27%|██▋       | 242/900 [11:19<51:16,  4.68s/it]  
 27%|██▋       | 243/900 [11:20<38:09,  3.49s/it]
 27%|██▋       | 244/900 [11:21<28:58,  2.65s/it]
 27%|██▋       | 245/900 [11:21<22:35,  2.07s/it]
 27%|██▋       | 246/900 [11:22<18:02,  1.66s/it]
 27%|██▋       | 247/900 [11:23<14:54,  1.37s/it]
 28%|██▊       | 248/900 [11:24<12:41,  1.17s/it]
 28%|██▊       | 249/900 [13:09<5:50:33, 32.31s/it]
 28%|██▊       | 250/900 [13:09<4:07:18, 22.83s/it]
 28%|██▊       | 251/900 [13:10<2:55:08, 16.19s/it]
 28%|██▊       | 252/900 [13:11<2:04:42, 11.55s/it]
 28%|██▊       | 253/900 [13:11<1:29:27,  8.30s/it]
 28%|██▊       | 254/900 [13:12<1:04:50,  6.02s/it]
 28%|██▊       | 255/900 [13:13<47:41,  4.44s/it]  
 28%|██▊       | 256/900 [13:14<35:39,  3.32s/it]
 29%|██▊       | 257/900 [13:33<1:28:56,  8.30s/it]
 29%|██▊       | 258/900 [13:34<1:04:30,  6.03s/it]
 29%|██▉       | 259/900 [13:35<47:24,  4.44s/it]  
 29%|██▉       | 260/900 [13:36<35:26,  3.32s/it]
 29%|██▉       | 261/900 [13:36<27:04,  2.54s/it]
 29%|██▉       | 262/900 [13:37<21:16,  2.00s/it]
 29%|██▉       | 263/900 [13:38<17:08,  1.61s/it]
 29%|██▉       | 264/900 [13:39<14:15,  1.34s/it]
 29%|██▉       | 265/900 [13:58<1:10:34,  6.67s/it]
 30%|██▉       | 266/900 [13:58<51:32,  4.88s/it]  
 30%|██▉       | 267/900 [13:59<38:09,  3.62s/it]
 30%|██▉       | 268/900 [14:00<28:53,  2.74s/it]
 30%|██▉       | 269/900 [14:00<22:24,  2.13s/it]
 30%|███       | 270/900 [14:01<17:54,  1.71s/it]
 30%|███       | 271/900 [14:02<14:47,  1.41s/it]
 30%|███       | 272/900 [14:03<12:37,  1.21s/it]
 30%|███       | 273/900 [14:22<1:10:29,  6.75s/it]
 30%|███       | 274/900 [14:23<51:32,  4.94s/it]  
 31%|███       | 275/900 [14:24<38:17,  3.68s/it]
 31%|███       | 276/900 [14:24<29:00,  2.79s/it]
 31%|███       | 277/900 [14:25<22:31,  2.17s/it]
 31%|███       | 278/900 [14:26<17:57,  1.73s/it]
 31%|███       | 279/900 [14:27<14:48,  1.43s/it]
 31%|███       | 280/900 [14:27<12:35,  1.22s/it]
 31%|███       | 281/900 [14:36<35:38,  3.45s/it]
 31%|███▏      | 282/900 [14:37<27:09,  2.64s/it]
 31%|███▏      | 283/900 [14:37<21:15,  2.07s/it]
 32%|███▏      | 284/900 [14:38<17:06,  1.67s/it]
 32%|███▏      | 285/900 [14:39<14:09,  1.38s/it]
 32%|███▏      | 286/900 [14:40<12:03,  1.18s/it]
 32%|███▏      | 287/900 [14:40<10:37,  1.04s/it]
 32%|███▏      | 288/900 [14:41<09:36,  1.06it/s]
 32%|███▏      | 289/900 [14:58<58:22,  5.73s/it]
 32%|███▏      | 290/900 [14:59<42:59,  4.23s/it]
 32%|███▏      | 291/900 [14:59<32:14,  3.18s/it]
 32%|███▏      | 292/900 [15:00<24:44,  2.44s/it]
 33%|███▎      | 293/900 [15:01<19:29,  1.93s/it]
 33%|███▎      | 294/900 [15:02<15:48,  1.57s/it]
 33%|███▎      | 295/900 [15:02<13:16,  1.32s/it]
 33%|███▎      | 296/900 [15:03<11:31,  1.15s/it]
 33%|███▎      | 297/900 [15:21<1:01:51,  6.15s/it]
 33%|███▎      | 298/900 [15:22<45:28,  4.53s/it]  
 33%|███▎      | 299/900 [15:22<33:59,  3.39s/it]
 33%|███▎      | 300/900 [15:23<25:56,  2.59s/it]
 33%|███▎      | 301/900 [15:24<20:18,  2.03s/it]
 34%|███▎      | 302/900 [15:25<16:21,  1.64s/it]
 34%|███▎      | 303/900 [15:25<13:38,  1.37s/it]
 34%|███▍      | 304/900 [15:26<11:40,  1.17s/it]
 34%|███▍      | 305/900 [15:38<42:55,  4.33s/it]
 34%|███▍      | 306/900 [15:38<32:08,  3.25s/it]
 34%|███▍      | 307/900 [15:39<24:35,  2.49s/it]
 34%|███▍      | 308/900 [15:40<19:22,  1.96s/it]
 34%|███▍      | 309/900 [15:41<15:42,  1.59s/it]
 34%|███▍      | 310/900 [15:41<13:08,  1.34s/it]
 35%|███▍      | 311/900 [15:42<11:18,  1.15s/it]
 35%|███▍      | 312/900 [15:43<10:01,  1.02s/it]
 35%|███▍      | 313/900 [16:00<56:14,  5.75s/it]
 35%|███▍      | 314/900 [16:00<41:19,  4.23s/it]
 35%|███▌      | 315/900 [16:01<30:55,  3.17s/it]
 35%|███▌      | 316/900 [16:02<23:37,  2.43s/it]
 35%|███▌      | 317/900 [16:02<18:33,  1.91s/it]
 35%|███▌      | 318/900 [16:03<14:58,  1.54s/it]
 35%|███▌      | 319/900 [16:04<12:26,  1.29s/it]
 36%|███▌      | 320/900 [16:04<10:42,  1.11s/it]
 36%|███▌      | 321/900 [16:15<38:26,  3.98s/it]
 36%|███▌      | 322/900 [16:16<28:49,  2.99s/it]
 36%|███▌      | 323/900 [16:16<22:07,  2.30s/it]
 36%|███▌      | 324/900 [16:17<17:27,  1.82s/it]
 36%|███▌      | 325/900 [16:18<14:10,  1.48s/it]
 36%|███▌      | 326/900 [16:19<11:59,  1.25s/it]
 36%|███▋      | 327/900 [16:19<10:20,  1.08s/it]
 36%|███▋      | 328/900 [16:20<09:12,  1.04it/s]
 37%|███▋      | 329/900 [17:05<2:15:48, 14.27s/it]
 37%|███▋      | 330/900 [17:06<1:36:52, 10.20s/it]
 37%|███▋      | 331/900 [17:07<1:09:41,  7.35s/it]
 37%|███▋      | 332/900 [17:07<50:48,  5.37s/it]  
 37%|███▋      | 333/900 [17:08<37:32,  3.97s/it]
 37%|███▋      | 334/900 [17:09<28:18,  3.00s/it]
 37%|███▋      | 335/900 [17:10<21:51,  2.32s/it]
 37%|███▋      | 336/900 [17:10<17:14,  1.83s/it]
 37%|███▋      | 337/900 [17:30<1:08:27,  7.30s/it]
 38%|███▊      | 338/900 [17:31<49:47,  5.32s/it]  
 38%|███▊      | 339/900 [17:32<36:45,  3.93s/it]
 38%|███▊      | 340/900 [17:32<27:40,  2.97s/it]
 38%|███▊      | 341/900 [17:33<21:19,  2.29s/it]
 38%|███▊      | 342/900 [17:34<16:47,  1.81s/it]
 38%|███▊      | 343/900 [17:34<13:41,  1.48s/it]
 38%|███▊      | 344/900 [17:35<11:31,  1.24s/it]
 38%|███▊      | 345/900 [17:46<38:16,  4.14s/it]
 38%|███▊      | 346/900 [17:47<28:50,  3.12s/it]
 39%|███▊      | 347/900 [17:48<22:11,  2.41s/it]
 39%|███▊      | 348/900 [17:48<17:31,  1.90s/it]
 39%|███▉      | 349/900 [17:49<14:13,  1.55s/it]
 39%|███▉      | 350/900 [17:50<11:53,  1.30s/it]
 39%|███▉      | 351/900 [17:50<10:17,  1.13s/it]
 39%|███▉      | 352/900 [17:51<09:11,  1.01s/it]
 39%|███▉      | 353/900 [18:55<3:01:11, 19.87s/it]
 39%|███▉      | 354/900 [18:56<2:08:32, 14.13s/it]
 39%|███▉      | 355/900 [18:57<1:31:46, 10.10s/it]
 40%|███▉      | 356/900 [18:57<1:06:02,  7.28s/it]
 40%|███▉      | 357/900 [18:58<48:01,  5.31s/it]  
 40%|███▉      | 358/900 [18:59<35:33,  3.94s/it]
 40%|███▉      | 359/900 [18:59<26:46,  2.97s/it]
 40%|████      | 360/900 [19:00<20:40,  2.30s/it]
 40%|████      | 361/900 [19:18<1:01:30,  6.85s/it]
 40%|████      | 362/900 [19:18<44:55,  5.01s/it]  
 40%|████      | 363/900 [19:19<33:17,  3.72s/it]
 40%|████      | 364/900 [19:20<25:11,  2.82s/it]
 41%|████      | 365/900 [19:20<19:31,  2.19s/it]
 41%|████      | 366/900 [19:21<15:35,  1.75s/it]
 41%|████      | 367/900 [19:22<12:50,  1.44s/it]
 41%|████      | 368/900 [19:23<10:53,  1.23s/it]
 41%|████      | 369/900 [20:35<3:20:42, 22.68s/it]
 41%|████      | 370/900 [20:36<2:22:09, 16.09s/it]
 41%|████      | 371/900 [20:37<1:41:14, 11.48s/it]
 41%|████▏     | 372/900 [20:38<1:12:38,  8.26s/it]
 41%|████▏     | 373/900 [20:38<52:39,  5.99s/it]  
 42%|████▏     | 374/900 [20:39<38:39,  4.41s/it]
 42%|████▏     | 375/900 [20:40<28:54,  3.30s/it]
 42%|████▏     | 376/900 [20:40<22:06,  2.53s/it]
 42%|████▏     | 377/900 [20:54<50:26,  5.79s/it]
 42%|████▏     | 378/900 [20:55<37:09,  4.27s/it]
 42%|████▏     | 379/900 [20:55<27:51,  3.21s/it]
 42%|████▏     | 380/900 [20:56<21:20,  2.46s/it]
 42%|████▏     | 381/900 [20:57<16:47,  1.94s/it]
 42%|████▏     | 382/900 [20:57<13:34,  1.57s/it]
 43%|████▎     | 383/900 [20:58<11:18,  1.31s/it]
 43%|████▎     | 384/900 [20:59<09:45,  1.13s/it]
 43%|████▎     | 385/900 [21:15<48:24,  5.64s/it]
 43%|████▎     | 386/900 [21:16<35:39,  4.16s/it]
 43%|████▎     | 387/900 [21:16<26:45,  3.13s/it]
 43%|████▎     | 388/900 [21:17<20:30,  2.40s/it]
 43%|████▎     | 389/900 [21:18<16:12,  1.90s/it]
 43%|████▎     | 390/900 [21:19<13:14,  1.56s/it]
 43%|████▎     | 391/900 [21:19<11:09,  1.32s/it]
 44%|████▎     | 392/900 [21:20<09:40,  1.14s/it]
 44%|████▎     | 393/900 [21:38<52:35,  6.22s/it]
 44%|████▍     | 394/900 [21:39<38:34,  4.57s/it]
 44%|████▍     | 395/900 [21:40<28:46,  3.42s/it]
 44%|████▍     | 396/900 [21:40<21:54,  2.61s/it]
 44%|████▍     | 397/900 [21:41<17:07,  2.04s/it]
 44%|████▍     | 398/900 [21:42<13:47,  1.65s/it]
 44%|████▍     | 399/900 [21:43<11:24,  1.37s/it]
 44%|████▍     | 400/900 [21:43<09:43,  1.17s/it]
 45%|████▍     | 401/900 [23:51<5:24:57, 39.07s/it]
 45%|████▍     | 402/900 [23:51<3:48:45, 27.56s/it]
 45%|████▍     | 403/900 [23:52<2:41:31, 19.50s/it]
 45%|████▍     | 404/900 [23:53<1:54:33, 13.86s/it]
 45%|████▌     | 405/900 [23:54<1:21:48,  9.92s/it]
 45%|████▌     | 406/900 [23:54<58:55,  7.16s/it]  
 45%|████▌     | 407/900 [23:55<42:56,  5.23s/it]
 45%|████▌     | 408/900 [23:56<31:46,  3.87s/it]
 45%|████▌     | 409/900 [25:06<3:15:20, 23.87s/it]
 46%|████▌     | 410/900 [25:07<2:18:13, 16.93s/it]
 46%|████▌     | 411/900 [25:08<1:38:19, 12.06s/it]
 46%|████▌     | 412/900 [25:08<1:10:27,  8.66s/it]
 46%|████▌     | 413/900 [25:09<51:03,  6.29s/it]  
 46%|████▌     | 414/900 [25:10<37:23,  4.62s/it]
 46%|████▌     | 415/900 [25:11<27:52,  3.45s/it]
 46%|████▌     | 416/900 [25:11<21:14,  2.63s/it]
 46%|████▋     | 417/900 [25:30<1:00:48,  7.55s/it]
 46%|████▋     | 418/900 [25:31<44:10,  5.50s/it]  
 47%|████▋     | 419/900 [25:32<32:32,  4.06s/it]
 47%|████▋     | 420/900 [25:32<24:23,  3.05s/it]
 47%|████▋     | 421/900 [25:33<18:45,  2.35s/it]
 47%|████▋     | 422/900 [25:34<14:44,  1.85s/it]
 47%|████▋     | 423/900 [25:35<11:56,  1.50s/it]
 47%|████▋     | 424/900 [25:35<10:02,  1.27s/it]
 47%|████▋     | 425/900 [25:53<49:36,  6.27s/it]
 47%|████▋     | 426/900 [25:54<36:20,  4.60s/it]
 47%|████▋     | 427/900 [25:55<27:05,  3.44s/it]
 48%|████▊     | 428/900 [25:55<20:34,  2.62s/it]
 48%|████▊     | 429/900 [25:56<15:59,  2.04s/it]
 48%|████▊     | 430/900 [25:57<12:47,  1.63s/it]
 48%|████▊     | 431/900 [25:57<10:32,  1.35s/it]
 48%|████▊     | 432/900 [25:58<08:58,  1.15s/it]
 48%|████▊     | 433/900 [26:26<1:12:11,  9.28s/it]
 48%|████▊     | 434/900 [26:27<52:05,  6.71s/it]  
 48%|████▊     | 435/900 [26:28<38:01,  4.91s/it]
 48%|████▊     | 436/900 [26:28<28:11,  3.65s/it]
 49%|████▊     | 437/900 [26:29<21:21,  2.77s/it]
 49%|████▊     | 438/900 [26:30<16:32,  2.15s/it]
 49%|████▉     | 439/900 [26:31<13:13,  1.72s/it]
 49%|████▉     | 440/900 [26:31<10:57,  1.43s/it]
 49%|████▉     | 441/900 [26:45<40:03,  5.24s/it]
 49%|████▉     | 442/900 [26:46<29:38,  3.88s/it]
 49%|████▉     | 443/900 [26:47<22:21,  2.94s/it]
 49%|████▉     | 444/900 [26:48<17:14,  2.27s/it]
 49%|████▉     | 445/900 [26:48<13:39,  1.80s/it]
 50%|████▉     | 446/900 [26:49<11:10,  1.48s/it]
 50%|████▉     | 447/900 [26:50<09:28,  1.25s/it]
 50%|████▉     | 448/900 [26:50<08:13,  1.09s/it]
 50%|████▉     | 449/900 [27:38<1:52:10, 14.92s/it]
 50%|█████     | 450/900 [27:38<1:19:58, 10.66s/it]
 50%|█████     | 451/900 [27:39<57:29,  7.68s/it]  
 50%|█████     | 452/900 [27:40<41:47,  5.60s/it]
 50%|█████     | 453/900 [27:41<30:56,  4.15s/it]
 50%|█████     | 454/900 [27:41<23:14,  3.13s/it]
 51%|█████     | 455/900 [27:42<17:52,  2.41s/it]
 51%|█████     | 456/900 [27:43<14:08,  1.91s/it]
 51%|█████     | 457/900 [29:10<3:23:51, 27.61s/it]
 51%|█████     | 458/900 [29:11<2:23:58, 19.54s/it]
 51%|█████     | 459/900 [29:12<1:42:13, 13.91s/it]
 51%|█████     | 460/900 [29:13<1:13:04,  9.96s/it]
 51%|█████     | 461/900 [29:13<52:38,  7.19s/it]  
 51%|█████▏    | 462/900 [29:14<38:23,  5.26s/it]
 51%|█████▏    | 463/900 [29:15<28:33,  3.92s/it]
 52%|█████▏    | 464/900 [29:16<21:34,  2.97s/it]
 52%|█████▏    | 465/900 [29:40<1:08:09,  9.40s/it]
 52%|█████▏    | 466/900 [29:41<49:09,  6.80s/it]  
 52%|█████▏    | 467/900 [29:42<35:51,  4.97s/it]
 52%|█████▏    | 468/900 [29:42<26:39,  3.70s/it]
 52%|█████▏    | 469/900 [29:43<20:12,  2.81s/it]
 52%|█████▏    | 470/900 [29:44<15:38,  2.18s/it]
 52%|█████▏    | 471/900 [29:44<12:24,  1.74s/it]
 52%|█████▏    | 472/900 [29:45<10:13,  1.43s/it]
 53%|█████▎    | 473/900 [30:03<44:55,  6.31s/it]
 53%|█████▎    | 474/900 [30:04<32:56,  4.64s/it]
 53%|█████▎    | 475/900 [30:04<24:33,  3.47s/it]
 53%|█████▎    | 476/900 [30:05<18:43,  2.65s/it]
 53%|█████▎    | 477/900 [30:06<14:38,  2.08s/it]
 53%|█████▎    | 478/900 [30:07<11:46,  1.68s/it]
 53%|█████▎    | 479/900 [30:07<09:47,  1.39s/it]
 53%|█████▎    | 480/900 [30:08<08:22,  1.20s/it]
 53%|█████▎    | 481/900 [30:18<27:38,  3.96s/it]
 54%|█████▎    | 482/900 [30:19<20:51,  2.99s/it]
 54%|█████▎    | 483/900 [30:20<16:08,  2.32s/it]
 54%|█████▍    | 484/900 [30:21<12:51,  1.86s/it]
 54%|█████▍    | 485/900 [30:21<10:30,  1.52s/it]
 54%|█████▍    | 486/900 [30:22<08:52,  1.29s/it]
 54%|█████▍    | 487/900 [30:23<07:42,  1.12s/it]
 54%|█████▍    | 488/900 [30:24<06:53,  1.00s/it]
 54%|█████▍    | 489/900 [30:51<1:00:30,  8.83s/it]
 54%|█████▍    | 490/900 [30:51<43:47,  6.41s/it]  
 55%|█████▍    | 491/900 [30:52<32:02,  4.70s/it]
 55%|█████▍    | 492/900 [30:53<23:50,  3.51s/it]
 55%|█████▍    | 493/900 [30:54<18:06,  2.67s/it]
 55%|█████▍    | 494/900 [30:54<14:06,  2.08s/it]
 55%|█████▌    | 495/900 [30:55<11:21,  1.68s/it]
 55%|█████▌    | 496/900 [30:56<09:28,  1.41s/it]
 55%|█████▌    | 497/900 [32:26<3:08:18, 28.04s/it]
 55%|█████▌    | 498/900 [32:27<2:12:57, 19.85s/it]
 55%|█████▌    | 499/900 [32:27<1:34:17, 14.11s/it]
 56%|█████▌    | 500/900 [32:29<1:08:13, 10.23s/it]
 56%|█████▌    | 501/900 [32:29<49:02,  7.37s/it]  
 56%|█████▌    | 502/900 [32:30<35:40,  5.38s/it]
 56%|█████▌    | 503/900 [32:31<26:20,  3.98s/it]
 56%|█████▌    | 504/900 [32:32<19:48,  3.00s/it]
 56%|█████▌    | 505/900 [32:49<47:52,  7.27s/it]
 56%|█████▌    | 506/900 [32:50<34:53,  5.31s/it]
 56%|█████▋    | 507/900 [32:50<25:49,  3.94s/it]
 56%|█████▋    | 508/900 [32:51<19:27,  2.98s/it]
 57%|█████▋    | 509/900 [32:52<15:02,  2.31s/it]
 57%|█████▋    | 510/900 [32:52<11:52,  1.83s/it]
 57%|█████▋    | 511/900 [32:53<09:38,  1.49s/it]
 57%|█████▋    | 512/900 [32:54<08:06,  1.25s/it]
 57%|█████▋    | 513/900 [34:15<2:42:41, 25.22s/it]
 57%|█████▋    | 514/900 [34:16<1:54:56, 17.87s/it]
 57%|█████▋    | 515/900 [34:16<1:21:35, 12.72s/it]
 57%|█████▋    | 516/900 [34:17<58:17,  9.11s/it]  
 57%|█████▋    | 517/900 [34:18<42:01,  6.58s/it]
 58%|█████▊    | 518/900 [34:18<30:39,  4.82s/it]
 58%|█████▊    | 519/900 [34:19<22:43,  3.58s/it]
 58%|█████▊    | 520/900 [34:20<17:11,  2.71s/it]
 58%|█████▊    | 521/900 [35:03<1:33:57, 14.87s/it]
 58%|█████▊    | 522/900 [35:04<1:06:55, 10.62s/it]
 58%|█████▊    | 523/900 [35:05<48:02,  7.65s/it]  
 58%|█████▊    | 524/900 [35:05<34:53,  5.57s/it]
 58%|█████▊    | 525/900 [35:06<25:38,  4.10s/it]
 58%|█████▊    | 526/900 [35:07<19:12,  3.08s/it]
 59%|█████▊    | 527/900 [35:07<14:42,  2.37s/it]
 59%|█████▊    | 528/900 [35:08<11:32,  1.86s/it]
 59%|█████▉    | 529/900 [35:33<54:54,  8.88s/it]
 59%|█████▉    | 530/900 [35:34<39:40,  6.43s/it]
 59%|█████▉    | 531/900 [35:35<29:01,  4.72s/it]
 59%|█████▉    | 532/900 [35:35<21:32,  3.51s/it]
 59%|█████▉    | 533/900 [35:36<16:23,  2.68s/it]
 59%|█████▉    | 534/900 [35:37<12:47,  2.10s/it]
 59%|█████▉    | 535/900 [35:38<10:14,  1.68s/it]
 60%|█████▉    | 536/900 [35:38<08:30,  1.40s/it]
 60%|█████▉    | 537/900 [35:48<24:17,  4.02s/it]
 60%|█████▉    | 538/900 [35:49<18:12,  3.02s/it]
 60%|█████▉    | 539/900 [35:50<13:59,  2.32s/it]
 60%|██████    | 540/900 [35:51<11:03,  1.84s/it]
 60%|██████    | 541/900 [35:51<09:03,  1.51s/it]
 60%|██████    | 542/900 [35:52<07:38,  1.28s/it]
 60%|██████    | 543/900 [35:53<06:39,  1.12s/it]
 60%|██████    | 544/900 [35:54<05:57,  1.00s/it]
 61%|██████    | 545/900 [36:53<1:50:10, 18.62s/it]
 61%|██████    | 546/900 [36:54<1:18:11, 13.25s/it]
 61%|██████    | 547/900 [36:55<55:50,  9.49s/it]  
 61%|██████    | 548/900 [36:55<40:13,  6.86s/it]
 61%|██████    | 549/900 [36:56<29:19,  5.01s/it]
 61%|██████    | 550/900 [36:57<21:42,  3.72s/it]
 61%|██████    | 551/900 [36:58<16:23,  2.82s/it]
 61%|██████▏   | 552/900 [36:58<12:39,  2.18s/it]
 61%|██████▏   | 553/900 [37:14<35:25,  6.13s/it]
 62%|██████▏   | 554/900 [37:14<25:58,  4.51s/it]
 62%|██████▏   | 555/900 [37:15<19:23,  3.37s/it]
 62%|██████▏   | 556/900 [37:16<14:48,  2.58s/it]
 62%|██████▏   | 557/900 [37:16<11:35,  2.03s/it]
 62%|██████▏   | 558/900 [37:17<09:20,  1.64s/it]
 62%|██████▏   | 559/900 [37:18<07:44,  1.36s/it]
 62%|██████▏   | 560/900 [37:19<06:38,  1.17s/it]
 62%|██████▏   | 561/900 [37:33<28:43,  5.08s/it]
 62%|██████▏   | 562/900 [37:34<21:17,  3.78s/it]
 63%|██████▎   | 563/900 [37:34<16:06,  2.87s/it]
 63%|██████▎   | 564/900 [37:35<12:26,  2.22s/it]
 63%|██████▎   | 565/900 [37:36<09:50,  1.76s/it]
 63%|██████▎   | 566/900 [37:36<08:02,  1.45s/it]
 63%|██████▎   | 567/900 [37:37<06:46,  1.22s/it]
 63%|██████▎   | 568/900 [37:38<05:53,  1.07s/it]
 63%|██████▎   | 569/900 [38:13<1:01:57, 11.23s/it]
 63%|██████▎   | 570/900 [38:14<44:26,  8.08s/it]  
 63%|██████▎   | 571/900 [38:14<32:10,  5.87s/it]
 64%|██████▎   | 572/900 [38:15<23:38,  4.33s/it]
 64%|██████▎   | 573/900 [38:16<17:38,  3.24s/it]
 64%|██████▍   | 574/900 [38:16<13:26,  2.47s/it]
 64%|██████▍   | 575/900 [38:17<10:31,  1.94s/it]
 64%|██████▍   | 576/900 [38:18<08:28,  1.57s/it]
 64%|██████▍   | 577/900 [38:29<24:51,  4.62s/it]
 64%|██████▍   | 578/900 [38:30<18:30,  3.45s/it]
 64%|██████▍   | 579/900 [38:31<14:04,  2.63s/it]
 64%|██████▍   | 580/900 [38:32<10:57,  2.05s/it]
 65%|██████▍   | 581/900 [38:32<08:47,  1.65s/it]
 65%|██████▍   | 582/900 [38:33<07:17,  1.37s/it]
 65%|██████▍   | 583/900 [38:34<06:13,  1.18s/it]
 65%|██████▍   | 584/900 [38:35<05:29,  1.04s/it]
 65%|██████▌   | 585/900 [40:40<3:21:10, 38.32s/it]
 65%|██████▌   | 586/900 [40:41<2:21:28, 27.03s/it]
 65%|██████▌   | 587/900 [40:41<1:39:51, 19.14s/it]
 65%|██████▌   | 588/900 [40:42<1:10:46, 13.61s/it]
 65%|██████▌   | 589/900 [40:43<50:30,  9.74s/it]  
 66%|██████▌   | 590/900 [40:43<36:21,  7.04s/it]
 66%|██████▌   | 591/900 [40:44<26:27,  5.14s/it]
 66%|██████▌   | 592/900 [40:45<19:33,  3.81s/it]
 66%|██████▌   | 593/900 [41:38<1:34:59, 18.57s/it]
 66%|██████▌   | 594/900 [41:39<1:07:20, 13.21s/it]
 66%|██████▌   | 595/900 [41:39<48:01,  9.45s/it]  
 66%|██████▌   | 596/900 [41:40<34:40,  6.84s/it]
 66%|██████▋   | 597/900 [41:41<25:18,  5.01s/it]
 66%|██████▋   | 598/900 [41:41<18:45,  3.73s/it]
 67%|██████▋   | 599/900 [41:42<14:10,  2.83s/it]
 67%|██████▋   | 600/900 [41:43<10:58,  2.20s/it]
 67%|██████▋   | 601/900 [42:39<1:32:05, 18.48s/it]
 67%|██████▋   | 602/900 [42:40<1:05:21, 13.16s/it]
 67%|██████▋   | 603/900 [42:41<46:45,  9.44s/it]  
 67%|██████▋   | 604/900 [42:42<33:40,  6.83s/it]
 67%|██████▋   | 605/900 [42:42<24:34,  5.00s/it]
 67%|██████▋   | 606/900 [42:43<18:13,  3.72s/it]
 67%|██████▋   | 607/900 [42:44<13:45,  2.82s/it]
 68%|██████▊   | 608/900 [42:44<10:37,  2.18s/it]
 68%|██████▊   | 609/900 [43:09<43:02,  8.88s/it]
 68%|██████▊   | 610/900 [43:10<31:06,  6.44s/it]
 68%|██████▊   | 611/900 [43:10<22:42,  4.71s/it]
 68%|██████▊   | 612/900 [43:11<16:50,  3.51s/it]
 68%|██████▊   | 613/900 [43:12<12:46,  2.67s/it]
 68%|██████▊   | 614/900 [43:13<09:55,  2.08s/it]
 68%|██████▊   | 615/900 [43:13<07:54,  1.67s/it]
 68%|██████▊   | 616/900 [43:14<06:30,  1.37s/it]
 69%|██████▊   | 617/900 [43:40<41:47,  8.86s/it]
 69%|██████▊   | 618/900 [43:41<30:09,  6.42s/it]
 69%|██████▉   | 619/900 [43:42<22:01,  4.70s/it]
 69%|██████▉   | 620/900 [43:42<16:19,  3.50s/it]
 69%|██████▉   | 621/900 [43:43<12:23,  2.67s/it]
 69%|██████▉   | 622/900 [43:44<09:36,  2.07s/it]
 69%|██████▉   | 623/900 [43:44<07:40,  1.66s/it]
 69%|██████▉   | 624/900 [43:45<06:20,  1.38s/it]
 69%|██████▉   | 625/900 [44:08<35:32,  7.76s/it]
 70%|██████▉   | 626/900 [44:09<25:44,  5.64s/it]
 70%|██████▉   | 627/900 [44:09<18:55,  4.16s/it]
 70%|██████▉   | 628/900 [44:10<14:08,  3.12s/it]
 70%|██████▉   | 629/900 [44:11<10:48,  2.39s/it]
 70%|███████   | 630/900 [44:11<08:28,  1.89s/it]
 70%|███████   | 631/900 [44:12<06:51,  1.53s/it]
 70%|███████   | 632/900 [44:13<05:42,  1.28s/it]
 70%|███████   | 633/900 [44:33<30:38,  6.89s/it]
 70%|███████   | 634/900 [44:33<22:24,  5.06s/it]
 71%|███████   | 635/900 [44:34<16:40,  3.78s/it]
 71%|███████   | 636/900 [44:35<12:39,  2.88s/it]
 71%|███████   | 637/900 [44:36<09:47,  2.23s/it]
 71%|███████   | 638/900 [44:37<07:48,  1.79s/it]
 71%|███████   | 639/900 [44:37<06:20,  1.46s/it]
 71%|███████   | 640/900 [44:38<05:20,  1.23s/it]
 71%|███████   | 641/900 [44:54<24:15,  5.62s/it]
 71%|███████▏  | 642/900 [44:54<17:50,  4.15s/it]
 71%|███████▏  | 643/900 [44:55<13:19,  3.11s/it]
 72%|███████▏  | 644/900 [44:56<10:11,  2.39s/it]
 72%|███████▏  | 645/900 [44:57<07:59,  1.88s/it]
 72%|███████▏  | 646/900 [44:57<06:28,  1.53s/it]
 72%|███████▏  | 647/900 [44:58<05:23,  1.28s/it]
 72%|███████▏  | 648/900 [44:59<04:37,  1.10s/it]
 72%|███████▏  | 649/900 [45:14<22:01,  5.27s/it]
 72%|███████▏  | 650/900 [45:14<16:13,  3.89s/it]
 72%|███████▏  | 651/900 [45:15<12:10,  2.93s/it]
 72%|███████▏  | 652/900 [45:16<09:20,  2.26s/it]
 73%|███████▎  | 653/900 [45:16<07:21,  1.79s/it]
 73%|███████▎  | 654/900 [45:17<05:59,  1.46s/it]
 73%|███████▎  | 655/900 [45:18<05:02,  1.23s/it]
 73%|███████▎  | 656/900 [45:19<04:20,  1.07s/it]
 73%|███████▎  | 657/900 [46:33<1:33:01, 22.97s/it]
 73%|███████▎  | 658/900 [46:33<1:05:41, 16.29s/it]
 73%|███████▎  | 659/900 [46:34<46:37, 11.61s/it]  
 73%|███████▎  | 660/900 [46:35<33:19,  8.33s/it]
 73%|███████▎  | 661/900 [46:35<24:03,  6.04s/it]
 74%|███████▎  | 662/900 [46:36<17:35,  4.44s/it]
 74%|███████▎  | 663/900 [46:37<13:05,  3.31s/it]
 74%|███████▍  | 664/900 [46:37<09:56,  2.53s/it]
 74%|███████▍  | 665/900 [46:51<22:46,  5.81s/it]
 74%|███████▍  | 666/900 [46:52<16:42,  4.28s/it]
 74%|███████▍  | 667/900 [46:52<12:26,  3.20s/it]
 74%|███████▍  | 668/900 [46:53<09:29,  2.45s/it]
 74%|███████▍  | 669/900 [46:54<07:25,  1.93s/it]
 74%|███████▍  | 670/900 [46:54<06:01,  1.57s/it]
 75%|███████▍  | 671/900 [46:55<05:01,  1.32s/it]
 75%|███████▍  | 672/900 [46:56<04:20,  1.14s/it]
 75%|███████▍  | 673/900 [48:22<1:41:12, 26.75s/it]
 75%|███████▍  | 674/900 [48:23<1:11:20, 18.94s/it]
 75%|███████▌  | 675/900 [48:24<50:31, 13.47s/it]  
 75%|███████▌  | 676/900 [48:25<36:00,  9.65s/it]
 75%|███████▌  | 677/900 [48:25<25:53,  6.97s/it]
 75%|███████▌  | 678/900 [48:26<18:50,  5.09s/it]
 75%|███████▌  | 679/900 [48:27<13:57,  3.79s/it]
 76%|███████▌  | 680/900 [48:27<10:32,  2.88s/it]
 76%|███████▌  | 681/900 [50:20<2:10:31, 35.76s/it]
 76%|███████▌  | 682/900 [50:21<1:31:45, 25.25s/it]
 76%|███████▌  | 683/900 [50:21<1:04:41, 17.89s/it]
 76%|███████▌  | 684/900 [50:22<45:52, 12.74s/it]  
 76%|███████▌  | 685/900 [50:23<32:42,  9.13s/it]
 76%|███████▌  | 686/900 [50:24<23:31,  6.60s/it]
 76%|███████▋  | 687/900 [50:24<17:09,  4.83s/it]
 76%|███████▋  | 688/900 [50:25<12:44,  3.61s/it]
 77%|███████▋  | 689/900 [51:08<53:51, 15.32s/it]
 77%|███████▋  | 690/900 [51:08<38:16, 10.93s/it]
 77%|███████▋  | 691/900 [51:09<27:23,  7.87s/it]
 77%|███████▋  | 692/900 [51:10<19:49,  5.72s/it]
 77%|███████▋  | 693/900 [51:10<14:33,  4.22s/it]
 77%|███████▋  | 694/900 [51:11<10:53,  3.17s/it]
 77%|███████▋  | 695/900 [51:12<08:17,  2.43s/it]
 77%|███████▋  | 696/900 [51:13<06:31,  1.92s/it]
 77%|███████▋  | 697/900 [53:22<2:16:15, 40.27s/it]
 78%|███████▊  | 698/900 [53:23<1:35:38, 28.41s/it]
 78%|███████▊  | 699/900 [53:24<1:07:20, 20.10s/it]
 78%|███████▊  | 700/900 [53:25<47:37, 14.29s/it]  
 78%|███████▊  | 701/900 [53:25<33:53, 10.22s/it]
 78%|███████▊  | 702/900 [53:26<24:18,  7.36s/it]
 78%|███████▊  | 703/900 [53:27<17:38,  5.37s/it]
 78%|███████▊  | 704/900 [53:27<12:59,  3.98s/it]
 78%|███████▊  | 705/900 [54:18<58:19, 17.95s/it]
 78%|███████▊  | 706/900 [54:19<41:18, 12.78s/it]
 79%|███████▊  | 707/900 [54:19<29:26,  9.15s/it]
 79%|███████▊  | 708/900 [54:20<21:10,  6.62s/it]
 79%|███████▉  | 709/900 [54:21<15:25,  4.85s/it]
 79%|███████▉  | 710/900 [54:22<11:27,  3.62s/it]
 79%|███████▉  | 711/900 [54:22<08:40,  2.75s/it]
 79%|███████▉  | 712/900 [54:23<06:43,  2.15s/it]
 79%|███████▉  | 713/900 [54:49<29:24,  9.44s/it]
 79%|███████▉  | 714/900 [54:50<21:07,  6.81s/it]
 79%|███████▉  | 715/900 [54:51<15:20,  4.98s/it]
 80%|███████▉  | 716/900 [54:52<11:19,  3.69s/it]
 80%|███████▉  | 717/900 [54:52<08:33,  2.81s/it]
 80%|███████▉  | 718/900 [54:53<06:36,  2.18s/it]
 80%|███████▉  | 719/900 [54:54<05:15,  1.74s/it]
 80%|████████  | 720/900 [54:54<04:17,  1.43s/it]
 80%|████████  | 721/900 [55:21<27:06,  9.09s/it]
 80%|████████  | 722/900 [55:22<19:29,  6.57s/it]
 80%|████████  | 723/900 [55:23<14:11,  4.81s/it]
 80%|████████  | 724/900 [55:23<10:28,  3.57s/it]
 81%|████████  | 725/900 [55:24<07:54,  2.71s/it]
 81%|████████  | 726/900 [55:25<06:07,  2.11s/it]
 81%|████████  | 727/900 [55:26<04:51,  1.69s/it]
 81%|████████  | 728/900 [55:26<03:58,  1.39s/it]
 81%|████████  | 729/900 [55:45<18:59,  6.67s/it]
 81%|████████  | 730/900 [55:46<13:48,  4.87s/it]
 81%|████████  | 731/900 [55:47<10:13,  3.63s/it]
 81%|████████▏ | 732/900 [55:47<07:43,  2.76s/it]
 81%|████████▏ | 733/900 [55:48<05:57,  2.14s/it]
 82%|████████▏ | 734/900 [55:49<04:44,  1.71s/it]
 82%|████████▏ | 735/900 [55:50<03:53,  1.41s/it]
 82%|████████▏ | 736/900 [55:50<03:18,  1.21s/it]
 82%|████████▏ | 737/900 [56:10<18:37,  6.86s/it]
 82%|████████▏ | 738/900 [56:11<13:32,  5.01s/it]
 82%|████████▏ | 739/900 [56:12<09:58,  3.72s/it]
 82%|████████▏ | 740/900 [56:12<07:30,  2.81s/it]
 82%|████████▏ | 741/900 [56:13<05:46,  2.18s/it]
 82%|████████▏ | 742/900 [56:14<04:34,  1.74s/it]
 83%|████████▎ | 743/900 [56:15<03:44,  1.43s/it]
 83%|████████▎ | 744/900 [56:15<03:11,  1.23s/it]
 83%|████████▎ | 745/900 [56:31<14:01,  5.43s/it]
 83%|████████▎ | 746/900 [56:31<10:18,  4.02s/it]
 83%|████████▎ | 747/900 [56:32<07:43,  3.03s/it]
 83%|████████▎ | 748/900 [56:33<05:56,  2.34s/it]
 83%|████████▎ | 749/900 [56:33<04:40,  1.86s/it]
 83%|████████▎ | 750/900 [56:34<03:47,  1.52s/it]
 83%|████████▎ | 751/900 [56:35<03:10,  1.28s/it]
 84%|████████▎ | 752/900 [56:36<02:44,  1.11s/it]
 84%|████████▎ | 753/900 [56:53<14:52,  6.07s/it]
 84%|████████▍ | 754/900 [56:54<10:52,  4.47s/it]
 84%|████████▍ | 755/900 [56:55<08:04,  3.34s/it]
 84%|████████▍ | 756/900 [56:55<06:07,  2.55s/it]
 84%|████████▍ | 757/900 [56:56<04:45,  1.99s/it]
 84%|████████▍ | 758/900 [56:57<03:48,  1.61s/it]
 84%|████████▍ | 759/900 [56:58<03:09,  1.34s/it]
 84%|████████▍ | 760/900 [56:58<02:41,  1.16s/it]
 85%|████████▍ | 761/900 [57:34<26:25, 11.41s/it]
 85%|████████▍ | 762/900 [57:34<18:51,  8.20s/it]
 85%|████████▍ | 763/900 [57:35<13:34,  5.95s/it]
 85%|████████▍ | 764/900 [57:36<09:54,  4.37s/it]
 85%|████████▌ | 765/900 [57:36<07:21,  3.27s/it]
 85%|████████▌ | 766/900 [57:37<05:35,  2.50s/it]
 85%|████████▌ | 767/900 [57:38<04:21,  1.97s/it]
 85%|████████▌ | 768/900 [57:39<03:29,  1.59s/it]
 85%|████████▌ | 769/900 [58:22<30:46, 14.09s/it]
 86%|████████▌ | 770/900 [58:22<21:49, 10.08s/it]
 86%|████████▌ | 771/900 [58:23<15:37,  7.27s/it]
 86%|████████▌ | 772/900 [58:24<11:18,  5.30s/it]
 86%|████████▌ | 773/900 [58:25<08:17,  3.92s/it]
 86%|████████▌ | 774/900 [58:25<06:12,  2.96s/it]
 86%|████████▌ | 775/900 [58:26<04:44,  2.28s/it]
 86%|████████▌ | 776/900 [58:27<03:44,  1.81s/it]
 86%|████████▋ | 777/900 [58:40<10:42,  5.23s/it]
 86%|████████▋ | 778/900 [58:41<07:52,  3.87s/it]
 87%|████████▋ | 779/900 [58:41<05:53,  2.92s/it]
 87%|████████▋ | 780/900 [58:42<04:30,  2.26s/it]
 87%|████████▋ | 781/900 [58:43<03:33,  1.79s/it]
 87%|████████▋ | 782/900 [58:43<02:53,  1.47s/it]
 87%|████████▋ | 783/900 [58:44<02:25,  1.24s/it]
 87%|████████▋ | 784/900 [58:45<02:05,  1.08s/it]
 87%|████████▋ | 785/900 [59:00<10:01,  5.23s/it]
 87%|████████▋ | 786/900 [59:01<07:22,  3.88s/it]
 87%|████████▋ | 787/900 [59:01<05:30,  2.93s/it]
 88%|████████▊ | 788/900 [59:02<04:13,  2.26s/it]
 88%|████████▊ | 789/900 [59:03<03:19,  1.80s/it]
 88%|████████▊ | 790/900 [59:03<02:41,  1.47s/it]
 88%|████████▊ | 791/900 [59:04<02:15,  1.25s/it]
 88%|████████▊ | 792/900 [59:05<01:57,  1.09s/it]
 88%|████████▊ | 793/900 [59:23<10:58,  6.15s/it]
 88%|████████▊ | 794/900 [59:23<07:58,  4.52s/it]
 88%|████████▊ | 795/900 [59:24<05:54,  3.37s/it]
 88%|████████▊ | 796/900 [59:25<04:27,  2.57s/it]
 89%|████████▊ | 797/900 [59:26<03:26,  2.01s/it]
 89%|████████▊ | 798/900 [59:26<02:44,  1.62s/it]
 89%|████████▉ | 799/900 [59:27<02:15,  1.34s/it]
 89%|████████▉ | 800/900 [59:28<01:53,  1.14s/it]
 89%|████████▉ | 801/900 [59:47<10:59,  6.66s/it]
 89%|████████▉ | 802/900 [59:48<07:57,  4.88s/it]
 89%|████████▉ | 803/900 [59:49<05:51,  3.63s/it]
 89%|████████▉ | 804/900 [59:49<04:24,  2.75s/it]
 89%|████████▉ | 805/900 [59:50<03:22,  2.14s/it]
 90%|████████▉ | 806/900 [59:51<02:40,  1.71s/it]
 90%|████████▉ | 807/900 [59:51<02:10,  1.41s/it]
 90%|████████▉ | 808/900 [59:52<01:50,  1.20s/it]
 90%|████████▉ | 809/900 [1:00:10<09:15,  6.11s/it]
 90%|█████████ | 810/900 [1:00:10<06:44,  4.50s/it]
 90%|█████████ | 811/900 [1:00:11<05:00,  3.38s/it]
 90%|█████████ | 812/900 [1:00:12<03:47,  2.58s/it]
 90%|█████████ | 813/900 [1:00:13<02:55,  2.02s/it]
 90%|█████████ | 814/900 [1:00:13<02:19,  1.62s/it]
 91%|█████████ | 815/900 [1:00:14<01:55,  1.36s/it]
 91%|█████████ | 816/900 [1:00:15<01:38,  1.17s/it]
 91%|█████████ | 817/900 [1:00:30<07:14,  5.23s/it]
 91%|█████████ | 818/900 [1:00:30<05:17,  3.87s/it]
 91%|█████████ | 819/900 [1:00:31<03:56,  2.92s/it]
 91%|█████████ | 820/900 [1:00:32<03:00,  2.25s/it]
 91%|█████████ | 821/900 [1:00:32<02:21,  1.79s/it]
 91%|█████████▏| 822/900 [1:00:33<01:53,  1.46s/it]
 91%|█████████▏| 823/900 [1:00:34<01:34,  1.23s/it]
 92%|█████████▏| 824/900 [1:00:34<01:21,  1.07s/it]
 92%|█████████▏| 825/900 [1:00:53<07:59,  6.39s/it]
 92%|█████████▏| 826/900 [1:00:54<05:47,  4.69s/it]
 92%|█████████▏| 827/900 [1:00:55<04:15,  3.50s/it]
 92%|█████████▏| 828/900 [1:00:55<03:11,  2.66s/it]
 92%|█████████▏| 829/900 [1:00:56<02:26,  2.07s/it]
 92%|█████████▏| 830/900 [1:00:57<01:55,  1.66s/it]
 92%|█████████▏| 831/900 [1:00:57<01:34,  1.37s/it]
 92%|█████████▏| 832/900 [1:00:58<01:19,  1.17s/it]
 93%|█████████▎| 833/900 [1:03:24<49:44, 44.54s/it]
 93%|█████████▎| 834/900 [1:03:25<34:31, 31.39s/it]
 93%|█████████▎| 835/900 [1:03:25<24:01, 22.18s/it]
 93%|█████████▎| 836/900 [1:03:26<16:46, 15.73s/it]
 93%|█████████▎| 837/900 [1:03:27<11:47, 11.22s/it]
 93%|█████████▎| 838/900 [1:03:27<08:20,  8.07s/it]
 93%|█████████▎| 839/900 [1:03:28<05:57,  5.86s/it]
 93%|█████████▎| 840/900 [1:03:29<04:18,  4.30s/it]
 93%|█████████▎| 841/900 [1:04:48<26:26, 26.89s/it]
 94%|█████████▎| 842/900 [1:04:49<18:23, 19.03s/it]
 94%|█████████▎| 843/900 [1:04:50<12:51, 13.53s/it]
 94%|█████████▍| 844/900 [1:04:50<09:02,  9.68s/it]
 94%|█████████▍| 845/900 [1:04:51<06:23,  6.98s/it]
 94%|█████████▍| 846/900 [1:04:52<04:35,  5.09s/it]
 94%|█████████▍| 847/900 [1:04:53<03:20,  3.78s/it]
 94%|█████████▍| 848/900 [1:04:53<02:28,  2.86s/it]
 94%|█████████▍| 849/900 [1:05:07<05:07,  6.03s/it]
 94%|█████████▍| 850/900 [1:05:07<03:41,  4.43s/it]
 95%|█████████▍| 851/900 [1:05:08<02:42,  3.31s/it]
 95%|█████████▍| 852/900 [1:05:09<02:01,  2.52s/it]
 95%|█████████▍| 853/900 [1:05:09<01:32,  1.98s/it]
 95%|█████████▍| 854/900 [1:05:10<01:13,  1.60s/it]
 95%|█████████▌| 855/900 [1:05:11<00:59,  1.33s/it]
 95%|█████████▌| 856/900 [1:05:12<00:50,  1.14s/it]
 95%|█████████▌| 857/900 [1:05:28<04:04,  5.69s/it]
 95%|█████████▌| 858/900 [1:05:29<02:56,  4.20s/it]
 95%|█████████▌| 859/900 [1:05:29<02:09,  3.15s/it]
 96%|█████████▌| 860/900 [1:05:30<01:36,  2.42s/it]
 96%|█████████▌| 861/900 [1:05:31<01:14,  1.90s/it]
 96%|█████████▌| 862/900 [1:05:31<00:58,  1.54s/it]
 96%|█████████▌| 863/900 [1:05:32<00:47,  1.28s/it]
 96%|█████████▌| 864/900 [1:05:33<00:39,  1.10s/it]
 96%|█████████▌| 865/900 [1:07:23<19:43, 33.80s/it]
 96%|█████████▌| 866/900 [1:07:24<13:32, 23.89s/it]
 96%|█████████▋| 867/900 [1:07:24<09:19, 16.95s/it]
 96%|█████████▋| 868/900 [1:07:25<06:26, 12.09s/it]
 97%|█████████▋| 869/900 [1:07:26<04:29,  8.68s/it]
 97%|█████████▋| 870/900 [1:07:27<03:08,  6.29s/it]
 97%|█████████▋| 871/900 [1:07:27<02:13,  4.62s/it]
 97%|█████████▋| 872/900 [1:07:28<01:36,  3.45s/it]
 97%|█████████▋| 873/900 [1:07:48<03:47,  8.43s/it]
 97%|█████████▋| 874/900 [1:07:49<02:39,  6.12s/it]
 97%|█████████▋| 875/900 [1:07:50<01:52,  4.50s/it]
 97%|█████████▋| 876/900 [1:07:50<01:20,  3.36s/it]
 97%|█████████▋| 877/900 [1:07:51<00:59,  2.58s/it]
 98%|█████████▊| 878/900 [1:07:52<00:44,  2.03s/it]
 98%|█████████▊| 879/900 [1:07:52<00:34,  1.64s/it]
 98%|█████████▊| 880/900 [1:07:53<00:27,  1.37s/it]
 98%|█████████▊| 881/900 [1:08:16<02:27,  7.74s/it]
 98%|█████████▊| 882/900 [1:08:16<01:41,  5.63s/it]
 98%|█████████▊| 883/900 [1:08:17<01:10,  4.16s/it]
 98%|█████████▊| 884/900 [1:08:18<00:49,  3.12s/it]
 98%|█████████▊| 885/900 [1:08:19<00:35,  2.40s/it]
 98%|█████████▊| 886/900 [1:08:19<00:26,  1.89s/it]
 99%|█████████▊| 887/900 [1:08:20<00:20,  1.54s/it]
 99%|█████████▊| 888/900 [1:08:21<00:15,  1.30s/it]
 99%|█████████▉| 889/900 [1:08:45<01:29,  8.11s/it]
 99%|█████████▉| 890/900 [1:08:46<00:58,  5.89s/it]
 99%|█████████▉| 891/900 [1:08:46<00:39,  4.34s/it]
 99%|█████████▉| 892/900 [1:08:47<00:26,  3.26s/it]
 99%|█████████▉| 893/900 [1:08:48<00:17,  2.49s/it]
 99%|█████████▉| 894/900 [1:08:48<00:11,  1.95s/it]
 99%|█████████▉| 895/900 [1:08:49<00:07,  1.57s/it]
100%|█████████▉| 896/900 [1:08:50<00:05,  1.30s/it]
100%|█████████▉| 897/900 [1:09:03<00:14,  4.79s/it]
100%|█████████▉| 898/900 [1:09:03<00:07,  3.57s/it]
100%|█████████▉| 899/900 [1:09:04<00:02,  2.71s/it]
100%|█████████▉| 899/900 [1:09:05<00:04,  4.61s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/log_1_env0.json.
+SmallPumpkinInBinTask_1 complete: task_name: SmallPumpkinInBinTask, run_name: SmallPumpkinInBinTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the small pumpkin in the bin, attributes: ['size', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -10.702799334654147, 'joint_sparc_mean': -24.108324196480847, 'ee_isj': 441340.6922068762, 'joint_isj': 4756598.079625649, 'ee_path_length': 17.205305537780674, 'joint_rmse_mean': 1.7015984569367806, 'ee_speed_max': 8.28475284576416, 'ee_speed_mean': 0.29228776693344116}, events: {'OBJECT_BUMPED': 11, 'OBJECT_OUT_OF_SCENE': 1, 'OBJECT_MOVED': 1, 'TARGET_OBJECT_DROPPED': 17, 'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_FULLY_CLOSED': 13, 'GRIPPER_HIT_TABLE': 3, 'WRONG_OBJECT_GRABBED': 2, 'wrong_objects_grabbed': ['right_bin', 'right_bin']}, instruction_type: default, timing: {'policy_inference_s': 3511.28, 'policy_inference_avg_ms': 3901.4, 'env_step_s': 626.582, 'env_step_avg_ms': 696.2, 'video_write_s': 6.989, 'video_write_avg_ms': 7.8, 'wall_total_s': 4144.851, 'it_per_sec': 0.22}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=pumpkinsmall) (step 1/2), harness_episode_id: e7da3755489e4fdebd0c726d90834990-1
+[RoboLab] Running SmallPumpkinInBinTask_2: 'Put the small pumpkin in the bin' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:33<8:25:26, 33.73s/it]
  0%|          | 2/900 [00:34<3:33:58, 14.30s/it]
  0%|          | 3/900 [00:35<2:00:45,  8.08s/it]
  0%|          | 4/900 [00:35<1:17:07,  5.16s/it]
  1%|          | 5/900 [00:36<52:55,  3.55s/it]  
  1%|          | 6/900 [00:37<38:23,  2.58s/it]
  1%|          | 7/900 [00:37<29:11,  1.96s/it]
  1%|          | 8/900 [00:38<23:09,  1.56s/it]
  1%|          | 9/900 [00:45<46:47,  3.15s/it]
  1%|          | 10/900 [00:45<35:25,  2.39s/it]
  1%|          | 11/900 [00:46<27:46,  1.87s/it]
  1%|▏         | 12/900 [00:47<22:16,  1.50s/it]
  1%|▏         | 13/900 [00:47<18:27,  1.25s/it]
  2%|▏         | 14/900 [00:48<15:50,  1.07s/it]
  2%|▏         | 15/900 [00:49<14:01,  1.05it/s]
  2%|▏         | 16/900 [00:49<12:46,  1.15it/s]
  2%|▏         | 17/900 [00:57<40:43,  2.77s/it]
  2%|▏         | 18/900 [00:57<31:36,  2.15s/it]
  2%|▏         | 19/900 [00:58<25:11,  1.72s/it]
  2%|▏         | 20/900 [00:59<20:37,  1.41s/it]
  2%|▏         | 21/900 [00:59<17:28,  1.19s/it]
  2%|▏         | 22/900 [01:00<15:10,  1.04s/it]
  3%|▎         | 23/900 [01:01<13:29,  1.08it/s]
  3%|▎         | 24/900 [01:01<12:18,  1.19it/s]
  3%|▎         | 25/900 [01:14<1:02:48,  4.31s/it]
  3%|▎         | 26/900 [01:14<46:56,  3.22s/it]  
  3%|▎         | 27/900 [01:15<35:52,  2.47s/it]
  3%|▎         | 28/900 [01:16<27:59,  1.93s/it]
  3%|▎         | 29/900 [01:17<22:34,  1.55s/it]
  3%|▎         | 30/900 [01:17<18:48,  1.30s/it]
  3%|▎         | 31/900 [01:18<16:05,  1.11s/it]
  4%|▎         | 32/900 [01:19<14:06,  1.03it/s]
  4%|▎         | 33/900 [01:25<35:44,  2.47s/it]
  4%|▍         | 34/900 [01:25<27:55,  1.93s/it]
  4%|▍         | 35/900 [01:26<22:22,  1.55s/it]
  4%|▍         | 36/900 [01:27<18:28,  1.28s/it]
  4%|▍         | 37/900 [01:27<15:45,  1.10s/it]
  4%|▍         | 38/900 [01:28<13:51,  1.04it/s]
  4%|▍         | 39/900 [01:29<12:41,  1.13it/s]
  4%|▍         | 40/900 [01:29<11:50,  1.21it/s]
  5%|▍         | 41/900 [01:39<48:27,  3.39s/it]
  5%|▍         | 42/900 [01:39<36:53,  2.58s/it]
  5%|▍         | 43/900 [01:40<28:46,  2.01s/it]
  5%|▍         | 44/900 [01:41<23:01,  1.61s/it]
  5%|▌         | 45/900 [01:41<19:05,  1.34s/it]
  5%|▌         | 46/900 [01:42<16:17,  1.15s/it]
  5%|▌         | 47/900 [01:43<14:18,  1.01s/it]
  5%|▌         | 48/900 [01:43<12:58,  1.09it/s]
  5%|▌         | 49/900 [02:01<1:24:03,  5.93s/it]
  6%|▌         | 50/900 [02:02<1:01:41,  4.35s/it]
  6%|▌         | 51/900 [02:02<46:00,  3.25s/it]  
  6%|▌         | 52/900 [02:03<35:07,  2.49s/it]
  6%|▌         | 53/900 [02:04<27:27,  1.94s/it]
  6%|▌         | 54/900 [02:04<22:07,  1.57s/it]
  6%|▌         | 55/900 [02:05<18:25,  1.31s/it]
  6%|▌         | 56/900 [02:06<15:47,  1.12s/it]
  6%|▋         | 57/900 [02:36<2:16:18,  9.70s/it]
  6%|▋         | 58/900 [02:36<1:38:15,  7.00s/it]
  7%|▋         | 59/900 [02:37<1:11:36,  5.11s/it]
  7%|▋         | 60/900 [02:38<53:05,  3.79s/it]  
  7%|▋         | 61/900 [02:38<40:04,  2.87s/it]
  7%|▋         | 62/900 [02:39<30:59,  2.22s/it]
  7%|▋         | 63/900 [02:40<24:41,  1.77s/it]
  7%|▋         | 64/900 [02:41<20:14,  1.45s/it]
  7%|▋         | 65/900 [03:04<1:53:12,  8.13s/it]
  7%|▋         | 66/900 [03:05<1:22:04,  5.90s/it]
  7%|▋         | 67/900 [03:06<1:00:15,  4.34s/it]
  8%|▊         | 68/900 [03:06<44:59,  3.24s/it]  
  8%|▊         | 69/900 [03:07<34:20,  2.48s/it]
  8%|▊         | 70/900 [03:08<26:55,  1.95s/it]
  8%|▊         | 71/900 [03:08<21:35,  1.56s/it]
  8%|▊         | 72/900 [03:09<17:51,  1.29s/it]
  8%|▊         | 73/900 [03:52<3:11:01, 13.86s/it]
  8%|▊         | 74/900 [03:53<2:16:17,  9.90s/it]
  8%|▊         | 75/900 [03:54<1:38:11,  7.14s/it]
  8%|▊         | 76/900 [03:54<1:11:30,  5.21s/it]
  9%|▊         | 77/900 [03:55<52:52,  3.86s/it]  
  9%|▊         | 78/900 [03:56<39:56,  2.92s/it]
  9%|▉         | 79/900 [03:56<30:54,  2.26s/it]
  9%|▉         | 80/900 [03:57<24:23,  1.79s/it]
  9%|▉         | 81/900 [04:25<2:12:18,  9.69s/it]
  9%|▉         | 82/900 [04:26<1:35:20,  6.99s/it]
  9%|▉         | 83/900 [04:27<1:09:29,  5.10s/it]
  9%|▉         | 84/900 [04:27<51:25,  3.78s/it]  
  9%|▉         | 85/900 [04:28<38:46,  2.85s/it]
 10%|▉         | 86/900 [04:29<30:01,  2.21s/it]
 10%|▉         | 87/900 [04:30<23:52,  1.76s/it]
 10%|▉         | 88/900 [04:30<19:31,  1.44s/it]
 10%|▉         | 89/900 [05:10<2:55:31, 12.99s/it]
 10%|█         | 90/900 [05:11<2:05:32,  9.30s/it]
 10%|█         | 91/900 [05:12<1:30:34,  6.72s/it]
 10%|█         | 92/900 [05:12<1:06:07,  4.91s/it]
 10%|█         | 93/900 [05:13<49:00,  3.64s/it]  
 10%|█         | 94/900 [05:14<37:02,  2.76s/it]
 11%|█         | 95/900 [05:14<28:40,  2.14s/it]
 11%|█         | 96/900 [05:15<22:50,  1.70s/it]
 11%|█         | 97/900 [05:27<1:04:42,  4.84s/it]
 11%|█         | 98/900 [05:28<48:10,  3.60s/it]  
 11%|█         | 99/900 [05:29<36:29,  2.73s/it]
 11%|█         | 100/900 [05:29<28:18,  2.12s/it]
 11%|█         | 101/900 [05:30<22:32,  1.69s/it]
 11%|█▏        | 102/900 [05:31<18:29,  1.39s/it]
 11%|█▏        | 103/900 [05:31<15:39,  1.18s/it]
 12%|█▏        | 104/900 [05:32<13:39,  1.03s/it]
 12%|█▏        | 105/900 [05:46<1:03:20,  4.78s/it]
 12%|█▏        | 106/900 [05:46<47:09,  3.56s/it]  
 12%|█▏        | 107/900 [05:47<35:47,  2.71s/it]
 12%|█▏        | 108/900 [05:48<27:51,  2.11s/it]
 12%|█▏        | 109/900 [05:48<22:19,  1.69s/it]
 12%|█▏        | 110/900 [05:49<18:18,  1.39s/it]
 12%|█▏        | 111/900 [05:50<15:31,  1.18s/it]
 12%|█▏        | 112/900 [05:50<13:33,  1.03s/it]
 13%|█▎        | 113/900 [06:13<1:39:34,  7.59s/it]
 13%|█▎        | 114/900 [06:14<1:12:27,  5.53s/it]
 13%|█▎        | 115/900 [06:15<53:24,  4.08s/it]  
 13%|█▎        | 116/900 [06:16<40:10,  3.07s/it]
 13%|█▎        | 117/900 [06:16<31:00,  2.38s/it]
 13%|█▎        | 118/900 [06:17<24:38,  1.89s/it]
 13%|█▎        | 119/900 [06:18<20:08,  1.55s/it]
 13%|█▎        | 120/900 [06:19<16:59,  1.31s/it]
 13%|█▎        | 121/900 [06:40<1:34:07,  7.25s/it]
 14%|█▎        | 122/900 [06:40<1:08:42,  5.30s/it]
 14%|█▎        | 123/900 [06:41<50:53,  3.93s/it]  
 14%|█▍        | 124/900 [06:42<38:28,  2.97s/it]
 14%|█▍        | 125/900 [06:43<29:46,  2.30s/it]
 14%|█▍        | 126/900 [06:43<23:36,  1.83s/it]
 14%|█▍        | 127/900 [06:44<19:19,  1.50s/it]
 14%|█▍        | 128/900 [06:45<16:19,  1.27s/it]
 14%|█▍        | 129/900 [06:54<45:23,  3.53s/it]
 14%|█▍        | 130/900 [06:54<34:36,  2.70s/it]
 15%|█▍        | 131/900 [06:55<26:58,  2.11s/it]
 15%|█▍        | 132/900 [06:56<21:44,  1.70s/it]
 15%|█▍        | 133/900 [06:57<18:00,  1.41s/it]
 15%|█▍        | 134/900 [06:57<15:20,  1.20s/it]
 15%|█▌        | 135/900 [06:58<13:20,  1.05s/it]
 15%|█▌        | 136/900 [06:59<11:55,  1.07it/s]
 15%|█▌        | 137/900 [07:16<1:15:07,  5.91s/it]
 15%|█▌        | 138/900 [07:17<55:17,  4.35s/it]  
 15%|█▌        | 139/900 [07:18<41:22,  3.26s/it]
 16%|█▌        | 140/900 [07:18<31:39,  2.50s/it]
 16%|█▌        | 141/900 [07:19<24:50,  1.96s/it]
 16%|█▌        | 142/900 [07:20<20:01,  1.59s/it]
 16%|█▌        | 143/900 [07:20<16:35,  1.31s/it]
 16%|█▌        | 144/900 [07:21<14:20,  1.14s/it]
 16%|█▌        | 145/900 [07:34<59:25,  4.72s/it]
 16%|█▌        | 146/900 [07:35<44:14,  3.52s/it]
 16%|█▋        | 147/900 [07:36<33:30,  2.67s/it]
 16%|█▋        | 148/900 [07:36<25:59,  2.07s/it]
 17%|█▋        | 149/900 [07:37<20:42,  1.65s/it]
 17%|█▋        | 150/900 [07:38<16:57,  1.36s/it]
 17%|█▋        | 151/900 [07:38<14:24,  1.15s/it]
 17%|█▋        | 152/900 [07:39<12:38,  1.01s/it]
 17%|█▋        | 153/900 [07:48<40:43,  3.27s/it]
 17%|█▋        | 154/900 [07:48<31:05,  2.50s/it]
 17%|█▋        | 155/900 [07:49<24:21,  1.96s/it]
 17%|█▋        | 156/900 [07:50<19:39,  1.59s/it]
 17%|█▋        | 157/900 [07:50<16:32,  1.34s/it]
 18%|█▊        | 158/900 [07:51<14:13,  1.15s/it]
 18%|█▊        | 159/900 [07:52<12:34,  1.02s/it]
 18%|█▊        | 160/900 [07:53<11:20,  1.09it/s]
 18%|█▊        | 161/900 [08:07<1:00:49,  4.94s/it]
 18%|█▊        | 162/900 [08:08<45:13,  3.68s/it]  
 18%|█▊        | 163/900 [08:08<34:17,  2.79s/it]
 18%|█▊        | 164/900 [08:09<26:37,  2.17s/it]
 18%|█▊        | 165/900 [08:10<21:17,  1.74s/it]
 18%|█▊        | 166/900 [08:10<17:33,  1.43s/it]
 19%|█▊        | 167/900 [08:11<14:54,  1.22s/it]
 19%|█▊        | 168/900 [08:12<13:00,  1.07s/it]
 19%|█▉        | 169/900 [08:32<1:24:12,  6.91s/it]
 19%|█▉        | 170/900 [08:33<1:01:28,  5.05s/it]
 19%|█▉        | 171/900 [08:34<45:36,  3.75s/it]  
 19%|█▉        | 172/900 [08:35<34:29,  2.84s/it]
 19%|█▉        | 173/900 [08:35<26:43,  2.21s/it]
 19%|█▉        | 174/900 [08:36<21:14,  1.76s/it]
 19%|█▉        | 175/900 [08:37<17:23,  1.44s/it]
 20%|█▉        | 176/900 [08:37<14:41,  1.22s/it]
 20%|█▉        | 177/900 [08:53<1:05:21,  5.42s/it]
 20%|█▉        | 178/900 [08:53<48:14,  4.01s/it]  
 20%|█▉        | 179/900 [08:54<36:16,  3.02s/it]
 20%|██        | 180/900 [08:55<27:54,  2.33s/it]
 20%|██        | 181/900 [08:56<22:10,  1.85s/it]
 20%|██        | 182/900 [08:56<18:10,  1.52s/it]
 20%|██        | 183/900 [08:57<15:25,  1.29s/it]
 20%|██        | 184/900 [08:58<13:25,  1.12s/it]
 21%|██        | 185/900 [09:25<1:45:34,  8.86s/it]
 21%|██        | 186/900 [09:25<1:16:20,  6.42s/it]
 21%|██        | 187/900 [09:26<55:51,  4.70s/it]  
 21%|██        | 188/900 [09:27<41:35,  3.50s/it]
 21%|██        | 189/900 [09:28<31:33,  2.66s/it]
 21%|██        | 190/900 [09:28<24:39,  2.08s/it]
 21%|██        | 191/900 [09:29<19:52,  1.68s/it]
 21%|██▏       | 192/900 [09:30<16:31,  1.40s/it]
 21%|██▏       | 193/900 [10:45<4:38:04, 23.60s/it]
 22%|██▏       | 194/900 [10:46<3:16:51, 16.73s/it]
 22%|██▏       | 195/900 [10:47<2:20:03, 11.92s/it]
 22%|██▏       | 196/900 [10:47<1:40:22,  8.55s/it]
 22%|██▏       | 197/900 [10:48<1:12:36,  6.20s/it]
 22%|██▏       | 198/900 [10:49<53:13,  4.55s/it]  
 22%|██▏       | 199/900 [10:49<39:35,  3.39s/it]
 22%|██▏       | 200/900 [10:50<30:05,  2.58s/it]
 22%|██▏       | 201/900 [11:18<1:59:10, 10.23s/it]
 22%|██▏       | 202/900 [11:19<1:25:43,  7.37s/it]
 23%|██▎       | 203/900 [11:19<1:02:19,  5.37s/it]
 23%|██▎       | 204/900 [11:20<45:55,  3.96s/it]  
 23%|██▎       | 205/900 [11:21<34:30,  2.98s/it]
 23%|██▎       | 206/900 [11:22<26:29,  2.29s/it]
 23%|██▎       | 207/900 [11:22<20:52,  1.81s/it]
 23%|██▎       | 208/900 [11:23<16:58,  1.47s/it]
 23%|██▎       | 209/900 [11:58<2:12:49, 11.53s/it]
 23%|██▎       | 210/900 [11:59<1:35:21,  8.29s/it]
 23%|██▎       | 211/900 [11:59<1:09:03,  6.01s/it]
 24%|██▎       | 212/900 [12:00<50:42,  4.42s/it]  
 24%|██▎       | 213/900 [12:01<37:49,  3.30s/it]
 24%|██▍       | 214/900 [12:01<28:51,  2.52s/it]
 24%|██▍       | 215/900 [12:02<22:33,  1.98s/it]
 24%|██▍       | 216/900 [12:03<18:12,  1.60s/it]
 24%|██▍       | 217/900 [12:14<50:22,  4.43s/it]
 24%|██▍       | 218/900 [12:15<37:41,  3.32s/it]
 24%|██▍       | 219/900 [12:15<28:47,  2.54s/it]
 24%|██▍       | 220/900 [12:16<22:34,  1.99s/it]
 25%|██▍       | 221/900 [12:17<18:14,  1.61s/it]
 25%|██▍       | 222/900 [12:17<15:12,  1.35s/it]
 25%|██▍       | 223/900 [12:18<13:04,  1.16s/it]
 25%|██▍       | 224/900 [12:19<11:31,  1.02s/it]
 25%|██▌       | 225/900 [12:49<1:49:52,  9.77s/it]
 25%|██▌       | 226/900 [12:50<1:19:07,  7.04s/it]
 25%|██▌       | 227/900 [12:50<57:38,  5.14s/it]  
 25%|██▌       | 228/900 [12:51<42:36,  3.80s/it]
 25%|██▌       | 229/900 [12:52<32:04,  2.87s/it]
 26%|██▌       | 230/900 [12:53<24:46,  2.22s/it]
 26%|██▌       | 231/900 [12:53<19:39,  1.76s/it]
 26%|██▌       | 232/900 [12:54<16:04,  1.44s/it]
 26%|██▌       | 233/900 [13:14<1:19:02,  7.11s/it]
 26%|██▌       | 234/900 [13:15<57:38,  5.19s/it]  
 26%|██▌       | 235/900 [13:16<42:39,  3.85s/it]
 26%|██▌       | 236/900 [13:16<32:09,  2.91s/it]
 26%|██▋       | 237/900 [13:17<24:45,  2.24s/it]
 26%|██▋       | 238/900 [13:18<19:37,  1.78s/it]
 27%|██▋       | 239/900 [13:19<16:05,  1.46s/it]
 27%|██▋       | 240/900 [13:19<13:34,  1.23s/it]
 27%|██▋       | 241/900 [13:31<48:52,  4.45s/it]
 27%|██▋       | 242/900 [13:32<36:31,  3.33s/it]
 27%|██▋       | 243/900 [13:33<27:51,  2.54s/it]
 27%|██▋       | 244/900 [13:33<21:47,  1.99s/it]
 27%|██▋       | 245/900 [13:34<17:28,  1.60s/it]
 27%|██▋       | 246/900 [13:35<14:32,  1.33s/it]
 27%|██▋       | 247/900 [13:35<12:28,  1.15s/it]
 28%|██▊       | 248/900 [13:36<11:01,  1.01s/it]
 28%|██▊       | 249/900 [13:43<31:01,  2.86s/it]
 28%|██▊       | 250/900 [13:44<23:56,  2.21s/it]
 28%|██▊       | 251/900 [13:45<18:55,  1.75s/it]
 28%|██▊       | 252/900 [13:45<15:30,  1.44s/it]
 28%|██▊       | 253/900 [13:46<13:05,  1.21s/it]
 28%|██▊       | 254/900 [13:47<11:27,  1.06s/it]
 28%|██▊       | 255/900 [13:48<10:22,  1.04it/s]
 28%|██▊       | 256/900 [13:48<09:31,  1.13it/s]
 29%|██▊       | 257/900 [14:00<44:32,  4.16s/it]
 29%|██▊       | 258/900 [14:01<33:24,  3.12s/it]
 29%|██▉       | 259/900 [14:01<25:39,  2.40s/it]
 29%|██▉       | 260/900 [14:02<20:18,  1.90s/it]
 29%|██▉       | 261/900 [14:03<16:27,  1.55s/it]
 29%|██▉       | 262/900 [14:04<13:42,  1.29s/it]
 29%|██▉       | 263/900 [14:04<11:55,  1.12s/it]
 29%|██▉       | 264/900 [14:05<10:33,  1.00it/s]
 29%|██▉       | 265/900 [14:17<46:00,  4.35s/it]
 30%|██▉       | 266/900 [14:18<34:27,  3.26s/it]
 30%|██▉       | 267/900 [14:19<26:18,  2.49s/it]
 30%|██▉       | 268/900 [14:19<20:36,  1.96s/it]
 30%|██▉       | 269/900 [14:20<16:40,  1.59s/it]
 30%|███       | 270/900 [14:21<13:52,  1.32s/it]
 30%|███       | 271/900 [14:21<11:58,  1.14s/it]
 30%|███       | 272/900 [14:22<10:36,  1.01s/it]
 30%|███       | 273/900 [14:30<31:42,  3.03s/it]
 30%|███       | 274/900 [14:31<24:21,  2.33s/it]
 31%|███       | 275/900 [14:31<19:06,  1.83s/it]
 31%|███       | 276/900 [14:32<15:29,  1.49s/it]
 31%|███       | 277/900 [14:33<13:03,  1.26s/it]
 31%|███       | 278/900 [14:33<11:16,  1.09s/it]
 31%|███       | 279/900 [14:34<10:02,  1.03it/s]
 31%|███       | 280/900 [14:35<09:09,  1.13it/s]
 31%|███       | 281/900 [14:51<56:38,  5.49s/it]
 31%|███▏      | 282/900 [14:52<41:41,  4.05s/it]
 31%|███▏      | 283/900 [14:52<31:13,  3.04s/it]
 32%|███▏      | 284/900 [14:53<23:51,  2.32s/it]
 32%|███▏      | 285/900 [14:54<18:49,  1.84s/it]
 32%|███▏      | 286/900 [14:54<15:13,  1.49s/it]
 32%|███▏      | 287/900 [14:55<12:50,  1.26s/it]
 32%|███▏      | 288/900 [14:56<11:02,  1.08s/it]
 32%|███▏      | 289/900 [15:25<1:36:44,  9.50s/it]
 32%|███▏      | 290/900 [15:26<1:09:49,  6.87s/it]
 32%|███▏      | 291/900 [15:26<51:01,  5.03s/it]  
 32%|███▏      | 292/900 [15:27<37:55,  3.74s/it]
 33%|███▎      | 293/900 [15:28<28:41,  2.84s/it]
 33%|███▎      | 294/900 [15:29<22:10,  2.19s/it]
 33%|███▎      | 295/900 [15:29<17:32,  1.74s/it]
 33%|███▎      | 296/900 [15:30<14:16,  1.42s/it]
 33%|███▎      | 297/900 [17:07<5:02:32, 30.10s/it]
 33%|███▎      | 298/900 [17:08<3:33:31, 21.28s/it]
 33%|███▎      | 299/900 [17:08<2:31:16, 15.10s/it]
 33%|███▎      | 300/900 [17:09<1:47:46, 10.78s/it]
 33%|███▎      | 301/900 [17:10<1:17:21,  7.75s/it]
 34%|███▎      | 302/900 [17:10<56:05,  5.63s/it]  
 34%|███▎      | 303/900 [17:11<41:15,  4.15s/it]
 34%|███▍      | 304/900 [17:12<30:51,  3.11s/it]
 34%|███▍      | 305/900 [18:33<4:24:27, 26.67s/it]
 34%|███▍      | 306/900 [18:34<3:06:51, 18.87s/it]
 34%|███▍      | 307/900 [18:35<2:12:38, 13.42s/it]
 34%|███▍      | 308/900 [18:35<1:34:45,  9.60s/it]
 34%|███▍      | 309/900 [18:36<1:08:19,  6.94s/it]
 34%|███▍      | 310/900 [18:37<49:47,  5.06s/it]  
 35%|███▍      | 311/900 [18:38<36:48,  3.75s/it]
 35%|███▍      | 312/900 [18:38<27:46,  2.83s/it]
 35%|███▍      | 313/900 [19:46<3:37:36, 22.24s/it]
 35%|███▍      | 314/900 [19:46<2:34:06, 15.78s/it]
 35%|███▌      | 315/900 [19:47<1:49:47, 11.26s/it]
 35%|███▌      | 316/900 [19:48<1:18:55,  8.11s/it]
 35%|███▌      | 317/900 [19:49<57:15,  5.89s/it]  
 35%|███▌      | 318/900 [19:49<42:05,  4.34s/it]
 35%|███▌      | 319/900 [19:50<31:30,  3.25s/it]
 36%|███▌      | 320/900 [19:51<24:04,  2.49s/it]
 36%|███▌      | 321/900 [21:01<3:39:47, 22.78s/it]
 36%|███▌      | 322/900 [21:02<2:35:35, 16.15s/it]
 36%|███▌      | 323/900 [21:02<1:50:51, 11.53s/it]
 36%|███▌      | 324/900 [21:03<1:19:31,  8.28s/it]
 36%|███▌      | 325/900 [21:04<57:31,  6.00s/it]  
 36%|███▌      | 326/900 [21:04<42:08,  4.40s/it]
 36%|███▋      | 327/900 [21:05<31:20,  3.28s/it]
 36%|███▋      | 328/900 [21:06<23:51,  2.50s/it]
 37%|███▋      | 329/900 [21:16<45:36,  4.79s/it]
 37%|███▋      | 330/900 [21:17<33:50,  3.56s/it]
 37%|███▋      | 331/900 [21:17<25:34,  2.70s/it]
 37%|███▋      | 332/900 [21:18<19:49,  2.09s/it]
 37%|███▋      | 333/900 [21:19<15:45,  1.67s/it]
 37%|███▋      | 334/900 [21:19<12:51,  1.36s/it]
 37%|███▋      | 335/900 [21:20<10:51,  1.15s/it]
 37%|███▋      | 336/900 [21:21<09:26,  1.00s/it]
 37%|███▋      | 337/900 [21:32<37:19,  3.98s/it]
 38%|███▊      | 338/900 [21:32<28:07,  3.00s/it]
 38%|███▊      | 339/900 [21:33<21:40,  2.32s/it]
 38%|███▊      | 340/900 [21:34<17:12,  1.84s/it]
 38%|███▊      | 341/900 [21:34<14:02,  1.51s/it]
 38%|███▊      | 342/900 [21:35<11:48,  1.27s/it]
 38%|███▊      | 343/900 [21:36<10:17,  1.11s/it]
 38%|███▊      | 344/900 [21:37<09:14,  1.00it/s]
 38%|███▊      | 345/900 [21:45<30:33,  3.30s/it]
 38%|███▊      | 346/900 [21:46<23:24,  2.53s/it]
 39%|███▊      | 347/900 [21:47<18:30,  2.01s/it]
 39%|███▊      | 348/900 [21:48<14:55,  1.62s/it]
 39%|███▉      | 349/900 [21:48<12:23,  1.35s/it]
 39%|███▉      | 350/900 [21:49<10:30,  1.15s/it]
 39%|███▉      | 351/900 [21:50<09:17,  1.02s/it]
 39%|███▉      | 352/900 [21:50<08:30,  1.07it/s]
 39%|███▉      | 353/900 [22:05<46:55,  5.15s/it]
 39%|███▉      | 354/900 [22:06<34:44,  3.82s/it]
 39%|███▉      | 355/900 [22:07<26:14,  2.89s/it]
 40%|███▉      | 356/900 [22:08<20:18,  2.24s/it]
 40%|███▉      | 357/900 [22:08<16:05,  1.78s/it]
 40%|███▉      | 358/900 [22:09<13:08,  1.46s/it]
 40%|███▉      | 359/900 [22:10<11:01,  1.22s/it]
 40%|████      | 360/900 [22:10<09:38,  1.07s/it]
 40%|████      | 361/900 [22:19<31:11,  3.47s/it]
 40%|████      | 362/900 [22:20<23:45,  2.65s/it]
 40%|████      | 363/900 [22:21<18:30,  2.07s/it]
 40%|████      | 364/900 [22:22<14:49,  1.66s/it]
 41%|████      | 365/900 [22:22<12:15,  1.37s/it]
 41%|████      | 366/900 [22:23<10:26,  1.17s/it]
 41%|████      | 367/900 [22:24<09:13,  1.04s/it]
 41%|████      | 368/900 [22:24<08:20,  1.06it/s]
 41%|████      | 369/900 [22:33<29:30,  3.33s/it]
 41%|████      | 370/900 [22:34<22:37,  2.56s/it]
 41%|████      | 371/900 [22:35<17:39,  2.00s/it]
 41%|████▏     | 372/900 [22:36<14:19,  1.63s/it]
 41%|████▏     | 373/900 [22:36<12:01,  1.37s/it]
 42%|████▏     | 374/900 [22:37<10:22,  1.18s/it]
 42%|████▏     | 375/900 [22:38<09:16,  1.06s/it]
 42%|████▏     | 376/900 [22:39<08:25,  1.04it/s]
 42%|████▏     | 377/900 [22:54<45:24,  5.21s/it]
 42%|████▏     | 378/900 [22:54<33:39,  3.87s/it]
 42%|████▏     | 379/900 [22:55<25:25,  2.93s/it]
 42%|████▏     | 380/900 [22:56<19:34,  2.26s/it]
 42%|████▏     | 381/900 [22:57<15:34,  1.80s/it]
 42%|████▏     | 382/900 [22:57<12:49,  1.48s/it]
 43%|████▎     | 383/900 [22:58<10:52,  1.26s/it]
 43%|████▎     | 384/900 [22:59<09:29,  1.10s/it]
 43%|████▎     | 385/900 [23:09<34:10,  3.98s/it]
 43%|████▎     | 386/900 [23:10<25:43,  3.00s/it]
 43%|████▎     | 387/900 [23:11<19:48,  2.32s/it]
 43%|████▎     | 388/900 [23:12<15:37,  1.83s/it]
 43%|████▎     | 389/900 [23:12<12:41,  1.49s/it]
 43%|████▎     | 390/900 [23:13<10:39,  1.25s/it]
 43%|████▎     | 391/900 [23:14<09:14,  1.09s/it]
 44%|████▎     | 392/900 [23:14<08:14,  1.03it/s]
 44%|████▎     | 393/900 [23:30<44:02,  5.21s/it]
 44%|████▍     | 394/900 [23:30<32:36,  3.87s/it]
 44%|████▍     | 395/900 [23:31<24:38,  2.93s/it]
 44%|████▍     | 396/900 [23:32<19:03,  2.27s/it]
 44%|████▍     | 397/900 [23:32<15:08,  1.81s/it]
 44%|████▍     | 398/900 [23:33<12:24,  1.48s/it]
 44%|████▍     | 399/900 [23:34<10:28,  1.25s/it]
 44%|████▍     | 400/900 [23:35<09:06,  1.09s/it]
 45%|████▍     | 401/900 [23:49<41:38,  5.01s/it]
 45%|████▍     | 402/900 [23:49<30:53,  3.72s/it]
 45%|████▍     | 403/900 [23:50<23:23,  2.82s/it]
 45%|████▍     | 404/900 [23:51<18:08,  2.20s/it]
 45%|████▌     | 405/900 [23:52<14:29,  1.76s/it]
 45%|████▌     | 406/900 [23:52<11:50,  1.44s/it]
 45%|████▌     | 407/900 [23:53<09:55,  1.21s/it]
 45%|████▌     | 408/900 [23:54<08:33,  1.04s/it]
 45%|████▌     | 409/900 [24:20<1:10:23,  8.60s/it]
 46%|████▌     | 410/900 [24:21<50:47,  6.22s/it]  
 46%|████▌     | 411/900 [24:21<37:10,  4.56s/it]
 46%|████▌     | 412/900 [24:22<27:36,  3.40s/it]
 46%|████▌     | 413/900 [24:23<20:59,  2.59s/it]
 46%|████▌     | 414/900 [24:23<16:20,  2.02s/it]
 46%|████▌     | 415/900 [24:24<13:02,  1.61s/it]
 46%|████▌     | 416/900 [24:25<10:44,  1.33s/it]
 46%|████▋     | 417/900 [24:49<1:05:35,  8.15s/it]
 46%|████▋     | 418/900 [24:49<47:26,  5.91s/it]  
 47%|████▋     | 419/900 [24:50<34:42,  4.33s/it]
 47%|████▋     | 420/900 [24:51<25:51,  3.23s/it]
 47%|████▋     | 421/900 [24:51<19:41,  2.47s/it]
 47%|████▋     | 422/900 [24:52<15:19,  1.92s/it]
 47%|████▋     | 423/900 [24:53<12:19,  1.55s/it]
 47%|████▋     | 424/900 [24:53<10:13,  1.29s/it]
 47%|████▋     | 425/900 [25:08<40:37,  5.13s/it]
 47%|████▋     | 426/900 [25:08<30:03,  3.81s/it]
 47%|████▋     | 427/900 [25:09<22:40,  2.88s/it]
 48%|████▊     | 428/900 [25:10<17:26,  2.22s/it]
 48%|████▊     | 429/900 [25:10<13:45,  1.75s/it]
 48%|████▊     | 430/900 [25:11<11:13,  1.43s/it]
 48%|████▊     | 431/900 [25:12<09:26,  1.21s/it]
 48%|████▊     | 432/900 [25:12<08:14,  1.06s/it]
 48%|████▊     | 433/900 [26:08<2:15:33, 17.42s/it]
 48%|████▊     | 434/900 [26:09<1:36:19, 12.40s/it]
 48%|████▊     | 435/900 [26:09<1:08:58,  8.90s/it]
 48%|████▊     | 436/900 [26:10<49:50,  6.45s/it]  
 49%|████▊     | 437/900 [26:11<36:30,  4.73s/it]
 49%|████▊     | 438/900 [26:12<27:11,  3.53s/it]
 49%|████▉     | 439/900 [26:12<20:39,  2.69s/it]
 49%|████▉     | 440/900 [26:13<16:05,  2.10s/it]
 49%|████▉     | 441/900 [27:56<4:07:28, 32.35s/it]
 49%|████▉     | 442/900 [27:57<2:54:28, 22.86s/it]
 49%|████▉     | 443/900 [27:57<2:03:28, 16.21s/it]
 49%|████▉     | 444/900 [27:58<1:27:54, 11.57s/it]
 49%|████▉     | 445/900 [27:59<1:03:08,  8.33s/it]
 50%|████▉     | 446/900 [28:00<45:48,  6.05s/it]  
 50%|████▉     | 447/900 [28:00<33:39,  4.46s/it]
 50%|████▉     | 448/900 [28:01<25:06,  3.33s/it]
 50%|████▉     | 449/900 [28:29<1:20:36, 10.72s/it]
 50%|█████     | 450/900 [28:30<57:55,  7.72s/it]  
 50%|█████     | 451/900 [28:30<42:02,  5.62s/it]
 50%|█████     | 452/900 [28:31<30:58,  4.15s/it]
 50%|█████     | 453/900 [28:32<23:08,  3.11s/it]
 50%|█████     | 454/900 [28:33<17:40,  2.38s/it]
 51%|█████     | 455/900 [28:33<13:49,  1.86s/it]
 51%|█████     | 456/900 [28:34<11:08,  1.51s/it]
 51%|█████     | 457/900 [28:57<59:55,  8.12s/it]
 51%|█████     | 458/900 [28:58<43:24,  5.89s/it]
 51%|█████     | 459/900 [28:59<31:51,  4.33s/it]
 51%|█████     | 460/900 [29:00<23:47,  3.24s/it]
 51%|█████     | 461/900 [29:00<18:07,  2.48s/it]
 51%|█████▏    | 462/900 [29:01<14:12,  1.95s/it]
 51%|█████▏    | 463/900 [29:02<11:28,  1.58s/it]
 52%|█████▏    | 464/900 [29:02<09:37,  1.32s/it]
 52%|█████▏    | 465/900 [30:03<2:17:54, 19.02s/it]
 52%|█████▏    | 466/900 [30:03<1:37:55, 13.54s/it]
 52%|█████▏    | 467/900 [30:04<1:09:58,  9.70s/it]
 52%|█████▏    | 468/900 [30:05<50:24,  7.00s/it]  
 52%|█████▏    | 469/900 [30:06<36:45,  5.12s/it]
 52%|█████▏    | 470/900 [30:06<27:15,  3.80s/it]
 52%|█████▏    | 471/900 [30:07<20:37,  2.88s/it]
 52%|█████▏    | 472/900 [30:08<16:00,  2.24s/it]
 53%|█████▎    | 473/900 [30:19<35:17,  4.96s/it]
 53%|█████▎    | 474/900 [30:20<26:12,  3.69s/it]
 53%|█████▎    | 475/900 [30:21<19:54,  2.81s/it]
 53%|█████▎    | 476/900 [30:21<15:30,  2.19s/it]
 53%|█████▎    | 477/900 [30:22<12:22,  1.76s/it]
 53%|█████▎    | 478/900 [30:23<10:10,  1.45s/it]
 53%|█████▎    | 479/900 [30:24<08:43,  1.24s/it]
 53%|█████▎    | 480/900 [30:24<07:37,  1.09s/it]
 53%|█████▎    | 481/900 [30:38<34:05,  4.88s/it]
 54%|█████▎    | 482/900 [30:39<25:19,  3.63s/it]
 54%|█████▎    | 483/900 [30:40<19:14,  2.77s/it]
 54%|█████▍    | 484/900 [30:40<14:58,  2.16s/it]
 54%|█████▍    | 485/900 [30:41<11:57,  1.73s/it]
 54%|█████▍    | 486/900 [30:42<09:50,  1.43s/it]
 54%|█████▍    | 487/900 [30:42<08:20,  1.21s/it]
 54%|█████▍    | 488/900 [30:43<07:18,  1.06s/it]
 54%|█████▍    | 489/900 [30:58<35:48,  5.23s/it]
 54%|█████▍    | 490/900 [30:59<26:31,  3.88s/it]
 55%|█████▍    | 491/900 [31:00<20:03,  2.94s/it]
 55%|█████▍    | 492/900 [31:00<15:29,  2.28s/it]
 55%|█████▍    | 493/900 [31:01<12:19,  1.82s/it]
 55%|█████▍    | 494/900 [31:02<10:06,  1.49s/it]
 55%|█████▌    | 495/900 [31:02<08:31,  1.26s/it]
 55%|█████▌    | 496/900 [31:03<07:25,  1.10s/it]
 55%|█████▌    | 497/900 [31:20<39:29,  5.88s/it]
 55%|█████▌    | 498/900 [31:21<29:03,  4.34s/it]
 55%|█████▌    | 499/900 [31:22<21:44,  3.25s/it]
 56%|█████▌    | 500/900 [31:23<17:35,  2.64s/it]
 56%|█████▌    | 501/900 [31:24<13:42,  2.06s/it]
 56%|█████▌    | 502/900 [31:24<10:59,  1.66s/it]
 56%|█████▌    | 503/900 [31:25<09:06,  1.38s/it]
 56%|█████▌    | 504/900 [31:26<07:48,  1.18s/it]
 56%|█████▌    | 505/900 [31:40<32:34,  4.95s/it]
 56%|█████▌    | 506/900 [31:40<24:09,  3.68s/it]
 56%|█████▋    | 507/900 [31:41<18:17,  2.79s/it]
 56%|█████▋    | 508/900 [31:42<14:10,  2.17s/it]
 57%|█████▋    | 509/900 [31:42<11:18,  1.74s/it]
 57%|█████▋    | 510/900 [31:43<09:18,  1.43s/it]
 57%|█████▋    | 511/900 [31:44<07:56,  1.23s/it]
 57%|█████▋    | 512/900 [31:45<06:58,  1.08s/it]
 57%|█████▋    | 513/900 [32:18<1:10:05, 10.87s/it]
 57%|█████▋    | 514/900 [32:19<50:15,  7.81s/it]  
 57%|█████▋    | 515/900 [32:20<36:25,  5.68s/it]
 57%|█████▋    | 516/900 [32:20<26:45,  4.18s/it]
 57%|█████▋    | 517/900 [32:21<19:58,  3.13s/it]
 58%|█████▊    | 518/900 [32:22<15:14,  2.39s/it]
 58%|█████▊    | 519/900 [32:22<11:56,  1.88s/it]
 58%|█████▊    | 520/900 [32:23<09:40,  1.53s/it]
 58%|█████▊    | 521/900 [32:33<25:06,  3.98s/it]
 58%|█████▊    | 522/900 [32:34<18:52,  3.00s/it]
 58%|█████▊    | 523/900 [32:34<14:30,  2.31s/it]
 58%|█████▊    | 524/900 [32:35<11:25,  1.82s/it]
 58%|█████▊    | 525/900 [32:36<09:16,  1.48s/it]
 58%|█████▊    | 526/900 [32:36<07:43,  1.24s/it]
 59%|█████▊    | 527/900 [32:37<06:39,  1.07s/it]
 59%|█████▊    | 528/900 [32:38<05:52,  1.05it/s]
 59%|█████▉    | 529/900 [32:58<42:05,  6.81s/it]
 59%|█████▉    | 530/900 [32:59<30:37,  4.97s/it]
 59%|█████▉    | 531/900 [32:59<22:35,  3.67s/it]
 59%|█████▉    | 532/900 [33:00<16:58,  2.77s/it]
 59%|█████▉    | 533/900 [33:01<13:03,  2.14s/it]
 59%|█████▉    | 534/900 [33:01<10:21,  1.70s/it]
 59%|█████▉    | 535/900 [33:02<08:26,  1.39s/it]
 60%|█████▉    | 536/900 [33:03<07:06,  1.17s/it]
 60%|█████▉    | 537/900 [33:14<25:39,  4.24s/it]
 60%|█████▉    | 538/900 [33:15<19:12,  3.18s/it]
 60%|█████▉    | 539/900 [33:16<14:42,  2.45s/it]
 60%|██████    | 540/900 [33:16<11:34,  1.93s/it]
 60%|██████    | 541/900 [33:17<09:23,  1.57s/it]
 60%|██████    | 542/900 [33:18<07:51,  1.32s/it]
 60%|██████    | 543/900 [33:18<06:46,  1.14s/it]
 60%|██████    | 544/900 [33:19<06:00,  1.01s/it]
 61%|██████    | 545/900 [33:41<42:18,  7.15s/it]
 61%|██████    | 546/900 [33:41<30:51,  5.23s/it]
 61%|██████    | 547/900 [33:42<22:49,  3.88s/it]
 61%|██████    | 548/900 [33:43<17:11,  2.93s/it]
 61%|██████    | 549/900 [33:44<13:12,  2.26s/it]
 61%|██████    | 550/900 [33:44<10:28,  1.80s/it]
 61%|██████    | 551/900 [33:45<08:36,  1.48s/it]
 61%|██████▏   | 552/900 [33:46<07:15,  1.25s/it]
 61%|██████▏   | 553/900 [34:16<56:42,  9.80s/it]
 62%|██████▏   | 554/900 [34:16<40:51,  7.09s/it]
 62%|██████▏   | 555/900 [34:17<29:46,  5.18s/it]
 62%|██████▏   | 556/900 [34:18<22:04,  3.85s/it]
 62%|██████▏   | 557/900 [34:18<16:40,  2.92s/it]
 62%|██████▏   | 558/900 [34:19<12:49,  2.25s/it]
 62%|██████▏   | 559/900 [34:20<10:10,  1.79s/it]
 62%|██████▏   | 560/900 [34:21<08:21,  1.48s/it]
 62%|██████▏   | 561/900 [34:34<28:39,  5.07s/it]
 62%|██████▏   | 562/900 [34:35<21:16,  3.78s/it]
 63%|██████▎   | 563/900 [34:36<16:05,  2.86s/it]
 63%|██████▎   | 564/900 [34:36<12:31,  2.24s/it]
 63%|██████▎   | 565/900 [34:37<09:59,  1.79s/it]
 63%|██████▎   | 566/900 [34:38<08:10,  1.47s/it]
 63%|██████▎   | 567/900 [34:39<06:57,  1.25s/it]
 63%|██████▎   | 568/900 [34:39<06:04,  1.10s/it]
 63%|██████▎   | 569/900 [34:53<26:59,  4.89s/it]
 63%|██████▎   | 570/900 [34:54<19:59,  3.63s/it]
 63%|██████▎   | 571/900 [34:54<15:05,  2.75s/it]
 64%|██████▎   | 572/900 [34:55<11:41,  2.14s/it]
 64%|██████▎   | 573/900 [34:56<09:17,  1.70s/it]
 64%|██████▍   | 574/900 [34:57<07:35,  1.40s/it]
 64%|██████▍   | 575/900 [34:57<06:25,  1.19s/it]
 64%|██████▍   | 576/900 [34:58<05:33,  1.03s/it]
 64%|██████▍   | 577/900 [35:14<29:33,  5.49s/it]
 64%|██████▍   | 578/900 [35:14<21:40,  4.04s/it]
 64%|██████▍   | 579/900 [35:15<16:10,  3.02s/it]
 64%|██████▍   | 580/900 [35:16<12:22,  2.32s/it]
 65%|██████▍   | 581/900 [35:16<09:42,  1.83s/it]
 65%|██████▍   | 582/900 [35:17<07:49,  1.48s/it]
 65%|██████▍   | 583/900 [35:18<06:31,  1.23s/it]
 65%|██████▍   | 584/900 [35:18<05:39,  1.07s/it]
 65%|██████▌   | 585/900 [35:43<42:22,  8.07s/it]
 65%|██████▌   | 586/900 [35:44<30:39,  5.86s/it]
 65%|██████▌   | 587/900 [35:44<22:31,  4.32s/it]
 65%|██████▌   | 588/900 [35:45<16:50,  3.24s/it]
 65%|██████▌   | 589/900 [35:46<12:52,  2.48s/it]
 66%|██████▌   | 590/900 [35:46<10:04,  1.95s/it]
 66%|██████▌   | 591/900 [35:47<08:04,  1.57s/it]
 66%|██████▌   | 592/900 [35:48<06:39,  1.30s/it]
 66%|██████▌   | 593/900 [35:59<22:08,  4.33s/it]
 66%|██████▌   | 594/900 [36:00<16:29,  3.23s/it]
 66%|██████▌   | 595/900 [36:01<12:36,  2.48s/it]
 66%|██████▌   | 596/900 [36:01<09:52,  1.95s/it]
 66%|██████▋   | 597/900 [36:02<07:56,  1.57s/it]
 66%|██████▋   | 598/900 [36:03<06:32,  1.30s/it]
 67%|██████▋   | 599/900 [36:03<05:37,  1.12s/it]
 67%|██████▋   | 600/900 [36:04<04:56,  1.01it/s]
 67%|██████▋   | 601/900 [36:21<29:31,  5.93s/it]
 67%|██████▋   | 602/900 [36:22<21:40,  4.36s/it]
 67%|██████▋   | 603/900 [36:23<16:13,  3.28s/it]
 67%|██████▋   | 604/900 [36:24<12:19,  2.50s/it]
 67%|██████▋   | 605/900 [36:24<09:39,  1.96s/it]
 67%|██████▋   | 606/900 [36:25<07:48,  1.59s/it]
 67%|██████▋   | 607/900 [36:26<06:30,  1.33s/it]
 68%|██████▊   | 608/900 [36:26<05:35,  1.15s/it]
 68%|██████▊   | 609/900 [36:40<23:48,  4.91s/it]
 68%|██████▊   | 610/900 [36:41<17:41,  3.66s/it]
 68%|██████▊   | 611/900 [36:42<13:21,  2.77s/it]
 68%|██████▊   | 612/900 [36:42<10:22,  2.16s/it]
 68%|██████▊   | 613/900 [36:43<08:14,  1.72s/it]
 68%|██████▊   | 614/900 [36:44<06:49,  1.43s/it]
 68%|██████▊   | 615/900 [36:45<05:47,  1.22s/it]
 68%|██████▊   | 616/900 [36:45<05:02,  1.07s/it]
 69%|██████▊   | 617/900 [37:25<59:46, 12.67s/it]
 69%|██████▊   | 618/900 [37:26<42:47,  9.10s/it]
 69%|██████▉   | 619/900 [37:27<30:53,  6.60s/it]
 69%|██████▉   | 620/900 [37:27<22:34,  4.84s/it]
 69%|██████▉   | 621/900 [37:28<16:47,  3.61s/it]
 69%|██████▉   | 622/900 [37:29<12:45,  2.75s/it]
 69%|██████▉   | 623/900 [37:30<09:56,  2.15s/it]
 69%|██████▉   | 624/900 [37:30<07:57,  1.73s/it]
 69%|██████▉   | 625/900 [37:53<36:32,  7.97s/it]
 70%|██████▉   | 626/900 [37:54<26:29,  5.80s/it]
 70%|██████▉   | 627/900 [37:54<19:25,  4.27s/it]
 70%|██████▉   | 628/900 [37:55<14:31,  3.20s/it]
 70%|██████▉   | 629/900 [37:56<11:07,  2.46s/it]
 70%|███████   | 630/900 [37:56<08:45,  1.95s/it]
 70%|███████   | 631/900 [37:57<07:04,  1.58s/it]
 70%|███████   | 632/900 [37:58<05:54,  1.32s/it]
 70%|███████   | 633/900 [38:33<50:35, 11.37s/it]
 70%|███████   | 634/900 [38:33<36:12,  8.17s/it]
 71%|███████   | 635/900 [38:34<26:10,  5.92s/it]
 71%|███████   | 636/900 [38:35<19:10,  4.36s/it]
 71%|███████   | 637/900 [38:35<14:17,  3.26s/it]
 71%|███████   | 638/900 [38:36<10:52,  2.49s/it]
 71%|███████   | 639/900 [38:37<08:29,  1.95s/it]
 71%|███████   | 640/900 [38:38<06:50,  1.58s/it]
 71%|███████   | 641/900 [39:01<35:00,  8.11s/it]
 71%|███████▏  | 642/900 [39:02<25:19,  5.89s/it]
 71%|███████▏  | 643/900 [39:02<18:30,  4.32s/it]
 72%|███████▏  | 644/900 [39:03<13:46,  3.23s/it]
 72%|███████▏  | 645/900 [39:04<10:26,  2.46s/it]
 72%|███████▏  | 646/900 [39:04<08:06,  1.92s/it]
 72%|███████▏  | 647/900 [39:05<06:32,  1.55s/it]
 72%|███████▏  | 648/900 [39:06<05:24,  1.29s/it]
 72%|███████▏  | 649/900 [39:19<20:45,  4.96s/it]
 72%|███████▏  | 650/900 [39:20<15:21,  3.68s/it]
 72%|███████▏  | 651/900 [39:21<11:35,  2.80s/it]
 72%|███████▏  | 652/900 [39:21<08:57,  2.17s/it]
 73%|███████▎  | 653/900 [39:22<07:06,  1.73s/it]
 73%|███████▎  | 654/900 [39:23<05:48,  1.42s/it]
 73%|███████▎  | 655/900 [39:23<04:55,  1.21s/it]
 73%|███████▎  | 656/900 [39:24<04:17,  1.05s/it]
 73%|███████▎  | 657/900 [40:11<59:30, 14.69s/it]
 73%|███████▎  | 658/900 [40:11<42:21, 10.50s/it]
 73%|███████▎  | 659/900 [40:12<30:24,  7.57s/it]
 73%|███████▎  | 660/900 [40:13<22:02,  5.51s/it]
 73%|███████▎  | 661/900 [40:13<16:08,  4.05s/it]
 74%|███████▎  | 662/900 [40:14<12:01,  3.03s/it]
 74%|███████▎  | 663/900 [40:15<09:09,  2.32s/it]
 74%|███████▍  | 664/900 [40:15<07:12,  1.83s/it]
 74%|███████▍  | 665/900 [40:44<38:41,  9.88s/it]
 74%|███████▍  | 666/900 [40:45<27:46,  7.12s/it]
 74%|███████▍  | 667/900 [40:45<20:11,  5.20s/it]
 74%|███████▍  | 668/900 [40:46<14:51,  3.84s/it]
 74%|███████▍  | 669/900 [40:47<11:07,  2.89s/it]
 74%|███████▍  | 670/900 [40:48<08:33,  2.23s/it]
 75%|███████▍  | 671/900 [40:48<06:45,  1.77s/it]
 75%|███████▍  | 672/900 [40:49<05:28,  1.44s/it]
 75%|███████▍  | 673/900 [41:24<43:44, 11.56s/it]
 75%|███████▍  | 674/900 [41:25<31:13,  8.29s/it]
 75%|███████▌  | 675/900 [41:25<22:31,  6.01s/it]
 75%|███████▌  | 676/900 [41:26<16:30,  4.42s/it]
 75%|███████▌  | 677/900 [41:27<12:17,  3.31s/it]
 75%|███████▌  | 678/900 [41:28<09:20,  2.53s/it]
 75%|███████▌  | 679/900 [41:28<07:16,  1.97s/it]
 76%|███████▌  | 680/900 [41:29<05:50,  1.59s/it]
 76%|███████▌  | 681/900 [41:41<17:00,  4.66s/it]
 76%|███████▌  | 682/900 [41:41<12:35,  3.47s/it]
 76%|███████▌  | 683/900 [41:42<09:30,  2.63s/it]
 76%|███████▌  | 684/900 [41:43<07:21,  2.04s/it]
 76%|███████▌  | 685/900 [41:43<05:49,  1.63s/it]
 76%|███████▌  | 686/900 [41:44<04:46,  1.34s/it]
 76%|███████▋  | 687/900 [41:45<04:01,  1.14s/it]
 76%|███████▋  | 688/900 [41:45<03:31,  1.00it/s]
 77%|███████▋  | 689/900 [41:59<16:21,  4.65s/it]
 77%|███████▋  | 690/900 [41:59<12:10,  3.48s/it]
 77%|███████▋  | 691/900 [42:00<09:15,  2.66s/it]
 77%|███████▋  | 692/900 [42:01<07:10,  2.07s/it]
 77%|███████▋  | 693/900 [42:01<05:41,  1.65s/it]
 77%|███████▋  | 694/900 [42:02<04:42,  1.37s/it]
 77%|███████▋  | 695/900 [42:03<04:00,  1.17s/it]
 77%|███████▋  | 696/900 [42:04<03:30,  1.03s/it]
 77%|███████▋  | 697/900 [42:32<31:04,  9.18s/it]
 78%|███████▊  | 698/900 [42:33<22:21,  6.64s/it]
 78%|███████▊  | 699/900 [42:33<16:18,  4.87s/it]
 78%|███████▊  | 700/900 [42:34<12:04,  3.62s/it]
 78%|███████▊  | 701/900 [42:35<09:04,  2.74s/it]
 78%|███████▊  | 702/900 [42:35<06:58,  2.11s/it]
 78%|███████▊  | 703/900 [42:36<05:32,  1.69s/it]
 78%|███████▊  | 704/900 [42:37<04:30,  1.38s/it]
 78%|███████▊  | 705/900 [43:01<26:47,  8.24s/it]
 78%|███████▊  | 706/900 [43:02<19:20,  5.98s/it]
 79%|███████▊  | 707/900 [43:02<14:07,  4.39s/it]
 79%|███████▊  | 708/900 [43:03<10:30,  3.28s/it]
 79%|███████▉  | 709/900 [43:04<07:59,  2.51s/it]
 79%|███████▉  | 710/900 [43:04<06:14,  1.97s/it]
 79%|███████▉  | 711/900 [43:05<05:00,  1.59s/it]
 79%|███████▉  | 712/900 [43:06<04:08,  1.32s/it]
 79%|███████▉  | 713/900 [43:31<26:14,  8.42s/it]
 79%|███████▉  | 714/900 [43:31<18:54,  6.10s/it]
 79%|███████▉  | 715/900 [43:32<13:48,  4.48s/it]
 80%|███████▉  | 716/900 [43:33<10:15,  3.34s/it]
 80%|███████▉  | 717/900 [43:34<07:46,  2.55s/it]
 80%|███████▉  | 718/900 [43:34<06:02,  1.99s/it]
 80%|███████▉  | 719/900 [43:35<04:50,  1.61s/it]
 80%|████████  | 720/900 [43:36<03:59,  1.33s/it]
 80%|████████  | 721/900 [44:04<28:00,  9.39s/it]
 80%|████████  | 722/900 [44:05<20:05,  6.77s/it]
 80%|████████  | 723/900 [44:05<14:36,  4.95s/it]
 80%|████████  | 724/900 [44:06<10:47,  3.68s/it]
 81%|████████  | 725/900 [44:07<08:06,  2.78s/it]
 81%|████████  | 726/900 [44:07<06:12,  2.14s/it]
 81%|████████  | 727/900 [44:08<04:53,  1.70s/it]
 81%|████████  | 728/900 [44:09<03:58,  1.39s/it]
 81%|████████  | 729/900 [44:32<23:05,  8.10s/it]
 81%|████████  | 730/900 [44:33<16:37,  5.87s/it]
 81%|████████  | 731/900 [44:34<12:08,  4.31s/it]
 81%|████████▏ | 732/900 [44:34<09:01,  3.22s/it]
 81%|████████▏ | 733/900 [44:35<06:49,  2.45s/it]
 82%|████████▏ | 734/900 [44:36<05:17,  1.91s/it]
 82%|████████▏ | 735/900 [44:36<04:17,  1.56s/it]
 82%|████████▏ | 736/900 [44:37<03:35,  1.32s/it]
 82%|████████▏ | 737/900 [44:55<16:57,  6.24s/it]
 82%|████████▏ | 738/900 [44:56<12:24,  4.59s/it]
 82%|████████▏ | 739/900 [44:56<09:12,  3.43s/it]
 82%|████████▏ | 740/900 [44:57<06:57,  2.61s/it]
 82%|████████▏ | 741/900 [44:58<05:24,  2.04s/it]
 82%|████████▏ | 742/900 [44:58<04:19,  1.64s/it]
 83%|████████▎ | 743/900 [44:59<03:34,  1.36s/it]
 83%|████████▎ | 744/900 [45:00<03:02,  1.17s/it]
 83%|████████▎ | 745/900 [46:08<55:12, 21.37s/it]
 83%|████████▎ | 746/900 [46:09<38:58, 15.19s/it]
 83%|████████▎ | 747/900 [46:10<27:40, 10.85s/it]
 83%|████████▎ | 748/900 [46:11<19:48,  7.82s/it]
 83%|████████▎ | 749/900 [46:11<14:19,  5.69s/it]
 83%|████████▎ | 750/900 [46:12<10:29,  4.20s/it]
 83%|████████▎ | 751/900 [46:13<07:49,  3.15s/it]
 84%|████████▎ | 752/900 [46:14<05:58,  2.42s/it]
 84%|████████▎ | 753/900 [46:33<18:30,  7.55s/it]
 84%|████████▍ | 754/900 [46:34<13:23,  5.50s/it]
 84%|████████▍ | 755/900 [46:34<09:49,  4.06s/it]
 84%|████████▍ | 756/900 [46:35<07:20,  3.06s/it]
 84%|████████▍ | 757/900 [46:36<05:37,  2.36s/it]
 84%|████████▍ | 758/900 [46:37<04:26,  1.88s/it]
 84%|████████▍ | 759/900 [46:37<03:34,  1.52s/it]
 84%|████████▍ | 760/900 [46:38<02:59,  1.28s/it]
 85%|████████▍ | 761/900 [47:11<24:57, 10.77s/it]
 85%|████████▍ | 762/900 [47:12<17:50,  7.76s/it]
 85%|████████▍ | 763/900 [47:12<12:52,  5.64s/it]
 85%|████████▍ | 764/900 [47:13<09:25,  4.16s/it]
 85%|████████▌ | 765/900 [47:14<07:01,  3.12s/it]
 85%|████████▌ | 766/900 [47:15<05:20,  2.39s/it]
 85%|████████▌ | 767/900 [47:15<04:09,  1.87s/it]
 85%|████████▌ | 768/900 [47:16<03:21,  1.53s/it]
 85%|████████▌ | 769/900 [47:46<21:44,  9.96s/it]
 86%|████████▌ | 770/900 [47:46<15:33,  7.18s/it]
 86%|████████▌ | 771/900 [47:47<11:15,  5.24s/it]
 86%|████████▌ | 772/900 [47:48<08:16,  3.88s/it]
 86%|████████▌ | 773/900 [47:48<06:11,  2.92s/it]
 86%|████████▌ | 774/900 [47:49<04:43,  2.25s/it]
 86%|████████▌ | 775/900 [47:50<03:43,  1.79s/it]
 86%|████████▌ | 776/900 [47:50<03:00,  1.45s/it]
 86%|████████▋ | 777/900 [49:02<46:12, 22.54s/it]
 86%|████████▋ | 778/900 [49:03<32:32, 16.00s/it]
 87%|████████▋ | 779/900 [49:04<23:00, 11.41s/it]
 87%|████████▋ | 780/900 [49:04<16:25,  8.21s/it]
 87%|████████▋ | 781/900 [49:05<11:51,  5.98s/it]
 87%|████████▋ | 782/900 [49:06<08:38,  4.40s/it]
 87%|████████▋ | 783/900 [49:07<06:25,  3.30s/it]
 87%|████████▋ | 784/900 [49:07<04:53,  2.53s/it]
 87%|████████▋ | 785/900 [50:10<39:37, 20.68s/it]
 87%|████████▋ | 786/900 [50:11<27:54, 14.69s/it]
 87%|████████▋ | 787/900 [50:12<19:45, 10.49s/it]
 88%|████████▊ | 788/900 [50:12<14:05,  7.55s/it]
 88%|████████▊ | 789/900 [50:13<10:09,  5.50s/it]
 88%|████████▊ | 790/900 [50:14<07:26,  4.06s/it]
 88%|████████▊ | 791/900 [50:15<05:32,  3.05s/it]
 88%|████████▊ | 792/900 [50:15<04:13,  2.35s/it]
 88%|████████▊ | 793/900 [51:09<31:51, 17.87s/it]
 88%|████████▊ | 794/900 [51:10<22:27, 12.71s/it]
 88%|████████▊ | 795/900 [51:11<15:55,  9.10s/it]
 88%|████████▊ | 796/900 [51:11<11:23,  6.58s/it]
 89%|████████▊ | 797/900 [51:12<08:15,  4.81s/it]
 89%|████████▊ | 798/900 [51:13<06:05,  3.58s/it]
 89%|████████▉ | 799/900 [51:13<04:33,  2.71s/it]
 89%|████████▉ | 800/900 [51:14<03:30,  2.10s/it]
 89%|████████▉ | 801/900 [51:29<09:43,  5.89s/it]
 89%|████████▉ | 802/900 [51:30<07:05,  4.34s/it]
 89%|████████▉ | 803/900 [51:30<05:13,  3.24s/it]
 89%|████████▉ | 804/900 [51:31<03:57,  2.47s/it]
 89%|████████▉ | 805/900 [51:32<03:04,  1.94s/it]
 90%|████████▉ | 806/900 [51:32<02:26,  1.56s/it]
 90%|████████▉ | 807/900 [51:33<02:00,  1.30s/it]
 90%|████████▉ | 808/900 [51:34<01:42,  1.12s/it]
 90%|████████▉ | 809/900 [51:51<09:17,  6.13s/it]
 90%|█████████ | 810/900 [51:52<06:44,  4.50s/it]
 90%|█████████ | 811/900 [51:53<04:59,  3.36s/it]
 90%|█████████ | 812/900 [51:54<03:46,  2.57s/it]
 90%|█████████ | 813/900 [51:54<02:54,  2.01s/it]
 90%|█████████ | 814/900 [51:55<02:18,  1.61s/it]
 91%|█████████ | 815/900 [51:56<01:53,  1.33s/it]
 91%|█████████ | 816/900 [51:56<01:35,  1.14s/it]
 91%|█████████ | 817/900 [52:09<06:30,  4.71s/it]
 91%|█████████ | 818/900 [52:10<04:47,  3.51s/it]
 91%|█████████ | 819/900 [52:11<03:35,  2.66s/it]
 91%|█████████ | 820/900 [52:11<02:44,  2.06s/it]
 91%|█████████ | 821/900 [52:12<02:10,  1.65s/it]
 91%|█████████▏| 822/900 [52:13<01:46,  1.37s/it]
 91%|█████████▏| 823/900 [52:14<01:29,  1.17s/it]
 92%|█████████▏| 824/900 [52:14<01:18,  1.03s/it]
 92%|█████████▏| 825/900 [52:30<06:43,  5.38s/it]
 92%|█████████▏| 826/900 [52:31<04:55,  3.99s/it]
 92%|█████████▏| 827/900 [52:31<03:39,  3.01s/it]
 92%|█████████▏| 828/900 [52:32<02:47,  2.32s/it]
 92%|█████████▏| 829/900 [52:33<02:10,  1.84s/it]
 92%|█████████▏| 830/900 [52:33<01:45,  1.51s/it]
 92%|█████████▏| 831/900 [52:34<01:27,  1.27s/it]
 92%|█████████▏| 832/900 [52:35<01:15,  1.10s/it]
 93%|█████████▎| 833/900 [53:31<19:43, 17.66s/it]
 93%|█████████▎| 834/900 [53:32<13:50, 12.58s/it]
 93%|█████████▎| 835/900 [53:33<09:46,  9.02s/it]
 93%|█████████▎| 836/900 [53:33<06:57,  6.52s/it]
 93%|█████████▎| 837/900 [53:34<05:00,  4.78s/it]
 93%|█████████▎| 838/900 [53:35<03:40,  3.55s/it]
 93%|█████████▎| 839/900 [53:35<02:44,  2.69s/it]
 93%|█████████▎| 840/900 [53:36<02:05,  2.08s/it]
 93%|█████████▎| 841/900 [54:04<09:38,  9.81s/it]
 94%|█████████▎| 842/900 [54:05<06:50,  7.08s/it]
 94%|█████████▎| 843/900 [54:05<04:54,  5.16s/it]
 94%|█████████▍| 844/900 [54:06<03:34,  3.82s/it]
 94%|█████████▍| 845/900 [54:07<02:39,  2.90s/it]
 94%|█████████▍| 846/900 [54:07<02:01,  2.24s/it]
 94%|█████████▍| 847/900 [54:08<01:34,  1.79s/it]
 94%|█████████▍| 848/900 [54:09<01:16,  1.47s/it]
 94%|█████████▍| 849/900 [54:47<10:41, 12.58s/it]
 94%|█████████▍| 850/900 [54:48<07:30,  9.02s/it]
 95%|█████████▍| 851/900 [54:49<05:19,  6.53s/it]
 95%|█████████▍| 852/900 [54:49<03:49,  4.78s/it]
 95%|█████████▍| 853/900 [54:50<02:47,  3.56s/it]
 95%|█████████▍| 854/900 [54:51<02:03,  2.70s/it]
 95%|█████████▌| 855/900 [54:52<01:34,  2.09s/it]
 95%|█████████▌| 856/900 [54:52<01:13,  1.67s/it]
 95%|█████████▌| 857/900 [55:29<08:43, 12.17s/it]
 95%|█████████▌| 858/900 [55:30<06:06,  8.72s/it]
 95%|█████████▌| 859/900 [55:30<04:18,  6.31s/it]
 96%|█████████▌| 860/900 [55:31<03:05,  4.63s/it]
 96%|█████████▌| 861/900 [55:32<02:14,  3.45s/it]
 96%|█████████▌| 862/900 [55:32<01:39,  2.62s/it]
 96%|█████████▌| 863/900 [55:33<01:15,  2.04s/it]
 96%|█████████▌| 864/900 [55:34<00:58,  1.63s/it]
 96%|█████████▌| 865/900 [56:02<05:41,  9.77s/it]
 96%|█████████▌| 866/900 [56:03<03:59,  7.05s/it]
 96%|█████████▋| 867/900 [56:04<02:49,  5.15s/it]
 96%|█████████▋| 868/900 [56:05<02:02,  3.82s/it]
 97%|█████████▋| 869/900 [56:05<01:29,  2.88s/it]
 97%|█████████▋| 870/900 [56:06<01:06,  2.23s/it]
 97%|█████████▋| 871/900 [56:07<00:51,  1.77s/it]
 97%|█████████▋| 872/900 [56:07<00:40,  1.45s/it]
 97%|█████████▋| 873/900 [56:24<02:40,  5.93s/it]
 97%|█████████▋| 874/900 [56:25<01:53,  4.37s/it]
 97%|█████████▋| 875/900 [56:25<01:21,  3.27s/it]
 97%|█████████▋| 876/900 [56:26<00:59,  2.50s/it]
 97%|█████████▋| 877/900 [56:27<00:45,  1.97s/it]
 98%|█████████▊| 878/900 [56:27<00:35,  1.59s/it]
 98%|█████████▊| 879/900 [56:28<00:27,  1.33s/it]
 98%|█████████▊| 880/900 [56:29<00:22,  1.14s/it]
 98%|█████████▊| 881/900 [56:51<02:21,  7.43s/it]
 98%|█████████▊| 882/900 [56:52<01:37,  5.40s/it]
 98%|█████████▊| 883/900 [56:52<01:07,  3.98s/it]
 98%|█████████▊| 884/900 [56:53<00:47,  2.99s/it]
 98%|█████████▊| 885/900 [56:54<00:34,  2.31s/it]
 98%|█████████▊| 886/900 [56:54<00:25,  1.83s/it]
 99%|█████████▊| 887/900 [56:55<00:19,  1.50s/it]
 99%|█████████▊| 888/900 [56:56<00:15,  1.26s/it]
 99%|█████████▉| 889/900 [57:22<01:36,  8.76s/it]
 99%|█████████▉| 890/900 [57:23<01:03,  6.34s/it]
 99%|█████████▉| 891/900 [57:23<00:41,  4.66s/it]
 99%|█████████▉| 892/900 [57:24<00:27,  3.47s/it]
 99%|█████████▉| 893/900 [57:25<00:18,  2.65s/it]
 99%|█████████▉| 894/900 [57:26<00:12,  2.07s/it]
 99%|█████████▉| 895/900 [57:26<00:08,  1.67s/it]
100%|█████████▉| 896/900 [57:27<00:05,  1.39s/it]
100%|█████████▉| 897/900 [57:41<00:15,  5.26s/it]
100%|█████████▉| 898/900 [57:42<00:07,  3.88s/it]
100%|█████████▉| 899/900 [57:43<00:02,  2.93s/it]
100%|█████████▉| 899/900 [57:44<00:03,  3.85s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/log_2_env0.json.
+SmallPumpkinInBinTask_2 complete: task_name: SmallPumpkinInBinTask, run_name: SmallPumpkinInBinTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the small pumpkin in the bin, attributes: ['size', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -15.708258475861957, 'joint_sparc_mean': -21.748083453292036, 'ee_isj': 8572.007727176813, 'joint_isj': 590435.8064866324, 'ee_path_length': 7.4507263970150746, 'joint_rmse_mean': 1.2114413811636167, 'ee_speed_max': 1.0452089309692383, 'ee_speed_mean': 0.11857042461633682}, events: {'OBJECT_BUMPED': 6, 'GRIPPER_HIT_OBJECT': 3, 'GRIPPER_HIT_TABLE': 3, 'WRONG_OBJECT_GRABBED': 5, 'GRIPPER_FULLY_CLOSED': 14, 'TARGET_OBJECT_DROPPED': 14, 'MULTIPLE_OBJECTS_GRABBED': 1, 'wrong_objects_grabbed': ['whitepackerbottle_a01', 'pumpkinlarge', 'pumpkinlarge', 'pumpkinlarge', 'pumpkinlarge']}, instruction_type: default, timing: {'policy_inference_s': 2837.468, 'policy_inference_avg_ms': 3152.7, 'env_step_s': 617.944, 'env_step_avg_ms': 686.6, 'video_write_s': 7.987, 'video_write_avg_ms': 8.9, 'wall_total_s': 3463.398, 'it_per_sec': 0.26}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=pumpkinsmall) (step 1/2), harness_episode_id: 31ff092b722d4c159208b76a40b87c50-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-30T19:36:23Z [12,756,067ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.242056 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-30T19:36:26Z [12,759,809ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-30T19:36:26Z [12,759,809ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T19:36:26Z [12,759,819ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-30T19:36:26Z [12,759,819ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T19:36:26Z [12,759,827ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T19:36:26Z [12,759,834ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-30T19:36:26Z [12,759,852ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-30T19:36:27Z [12,760,645ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((363))' not available in the MDL representation.
+2026-10-30T19:36:27Z [12,760,645ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((363))' not available in the MDL representation.
+2026-10-30T19:36:28Z [12,761,377ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((381))' not available in the MDL representation.
+2026-10-30T19:36:28Z [12,761,377ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((381))' not available in the MDL representation.
+2026-10-30T19:36:28Z [12,761,404ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((392))' not available in the MDL representation.
+2026-10-30T19:36:28Z [12,761,404ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((392))' not available in the MDL representation.
+2026-10-30T19:36:28Z [12,761,408ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((394))' not available in the MDL representation.
+2026-10-30T19:36:28Z [12,761,408ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((394))' not available in the MDL representation.
+2026-10-30T19:36:28Z [12,761,424ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((403))' not available in the MDL representation.
+2026-10-30T19:36:28Z [12,761,425ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((403))' not available in the MDL representation.
+2026-10-30T19:36:28Z [12,761,765ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((440))' not available in the MDL representation.
+2026-10-30T19:36:28Z [12,761,766ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((440))' not available in the MDL representation.
+2026-10-30T19:36:32Z [12,765,215ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((363))' not available in the MDL representation.
+2026-10-30T19:36:32Z [12,765,215ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((363))' not available in the MDL representation.
+2026-10-30T19:36:32Z [12,765,217ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((381))' not available in the MDL representation.
+2026-10-30T19:36:32Z [12,765,217ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((381))' not available in the MDL representation.
+2026-10-30T19:36:32Z [12,765,218ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((392))' not available in the MDL representation.
+2026-10-30T19:36:32Z [12,765,218ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((392))' not available in the MDL representation.
+2026-10-30T19:36:32Z [12,765,219ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((394))' not available in the MDL representation.
+2026-10-30T19:36:32Z [12,765,219ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((394))' not available in the MDL representation.
+2026-10-30T19:36:32Z [12,765,220ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((403))' not available in the MDL representation.
+2026-10-30T19:36:32Z [12,765,220ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((403))' not available in the MDL representation.
+2026-10-30T19:36:32Z [12,765,222ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((440))' not available in the MDL representation.
+2026-10-30T19:36:32Z [12,765,222ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((440))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 9.026728 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ReorientWhiteMugsTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Make sure all the white mugs are upright so that the opening is facing upwards. │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ReorientWhiteMugsTaskSceneEnvCfg              │
+│  Attributes  : reorientation, color, moderate                │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running ReorientWhiteMugsTask_0: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:54<13:41:48, 54.85s/it]
  0%|          | 2/900 [00:55<5:40:44, 22.77s/it] 
  0%|          | 3/900 [00:55<3:06:59, 12.51s/it]
  0%|          | 4/900 [00:55<1:54:47,  7.69s/it]
  1%|          | 5/900 [00:56<1:14:54,  5.02s/it]
  1%|          | 6/900 [00:56<50:55,  3.42s/it]  
  1%|          | 7/900 [00:56<35:43,  2.40s/it]
  1%|          | 8/900 [00:56<25:44,  1.73s/it]
  1%|          | 9/900 [01:05<58:27,  3.94s/it]
  1%|          | 10/900 [01:06<41:42,  2.81s/it]
  1%|          | 11/900 [01:06<30:13,  2.04s/it]
  1%|▏         | 12/900 [01:06<22:22,  1.51s/it]
  1%|▏         | 13/900 [01:06<16:54,  1.14s/it]
  2%|▏         | 14/900 [01:07<13:10,  1.12it/s]
  2%|▏         | 15/900 [01:07<10:32,  1.40it/s]
  2%|▏         | 16/900 [01:07<08:44,  1.69it/s]
  2%|▏         | 17/900 [01:13<32:57,  2.24s/it]
  2%|▏         | 18/900 [01:14<24:19,  1.65s/it]
  2%|▏         | 19/900 [01:14<18:16,  1.24s/it]
  2%|▏         | 20/900 [01:14<14:04,  1.04it/s]
  2%|▏         | 21/900 [01:15<11:06,  1.32it/s]
  2%|▏         | 22/900 [01:15<09:02,  1.62it/s]
  3%|▎         | 23/900 [01:15<07:37,  1.92it/s]
  3%|▎         | 24/900 [01:15<06:37,  2.20it/s]
  3%|▎         | 25/900 [01:25<46:27,  3.19s/it]
  3%|▎         | 26/900 [01:25<33:45,  2.32s/it]
  3%|▎         | 27/900 [01:26<24:54,  1.71s/it]
  3%|▎         | 28/900 [01:26<18:43,  1.29s/it]
  3%|▎         | 29/900 [01:26<14:35,  1.00s/it]
  3%|▎         | 30/900 [01:27<11:30,  1.26it/s]
  3%|▎         | 31/900 [01:27<09:19,  1.55it/s]
  4%|▎         | 32/900 [01:27<07:49,  1.85it/s]
  4%|▎         | 33/900 [01:34<35:43,  2.47s/it]
  4%|▍         | 34/900 [01:34<26:15,  1.82s/it]
  4%|▍         | 35/900 [01:35<19:37,  1.36s/it]
  4%|▍         | 36/900 [01:35<15:00,  1.04s/it]
  4%|▍         | 37/900 [01:35<11:46,  1.22it/s]
  4%|▍         | 38/900 [01:36<09:30,  1.51it/s]
  4%|▍         | 39/900 [01:36<07:54,  1.81it/s]
  4%|▍         | 40/900 [01:36<06:47,  2.11it/s]
  5%|▍         | 41/900 [01:45<40:49,  2.85s/it]
  5%|▍         | 42/900 [01:45<29:48,  2.08s/it]
  5%|▍         | 43/900 [01:45<22:06,  1.55s/it]
  5%|▍         | 44/900 [01:46<16:47,  1.18s/it]
  5%|▌         | 45/900 [01:46<13:04,  1.09it/s]
  5%|▌         | 46/900 [01:46<10:28,  1.36it/s]
  5%|▌         | 47/900 [01:46<08:39,  1.64it/s]
  5%|▌         | 48/900 [01:47<07:23,  1.92it/s]
  5%|▌         | 49/900 [01:53<33:38,  2.37s/it]
  6%|▌         | 50/900 [01:54<24:52,  1.76s/it]
  6%|▌         | 51/900 [01:54<18:42,  1.32s/it]
  6%|▌         | 52/900 [01:54<14:25,  1.02s/it]
  6%|▌         | 53/900 [01:55<11:26,  1.23it/s]
  6%|▌         | 54/900 [01:55<09:20,  1.51it/s]
  6%|▌         | 55/900 [01:55<07:50,  1.80it/s]
  6%|▌         | 56/900 [01:56<06:47,  2.07it/s]
  6%|▋         | 57/900 [02:08<57:31,  4.09s/it]
  6%|▋         | 58/900 [02:08<41:34,  2.96s/it]
  7%|▋         | 59/900 [02:09<30:24,  2.17s/it]
  7%|▋         | 60/900 [02:09<22:35,  1.61s/it]
  7%|▋         | 61/900 [02:09<17:06,  1.22s/it]
  7%|▋         | 62/900 [02:10<13:17,  1.05it/s]
  7%|▋         | 63/900 [02:10<10:36,  1.31it/s]
  7%|▋         | 64/900 [02:10<08:44,  1.59it/s]
  7%|▋         | 65/900 [02:18<38:39,  2.78s/it]
  7%|▋         | 66/900 [02:19<28:23,  2.04s/it]
  7%|▋         | 67/900 [02:19<21:07,  1.52s/it]
  8%|▊         | 68/900 [02:19<16:00,  1.15s/it]
  8%|▊         | 69/900 [02:19<12:24,  1.12it/s]
  8%|▊         | 70/900 [02:20<09:54,  1.40it/s]
  8%|▊         | 71/900 [02:20<08:10,  1.69it/s]
  8%|▊         | 72/900 [02:20<06:56,  1.99it/s]
  8%|▊         | 73/900 [02:44<1:42:07,  7.41s/it]
  8%|▊         | 74/900 [02:44<1:12:38,  5.28s/it]
  8%|▊         | 75/900 [02:44<52:00,  3.78s/it]  
  8%|▊         | 76/900 [02:45<37:35,  2.74s/it]
  9%|▊         | 77/900 [02:45<27:28,  2.00s/it]
  9%|▊         | 78/900 [02:45<20:24,  1.49s/it]
  9%|▉         | 79/900 [02:46<15:30,  1.13s/it]
  9%|▉         | 80/900 [02:46<12:04,  1.13it/s]
  9%|▉         | 81/900 [02:51<30:52,  2.26s/it]
  9%|▉         | 82/900 [02:52<22:48,  1.67s/it]
  9%|▉         | 83/900 [02:52<17:09,  1.26s/it]
  9%|▉         | 84/900 [02:52<13:13,  1.03it/s]
  9%|▉         | 85/900 [02:53<10:26,  1.30it/s]
 10%|▉         | 86/900 [02:53<08:31,  1.59it/s]
 10%|▉         | 87/900 [02:53<07:11,  1.88it/s]
 10%|▉         | 88/900 [02:53<06:14,  2.17it/s]
 10%|▉         | 89/900 [03:04<48:03,  3.55s/it]
 10%|█         | 90/900 [03:05<34:45,  2.58s/it]
 10%|█         | 91/900 [03:05<25:28,  1.89s/it]
 10%|█         | 92/900 [03:05<19:01,  1.41s/it]
 10%|█         | 93/900 [03:05<14:30,  1.08s/it]
 10%|█         | 94/900 [03:06<11:21,  1.18it/s]
 11%|█         | 95/900 [03:06<09:07,  1.47it/s]
 11%|█         | 96/900 [03:06<07:44,  1.73it/s]
 11%|█         | 97/900 [03:13<32:35,  2.44s/it]
 11%|█         | 98/900 [03:13<23:58,  1.79s/it]
 11%|█         | 99/900 [03:14<17:56,  1.34s/it]
 11%|█         | 100/900 [03:14<13:43,  1.03s/it]
 11%|█         | 101/900 [03:14<10:47,  1.23it/s]
 11%|█▏        | 102/900 [03:15<08:44,  1.52it/s]
 11%|█▏        | 103/900 [03:15<07:17,  1.82it/s]
 12%|█▏        | 104/900 [03:15<06:16,  2.12it/s]
 12%|█▏        | 105/900 [03:29<1:00:26,  4.56s/it]
 12%|█▏        | 106/900 [03:30<43:26,  3.28s/it]  
 12%|█▏        | 107/900 [03:30<31:33,  2.39s/it]
 12%|█▏        | 108/900 [03:30<23:15,  1.76s/it]
 12%|█▏        | 109/900 [03:31<17:26,  1.32s/it]
 12%|█▏        | 110/900 [03:31<13:22,  1.02s/it]
 12%|█▏        | 111/900 [03:31<10:32,  1.25it/s]
 12%|█▏        | 112/900 [03:31<08:33,  1.53it/s]
 13%|█▎        | 113/900 [03:40<40:25,  3.08s/it]
 13%|█▎        | 114/900 [03:40<29:26,  2.25s/it]
 13%|█▎        | 115/900 [03:41<21:45,  1.66s/it]
 13%|█▎        | 116/900 [03:41<16:24,  1.26s/it]
 13%|█▎        | 117/900 [03:41<12:37,  1.03it/s]
 13%|█▎        | 118/900 [03:42<10:00,  1.30it/s]
 13%|█▎        | 119/900 [03:42<08:09,  1.59it/s]
 13%|█▎        | 120/900 [03:42<06:52,  1.89it/s]
 13%|█▎        | 121/900 [03:52<40:53,  3.15s/it]
 14%|█▎        | 122/900 [03:52<29:45,  2.29s/it]
 14%|█▎        | 123/900 [03:52<21:57,  1.70s/it]
 14%|█▍        | 124/900 [03:52<16:29,  1.27s/it]
 14%|█▍        | 125/900 [03:53<12:41,  1.02it/s]
 14%|█▍        | 126/900 [03:53<10:01,  1.29it/s]
 14%|█▍        | 127/900 [03:53<08:09,  1.58it/s]
 14%|█▍        | 128/900 [03:54<06:49,  1.88it/s]
 14%|█▍        | 129/900 [04:04<46:07,  3.59s/it]
 14%|█▍        | 130/900 [04:05<33:23,  2.60s/it]
 15%|█▍        | 131/900 [04:05<24:28,  1.91s/it]
 15%|█▍        | 132/900 [04:05<18:14,  1.42s/it]
 15%|█▍        | 133/900 [04:06<13:52,  1.08s/it]
 15%|█▍        | 134/900 [04:06<10:50,  1.18it/s]
 15%|█▌        | 135/900 [04:06<08:47,  1.45it/s]
 15%|█▌        | 136/900 [04:06<07:21,  1.73it/s]
 15%|█▌        | 137/900 [04:20<56:43,  4.46s/it]
 15%|█▌        | 138/900 [04:20<40:54,  3.22s/it]
 15%|█▌        | 139/900 [04:21<29:49,  2.35s/it]
 16%|█▌        | 140/900 [04:21<22:06,  1.75s/it]
 16%|█▌        | 141/900 [04:21<16:39,  1.32s/it]
 16%|█▌        | 142/900 [04:22<12:49,  1.02s/it]
 16%|█▌        | 143/900 [04:22<10:10,  1.24it/s]
 16%|█▌        | 144/900 [04:22<08:21,  1.51it/s]
 16%|█▌        | 145/900 [04:30<33:51,  2.69s/it]
 16%|█▌        | 146/900 [04:30<24:54,  1.98s/it]
 16%|█▋        | 147/900 [04:30<18:39,  1.49s/it]
 16%|█▋        | 148/900 [04:31<14:14,  1.14s/it]
 17%|█▋        | 149/900 [04:31<11:10,  1.12it/s]
 17%|█▋        | 150/900 [04:31<09:00,  1.39it/s]
 17%|█▋        | 151/900 [04:32<07:30,  1.66it/s]
 17%|█▋        | 152/900 [04:32<06:26,  1.93it/s]
 17%|█▋        | 153/900 [04:38<27:09,  2.18s/it]
 17%|█▋        | 154/900 [04:38<20:18,  1.63s/it]
 17%|█▋        | 155/900 [04:39<15:29,  1.25s/it]
 17%|█▋        | 156/900 [04:39<11:58,  1.03it/s]
 17%|█▋        | 157/900 [04:39<09:28,  1.31it/s]
 18%|█▊        | 158/900 [04:40<07:45,  1.60it/s]
 18%|█▊        | 159/900 [04:40<06:31,  1.89it/s]
 18%|█▊        | 160/900 [04:40<05:40,  2.17it/s]
 18%|█▊        | 161/900 [05:00<1:18:51,  6.40s/it]
 18%|█▊        | 162/900 [05:01<56:14,  4.57s/it]  
 18%|█▊        | 163/900 [05:01<40:24,  3.29s/it]
 18%|█▊        | 164/900 [05:01<29:21,  2.39s/it]
 18%|█▊        | 165/900 [05:02<21:37,  1.76s/it]
 18%|█▊        | 166/900 [05:02<16:13,  1.33s/it]
 19%|█▊        | 167/900 [05:02<12:26,  1.02s/it]
 19%|█▊        | 168/900 [05:03<09:47,  1.25it/s]
 19%|█▉        | 169/900 [05:09<30:04,  2.47s/it]
 19%|█▉        | 170/900 [05:09<22:06,  1.82s/it]
 19%|█▉        | 171/900 [05:10<16:36,  1.37s/it]
 19%|█▉        | 172/900 [05:10<12:46,  1.05s/it]
 19%|█▉        | 173/900 [05:10<10:04,  1.20it/s]
 19%|█▉        | 174/900 [05:10<08:12,  1.48it/s]
 19%|█▉        | 175/900 [05:11<06:56,  1.74it/s]
 20%|█▉        | 176/900 [05:11<06:01,  2.00it/s]
 20%|█▉        | 177/900 [05:31<1:16:06,  6.32s/it]
 20%|█▉        | 178/900 [05:31<54:19,  4.51s/it]  
 20%|█▉        | 179/900 [05:32<39:04,  3.25s/it]
 20%|██        | 180/900 [05:32<28:23,  2.37s/it]
 20%|██        | 181/900 [05:32<20:54,  1.74s/it]
 20%|██        | 182/900 [05:33<15:40,  1.31s/it]
 20%|██        | 183/900 [05:33<12:03,  1.01s/it]
 20%|██        | 184/900 [05:33<09:29,  1.26it/s]
 21%|██        | 185/900 [05:43<43:39,  3.66s/it]
 21%|██        | 186/900 [05:44<31:35,  2.65s/it]
 21%|██        | 187/900 [05:44<23:09,  1.95s/it]
 21%|██        | 188/900 [05:44<17:13,  1.45s/it]
 21%|██        | 189/900 [05:45<13:05,  1.11s/it]
 21%|██        | 190/900 [05:45<10:12,  1.16it/s]
 21%|██        | 191/900 [05:45<08:10,  1.45it/s]
 21%|██▏       | 192/900 [05:46<06:45,  1.75it/s]
 21%|██▏       | 193/900 [05:55<37:38,  3.20s/it]
 22%|██▏       | 194/900 [05:55<27:22,  2.33s/it]
 22%|██▏       | 195/900 [05:55<20:10,  1.72s/it]
 22%|██▏       | 196/900 [05:56<15:07,  1.29s/it]
 22%|██▏       | 197/900 [05:56<11:34,  1.01it/s]
 22%|██▏       | 198/900 [05:56<09:07,  1.28it/s]
 22%|██▏       | 199/900 [05:57<07:25,  1.57it/s]
 22%|██▏       | 200/900 [05:57<06:14,  1.87it/s]
 22%|██▏       | 201/900 [06:17<1:14:08,  6.36s/it]
 22%|██▏       | 202/900 [06:17<52:48,  4.54s/it]  
 23%|██▎       | 203/900 [06:17<37:56,  3.27s/it]
 23%|██▎       | 204/900 [06:18<27:34,  2.38s/it]
 23%|██▎       | 205/900 [06:18<20:16,  1.75s/it]
 23%|██▎       | 206/900 [06:18<15:12,  1.31s/it]
 23%|██▎       | 207/900 [06:19<11:39,  1.01s/it]
 23%|██▎       | 208/900 [06:19<09:10,  1.26it/s]
 23%|██▎       | 209/900 [06:45<1:35:22,  8.28s/it]
 23%|██▎       | 210/900 [06:45<1:07:41,  5.89s/it]
 23%|██▎       | 211/900 [06:45<48:17,  4.20s/it]  
 24%|██▎       | 212/900 [06:46<34:43,  3.03s/it]
 24%|██▎       | 213/900 [06:46<25:17,  2.21s/it]
 24%|██▍       | 214/900 [06:46<18:41,  1.64s/it]
 24%|██▍       | 215/900 [06:46<14:05,  1.23s/it]
 24%|██▍       | 216/900 [06:47<10:50,  1.05it/s]
 24%|██▍       | 217/900 [07:01<55:12,  4.85s/it]
 24%|██▍       | 218/900 [07:01<39:36,  3.48s/it]
 24%|██▍       | 219/900 [07:01<28:42,  2.53s/it]
 24%|██▍       | 220/900 [07:02<21:05,  1.86s/it]
 25%|██▍       | 221/900 [07:02<15:45,  1.39s/it]
 25%|██▍       | 222/900 [07:02<12:01,  1.06s/it]
 25%|██▍       | 223/900 [07:03<09:25,  1.20it/s]
 25%|██▍       | 224/900 [07:03<07:36,  1.48it/s]
 25%|██▌       | 225/900 [07:13<38:55,  3.46s/it]
 25%|██▌       | 226/900 [07:13<28:13,  2.51s/it]
 25%|██▌       | 227/900 [07:13<20:42,  1.85s/it]
 25%|██▌       | 228/900 [07:14<15:27,  1.38s/it]
 25%|██▌       | 229/900 [07:14<11:47,  1.05s/it]
 26%|██▌       | 230/900 [07:14<09:15,  1.21it/s]
 26%|██▌       | 231/900 [07:15<07:26,  1.50it/s]
 26%|██▌       | 232/900 [07:15<06:10,  1.80it/s]
 26%|██▌       | 233/900 [07:24<36:27,  3.28s/it]
 26%|██▌       | 234/900 [07:25<26:29,  2.39s/it]
 26%|██▌       | 235/900 [07:25<19:31,  1.76s/it]
 26%|██▌       | 236/900 [07:25<14:38,  1.32s/it]
 26%|██▋       | 237/900 [07:26<11:12,  1.02s/it]
 26%|██▋       | 238/900 [07:26<08:49,  1.25it/s]
 27%|██▋       | 239/900 [07:26<07:09,  1.54it/s]
 27%|██▋       | 240/900 [07:27<05:59,  1.83it/s]
 27%|██▋       | 241/900 [07:35<31:35,  2.88s/it]
 27%|██▋       | 242/900 [07:35<23:03,  2.10s/it]
 27%|██▋       | 243/900 [07:35<17:07,  1.56s/it]
 27%|██▋       | 244/900 [07:36<12:56,  1.18s/it]
 27%|██▋       | 245/900 [07:36<10:00,  1.09it/s]
 27%|██▋       | 246/900 [07:36<08:00,  1.36it/s]
 27%|██▋       | 247/900 [07:37<06:34,  1.66it/s]
 28%|██▊       | 248/900 [07:37<05:35,  1.94it/s]
 28%|██▊       | 249/900 [07:44<26:56,  2.48s/it]
 28%|██▊       | 250/900 [07:44<19:48,  1.83s/it]
 28%|██▊       | 251/900 [07:45<14:49,  1.37s/it]
 28%|██▊       | 252/900 [07:45<11:17,  1.05s/it]
 28%|██▊       | 253/900 [07:45<08:52,  1.22it/s]
 28%|██▊       | 254/900 [07:46<07:10,  1.50it/s]
 28%|██▊       | 255/900 [07:46<05:59,  1.80it/s]
 28%|██▊       | 256/900 [07:46<05:09,  2.08it/s]
 29%|██▊       | 257/900 [07:56<35:02,  3.27s/it]
 29%|██▊       | 258/900 [07:56<25:26,  2.38s/it]
 29%|██▉       | 259/900 [07:57<18:44,  1.75s/it]
 29%|██▉       | 260/900 [07:57<14:02,  1.32s/it]
 29%|██▉       | 261/900 [07:57<10:45,  1.01s/it]
 29%|██▉       | 262/900 [07:57<08:29,  1.25it/s]
 29%|██▉       | 263/900 [07:58<06:51,  1.55it/s]
 29%|██▉       | 264/900 [07:58<05:45,  1.84it/s]
 29%|██▉       | 265/900 [08:12<48:17,  4.56s/it]
 30%|██▉       | 266/900 [08:12<34:41,  3.28s/it]
 30%|██▉       | 267/900 [08:13<25:09,  2.38s/it]
 30%|██▉       | 268/900 [08:13<18:29,  1.76s/it]
 30%|██▉       | 269/900 [08:13<13:51,  1.32s/it]
 30%|███       | 270/900 [08:13<10:37,  1.01s/it]
 30%|███       | 271/900 [08:14<08:21,  1.26it/s]
 30%|███       | 272/900 [08:14<06:45,  1.55it/s]
 30%|███       | 273/900 [08:27<45:59,  4.40s/it]
 30%|███       | 274/900 [08:27<33:04,  3.17s/it]
 31%|███       | 275/900 [08:28<24:04,  2.31s/it]
 31%|███       | 276/900 [08:28<17:47,  1.71s/it]
 31%|███       | 277/900 [08:28<13:24,  1.29s/it]
 31%|███       | 278/900 [08:29<10:21,  1.00it/s]
 31%|███       | 279/900 [08:29<08:15,  1.25it/s]
 31%|███       | 280/900 [08:29<06:47,  1.52it/s]
 31%|███       | 281/900 [08:39<34:27,  3.34s/it]
 31%|███▏      | 282/900 [08:39<25:02,  2.43s/it]
 31%|███▏      | 283/900 [08:40<18:27,  1.79s/it]
 32%|███▏      | 284/900 [08:40<13:52,  1.35s/it]
 32%|███▏      | 285/900 [08:40<10:40,  1.04s/it]
 32%|███▏      | 286/900 [08:41<08:26,  1.21it/s]
 32%|███▏      | 287/900 [08:41<06:51,  1.49it/s]
 32%|███▏      | 288/900 [08:41<05:43,  1.78it/s]
 32%|███▏      | 289/900 [08:51<32:36,  3.20s/it]
 32%|███▏      | 290/900 [08:51<23:46,  2.34s/it]
 32%|███▏      | 291/900 [08:51<17:35,  1.73s/it]
 32%|███▏      | 292/900 [08:52<13:14,  1.31s/it]
 33%|███▎      | 293/900 [08:52<10:11,  1.01s/it]
 33%|███▎      | 294/900 [08:52<08:04,  1.25it/s]
 33%|███▎      | 295/900 [08:52<06:36,  1.53it/s]
 33%|███▎      | 296/900 [08:53<05:36,  1.80it/s]
 33%|███▎      | 297/900 [09:03<34:53,  3.47s/it]
 33%|███▎      | 298/900 [09:03<25:22,  2.53s/it]
 33%|███▎      | 299/900 [09:04<18:41,  1.87s/it]
 33%|███▎      | 300/900 [09:04<14:00,  1.40s/it]
 33%|███▎      | 301/900 [09:04<10:43,  1.07s/it]
 34%|███▎      | 302/900 [09:05<08:28,  1.18it/s]
 34%|███▎      | 303/900 [09:05<06:52,  1.45it/s]
 34%|███▍      | 304/900 [09:05<05:45,  1.72it/s]
 34%|███▍      | 305/900 [09:14<30:06,  3.04s/it]
 34%|███▍      | 306/900 [09:14<21:59,  2.22s/it]
 34%|███▍      | 307/900 [09:15<16:18,  1.65s/it]
 34%|███▍      | 308/900 [09:15<12:19,  1.25s/it]
 34%|███▍      | 309/900 [09:15<09:33,  1.03it/s]
 34%|███▍      | 310/900 [09:16<07:37,  1.29it/s]
 35%|███▍      | 311/900 [09:16<06:16,  1.56it/s]
 35%|███▍      | 312/900 [09:16<05:19,  1.84it/s]
 35%|███▍      | 313/900 [09:26<30:54,  3.16s/it]
 35%|███▍      | 314/900 [09:26<22:28,  2.30s/it]
 35%|███▌      | 315/900 [09:26<16:34,  1.70s/it]
 35%|███▌      | 316/900 [09:26<12:25,  1.28s/it]
 35%|███▌      | 317/900 [09:27<09:31,  1.02it/s]
 35%|███▌      | 318/900 [09:27<07:31,  1.29it/s]
 35%|███▌      | 319/900 [09:27<06:09,  1.57it/s]
 36%|███▌      | 320/900 [09:28<05:11,  1.86it/s]
 36%|███▌      | 321/900 [09:45<55:13,  5.72s/it]
 36%|███▌      | 322/900 [09:46<39:28,  4.10s/it]
 36%|███▌      | 323/900 [09:46<28:28,  2.96s/it]
 36%|███▌      | 324/900 [09:46<20:46,  2.16s/it]
 36%|███▌      | 325/900 [09:47<15:23,  1.61s/it]
 36%|███▌      | 326/900 [09:47<11:37,  1.22s/it]
 36%|███▋      | 327/900 [09:47<08:59,  1.06it/s]
 36%|███▋      | 328/900 [09:48<07:10,  1.33it/s]
 37%|███▋      | 329/900 [10:06<56:39,  5.95s/it]
 37%|███▋      | 330/900 [10:06<40:30,  4.26s/it]
 37%|███▋      | 331/900 [10:06<29:12,  3.08s/it]
 37%|███▋      | 332/900 [10:07<21:17,  2.25s/it]
 37%|███▋      | 333/900 [10:07<15:46,  1.67s/it]
 37%|███▋      | 334/900 [10:07<11:54,  1.26s/it]
 37%|███▋      | 335/900 [10:08<09:12,  1.02it/s]
 37%|███▋      | 336/900 [10:08<07:21,  1.28it/s]
 37%|███▋      | 337/900 [11:37<4:16:04, 27.29s/it]
 38%|███▊      | 338/900 [11:37<2:59:48, 19.20s/it]
 38%|███▊      | 339/900 [11:38<2:06:28, 13.53s/it]
 38%|███▊      | 340/900 [11:38<1:29:11,  9.56s/it]
 38%|███▊      | 341/900 [11:38<1:03:09,  6.78s/it]
 38%|███▊      | 342/900 [11:39<44:58,  4.84s/it]  
 38%|███▊      | 343/900 [11:39<32:15,  3.48s/it]
 38%|███▊      | 344/900 [11:39<23:22,  2.52s/it]
 38%|███▊      | 345/900 [11:53<53:38,  5.80s/it]
 38%|███▊      | 346/900 [11:53<38:18,  4.15s/it]
 39%|███▊      | 347/900 [11:53<27:35,  2.99s/it]
 39%|███▊      | 348/900 [11:54<20:08,  2.19s/it]
 39%|███▉      | 349/900 [11:54<14:54,  1.62s/it]
 39%|███▉      | 350/900 [11:54<11:15,  1.23s/it]
 39%|███▉      | 351/900 [11:54<08:41,  1.05it/s]
 39%|███▉      | 352/900 [11:55<06:52,  1.33it/s]
 39%|███▉      | 353/900 [12:27<1:32:01, 10.09s/it]
 39%|███▉      | 354/900 [12:27<1:05:07,  7.16s/it]
 39%|███▉      | 355/900 [12:27<46:18,  5.10s/it]  
 40%|███▉      | 356/900 [12:28<33:10,  3.66s/it]
 40%|███▉      | 357/900 [12:28<23:59,  2.65s/it]
 40%|███▉      | 358/900 [12:28<17:33,  1.94s/it]
 40%|███▉      | 359/900 [12:28<13:06,  1.45s/it]
 40%|████      | 360/900 [12:29<09:59,  1.11s/it]
 40%|████      | 361/900 [12:49<1:00:22,  6.72s/it]
 40%|████      | 362/900 [12:49<42:59,  4.80s/it]  
 40%|████      | 363/900 [12:49<30:50,  3.45s/it]
 40%|████      | 364/900 [12:49<22:21,  2.50s/it]
 41%|████      | 365/900 [12:50<16:25,  1.84s/it]
 41%|████      | 366/900 [12:50<12:16,  1.38s/it]
 41%|████      | 367/900 [12:50<09:23,  1.06s/it]
 41%|████      | 368/900 [12:51<07:22,  1.20it/s]
 41%|████      | 369/900 [13:17<1:15:59,  8.59s/it]
 41%|████      | 370/900 [13:18<53:52,  6.10s/it]  
 41%|████      | 371/900 [13:18<38:26,  4.36s/it]
 41%|████▏     | 372/900 [13:18<27:38,  3.14s/it]
 41%|████▏     | 373/900 [13:19<20:08,  2.29s/it]
 42%|████▏     | 374/900 [13:19<14:54,  1.70s/it]
 42%|████▏     | 375/900 [13:19<11:16,  1.29s/it]
 42%|████▏     | 376/900 [13:20<08:43,  1.00it/s]
 42%|████▏     | 377/900 [13:39<56:52,  6.53s/it]
 42%|████▏     | 378/900 [13:39<40:35,  4.67s/it]
 42%|████▏     | 379/900 [13:40<29:11,  3.36s/it]
 42%|████▏     | 380/900 [13:40<21:14,  2.45s/it]
 42%|████▏     | 381/900 [13:40<15:39,  1.81s/it]
 42%|████▏     | 382/900 [13:41<11:44,  1.36s/it]
 43%|████▎     | 383/900 [13:41<09:01,  1.05s/it]
 43%|████▎     | 384/900 [13:41<07:07,  1.21it/s]
 43%|████▎     | 385/900 [13:50<27:33,  3.21s/it]
 43%|████▎     | 386/900 [13:50<20:03,  2.34s/it]
 43%|████▎     | 387/900 [13:51<14:50,  1.74s/it]
 43%|████▎     | 388/900 [13:51<11:11,  1.31s/it]
 43%|████▎     | 389/900 [13:51<08:37,  1.01s/it]
 43%|████▎     | 390/900 [13:52<06:48,  1.25it/s]
 43%|████▎     | 391/900 [13:52<05:33,  1.53it/s]
 44%|████▎     | 392/900 [13:52<04:40,  1.81it/s]
 44%|████▎     | 393/900 [14:18<1:10:00,  8.28s/it]
 44%|████▍     | 394/900 [14:19<49:43,  5.90s/it]  
 44%|████▍     | 395/900 [14:19<35:32,  4.22s/it]
 44%|████▍     | 396/900 [14:19<25:35,  3.05s/it]
 44%|████▍     | 397/900 [14:20<18:40,  2.23s/it]
 44%|████▍     | 398/900 [14:20<13:50,  1.65s/it]
 44%|████▍     | 399/900 [14:20<10:27,  1.25s/it]
 44%|████▍     | 400/900 [14:21<08:06,  1.03it/s]
 45%|████▍     | 401/900 [14:33<36:18,  4.37s/it]
 45%|████▍     | 402/900 [14:33<26:09,  3.15s/it]
 45%|████▍     | 403/900 [14:34<19:04,  2.30s/it]
 45%|████▍     | 404/900 [14:34<14:06,  1.71s/it]
 45%|████▌     | 405/900 [14:34<10:39,  1.29s/it]
 45%|████▌     | 406/900 [14:35<08:13,  1.00it/s]
 45%|████▌     | 407/900 [14:35<06:31,  1.26it/s]
 45%|████▌     | 408/900 [14:35<05:20,  1.53it/s]
 45%|████▌     | 409/900 [14:50<40:52,  4.99s/it]
 46%|████▌     | 410/900 [14:51<29:21,  3.59s/it]
 46%|████▌     | 411/900 [14:51<21:17,  2.61s/it]
 46%|████▌     | 412/900 [14:51<15:39,  1.92s/it]
 46%|████▌     | 413/900 [14:52<11:42,  1.44s/it]
 46%|████▌     | 414/900 [14:52<08:55,  1.10s/it]
 46%|████▌     | 415/900 [14:52<07:06,  1.14it/s]
 46%|████▌     | 416/900 [14:53<05:44,  1.40it/s]
 46%|████▋     | 417/900 [15:19<1:07:00,  8.32s/it]
 46%|████▋     | 418/900 [15:19<47:34,  5.92s/it]  
 47%|████▋     | 419/900 [15:19<33:59,  4.24s/it]
 47%|████▋     | 420/900 [15:20<24:30,  3.06s/it]
 47%|████▋     | 421/900 [15:20<17:50,  2.23s/it]
 47%|████▋     | 422/900 [15:20<13:09,  1.65s/it]
 47%|████▋     | 423/900 [15:21<09:52,  1.24s/it]
 47%|████▋     | 424/900 [15:21<07:35,  1.05it/s]
 47%|████▋     | 425/900 [16:38<3:09:24, 23.93s/it]
 47%|████▋     | 426/900 [16:39<2:13:00, 16.84s/it]
 47%|████▋     | 427/900 [16:39<1:33:37, 11.88s/it]
 48%|████▊     | 428/900 [16:39<1:06:06,  8.40s/it]
 48%|████▊     | 429/900 [16:40<46:52,  5.97s/it]  
 48%|████▊     | 430/900 [16:40<33:26,  4.27s/it]
 48%|████▊     | 431/900 [16:40<24:03,  3.08s/it]
 48%|████▊     | 432/900 [16:40<17:30,  2.25s/it]
 48%|████▊     | 433/900 [16:49<32:32,  4.18s/it]
 48%|████▊     | 434/900 [16:49<23:26,  3.02s/it]
 48%|████▊     | 435/900 [16:50<17:04,  2.20s/it]
 48%|████▊     | 436/900 [16:50<12:37,  1.63s/it]
 49%|████▊     | 437/900 [16:50<09:30,  1.23s/it]
 49%|████▊     | 438/900 [16:51<07:19,  1.05it/s]
 49%|████▉     | 439/900 [16:51<05:49,  1.32it/s]
 49%|████▉     | 440/900 [16:51<04:44,  1.62it/s]
 49%|████▉     | 441/900 [17:01<25:15,  3.30s/it]
 49%|████▉     | 442/900 [17:01<18:19,  2.40s/it]
 49%|████▉     | 443/900 [17:01<13:28,  1.77s/it]
 49%|████▉     | 444/900 [17:02<10:05,  1.33s/it]
 49%|████▉     | 445/900 [17:02<07:43,  1.02s/it]
 50%|████▉     | 446/900 [17:02<06:04,  1.24it/s]
 50%|████▉     | 447/900 [17:03<04:55,  1.53it/s]
 50%|████▉     | 448/900 [17:03<04:07,  1.83it/s]
 50%|████▉     | 449/900 [17:11<22:19,  2.97s/it]
 50%|█████     | 450/900 [17:12<16:15,  2.17s/it]
 50%|█████     | 451/900 [17:12<12:01,  1.61s/it]
 50%|█████     | 452/900 [17:12<09:03,  1.21s/it]
 50%|█████     | 453/900 [17:13<06:59,  1.07it/s]
 50%|█████     | 454/900 [17:13<05:33,  1.34it/s]
 51%|█████     | 455/900 [17:13<04:32,  1.63it/s]
 51%|█████     | 456/900 [17:14<03:49,  1.93it/s]
 51%|█████     | 457/900 [18:29<2:50:39, 23.11s/it]
 51%|█████     | 458/900 [18:30<1:59:51, 16.27s/it]
 51%|█████     | 459/900 [18:30<1:24:21, 11.48s/it]
 51%|█████     | 460/900 [18:30<59:33,  8.12s/it]  
 51%|█████     | 461/900 [18:31<42:15,  5.77s/it]
 51%|█████▏    | 462/900 [18:31<30:09,  4.13s/it]
 51%|█████▏    | 463/900 [18:31<21:42,  2.98s/it]
 52%|█████▏    | 464/900 [18:31<15:48,  2.18s/it]
 52%|█████▏    | 465/900 [18:59<1:11:54,  9.92s/it]
 52%|█████▏    | 466/900 [19:00<50:52,  7.03s/it]  
 52%|█████▏    | 467/900 [19:00<36:10,  5.01s/it]
 52%|█████▏    | 468/900 [19:00<25:53,  3.60s/it]
 52%|█████▏    | 469/900 [19:01<18:41,  2.60s/it]
 52%|█████▏    | 470/900 [19:01<13:41,  1.91s/it]
 52%|█████▏    | 471/900 [19:01<10:13,  1.43s/it]
 52%|█████▏    | 472/900 [19:02<07:47,  1.09s/it]
 53%|█████▎    | 473/900 [19:18<39:36,  5.57s/it]
 53%|█████▎    | 474/900 [19:18<28:18,  3.99s/it]
 53%|█████▎    | 475/900 [19:18<20:24,  2.88s/it]
 53%|█████▎    | 476/900 [19:18<14:54,  2.11s/it]
 53%|█████▎    | 477/900 [19:19<11:03,  1.57s/it]
 53%|█████▎    | 478/900 [19:19<08:21,  1.19s/it]
 53%|█████▎    | 479/900 [19:19<06:27,  1.09it/s]
 53%|█████▎    | 480/900 [19:20<05:07,  1.36it/s]
 53%|█████▎    | 481/900 [19:32<28:38,  4.10s/it]
 54%|█████▎    | 482/900 [19:32<20:36,  2.96s/it]
 54%|█████▎    | 483/900 [19:32<14:59,  2.16s/it]
 54%|█████▍    | 484/900 [19:33<11:10,  1.61s/it]
 54%|█████▍    | 485/900 [19:33<08:27,  1.22s/it]
 54%|█████▍    | 486/900 [19:33<06:35,  1.05it/s]
 54%|█████▍    | 487/900 [19:34<05:15,  1.31it/s]
 54%|█████▍    | 488/900 [19:34<04:19,  1.59it/s]
 54%|█████▍    | 489/900 [19:52<40:06,  5.86s/it]
 54%|█████▍    | 490/900 [19:52<28:39,  4.19s/it]
 55%|█████▍    | 491/900 [19:53<20:39,  3.03s/it]
 55%|█████▍    | 492/900 [19:53<15:03,  2.21s/it]
 55%|█████▍    | 493/900 [19:53<11:08,  1.64s/it]
 55%|█████▍    | 494/900 [19:53<08:24,  1.24s/it]
 55%|█████▌    | 495/900 [19:54<06:30,  1.04it/s]
 55%|█████▌    | 496/900 [19:54<05:10,  1.30it/s]
 55%|█████▌    | 497/900 [20:12<39:16,  5.85s/it]
 55%|█████▌    | 498/900 [20:12<28:03,  4.19s/it]
 55%|█████▌    | 499/900 [20:12<20:12,  3.02s/it]
 56%|█████▌    | 500/900 [20:13<15:36,  2.34s/it]
 56%|█████▌    | 501/900 [20:13<11:35,  1.74s/it]
 56%|█████▌    | 502/900 [20:14<08:40,  1.31s/it]
 56%|█████▌    | 503/900 [20:14<06:37,  1.00s/it]
 56%|█████▌    | 504/900 [20:14<05:12,  1.27it/s]
 56%|█████▌    | 505/900 [20:33<39:32,  6.01s/it]
 56%|█████▌    | 506/900 [20:33<28:12,  4.29s/it]
 56%|█████▋    | 507/900 [20:33<20:17,  3.10s/it]
 56%|█████▋    | 508/900 [20:33<14:44,  2.26s/it]
 57%|█████▋    | 509/900 [20:34<10:52,  1.67s/it]
 57%|█████▋    | 510/900 [20:34<08:09,  1.26s/it]
 57%|█████▋    | 511/900 [20:34<06:15,  1.03it/s]
 57%|█████▋    | 512/900 [20:35<04:59,  1.30it/s]
 57%|█████▋    | 513/900 [20:51<34:19,  5.32s/it]
 57%|█████▋    | 514/900 [20:51<24:34,  3.82s/it]
 57%|█████▋    | 515/900 [20:51<17:45,  2.77s/it]
 57%|█████▋    | 516/900 [20:51<12:59,  2.03s/it]
 57%|█████▋    | 517/900 [20:52<09:40,  1.51s/it]
 58%|█████▊    | 518/900 [20:52<07:21,  1.16s/it]
 58%|█████▊    | 519/900 [20:52<05:44,  1.10it/s]
 58%|█████▊    | 520/900 [20:53<04:37,  1.37it/s]
 58%|█████▊    | 521/900 [21:05<25:46,  4.08s/it]
 58%|█████▊    | 522/900 [21:05<18:35,  2.95s/it]
 58%|█████▊    | 523/900 [21:05<13:35,  2.16s/it]
 58%|█████▊    | 524/900 [21:06<10:05,  1.61s/it]
 58%|█████▊    | 525/900 [21:06<07:38,  1.22s/it]
 58%|█████▊    | 526/900 [21:06<05:52,  1.06it/s]
 59%|█████▊    | 527/900 [21:07<04:39,  1.33it/s]
 59%|█████▊    | 528/900 [21:07<03:47,  1.63it/s]
 59%|█████▉    | 529/900 [21:18<22:27,  3.63s/it]
 59%|█████▉    | 530/900 [21:18<16:14,  2.63s/it]
 59%|█████▉    | 531/900 [21:18<11:54,  1.94s/it]
 59%|█████▉    | 532/900 [21:18<08:52,  1.45s/it]
 59%|█████▉    | 533/900 [21:19<06:45,  1.11s/it]
 59%|█████▉    | 534/900 [21:19<05:18,  1.15it/s]
 59%|█████▉    | 535/900 [21:19<04:16,  1.42it/s]
 60%|█████▉    | 536/900 [21:20<03:32,  1.71it/s]
 60%|█████▉    | 537/900 [21:30<21:38,  3.58s/it]
 60%|█████▉    | 538/900 [21:31<15:40,  2.60s/it]
 60%|█████▉    | 539/900 [21:31<11:29,  1.91s/it]
 60%|██████    | 540/900 [21:31<08:33,  1.43s/it]
 60%|██████    | 541/900 [21:31<06:30,  1.09s/it]
 60%|██████    | 542/900 [21:32<05:04,  1.18it/s]
 60%|██████    | 543/900 [21:32<04:05,  1.46it/s]
 60%|██████    | 544/900 [21:32<03:24,  1.74it/s]
 61%|██████    | 545/900 [21:57<45:41,  7.72s/it]
 61%|██████    | 546/900 [21:57<32:24,  5.49s/it]
 61%|██████    | 547/900 [21:57<23:09,  3.94s/it]
 61%|██████    | 548/900 [21:58<16:41,  2.85s/it]
 61%|██████    | 549/900 [21:58<12:10,  2.08s/it]
 61%|██████    | 550/900 [21:58<09:03,  1.55s/it]
 61%|██████    | 551/900 [21:59<06:51,  1.18s/it]
 61%|██████▏   | 552/900 [21:59<05:20,  1.09it/s]
 61%|██████▏   | 553/900 [22:20<40:43,  7.04s/it]
 62%|██████▏   | 554/900 [22:21<28:58,  5.02s/it]
 62%|██████▏   | 555/900 [22:21<20:47,  3.62s/it]
 62%|██████▏   | 556/900 [22:21<15:04,  2.63s/it]
 62%|██████▏   | 557/900 [22:22<11:04,  1.94s/it]
 62%|██████▏   | 558/900 [22:22<08:17,  1.46s/it]
 62%|██████▏   | 559/900 [22:22<06:20,  1.12s/it]
 62%|██████▏   | 560/900 [22:23<04:59,  1.13it/s]
 62%|██████▏   | 561/900 [22:38<29:54,  5.29s/it]
 62%|██████▏   | 562/900 [22:38<21:25,  3.80s/it]
 63%|██████▎   | 563/900 [22:39<15:29,  2.76s/it]
 63%|██████▎   | 564/900 [22:39<11:21,  2.03s/it]
 63%|██████▎   | 565/900 [22:39<08:27,  1.51s/it]
 63%|██████▎   | 566/900 [22:40<06:25,  1.15s/it]
 63%|██████▎   | 567/900 [22:40<05:01,  1.11it/s]
 63%|██████▎   | 568/900 [22:40<04:00,  1.38it/s]
 63%|██████▎   | 569/900 [22:59<33:04,  5.99s/it]
 63%|██████▎   | 570/900 [22:59<23:37,  4.29s/it]
 63%|██████▎   | 571/900 [22:59<17:05,  3.12s/it]
 64%|██████▎   | 572/900 [23:00<12:26,  2.28s/it]
 64%|██████▎   | 573/900 [23:00<09:12,  1.69s/it]
 64%|██████▍   | 574/900 [23:00<06:56,  1.28s/it]
 64%|██████▍   | 575/900 [23:01<05:21,  1.01it/s]
 64%|██████▍   | 576/900 [23:01<04:15,  1.27it/s]
 64%|██████▍   | 577/900 [23:23<37:57,  7.05s/it]
 64%|██████▍   | 578/900 [23:23<26:59,  5.03s/it]
 64%|██████▍   | 579/900 [23:23<19:20,  3.62s/it]
 64%|██████▍   | 580/900 [23:24<13:59,  2.62s/it]
 65%|██████▍   | 581/900 [23:24<10:15,  1.93s/it]
 65%|██████▍   | 582/900 [23:24<07:38,  1.44s/it]
 65%|██████▍   | 583/900 [23:24<05:48,  1.10s/it]
 65%|██████▍   | 584/900 [23:25<04:32,  1.16it/s]
 65%|██████▌   | 585/900 [24:10<1:13:49, 14.06s/it]
 65%|██████▌   | 586/900 [24:10<51:59,  9.94s/it]  
 65%|██████▌   | 587/900 [24:10<36:44,  7.04s/it]
 65%|██████▌   | 588/900 [24:10<26:06,  5.02s/it]
 65%|██████▌   | 589/900 [24:11<18:40,  3.60s/it]
 66%|██████▌   | 590/900 [24:11<13:29,  2.61s/it]
 66%|██████▌   | 591/900 [24:11<09:52,  1.92s/it]
 66%|██████▌   | 592/900 [24:12<07:21,  1.43s/it]
 66%|██████▌   | 593/900 [24:23<22:53,  4.47s/it]
 66%|██████▌   | 594/900 [24:24<16:26,  3.22s/it]
 66%|██████▌   | 595/900 [24:24<11:55,  2.35s/it]
 66%|██████▌   | 596/900 [24:24<08:46,  1.73s/it]
 66%|██████▋   | 597/900 [24:24<06:34,  1.30s/it]
 66%|██████▋   | 598/900 [24:25<05:03,  1.00s/it]
 67%|██████▋   | 599/900 [24:25<03:57,  1.27it/s]
 67%|██████▋   | 600/900 [24:25<03:12,  1.56it/s]
 67%|██████▋   | 601/900 [24:42<27:48,  5.58s/it]
 67%|██████▋   | 602/900 [24:43<19:51,  4.00s/it]
 67%|██████▋   | 603/900 [24:43<14:18,  2.89s/it]
 67%|██████▋   | 604/900 [24:43<10:24,  2.11s/it]
 67%|██████▋   | 605/900 [24:44<07:42,  1.57s/it]
 67%|██████▋   | 606/900 [24:44<05:51,  1.20s/it]
 67%|██████▋   | 607/900 [24:44<04:33,  1.07it/s]
 68%|██████▊   | 608/900 [24:45<03:39,  1.33it/s]
 68%|██████▊   | 609/900 [25:13<43:55,  9.06s/it]
 68%|██████▊   | 610/900 [25:13<31:05,  6.43s/it]
 68%|██████▊   | 611/900 [25:14<22:07,  4.59s/it]
 68%|██████▊   | 612/900 [25:14<15:50,  3.30s/it]
 68%|██████▊   | 613/900 [25:14<11:29,  2.40s/it]
 68%|██████▊   | 614/900 [25:15<08:27,  1.77s/it]
 68%|██████▊   | 615/900 [25:15<06:20,  1.34s/it]
 68%|██████▊   | 616/900 [25:15<04:52,  1.03s/it]
 69%|██████▊   | 617/900 [25:36<32:38,  6.92s/it]
 69%|██████▊   | 618/900 [25:36<23:11,  4.93s/it]
 69%|██████▉   | 619/900 [25:36<16:35,  3.54s/it]
 69%|██████▉   | 620/900 [25:37<12:00,  2.57s/it]
 69%|██████▉   | 621/900 [25:37<08:47,  1.89s/it]
 69%|██████▉   | 622/900 [25:37<06:33,  1.41s/it]
 69%|██████▉   | 623/900 [25:38<04:59,  1.08s/it]
 69%|██████▉   | 624/900 [25:38<03:55,  1.17it/s]
 69%|██████▉   | 625/900 [25:51<19:56,  4.35s/it]
 70%|██████▉   | 626/900 [25:51<14:21,  3.14s/it]
 70%|██████▉   | 627/900 [25:51<10:26,  2.30s/it]
 70%|██████▉   | 628/900 [25:51<07:42,  1.70s/it]
 70%|██████▉   | 629/900 [25:52<05:47,  1.28s/it]
 70%|███████   | 630/900 [25:52<04:30,  1.00s/it]
 70%|███████   | 631/900 [25:52<03:33,  1.26it/s]
 70%|███████   | 632/900 [25:53<02:54,  1.54it/s]
 70%|███████   | 633/900 [26:12<27:31,  6.18s/it]
 70%|███████   | 634/900 [26:12<19:36,  4.42s/it]
 71%|███████   | 635/900 [26:12<14:04,  3.19s/it]
 71%|███████   | 636/900 [26:13<10:13,  2.32s/it]
 71%|███████   | 637/900 [26:13<07:31,  1.72s/it]
 71%|███████   | 638/900 [26:13<05:37,  1.29s/it]
 71%|███████   | 639/900 [26:14<04:18,  1.01it/s]
 71%|███████   | 640/900 [26:14<03:23,  1.28it/s]
 71%|███████   | 641/900 [26:23<14:36,  3.38s/it]
 71%|███████▏  | 642/900 [26:24<10:35,  2.46s/it]
 71%|███████▏  | 643/900 [26:24<07:45,  1.81s/it]
 72%|███████▏  | 644/900 [26:24<05:47,  1.36s/it]
 72%|███████▏  | 645/900 [26:25<04:26,  1.04s/it]
 72%|███████▏  | 646/900 [26:25<03:29,  1.21it/s]
 72%|███████▏  | 647/900 [26:25<02:49,  1.49it/s]
 72%|███████▏  | 648/900 [26:26<02:22,  1.77it/s]
 72%|███████▏  | 649/900 [26:58<42:14, 10.10s/it]
 72%|███████▏  | 650/900 [26:58<29:51,  7.17s/it]
 72%|███████▏  | 651/900 [26:59<21:13,  5.12s/it]
 72%|███████▏  | 652/900 [26:59<15:12,  3.68s/it]
 73%|███████▎  | 653/900 [26:59<11:00,  2.67s/it]
 73%|███████▎  | 654/900 [27:00<08:04,  1.97s/it]
 73%|███████▎  | 655/900 [27:00<06:01,  1.48s/it]
 73%|███████▎  | 656/900 [27:00<04:35,  1.13s/it]
 73%|███████▎  | 657/900 [27:20<26:41,  6.59s/it]
 73%|███████▎  | 658/900 [27:20<18:59,  4.71s/it]
 73%|███████▎  | 659/900 [27:20<13:37,  3.39s/it]
 73%|███████▎  | 660/900 [27:20<09:51,  2.46s/it]
 73%|███████▎  | 661/900 [27:21<07:13,  1.82s/it]
 74%|███████▎  | 662/900 [27:21<05:24,  1.36s/it]
 74%|███████▎  | 663/900 [27:21<04:07,  1.04s/it]
 74%|███████▍  | 664/900 [27:22<03:13,  1.22it/s]
 74%|███████▍  | 665/900 [27:39<22:45,  5.81s/it]
 74%|███████▍  | 666/900 [27:39<16:12,  4.16s/it]
 74%|███████▍  | 667/900 [27:40<11:39,  3.00s/it]
 74%|███████▍  | 668/900 [27:40<08:28,  2.19s/it]
 74%|███████▍  | 669/900 [27:40<06:15,  1.63s/it]
 74%|███████▍  | 670/900 [27:41<04:42,  1.23s/it]
 75%|███████▍  | 671/900 [27:41<03:37,  1.05it/s]
 75%|███████▍  | 672/900 [27:41<02:52,  1.32it/s]
 75%|███████▍  | 673/900 [28:28<55:02, 14.55s/it]
 75%|███████▍  | 674/900 [28:28<38:41, 10.27s/it]
 75%|███████▌  | 675/900 [28:29<27:17,  7.28s/it]
 75%|███████▌  | 676/900 [28:29<19:22,  5.19s/it]
 75%|███████▌  | 677/900 [28:29<13:49,  3.72s/it]
 75%|███████▌  | 678/900 [28:29<09:57,  2.69s/it]
 75%|███████▌  | 679/900 [28:30<07:15,  1.97s/it]
 76%|███████▌  | 680/900 [28:30<05:23,  1.47s/it]
 76%|███████▌  | 681/900 [29:07<44:30, 12.19s/it]
 76%|███████▌  | 682/900 [29:08<31:19,  8.62s/it]
 76%|███████▌  | 683/900 [29:08<22:09,  6.13s/it]
 76%|███████▌  | 684/900 [29:08<15:45,  4.38s/it]
 76%|███████▌  | 685/900 [29:08<11:18,  3.16s/it]
 76%|███████▌  | 686/900 [29:09<08:12,  2.30s/it]
 76%|███████▋  | 687/900 [29:09<06:02,  1.70s/it]
 76%|███████▋  | 688/900 [29:09<04:31,  1.28s/it]
 77%|███████▋  | 689/900 [29:44<39:21, 11.19s/it]
 77%|███████▋  | 690/900 [29:44<27:43,  7.92s/it]
 77%|███████▋  | 691/900 [29:44<19:38,  5.64s/it]
 77%|███████▋  | 692/900 [29:45<13:59,  4.04s/it]
 77%|███████▋  | 693/900 [29:45<10:03,  2.91s/it]
 77%|███████▋  | 694/900 [29:45<07:18,  2.13s/it]
 77%|███████▋  | 695/900 [29:45<05:23,  1.58s/it]
 77%|███████▋  | 696/900 [29:46<04:03,  1.19s/it]
 77%|███████▋  | 697/900 [29:58<15:23,  4.55s/it]
 78%|███████▊  | 698/900 [29:58<11:01,  3.27s/it]
 78%|███████▊  | 699/900 [29:59<07:58,  2.38s/it]
 78%|███████▊  | 700/900 [29:59<05:50,  1.75s/it]
 78%|███████▊  | 701/900 [29:59<04:21,  1.32s/it]
 78%|███████▊  | 702/900 [30:00<03:20,  1.01s/it]
 78%|███████▊  | 703/900 [30:00<02:37,  1.25it/s]
 78%|███████▊  | 704/900 [30:00<02:07,  1.54it/s]
 78%|███████▊  | 705/900 [30:12<13:21,  4.11s/it]
 78%|███████▊  | 706/900 [30:13<09:35,  2.97s/it]
 79%|███████▊  | 707/900 [30:13<06:57,  2.16s/it]
 79%|███████▊  | 708/900 [30:13<05:08,  1.60s/it]
 79%|███████▉  | 709/900 [30:14<03:52,  1.21s/it]
 79%|███████▉  | 710/900 [30:14<02:58,  1.07it/s]
 79%|███████▉  | 711/900 [30:14<02:21,  1.34it/s]
 79%|███████▉  | 712/900 [30:15<01:55,  1.63it/s]
 79%|███████▉  | 713/900 [30:27<13:20,  4.28s/it]
 79%|███████▉  | 714/900 [30:28<09:34,  3.09s/it]
 79%|███████▉  | 715/900 [30:28<06:56,  2.25s/it]
 80%|███████▉  | 716/900 [30:28<05:06,  1.67s/it]
 80%|███████▉  | 717/900 [30:29<03:49,  1.26s/it]
 80%|███████▉  | 718/900 [30:29<02:56,  1.03it/s]
 80%|███████▉  | 719/900 [30:29<02:19,  1.30it/s]
 80%|████████  | 720/900 [30:29<01:53,  1.59it/s]
 80%|████████  | 721/900 [30:43<13:12,  4.42s/it]
 80%|████████  | 722/900 [30:43<09:27,  3.19s/it]
 80%|████████  | 723/900 [30:43<06:51,  2.32s/it]
 80%|████████  | 724/900 [30:44<05:02,  1.72s/it]
 81%|████████  | 725/900 [30:44<03:46,  1.29s/it]
 81%|████████  | 726/900 [30:44<02:52,  1.01it/s]
 81%|████████  | 727/900 [30:45<02:15,  1.28it/s]
 81%|████████  | 728/900 [30:45<01:49,  1.57it/s]
 81%|████████  | 729/900 [30:58<12:44,  4.47s/it]
 81%|████████  | 730/900 [30:59<09:07,  3.22s/it]
 81%|████████  | 731/900 [30:59<06:36,  2.35s/it]
 81%|████████▏ | 732/900 [30:59<04:52,  1.74s/it]
 81%|████████▏ | 733/900 [31:00<03:38,  1.31s/it]
 82%|████████▏ | 734/900 [31:00<02:47,  1.01s/it]
 82%|████████▏ | 735/900 [31:00<02:12,  1.25it/s]
 82%|████████▏ | 736/900 [31:00<01:47,  1.53it/s]
 82%|████████▏ | 737/900 [31:31<26:24,  9.72s/it]
 82%|████████▏ | 738/900 [31:32<18:37,  6.90s/it]
 82%|████████▏ | 739/900 [31:32<13:12,  4.92s/it]
 82%|████████▏ | 740/900 [31:32<09:26,  3.54s/it]
 82%|████████▏ | 741/900 [31:33<06:49,  2.58s/it]
 82%|████████▏ | 742/900 [31:33<05:00,  1.90s/it]
 83%|████████▎ | 743/900 [31:33<03:43,  1.42s/it]
 83%|████████▎ | 744/900 [31:34<02:50,  1.09s/it]
 83%|████████▎ | 745/900 [32:09<29:23, 11.38s/it]
 83%|████████▎ | 746/900 [32:09<20:40,  8.06s/it]
 83%|████████▎ | 747/900 [32:10<14:36,  5.73s/it]
 83%|████████▎ | 748/900 [32:10<10:23,  4.10s/it]
 83%|████████▎ | 749/900 [32:10<07:27,  2.96s/it]
 83%|████████▎ | 750/900 [32:10<05:24,  2.16s/it]
 83%|████████▎ | 751/900 [32:11<03:58,  1.60s/it]
 84%|████████▎ | 752/900 [32:11<02:59,  1.21s/it]
 84%|████████▎ | 753/900 [32:23<11:07,  4.54s/it]
 84%|████████▍ | 754/900 [32:24<07:57,  3.27s/it]
 84%|████████▍ | 755/900 [32:24<05:44,  2.38s/it]
 84%|████████▍ | 756/900 [32:24<04:12,  1.76s/it]
 84%|████████▍ | 757/900 [32:25<03:08,  1.32s/it]
 84%|████████▍ | 758/900 [32:25<02:23,  1.01s/it]
 84%|████████▍ | 759/900 [32:25<01:52,  1.25it/s]
 84%|████████▍ | 760/900 [32:25<01:31,  1.54it/s]
 85%|████████▍ | 761/900 [33:05<28:16, 12.20s/it]
 85%|████████▍ | 762/900 [33:05<19:50,  8.63s/it]
 85%|████████▍ | 763/900 [33:05<13:59,  6.13s/it]
 85%|████████▍ | 764/900 [33:05<09:56,  4.38s/it]
 85%|████████▌ | 765/900 [33:06<07:06,  3.16s/it]
 85%|████████▌ | 766/900 [33:06<05:08,  2.30s/it]
 85%|████████▌ | 767/900 [33:06<03:46,  1.70s/it]
 85%|████████▌ | 768/900 [33:07<02:49,  1.29s/it]
 85%|████████▌ | 769/900 [33:54<33:02, 15.13s/it]
 86%|████████▌ | 770/900 [33:54<23:09, 10.69s/it]
 86%|████████▌ | 771/900 [33:55<16:17,  7.58s/it]
 86%|████████▌ | 772/900 [33:55<11:31,  5.40s/it]
 86%|████████▌ | 773/900 [33:55<08:12,  3.88s/it]
 86%|████████▌ | 774/900 [33:56<05:53,  2.81s/it]
 86%|████████▌ | 775/900 [33:56<04:17,  2.06s/it]
 86%|████████▌ | 776/900 [33:56<03:10,  1.54s/it]
 86%|████████▋ | 777/900 [35:31<1:00:37, 29.57s/it]
 86%|████████▋ | 778/900 [35:32<42:17, 20.80s/it]  
 87%|████████▋ | 779/900 [35:32<29:33, 14.66s/it]
 87%|████████▋ | 780/900 [35:32<20:42, 10.36s/it]
 87%|████████▋ | 781/900 [35:33<14:33,  7.34s/it]
 87%|████████▋ | 782/900 [35:33<10:17,  5.24s/it]
 87%|████████▋ | 783/900 [35:33<07:19,  3.76s/it]
 87%|████████▋ | 784/900 [35:34<05:16,  2.73s/it]
 87%|████████▋ | 785/900 [35:49<12:19,  6.43s/it]
 87%|████████▋ | 786/900 [35:49<08:43,  4.59s/it]
 87%|████████▋ | 787/900 [35:49<06:14,  3.31s/it]
 88%|████████▊ | 788/900 [35:50<04:30,  2.41s/it]
 88%|████████▊ | 789/900 [35:50<03:17,  1.78s/it]
 88%|████████▊ | 790/900 [35:50<02:27,  1.34s/it]
 88%|████████▊ | 791/900 [35:51<01:52,  1.03s/it]
 88%|████████▊ | 792/900 [35:51<01:28,  1.23it/s]
 88%|████████▊ | 793/900 [36:26<19:36, 11.00s/it]
 88%|████████▊ | 794/900 [36:26<13:46,  7.80s/it]
 88%|████████▊ | 795/900 [36:26<09:44,  5.56s/it]
 88%|████████▊ | 796/900 [36:27<06:55,  3.99s/it]
 89%|████████▊ | 797/900 [36:27<04:57,  2.89s/it]
 89%|████████▊ | 798/900 [36:27<03:36,  2.12s/it]
 89%|████████▉ | 799/900 [36:28<02:39,  1.58s/it]
 89%|████████▉ | 800/900 [36:28<02:00,  1.20s/it]
 89%|████████▉ | 801/900 [36:49<11:43,  7.10s/it]
 89%|████████▉ | 802/900 [36:49<08:16,  5.07s/it]
 89%|████████▉ | 803/900 [36:49<05:52,  3.64s/it]
 89%|████████▉ | 804/900 [36:50<04:13,  2.64s/it]
 89%|████████▉ | 805/900 [36:50<03:04,  1.95s/it]
 90%|████████▉ | 806/900 [36:50<02:17,  1.46s/it]
 90%|████████▉ | 807/900 [36:51<01:44,  1.12s/it]
 90%|████████▉ | 808/900 [36:51<01:21,  1.14it/s]
 90%|████████▉ | 809/900 [37:37<21:44, 14.34s/it]
 90%|█████████ | 810/900 [37:37<15:11, 10.13s/it]
 90%|█████████ | 811/900 [37:37<10:38,  7.18s/it]
 90%|█████████ | 812/900 [37:38<07:30,  5.12s/it]
 90%|█████████ | 813/900 [37:38<05:19,  3.67s/it]
 90%|█████████ | 814/900 [37:38<03:48,  2.66s/it]
 91%|█████████ | 815/900 [37:39<02:45,  1.95s/it]
 91%|█████████ | 816/900 [37:39<02:02,  1.46s/it]
 91%|█████████ | 817/900 [37:55<07:56,  5.74s/it]
 91%|█████████ | 818/900 [37:55<05:37,  4.12s/it]
 91%|█████████ | 819/900 [37:55<04:01,  2.99s/it]
 91%|█████████ | 820/900 [37:56<02:55,  2.19s/it]
 91%|█████████ | 821/900 [37:56<02:09,  1.64s/it]
 91%|█████████▏| 822/900 [37:56<01:37,  1.25s/it]
 91%|█████████▏| 823/900 [37:57<01:14,  1.04it/s]
 92%|█████████▏| 824/900 [37:57<00:58,  1.31it/s]
 92%|█████████▏| 825/900 [38:10<05:45,  4.60s/it]
 92%|█████████▏| 826/900 [38:11<04:05,  3.32s/it]
 92%|█████████▏| 827/900 [38:11<02:56,  2.42s/it]
 92%|█████████▏| 828/900 [38:11<02:08,  1.78s/it]
 92%|█████████▏| 829/900 [38:12<01:35,  1.34s/it]
 92%|█████████▏| 830/900 [38:12<01:12,  1.03s/it]
 92%|█████████▏| 831/900 [38:12<00:56,  1.22it/s]
 92%|█████████▏| 832/900 [38:13<00:45,  1.50it/s]
 93%|█████████▎| 833/900 [38:27<05:10,  4.64s/it]
 93%|█████████▎| 834/900 [38:27<03:40,  3.34s/it]
 93%|█████████▎| 835/900 [38:27<02:38,  2.43s/it]
 93%|█████████▎| 836/900 [38:28<01:55,  1.80s/it]
 93%|█████████▎| 837/900 [38:28<01:25,  1.36s/it]
 93%|█████████▎| 838/900 [38:28<01:04,  1.04s/it]
 93%|█████████▎| 839/900 [38:28<00:50,  1.20it/s]
 93%|█████████▎| 840/900 [38:29<00:40,  1.46it/s]
 93%|█████████▎| 841/900 [39:09<12:16, 12.49s/it]
 94%|█████████▎| 842/900 [39:09<08:32,  8.83s/it]
 94%|█████████▎| 843/900 [39:09<05:57,  6.28s/it]
 94%|█████████▍| 844/900 [39:10<04:11,  4.49s/it]
 94%|█████████▍| 845/900 [39:10<02:58,  3.24s/it]
 94%|█████████▍| 846/900 [39:10<02:07,  2.36s/it]
 94%|█████████▍| 847/900 [39:11<01:32,  1.75s/it]
 94%|█████████▍| 848/900 [39:11<01:08,  1.32s/it]
 94%|█████████▍| 849/900 [39:35<06:55,  8.15s/it]
 94%|█████████▍| 850/900 [39:35<04:49,  5.80s/it]
 95%|█████████▍| 851/900 [39:36<03:23,  4.16s/it]
 95%|█████████▍| 852/900 [39:36<02:24,  3.01s/it]
 95%|█████████▍| 853/900 [39:36<01:43,  2.20s/it]
 95%|█████████▍| 854/900 [39:37<01:15,  1.64s/it]
 95%|█████████▌| 855/900 [39:37<00:56,  1.24s/it]
 95%|█████████▌| 856/900 [39:37<00:42,  1.03it/s]
 95%|█████████▌| 857/900 [41:06<19:34, 27.31s/it]
 95%|█████████▌| 858/900 [41:07<13:26, 19.21s/it]
 95%|█████████▌| 859/900 [41:07<09:15, 13.55s/it]
 96%|█████████▌| 860/900 [41:07<06:23,  9.58s/it]
 96%|█████████▌| 861/900 [41:08<04:25,  6.80s/it]
 96%|█████████▌| 862/900 [41:08<03:04,  4.86s/it]
 96%|█████████▌| 863/900 [41:08<02:09,  3.50s/it]
 96%|█████████▌| 864/900 [41:08<01:31,  2.55s/it]
 96%|█████████▌| 865/900 [41:48<08:02, 13.77s/it]
 96%|█████████▌| 866/900 [41:49<05:31,  9.74s/it]
 96%|█████████▋| 867/900 [41:49<03:48,  6.91s/it]
 96%|█████████▋| 868/900 [41:49<02:37,  4.94s/it]
 97%|█████████▋| 869/900 [41:50<01:50,  3.56s/it]
 97%|█████████▋| 870/900 [41:50<01:17,  2.59s/it]
 97%|█████████▋| 871/900 [41:50<00:55,  1.91s/it]
 97%|█████████▋| 872/900 [41:51<00:40,  1.44s/it]
 97%|█████████▋| 873/900 [42:28<05:27, 12.12s/it]
 97%|█████████▋| 874/900 [42:28<03:43,  8.58s/it]
 97%|█████████▋| 875/900 [42:28<02:32,  6.11s/it]
 97%|█████████▋| 876/900 [42:29<01:44,  4.37s/it]
 97%|█████████▋| 877/900 [42:29<01:12,  3.16s/it]
 98%|█████████▊| 878/900 [42:29<00:50,  2.32s/it]
 98%|█████████▊| 879/900 [42:30<00:36,  1.72s/it]
 98%|█████████▊| 880/900 [42:30<00:26,  1.31s/it]
 98%|█████████▊| 881/900 [42:52<02:19,  7.34s/it]
 98%|█████████▊| 882/900 [42:52<01:34,  5.24s/it]
 98%|█████████▊| 883/900 [42:52<01:04,  3.77s/it]
 98%|█████████▊| 884/900 [42:53<00:43,  2.73s/it]
 98%|█████████▊| 885/900 [42:53<00:30,  2.02s/it]
 98%|█████████▊| 886/900 [42:53<00:21,  1.51s/it]
 99%|█████████▊| 887/900 [42:54<00:15,  1.15s/it]
 99%|█████████▊| 888/900 [42:54<00:10,  1.10it/s]
 99%|█████████▉| 889/900 [43:42<02:44, 14.93s/it]
 99%|█████████▉| 890/900 [43:42<01:45, 10.55s/it]
 99%|█████████▉| 891/900 [43:42<01:07,  7.48s/it]
 99%|█████████▉| 892/900 [43:42<00:42,  5.33s/it]
 99%|█████████▉| 893/900 [43:43<00:26,  3.83s/it]
 99%|█████████▉| 894/900 [43:43<00:16,  2.78s/it]
 99%|█████████▉| 895/900 [43:44<00:10,  2.05s/it]
100%|█████████▉| 896/900 [43:44<00:06,  1.54s/it]
100%|█████████▉| 897/900 [44:47<00:59, 19.94s/it]
100%|█████████▉| 898/900 [44:47<00:28, 14.06s/it]
100%|█████████▉| 899/900 [44:47<00:09,  9.94s/it]
100%|█████████▉| 899/900 [44:48<00:02,  2.99s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/log_0_env0.json.
+ReorientWhiteMugsTask_0 complete: task_name: ReorientWhiteMugsTask, run_name: ReorientWhiteMugsTask_0, run: 0, env_id: 0, policy: harness, instruction: Make sure all the white mugs are upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.678429673298382, 'joint_sparc_mean': -23.72581512593871, 'ee_isj': 564505.0696667153, 'joint_isj': 7722585.054219805, 'ee_path_length': 18.992429411633832, 'joint_rmse_mean': 1.7478292293450057, 'ee_speed_max': 9.910683631896973, 'ee_speed_mean': 0.32572829723358154}, events: {'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_FULLY_CLOSED': 8, 'GRIPPER_HIT_TABLE': 5, 'WRONG_OBJECT_GRABBED': 3, 'OBJECT_BUMPED': 10, 'OBJECT_OUT_OF_SCENE': 1, 'OBJECT_MOVED': 1, 'wrong_objects_grabbed': ['upright_white_mug', 'sideways_white_mug', 'sideways_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 2418.848, 'policy_inference_avg_ms': 2687.6, 'env_step_s': 259.606, 'env_step_avg_ms': 288.5, 'video_write_s': 9.359, 'video_write_avg_ms': 10.4, 'wall_total_s': 2687.814, 'it_per_sec': 0.33}, score: 0.0, reason: Condition not satisfied: object_upright(object=sideways_white_mug, require_gripper_detached=True) (step 2/2), harness_episode_id: 7380023aa60b4d3d932751a1d1ef5360-0
+[RoboLab] Running ReorientWhiteMugsTask_1: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:26<6:40:19, 26.72s/it]
  0%|          | 2/900 [00:27<2:47:20, 11.18s/it]
  0%|          | 3/900 [00:27<1:32:52,  6.21s/it]
  0%|          | 4/900 [00:27<57:55,  3.88s/it]  
  1%|          | 5/900 [00:27<38:39,  2.59s/it]
  1%|          | 6/900 [00:28<26:58,  1.81s/it]
  1%|          | 7/900 [00:28<19:35,  1.32s/it]
  1%|          | 8/900 [00:28<14:45,  1.01it/s]
  1%|          | 9/900 [00:32<28:44,  1.93s/it]
  1%|          | 10/900 [00:33<21:10,  1.43s/it]
  1%|          | 11/900 [00:33<16:00,  1.08s/it]
  1%|▏         | 12/900 [00:33<12:26,  1.19it/s]
  1%|▏         | 13/900 [00:34<09:57,  1.48it/s]
  2%|▏         | 14/900 [00:34<08:14,  1.79it/s]
  2%|▏         | 15/900 [00:34<07:02,  2.10it/s]
  2%|▏         | 16/900 [00:34<06:11,  2.38it/s]
  2%|▏         | 17/900 [00:55<1:36:33,  6.56s/it]
  2%|▏         | 18/900 [00:55<1:08:44,  4.68s/it]
  2%|▏         | 19/900 [00:56<49:18,  3.36s/it]  
  2%|▏         | 20/900 [00:56<35:46,  2.44s/it]
  2%|▏         | 21/900 [00:56<26:18,  1.80s/it]
  2%|▏         | 22/900 [00:57<19:40,  1.34s/it]
  3%|▎         | 23/900 [00:57<15:00,  1.03s/it]
  3%|▎         | 24/900 [00:57<11:47,  1.24it/s]
  3%|▎         | 25/900 [01:02<27:45,  1.90s/it]
  3%|▎         | 26/900 [01:02<20:42,  1.42s/it]
  3%|▎         | 27/900 [01:02<15:44,  1.08s/it]
  3%|▎         | 28/900 [01:03<12:17,  1.18it/s]
  3%|▎         | 29/900 [01:03<09:53,  1.47it/s]
  3%|▎         | 30/900 [01:03<08:10,  1.77it/s]
  3%|▎         | 31/900 [01:03<07:01,  2.06it/s]
  4%|▎         | 32/900 [01:04<06:13,  2.33it/s]
  4%|▎         | 33/900 [01:13<45:46,  3.17s/it]
  4%|▍         | 34/900 [01:14<33:17,  2.31s/it]
  4%|▍         | 35/900 [01:14<24:32,  1.70s/it]
  4%|▍         | 36/900 [01:14<18:24,  1.28s/it]
  4%|▍         | 37/900 [01:15<14:07,  1.02it/s]
  4%|▍         | 38/900 [01:15<11:10,  1.29it/s]
  4%|▍         | 39/900 [01:15<09:04,  1.58it/s]
  4%|▍         | 40/900 [01:15<07:36,  1.89it/s]
  5%|▍         | 41/900 [01:34<1:24:24,  5.90s/it]
  5%|▍         | 42/900 [01:34<1:00:20,  4.22s/it]
  5%|▍         | 43/900 [01:34<43:30,  3.05s/it]  
  5%|▍         | 44/900 [01:35<31:49,  2.23s/it]
  5%|▌         | 45/900 [01:35<23:40,  1.66s/it]
  5%|▌         | 46/900 [01:35<17:49,  1.25s/it]
  5%|▌         | 47/900 [01:36<13:43,  1.04it/s]
  5%|▌         | 48/900 [01:36<10:52,  1.31it/s]
  5%|▌         | 49/900 [01:43<36:42,  2.59s/it]
  6%|▌         | 50/900 [01:43<26:56,  1.90s/it]
  6%|▌         | 51/900 [01:43<20:07,  1.42s/it]
  6%|▌         | 52/900 [01:44<15:20,  1.09s/it]
  6%|▌         | 53/900 [01:44<11:59,  1.18it/s]
  6%|▌         | 54/900 [01:44<09:39,  1.46it/s]
  6%|▌         | 55/900 [01:45<07:59,  1.76it/s]
  6%|▌         | 56/900 [01:45<06:49,  2.06it/s]
  6%|▋         | 57/900 [01:50<24:59,  1.78s/it]
  6%|▋         | 58/900 [01:50<18:43,  1.33s/it]
  7%|▋         | 59/900 [01:50<14:23,  1.03s/it]
  7%|▋         | 60/900 [01:51<11:19,  1.24it/s]
  7%|▋         | 61/900 [01:51<09:09,  1.53it/s]
  7%|▋         | 62/900 [01:51<07:37,  1.83it/s]
  7%|▋         | 63/900 [01:52<06:34,  2.12it/s]
  7%|▋         | 64/900 [01:52<05:50,  2.39it/s]
  7%|▋         | 65/900 [01:59<33:24,  2.40s/it]
  7%|▋         | 66/900 [01:59<24:34,  1.77s/it]
  7%|▋         | 67/900 [01:59<18:25,  1.33s/it]
  8%|▊         | 68/900 [02:00<14:04,  1.01s/it]
  8%|▊         | 69/900 [02:00<11:08,  1.24it/s]
  8%|▊         | 70/900 [02:00<09:06,  1.52it/s]
  8%|▊         | 71/900 [02:01<07:40,  1.80it/s]
  8%|▊         | 72/900 [02:01<06:39,  2.07it/s]
  8%|▊         | 73/900 [02:10<41:20,  3.00s/it]
  8%|▊         | 74/900 [02:10<30:13,  2.20s/it]
  8%|▊         | 75/900 [02:10<22:25,  1.63s/it]
  8%|▊         | 76/900 [02:11<17:06,  1.25s/it]
  9%|▊         | 77/900 [02:11<13:18,  1.03it/s]
  9%|▊         | 78/900 [02:11<10:39,  1.29it/s]
  9%|▉         | 79/900 [02:12<08:49,  1.55it/s]
  9%|▉         | 80/900 [02:12<07:34,  1.80it/s]
  9%|▉         | 81/900 [02:19<34:10,  2.50s/it]
  9%|▉         | 82/900 [02:20<25:11,  1.85s/it]
  9%|▉         | 83/900 [02:20<18:54,  1.39s/it]
  9%|▉         | 84/900 [02:20<14:30,  1.07s/it]
  9%|▉         | 85/900 [02:20<11:26,  1.19it/s]
 10%|▉         | 86/900 [02:21<09:14,  1.47it/s]
 10%|▉         | 87/900 [02:21<07:44,  1.75it/s]
 10%|▉         | 88/900 [02:21<06:41,  2.02it/s]
 10%|▉         | 89/900 [02:30<38:15,  2.83s/it]
 10%|█         | 90/900 [02:30<28:05,  2.08s/it]
 10%|█         | 91/900 [02:30<20:56,  1.55s/it]
 10%|█         | 92/900 [02:31<15:57,  1.18s/it]
 10%|█         | 93/900 [02:31<12:25,  1.08it/s]
 10%|█         | 94/900 [02:31<09:56,  1.35it/s]
 11%|█         | 95/900 [02:32<08:14,  1.63it/s]
 11%|█         | 96/900 [02:32<07:01,  1.91it/s]
 11%|█         | 97/900 [03:01<2:01:30,  9.08s/it]
 11%|█         | 98/900 [03:01<1:26:11,  6.45s/it]
 11%|█         | 99/900 [03:02<1:01:27,  4.60s/it]
 11%|█         | 100/900 [03:02<44:08,  3.31s/it] 
 11%|█         | 101/900 [03:02<32:01,  2.40s/it]
 11%|█▏        | 102/900 [03:02<23:34,  1.77s/it]
 11%|█▏        | 103/900 [03:03<17:38,  1.33s/it]
 12%|█▏        | 104/900 [03:03<13:30,  1.02s/it]
 12%|█▏        | 105/900 [03:35<2:15:18, 10.21s/it]
 12%|█▏        | 106/900 [03:35<1:35:46,  7.24s/it]
 12%|█▏        | 107/900 [03:35<1:08:05,  5.15s/it]
 12%|█▏        | 108/900 [03:36<48:47,  3.70s/it]  
 12%|█▏        | 109/900 [03:36<35:15,  2.68s/it]
 12%|█▏        | 110/900 [03:36<25:49,  1.96s/it]
 12%|█▏        | 111/900 [03:36<19:13,  1.46s/it]
 12%|█▏        | 112/900 [03:37<14:35,  1.11s/it]
 13%|█▎        | 113/900 [03:47<49:03,  3.74s/it]
 13%|█▎        | 114/900 [03:47<35:29,  2.71s/it]
 13%|█▎        | 115/900 [03:47<25:58,  1.99s/it]
 13%|█▎        | 116/900 [03:48<19:18,  1.48s/it]
 13%|█▎        | 117/900 [03:48<14:40,  1.12s/it]
 13%|█▎        | 118/900 [03:48<11:25,  1.14it/s]
 13%|█▎        | 119/900 [03:48<09:06,  1.43it/s]
 13%|█▎        | 120/900 [03:49<07:36,  1.71it/s]
 13%|█▎        | 121/900 [03:58<40:18,  3.10s/it]
 14%|█▎        | 122/900 [03:58<29:19,  2.26s/it]
 14%|█▎        | 123/900 [03:58<21:39,  1.67s/it]
 14%|█▍        | 124/900 [03:59<16:16,  1.26s/it]
 14%|█▍        | 125/900 [03:59<12:31,  1.03it/s]
 14%|█▍        | 126/900 [03:59<09:53,  1.30it/s]
 14%|█▍        | 127/900 [03:59<08:03,  1.60it/s]
 14%|█▍        | 128/900 [04:00<06:47,  1.89it/s]
 14%|█▍        | 129/900 [04:15<1:03:10,  4.92s/it]
 14%|█▍        | 130/900 [04:15<45:17,  3.53s/it]  
 15%|█▍        | 131/900 [04:16<32:49,  2.56s/it]
 15%|█▍        | 132/900 [04:16<24:05,  1.88s/it]
 15%|█▍        | 133/900 [04:16<18:03,  1.41s/it]
 15%|█▍        | 134/900 [04:16<13:46,  1.08s/it]
 15%|█▌        | 135/900 [04:17<10:47,  1.18it/s]
 15%|█▌        | 136/900 [04:17<08:41,  1.47it/s]
 15%|█▌        | 137/900 [05:02<2:57:17, 13.94s/it]
 15%|█▌        | 138/900 [05:02<2:05:02,  9.85s/it]
 15%|█▌        | 139/900 [05:03<1:28:30,  6.98s/it]
 16%|█▌        | 140/900 [05:03<1:03:00,  4.97s/it]
 16%|█▌        | 141/900 [05:03<45:10,  3.57s/it]  
 16%|█▌        | 142/900 [05:03<32:42,  2.59s/it]
 16%|█▌        | 143/900 [05:04<23:57,  1.90s/it]
 16%|█▌        | 144/900 [05:04<17:49,  1.41s/it]
 16%|█▌        | 145/900 [05:15<52:42,  4.19s/it]
 16%|█▌        | 146/900 [05:15<37:58,  3.02s/it]
 16%|█▋        | 147/900 [05:15<27:38,  2.20s/it]
 16%|█▋        | 148/900 [05:16<20:25,  1.63s/it]
 17%|█▋        | 149/900 [05:16<15:21,  1.23s/it]
 17%|█▋        | 150/900 [05:16<11:50,  1.05it/s]
 17%|█▋        | 151/900 [05:16<09:24,  1.33it/s]
 17%|█▋        | 152/900 [05:17<07:43,  1.61it/s]
 17%|█▋        | 153/900 [05:34<1:08:11,  5.48s/it]
 17%|█▋        | 154/900 [05:34<48:45,  3.92s/it]  
 17%|█▋        | 155/900 [05:34<35:12,  2.84s/it]
 17%|█▋        | 156/900 [05:34<25:42,  2.07s/it]
 17%|█▋        | 157/900 [05:35<19:03,  1.54s/it]
 18%|█▊        | 158/900 [05:35<14:25,  1.17s/it]
 18%|█▊        | 159/900 [05:35<11:10,  1.10it/s]
 18%|█▊        | 160/900 [05:36<08:54,  1.38it/s]
 18%|█▊        | 161/900 [05:54<1:12:41,  5.90s/it]
 18%|█▊        | 162/900 [05:54<51:55,  4.22s/it]  
 18%|█▊        | 163/900 [05:54<37:23,  3.04s/it]
 18%|█▊        | 164/900 [05:54<27:13,  2.22s/it]
 18%|█▊        | 165/900 [05:55<20:08,  1.64s/it]
 18%|█▊        | 166/900 [05:55<15:11,  1.24s/it]
 19%|█▊        | 167/900 [05:55<11:48,  1.03it/s]
 19%|█▊        | 168/900 [05:56<09:26,  1.29it/s]
 19%|█▉        | 169/900 [06:07<46:04,  3.78s/it]
 19%|█▉        | 170/900 [06:07<33:22,  2.74s/it]
 19%|█▉        | 171/900 [06:07<24:30,  2.02s/it]
 19%|█▉        | 172/900 [06:07<18:17,  1.51s/it]
 19%|█▉        | 173/900 [06:08<13:56,  1.15s/it]
 19%|█▉        | 174/900 [06:08<10:52,  1.11it/s]
 19%|█▉        | 175/900 [06:08<08:45,  1.38it/s]
 20%|█▉        | 176/900 [06:09<07:16,  1.66it/s]
 20%|█▉        | 177/900 [06:24<59:55,  4.97s/it]
 20%|█▉        | 178/900 [06:24<43:04,  3.58s/it]
 20%|█▉        | 179/900 [06:25<31:16,  2.60s/it]
 20%|██        | 180/900 [06:25<22:56,  1.91s/it]
 20%|██        | 181/900 [06:25<17:07,  1.43s/it]
 20%|██        | 182/900 [06:25<13:02,  1.09s/it]
 20%|██        | 183/900 [06:26<10:09,  1.18it/s]
 20%|██        | 184/900 [06:26<08:09,  1.46it/s]
 21%|██        | 185/900 [06:49<1:28:57,  7.47s/it]
 21%|██        | 186/900 [06:50<1:03:16,  5.32s/it]
 21%|██        | 187/900 [06:50<45:18,  3.81s/it]  
 21%|██        | 188/900 [06:50<32:44,  2.76s/it]
 21%|██        | 189/900 [06:51<23:57,  2.02s/it]
 21%|██        | 190/900 [06:51<17:48,  1.50s/it]
 21%|██        | 191/900 [06:51<13:31,  1.14s/it]
 21%|██▏       | 192/900 [06:51<10:30,  1.12it/s]
 21%|██▏       | 193/900 [07:03<49:12,  4.18s/it]
 22%|██▏       | 194/900 [07:04<35:27,  3.01s/it]
 22%|██▏       | 195/900 [07:04<25:55,  2.21s/it]
 22%|██▏       | 196/900 [07:04<19:12,  1.64s/it]
 22%|██▏       | 197/900 [07:05<14:30,  1.24s/it]
 22%|██▏       | 198/900 [07:05<11:15,  1.04it/s]
 22%|██▏       | 199/900 [07:05<08:58,  1.30it/s]
 22%|██▏       | 200/900 [07:05<07:21,  1.58it/s]
 22%|██▏       | 201/900 [07:23<1:05:37,  5.63s/it]
 22%|██▏       | 202/900 [07:23<46:55,  4.03s/it]  
 23%|██▎       | 203/900 [07:23<33:50,  2.91s/it]
 23%|██▎       | 204/900 [07:24<24:42,  2.13s/it]
 23%|██▎       | 205/900 [07:24<18:19,  1.58s/it]
 23%|██▎       | 206/900 [07:24<13:51,  1.20s/it]
 23%|██▎       | 207/900 [07:25<10:41,  1.08it/s]
 23%|██▎       | 208/900 [07:25<08:28,  1.36it/s]
 23%|██▎       | 209/900 [07:50<1:32:32,  8.04s/it]
 23%|██▎       | 210/900 [07:50<1:05:42,  5.71s/it]
 23%|██▎       | 211/900 [07:51<46:57,  4.09s/it]  
 24%|██▎       | 212/900 [07:51<33:50,  2.95s/it]
 24%|██▎       | 213/900 [07:51<24:40,  2.16s/it]
 24%|██▍       | 214/900 [07:51<18:19,  1.60s/it]
 24%|██▍       | 215/900 [07:52<13:56,  1.22s/it]
 24%|██▍       | 216/900 [07:52<10:52,  1.05it/s]
 24%|██▍       | 217/900 [08:20<1:41:10,  8.89s/it]
 24%|██▍       | 218/900 [08:20<1:11:44,  6.31s/it]
 24%|██▍       | 219/900 [08:20<51:08,  4.51s/it]  
 24%|██▍       | 220/900 [08:20<36:44,  3.24s/it]
 25%|██▍       | 221/900 [08:21<26:41,  2.36s/it]
 25%|██▍       | 222/900 [08:21<19:39,  1.74s/it]
 25%|██▍       | 223/900 [08:21<14:43,  1.31s/it]
 25%|██▍       | 224/900 [08:22<11:17,  1.00s/it]
 25%|██▌       | 225/900 [08:29<33:54,  3.01s/it]
 25%|██▌       | 226/900 [08:30<24:41,  2.20s/it]
 25%|██▌       | 227/900 [08:30<18:16,  1.63s/it]
 25%|██▌       | 228/900 [08:30<13:45,  1.23s/it]
 25%|██▌       | 229/900 [08:30<10:37,  1.05it/s]
 26%|██▌       | 230/900 [08:31<08:25,  1.33it/s]
 26%|██▌       | 231/900 [08:31<06:53,  1.62it/s]
 26%|██▌       | 232/900 [08:31<05:48,  1.91it/s]
 26%|██▌       | 233/900 [08:50<1:05:46,  5.92s/it]
 26%|██▌       | 234/900 [08:50<46:57,  4.23s/it]  
 26%|██▌       | 235/900 [08:50<33:47,  3.05s/it]
 26%|██▌       | 236/900 [08:51<24:36,  2.22s/it]
 26%|██▋       | 237/900 [08:51<18:12,  1.65s/it]
 26%|██▋       | 238/900 [08:51<13:45,  1.25s/it]
 27%|██▋       | 239/900 [08:52<10:35,  1.04it/s]
 27%|██▋       | 240/900 [08:52<08:26,  1.30it/s]
 27%|██▋       | 241/900 [09:09<1:02:20,  5.68s/it]
 27%|██▋       | 242/900 [09:09<44:38,  4.07s/it]  
 27%|██▋       | 243/900 [09:10<32:13,  2.94s/it]
 27%|██▋       | 244/900 [09:10<23:31,  2.15s/it]
 27%|██▋       | 245/900 [09:10<17:29,  1.60s/it]
 27%|██▋       | 246/900 [09:11<13:15,  1.22s/it]
 27%|██▋       | 247/900 [09:11<10:17,  1.06it/s]
 28%|██▊       | 248/900 [09:11<08:13,  1.32it/s]
 28%|██▊       | 249/900 [09:30<1:05:06,  6.00s/it]
 28%|██▊       | 250/900 [09:30<46:32,  4.30s/it]  
 28%|██▊       | 251/900 [09:30<33:29,  3.10s/it]
 28%|██▊       | 252/900 [09:30<24:22,  2.26s/it]
 28%|██▊       | 253/900 [09:31<17:58,  1.67s/it]
 28%|██▊       | 254/900 [09:31<13:30,  1.25s/it]
 28%|██▊       | 255/900 [09:31<10:23,  1.03it/s]
 28%|██▊       | 256/900 [09:32<08:13,  1.31it/s]
 29%|██▊       | 257/900 [09:48<57:47,  5.39s/it]
 29%|██▊       | 258/900 [09:48<41:20,  3.86s/it]
 29%|██▉       | 259/900 [09:48<29:51,  2.79s/it]
 29%|██▉       | 260/900 [09:49<21:49,  2.05s/it]
 29%|██▉       | 261/900 [09:49<16:17,  1.53s/it]
 29%|██▉       | 262/900 [09:49<12:23,  1.17s/it]
 29%|██▉       | 263/900 [09:50<09:37,  1.10it/s]
 29%|██▉       | 264/900 [09:50<07:39,  1.38it/s]
 29%|██▉       | 265/900 [10:11<1:10:33,  6.67s/it]
 30%|██▉       | 266/900 [10:11<50:21,  4.77s/it]  
 30%|██▉       | 267/900 [10:11<36:13,  3.43s/it]
 30%|██▉       | 268/900 [10:11<26:20,  2.50s/it]
 30%|██▉       | 269/900 [10:12<19:24,  1.85s/it]
 30%|███       | 270/900 [10:12<14:33,  1.39s/it]
 30%|███       | 271/900 [10:12<11:10,  1.07s/it]
 30%|███       | 272/900 [10:13<08:48,  1.19it/s]
 30%|███       | 273/900 [10:41<1:33:16,  8.93s/it]
 30%|███       | 274/900 [10:41<1:06:12,  6.35s/it]
 31%|███       | 275/900 [10:41<47:13,  4.53s/it]  
 31%|███       | 276/900 [10:41<33:56,  3.26s/it]
 31%|███       | 277/900 [10:42<24:39,  2.37s/it]
 31%|███       | 278/900 [10:42<18:09,  1.75s/it]
 31%|███       | 279/900 [10:42<13:37,  1.32s/it]
 31%|███       | 280/900 [10:43<10:27,  1.01s/it]
 31%|███       | 281/900 [11:00<1:01:28,  5.96s/it]
 31%|███▏      | 282/900 [11:00<43:52,  4.26s/it]  
 31%|███▏      | 283/900 [11:01<31:34,  3.07s/it]
 32%|███▏      | 284/900 [11:01<22:58,  2.24s/it]
 32%|███▏      | 285/900 [11:01<16:57,  1.65s/it]
 32%|███▏      | 286/900 [11:02<12:45,  1.25s/it]
 32%|███▏      | 287/900 [11:02<09:50,  1.04it/s]
 32%|███▏      | 288/900 [11:02<07:45,  1.31it/s]
 32%|███▏      | 289/900 [11:17<49:19,  4.84s/it]
 32%|███▏      | 290/900 [11:17<35:23,  3.48s/it]
 32%|███▏      | 291/900 [11:17<25:40,  2.53s/it]
 32%|███▏      | 292/900 [11:18<18:53,  1.86s/it]
 33%|███▎      | 293/900 [11:18<14:07,  1.40s/it]
 33%|███▎      | 294/900 [11:18<10:46,  1.07s/it]
 33%|███▎      | 295/900 [11:18<08:25,  1.20it/s]
 33%|███▎      | 296/900 [11:19<06:47,  1.48it/s]
 33%|███▎      | 297/900 [11:38<1:01:22,  6.11s/it]
 33%|███▎      | 298/900 [11:38<43:50,  4.37s/it]  
 33%|███▎      | 299/900 [11:38<31:36,  3.16s/it]
 33%|███▎      | 300/900 [11:38<23:04,  2.31s/it]
 33%|███▎      | 301/900 [11:39<17:05,  1.71s/it]
 34%|███▎      | 302/900 [11:39<12:53,  1.29s/it]
 34%|███▎      | 303/900 [11:39<09:58,  1.00s/it]
 34%|███▍      | 304/900 [11:40<07:55,  1.25it/s]
 34%|███▍      | 305/900 [11:58<58:29,  5.90s/it]
 34%|███▍      | 306/900 [11:58<41:50,  4.23s/it]
 34%|███▍      | 307/900 [11:58<30:09,  3.05s/it]
 34%|███▍      | 308/900 [11:59<22:01,  2.23s/it]
 34%|███▍      | 309/900 [11:59<16:21,  1.66s/it]
 34%|███▍      | 310/900 [11:59<12:23,  1.26s/it]
 35%|███▍      | 311/900 [11:59<09:34,  1.03it/s]
 35%|███▍      | 312/900 [12:00<07:36,  1.29it/s]
 35%|███▍      | 313/900 [12:13<42:58,  4.39s/it]
 35%|███▍      | 314/900 [12:13<30:57,  3.17s/it]
 35%|███▌      | 315/900 [12:13<22:34,  2.31s/it]
 35%|███▌      | 316/900 [12:14<16:41,  1.72s/it]
 35%|███▌      | 317/900 [12:14<12:37,  1.30s/it]
 35%|███▌      | 318/900 [12:14<09:44,  1.01s/it]
 35%|███▌      | 319/900 [12:15<07:43,  1.25it/s]
 36%|███▌      | 320/900 [12:15<06:18,  1.53it/s]
 36%|███▌      | 321/900 [12:31<50:58,  5.28s/it]
 36%|███▌      | 322/900 [12:31<36:33,  3.79s/it]
 36%|███▌      | 323/900 [12:32<26:29,  2.75s/it]
 36%|███▌      | 324/900 [12:32<19:26,  2.02s/it]
 36%|███▌      | 325/900 [12:32<14:29,  1.51s/it]
 36%|███▌      | 326/900 [12:33<11:02,  1.15s/it]
 36%|███▋      | 327/900 [12:33<08:37,  1.11it/s]
 36%|███▋      | 328/900 [12:33<06:54,  1.38it/s]
 37%|███▋      | 329/900 [13:08<1:44:58, 11.03s/it]
 37%|███▋      | 330/900 [13:09<1:14:16,  7.82s/it]
 37%|███▋      | 331/900 [13:09<52:51,  5.57s/it]  
 37%|███▋      | 332/900 [13:09<37:52,  4.00s/it]
 37%|███▋      | 333/900 [13:10<27:23,  2.90s/it]
 37%|███▋      | 334/900 [13:10<20:03,  2.13s/it]
 37%|███▋      | 335/900 [13:10<14:58,  1.59s/it]
 37%|███▋      | 336/900 [13:11<11:25,  1.21s/it]
 37%|███▋      | 337/900 [13:32<1:07:00,  7.14s/it]
 38%|███▊      | 338/900 [13:32<47:46,  5.10s/it]  
 38%|███▊      | 339/900 [13:32<34:17,  3.67s/it]
 38%|███▊      | 340/900 [13:33<24:50,  2.66s/it]
 38%|███▊      | 341/900 [13:33<18:15,  1.96s/it]
 38%|███▊      | 342/900 [13:33<13:39,  1.47s/it]
 38%|███▊      | 343/900 [13:33<10:26,  1.13s/it]
 38%|███▊      | 344/900 [13:34<08:19,  1.11it/s]
 38%|███▊      | 345/900 [13:58<1:11:38,  7.74s/it]
 38%|███▊      | 346/900 [13:58<50:57,  5.52s/it]  
 39%|███▊      | 347/900 [13:58<36:30,  3.96s/it]
 39%|███▊      | 348/900 [13:59<26:24,  2.87s/it]
 39%|███▉      | 349/900 [13:59<19:20,  2.11s/it]
 39%|███▉      | 350/900 [13:59<14:25,  1.57s/it]
 39%|███▉      | 351/900 [14:00<11:00,  1.20s/it]
 39%|███▉      | 352/900 [14:00<08:36,  1.06it/s]
 39%|███▉      | 353/900 [14:16<50:10,  5.50s/it]
 39%|███▉      | 354/900 [14:16<35:56,  3.95s/it]
 39%|███▉      | 355/900 [14:17<25:59,  2.86s/it]
 40%|███▉      | 356/900 [14:17<19:02,  2.10s/it]
 40%|███▉      | 357/900 [14:17<14:10,  1.57s/it]
 40%|███▉      | 358/900 [14:18<10:47,  1.19s/it]
 40%|███▉      | 359/900 [14:18<08:28,  1.06it/s]
 40%|████      | 360/900 [14:18<06:46,  1.33it/s]
 40%|████      | 361/900 [14:53<1:38:11, 10.93s/it]
 40%|████      | 362/900 [14:53<1:09:29,  7.75s/it]
 40%|████      | 363/900 [14:54<49:24,  5.52s/it]  
 40%|████      | 364/900 [14:54<35:22,  3.96s/it]
 41%|████      | 365/900 [14:54<25:33,  2.87s/it]
 41%|████      | 366/900 [14:55<18:44,  2.11s/it]
 41%|████      | 367/900 [14:55<13:59,  1.57s/it]
 41%|████      | 368/900 [14:55<10:39,  1.20s/it]
 41%|████      | 369/900 [15:31<1:41:53, 11.51s/it]
 41%|████      | 370/900 [15:31<1:12:03,  8.16s/it]
 41%|████      | 371/900 [15:32<51:12,  5.81s/it]  
 41%|████▏     | 372/900 [15:32<36:38,  4.16s/it]
 41%|████▏     | 373/900 [15:32<26:26,  3.01s/it]
 42%|████▏     | 374/900 [15:32<19:19,  2.21s/it]
 42%|████▏     | 375/900 [15:33<14:21,  1.64s/it]
 42%|████▏     | 376/900 [15:33<10:52,  1.25s/it]
 42%|████▏     | 377/900 [17:06<4:09:31, 28.63s/it]
 42%|████▏     | 378/900 [17:06<2:55:11, 20.14s/it]
 42%|████▏     | 379/900 [17:06<2:03:13, 14.19s/it]
 42%|████▏     | 380/900 [17:07<1:26:55, 10.03s/it]
 42%|████▏     | 381/900 [17:07<1:01:33,  7.12s/it]
 42%|████▏     | 382/900 [17:07<43:48,  5.08s/it]  
 43%|████▎     | 383/900 [17:08<31:24,  3.65s/it]
 43%|████▎     | 384/900 [17:08<22:45,  2.65s/it]
 43%|████▎     | 385/900 [17:22<52:26,  6.11s/it]
 43%|████▎     | 386/900 [17:22<37:28,  4.37s/it]
 43%|████▎     | 387/900 [17:23<26:59,  3.16s/it]
 43%|████▎     | 388/900 [17:23<19:41,  2.31s/it]
 43%|████▎     | 389/900 [17:23<14:35,  1.71s/it]
 43%|████▎     | 390/900 [17:24<11:00,  1.30s/it]
 43%|████▎     | 391/900 [17:24<08:30,  1.00s/it]
 44%|████▎     | 392/900 [17:24<06:46,  1.25it/s]
 44%|████▎     | 393/900 [18:14<2:09:42, 15.35s/it]
 44%|████▍     | 394/900 [18:14<1:31:27, 10.85s/it]
 44%|████▍     | 395/900 [18:14<1:04:43,  7.69s/it]
 44%|████▍     | 396/900 [18:15<46:03,  5.48s/it]  
 44%|████▍     | 397/900 [18:15<32:57,  3.93s/it]
 44%|████▍     | 398/900 [18:15<23:49,  2.85s/it]
 44%|████▍     | 399/900 [18:16<17:29,  2.09s/it]
 44%|████▍     | 400/900 [18:16<13:02,  1.56s/it]
 45%|████▍     | 401/900 [18:29<40:54,  4.92s/it]
 45%|████▍     | 402/900 [18:29<29:26,  3.55s/it]
 45%|████▍     | 403/900 [18:29<21:25,  2.59s/it]
 45%|████▍     | 404/900 [18:30<15:47,  1.91s/it]
 45%|████▌     | 405/900 [18:30<11:54,  1.44s/it]
 45%|████▌     | 406/900 [18:30<09:11,  1.12s/it]
 45%|████▌     | 407/900 [18:31<07:17,  1.13it/s]
 45%|████▌     | 408/900 [18:31<05:58,  1.37it/s]
 45%|████▌     | 409/900 [18:45<39:32,  4.83s/it]
 46%|████▌     | 410/900 [18:46<28:25,  3.48s/it]
 46%|████▌     | 411/900 [18:46<20:39,  2.53s/it]
 46%|████▌     | 412/900 [18:46<15:12,  1.87s/it]
 46%|████▌     | 413/900 [18:47<11:24,  1.41s/it]
 46%|████▌     | 414/900 [18:47<08:46,  1.08s/it]
 46%|████▌     | 415/900 [18:47<06:54,  1.17it/s]
 46%|████▌     | 416/900 [18:48<05:37,  1.44it/s]
 46%|████▋     | 417/900 [19:12<1:02:38,  7.78s/it]
 46%|████▋     | 418/900 [19:12<44:31,  5.54s/it]  
 47%|████▋     | 419/900 [19:13<31:54,  3.98s/it]
 47%|████▋     | 420/900 [19:13<23:04,  2.88s/it]
 47%|████▋     | 421/900 [19:13<16:54,  2.12s/it]
 47%|████▋     | 422/900 [19:14<12:36,  1.58s/it]
 47%|████▋     | 423/900 [19:14<09:35,  1.21s/it]
 47%|████▋     | 424/900 [19:14<07:29,  1.06it/s]
 47%|████▋     | 425/900 [20:23<2:49:15, 21.38s/it]
 47%|████▋     | 426/900 [20:24<1:59:00, 15.06s/it]
 47%|████▋     | 427/900 [20:24<1:23:54, 10.64s/it]
 48%|████▊     | 428/900 [20:24<59:23,  7.55s/it]  
 48%|████▊     | 429/900 [20:25<42:16,  5.38s/it]
 48%|████▊     | 430/900 [20:25<30:17,  3.87s/it]
 48%|████▊     | 431/900 [20:25<21:57,  2.81s/it]
 48%|████▊     | 432/900 [20:26<16:07,  2.07s/it]
 48%|████▊     | 433/900 [21:27<2:35:11, 19.94s/it]
 48%|████▊     | 434/900 [21:28<1:49:10, 14.06s/it]
 48%|████▊     | 435/900 [21:28<1:17:01,  9.94s/it]
 48%|████▊     | 436/900 [21:28<54:33,  7.05s/it]  
 49%|████▊     | 437/900 [21:29<38:52,  5.04s/it]
 49%|████▊     | 438/900 [21:29<27:55,  3.63s/it]
 49%|████▉     | 439/900 [21:29<20:15,  2.64s/it]
 49%|████▉     | 440/900 [21:30<14:53,  1.94s/it]
 49%|████▉     | 441/900 [22:00<1:19:21, 10.37s/it]
 49%|████▉     | 442/900 [22:00<56:10,  7.36s/it]  
 49%|████▉     | 443/900 [22:00<39:59,  5.25s/it]
 49%|████▉     | 444/900 [22:01<28:40,  3.77s/it]
 49%|████▉     | 445/900 [22:01<20:46,  2.74s/it]
 50%|████▉     | 446/900 [22:01<15:16,  2.02s/it]
 50%|████▉     | 447/900 [22:02<11:24,  1.51s/it]
 50%|████▉     | 448/900 [22:02<08:43,  1.16s/it]
 50%|████▉     | 449/900 [22:25<56:53,  7.57s/it]
 50%|█████     | 450/900 [22:25<40:29,  5.40s/it]
 50%|█████     | 451/900 [22:25<29:01,  3.88s/it]
 50%|█████     | 452/900 [22:26<21:00,  2.81s/it]
 50%|█████     | 453/900 [22:26<15:24,  2.07s/it]
 50%|█████     | 454/900 [22:26<11:29,  1.55s/it]
 51%|█████     | 455/900 [22:27<08:45,  1.18s/it]
 51%|█████     | 456/900 [22:27<06:51,  1.08it/s]
 51%|█████     | 457/900 [22:37<27:31,  3.73s/it]
 51%|█████     | 458/900 [22:38<19:58,  2.71s/it]
 51%|█████     | 459/900 [22:38<14:40,  2.00s/it]
 51%|█████     | 460/900 [22:38<10:57,  1.49s/it]
 51%|█████     | 461/900 [22:38<08:22,  1.14s/it]
 51%|█████▏    | 462/900 [22:39<06:33,  1.11it/s]
 51%|█████▏    | 463/900 [22:39<05:16,  1.38it/s]
 52%|█████▏    | 464/900 [22:39<04:23,  1.65it/s]
 52%|█████▏    | 465/900 [22:52<29:30,  4.07s/it]
 52%|█████▏    | 466/900 [22:52<21:18,  2.95s/it]
 52%|█████▏    | 467/900 [22:52<15:34,  2.16s/it]
 52%|█████▏    | 468/900 [22:53<11:36,  1.61s/it]
 52%|█████▏    | 469/900 [22:53<08:47,  1.22s/it]
 52%|█████▏    | 470/900 [22:53<06:50,  1.05it/s]
 52%|█████▏    | 471/900 [22:54<05:28,  1.31it/s]
 52%|█████▏    | 472/900 [22:54<04:30,  1.58it/s]
 53%|█████▎    | 473/900 [23:06<29:31,  4.15s/it]
 53%|█████▎    | 474/900 [23:07<21:18,  3.00s/it]
 53%|█████▎    | 475/900 [23:07<15:35,  2.20s/it]
 53%|█████▎    | 476/900 [23:07<11:34,  1.64s/it]
 53%|█████▎    | 477/900 [23:08<08:45,  1.24s/it]
 53%|█████▎    | 478/900 [23:08<06:48,  1.03it/s]
 53%|█████▎    | 479/900 [23:08<05:25,  1.29it/s]
 53%|█████▎    | 480/900 [23:09<04:28,  1.57it/s]
 53%|█████▎    | 481/900 [24:00<1:50:46, 15.86s/it]
 54%|█████▎    | 482/900 [24:00<1:18:03, 11.21s/it]
 54%|█████▎    | 483/900 [24:01<55:12,  7.94s/it]  
 54%|█████▍    | 484/900 [24:01<39:13,  5.66s/it]
 54%|█████▍    | 485/900 [24:01<28:04,  4.06s/it]
 54%|█████▍    | 486/900 [24:02<20:17,  2.94s/it]
 54%|█████▍    | 487/900 [24:02<14:50,  2.16s/it]
 54%|█████▍    | 488/900 [24:02<11:01,  1.61s/it]
 54%|█████▍    | 489/900 [24:23<50:58,  7.44s/it]
 54%|█████▍    | 490/900 [24:24<36:17,  5.31s/it]
 55%|█████▍    | 491/900 [24:24<26:02,  3.82s/it]
 55%|█████▍    | 492/900 [24:24<18:51,  2.77s/it]
 55%|█████▍    | 493/900 [24:25<13:50,  2.04s/it]
 55%|█████▍    | 494/900 [24:25<10:19,  1.53s/it]
 55%|█████▌    | 495/900 [24:25<07:51,  1.16s/it]
 55%|█████▌    | 496/900 [24:26<06:08,  1.10it/s]
 55%|█████▌    | 497/900 [24:40<33:17,  4.96s/it]
 55%|█████▌    | 498/900 [24:40<23:55,  3.57s/it]
 55%|█████▌    | 499/900 [24:41<17:22,  2.60s/it]
 56%|█████▌    | 500/900 [24:41<13:39,  2.05s/it]
 56%|█████▌    | 501/900 [24:42<10:11,  1.53s/it]
 56%|█████▌    | 502/900 [24:42<07:45,  1.17s/it]
 56%|█████▌    | 503/900 [24:42<06:04,  1.09it/s]
 56%|█████▌    | 504/900 [24:43<04:54,  1.35it/s]
 56%|█████▌    | 505/900 [24:57<30:55,  4.70s/it]
 56%|█████▌    | 506/900 [24:57<22:14,  3.39s/it]
 56%|█████▋    | 507/900 [24:57<16:09,  2.47s/it]
 56%|█████▋    | 508/900 [24:58<11:55,  1.83s/it]
 57%|█████▋    | 509/900 [24:58<08:58,  1.38s/it]
 57%|█████▋    | 510/900 [24:58<06:54,  1.06s/it]
 57%|█████▋    | 511/900 [24:59<05:27,  1.19it/s]
 57%|█████▋    | 512/900 [24:59<04:27,  1.45it/s]
 57%|█████▋    | 513/900 [25:13<31:14,  4.84s/it]
 57%|█████▋    | 514/900 [25:14<22:27,  3.49s/it]
 57%|█████▋    | 515/900 [25:14<16:18,  2.54s/it]
 57%|█████▋    | 516/900 [25:14<12:00,  1.88s/it]
 57%|█████▋    | 517/900 [25:15<09:00,  1.41s/it]
 58%|█████▊    | 518/900 [25:15<06:54,  1.08s/it]
 58%|█████▊    | 519/900 [25:15<05:25,  1.17it/s]
 58%|█████▊    | 520/900 [25:16<04:23,  1.44it/s]
 58%|█████▊    | 521/900 [25:48<1:04:52, 10.27s/it]
 58%|█████▊    | 522/900 [25:49<45:55,  7.29s/it]  
 58%|█████▊    | 523/900 [25:49<32:40,  5.20s/it]
 58%|█████▊    | 524/900 [25:49<23:26,  3.74s/it]
 58%|█████▊    | 525/900 [25:50<16:58,  2.72s/it]
 58%|█████▊    | 526/900 [25:50<12:27,  2.00s/it]
 59%|█████▊    | 527/900 [25:50<09:18,  1.50s/it]
 59%|█████▊    | 528/900 [25:51<07:06,  1.15s/it]
 59%|█████▉    | 529/900 [26:02<25:56,  4.20s/it]
 59%|█████▉    | 530/900 [26:02<18:42,  3.03s/it]
 59%|█████▉    | 531/900 [26:03<13:39,  2.22s/it]
 59%|█████▉    | 532/900 [26:03<10:08,  1.65s/it]
 59%|█████▉    | 533/900 [26:03<07:40,  1.25s/it]
 59%|█████▉    | 534/900 [26:04<05:57,  1.02it/s]
 59%|█████▉    | 535/900 [26:04<04:45,  1.28it/s]
 60%|█████▉    | 536/900 [26:04<03:54,  1.55it/s]
 60%|█████▉    | 537/900 [26:19<29:46,  4.92s/it]
 60%|█████▉    | 538/900 [26:19<21:22,  3.54s/it]
 60%|█████▉    | 539/900 [26:20<15:30,  2.58s/it]
 60%|██████    | 540/900 [26:20<11:25,  1.90s/it]
 60%|██████    | 541/900 [26:20<08:33,  1.43s/it]
 60%|██████    | 542/900 [26:21<06:33,  1.10s/it]
 60%|██████    | 543/900 [26:21<05:10,  1.15it/s]
 60%|██████    | 544/900 [26:21<04:12,  1.41it/s]
 61%|██████    | 545/900 [26:44<42:44,  7.22s/it]
 61%|██████    | 546/900 [26:44<30:25,  5.16s/it]
 61%|██████    | 547/900 [26:45<21:50,  3.71s/it]
 61%|██████    | 548/900 [26:45<15:48,  2.70s/it]
 61%|██████    | 549/900 [26:45<11:37,  1.99s/it]
 61%|██████    | 550/900 [26:46<08:41,  1.49s/it]
 61%|██████    | 551/900 [26:46<06:39,  1.14s/it]
 61%|██████▏   | 552/900 [26:46<05:13,  1.11it/s]
 61%|██████▏   | 553/900 [27:02<30:48,  5.33s/it]
 62%|██████▏   | 554/900 [27:02<22:04,  3.83s/it]
 62%|██████▏   | 555/900 [27:03<15:58,  2.78s/it]
 62%|██████▏   | 556/900 [27:03<11:43,  2.04s/it]
 62%|██████▏   | 557/900 [27:03<08:44,  1.53s/it]
 62%|██████▏   | 558/900 [27:04<06:40,  1.17s/it]
 62%|██████▏   | 559/900 [27:04<05:12,  1.09it/s]
 62%|██████▏   | 560/900 [27:04<04:11,  1.35it/s]
 62%|██████▏   | 561/900 [27:19<28:21,  5.02s/it]
 62%|██████▏   | 562/900 [27:20<20:19,  3.61s/it]
 63%|██████▎   | 563/900 [27:20<14:46,  2.63s/it]
 63%|██████▎   | 564/900 [27:20<10:51,  1.94s/it]
 63%|██████▎   | 565/900 [27:21<08:09,  1.46s/it]
 63%|██████▎   | 566/900 [27:21<06:14,  1.12s/it]
 63%|██████▎   | 567/900 [27:21<04:54,  1.13it/s]
 63%|██████▎   | 568/900 [27:22<03:57,  1.40it/s]
 63%|██████▎   | 569/900 [27:35<24:36,  4.46s/it]
 63%|██████▎   | 570/900 [27:35<17:43,  3.22s/it]
 63%|██████▎   | 571/900 [27:35<12:54,  2.35s/it]
 64%|██████▎   | 572/900 [27:36<09:32,  1.75s/it]
 64%|██████▎   | 573/900 [27:36<07:12,  1.32s/it]
 64%|██████▍   | 574/900 [27:36<05:35,  1.03s/it]
 64%|██████▍   | 575/900 [27:37<04:26,  1.22it/s]
 64%|██████▍   | 576/900 [27:37<03:39,  1.48it/s]
 64%|██████▍   | 577/900 [28:16<1:06:04, 12.27s/it]
 64%|██████▍   | 578/900 [28:17<46:39,  8.69s/it]  
 64%|██████▍   | 579/900 [28:17<33:05,  6.19s/it]
 64%|██████▍   | 580/900 [28:17<23:37,  4.43s/it]
 65%|██████▍   | 581/900 [28:18<17:00,  3.20s/it]
 65%|██████▍   | 582/900 [28:18<12:24,  2.34s/it]
 65%|██████▍   | 583/900 [28:18<09:11,  1.74s/it]
 65%|██████▍   | 584/900 [28:19<06:55,  1.32s/it]
 65%|██████▌   | 585/900 [28:32<26:03,  4.96s/it]
 65%|██████▌   | 586/900 [28:33<18:42,  3.58s/it]
 65%|██████▌   | 587/900 [28:33<13:34,  2.60s/it]
 65%|██████▌   | 588/900 [28:33<09:58,  1.92s/it]
 65%|██████▌   | 589/900 [28:34<07:28,  1.44s/it]
 66%|██████▌   | 590/900 [28:34<05:42,  1.11s/it]
 66%|██████▌   | 591/900 [28:34<04:30,  1.14it/s]
 66%|██████▌   | 592/900 [28:34<03:39,  1.41it/s]
 66%|██████▌   | 593/900 [29:12<1:00:15, 11.78s/it]
 66%|██████▌   | 594/900 [29:12<42:34,  8.35s/it]  
 66%|██████▌   | 595/900 [29:13<30:13,  5.94s/it]
 66%|██████▌   | 596/900 [29:13<21:36,  4.27s/it]
 66%|██████▋   | 597/900 [29:13<15:34,  3.08s/it]
 66%|██████▋   | 598/900 [29:14<11:20,  2.25s/it]
 67%|██████▋   | 599/900 [29:14<08:24,  1.67s/it]
 67%|██████▋   | 600/900 [29:14<06:21,  1.27s/it]
 67%|██████▋   | 601/900 [29:31<29:53,  6.00s/it]
 67%|██████▋   | 602/900 [29:32<21:22,  4.30s/it]
 67%|██████▋   | 603/900 [29:32<15:24,  3.11s/it]
 67%|██████▋   | 604/900 [29:32<11:14,  2.28s/it]
 67%|██████▋   | 605/900 [29:33<08:19,  1.69s/it]
 67%|██████▋   | 606/900 [29:33<06:17,  1.28s/it]
 67%|██████▋   | 607/900 [29:33<04:51,  1.00it/s]
 68%|██████▊   | 608/900 [29:34<03:52,  1.26it/s]
 68%|██████▊   | 609/900 [30:14<1:01:11, 12.62s/it]
 68%|██████▊   | 610/900 [30:14<43:10,  8.93s/it]  
 68%|██████▊   | 611/900 [30:15<30:35,  6.35s/it]
 68%|██████▊   | 612/900 [30:15<21:48,  4.54s/it]
 68%|██████▊   | 613/900 [30:15<15:41,  3.28s/it]
 68%|██████▊   | 614/900 [30:16<11:24,  2.39s/it]
 68%|██████▊   | 615/900 [30:16<08:25,  1.77s/it]
 68%|██████▊   | 616/900 [30:16<06:20,  1.34s/it]
 69%|██████▊   | 617/900 [30:37<33:23,  7.08s/it]
 69%|██████▊   | 618/900 [30:37<23:45,  5.05s/it]
 69%|██████▉   | 619/900 [30:37<17:01,  3.64s/it]
 69%|██████▉   | 620/900 [30:38<12:20,  2.65s/it]
 69%|██████▉   | 621/900 [30:38<09:05,  1.96s/it]
 69%|██████▉   | 622/900 [30:38<06:48,  1.47s/it]
 69%|██████▉   | 623/900 [30:39<05:13,  1.13s/it]
 69%|██████▉   | 624/900 [30:39<04:06,  1.12it/s]
 69%|██████▉   | 625/900 [30:58<28:30,  6.22s/it]
 70%|██████▉   | 626/900 [30:58<20:21,  4.46s/it]
 70%|██████▉   | 627/900 [30:58<14:39,  3.22s/it]
 70%|██████▉   | 628/900 [30:59<10:40,  2.36s/it]
 70%|██████▉   | 629/900 [30:59<07:54,  1.75s/it]
 70%|███████   | 630/900 [30:59<05:57,  1.32s/it]
 70%|███████   | 631/900 [31:00<04:36,  1.03s/it]
 70%|███████   | 632/900 [31:00<03:39,  1.22it/s]
 70%|███████   | 633/900 [31:20<29:35,  6.65s/it]
 70%|███████   | 634/900 [31:21<21:06,  4.76s/it]
 71%|███████   | 635/900 [31:21<15:08,  3.43s/it]
 71%|███████   | 636/900 [31:21<10:59,  2.50s/it]
 71%|███████   | 637/900 [31:22<08:06,  1.85s/it]
 71%|███████   | 638/900 [31:22<06:06,  1.40s/it]
 71%|███████   | 639/900 [31:22<04:40,  1.08s/it]
 71%|███████   | 640/900 [31:23<03:41,  1.17it/s]
 71%|███████   | 641/900 [32:25<1:22:38, 19.14s/it]
 71%|███████▏  | 642/900 [32:25<58:03, 13.50s/it]  
 71%|███████▏  | 643/900 [32:25<40:53,  9.55s/it]
 72%|███████▏  | 644/900 [32:26<28:56,  6.78s/it]
 72%|███████▏  | 645/900 [32:26<20:35,  4.85s/it]
 72%|███████▏  | 646/900 [32:26<14:46,  3.49s/it]
 72%|███████▏  | 647/900 [32:26<10:43,  2.54s/it]
 72%|███████▏  | 648/900 [32:27<07:53,  1.88s/it]
 72%|███████▏  | 649/900 [32:51<35:48,  8.56s/it]
 72%|███████▏  | 650/900 [32:51<25:24,  6.10s/it]
 72%|███████▏  | 651/900 [32:52<18:08,  4.37s/it]
 72%|███████▏  | 652/900 [32:52<13:03,  3.16s/it]
 73%|███████▎  | 653/900 [32:52<09:31,  2.31s/it]
 73%|███████▎  | 654/900 [32:53<07:02,  1.72s/it]
 73%|███████▎  | 655/900 [32:53<05:19,  1.30s/it]
 73%|███████▎  | 656/900 [32:53<04:07,  1.01s/it]
 73%|███████▎  | 657/900 [33:20<34:52,  8.61s/it]
 73%|███████▎  | 658/900 [33:20<24:42,  6.13s/it]
 73%|███████▎  | 659/900 [33:20<17:37,  4.39s/it]
 73%|███████▎  | 660/900 [33:21<12:41,  3.17s/it]
 73%|███████▎  | 661/900 [33:21<09:13,  2.32s/it]
 74%|███████▎  | 662/900 [33:21<06:49,  1.72s/it]
 74%|███████▎  | 663/900 [33:22<05:08,  1.30s/it]
 74%|███████▍  | 664/900 [33:22<03:58,  1.01s/it]
 74%|███████▍  | 665/900 [33:36<18:47,  4.80s/it]
 74%|███████▍  | 666/900 [33:36<13:29,  3.46s/it]
 74%|███████▍  | 667/900 [33:36<09:47,  2.52s/it]
 74%|███████▍  | 668/900 [33:37<07:11,  1.86s/it]
 74%|███████▍  | 669/900 [33:37<05:23,  1.40s/it]
 74%|███████▍  | 670/900 [33:37<04:08,  1.08s/it]
 75%|███████▍  | 671/900 [33:38<03:15,  1.17it/s]
 75%|███████▍  | 672/900 [33:38<02:38,  1.44it/s]
 75%|███████▍  | 673/900 [33:51<16:15,  4.30s/it]
 75%|███████▍  | 674/900 [33:51<11:42,  3.11s/it]
 75%|███████▌  | 675/900 [33:51<08:32,  2.28s/it]
 75%|███████▌  | 676/900 [33:52<06:19,  1.69s/it]
 75%|███████▌  | 677/900 [33:52<04:46,  1.28s/it]
 75%|███████▌  | 678/900 [33:52<03:41,  1.00it/s]
 75%|███████▌  | 679/900 [33:53<02:56,  1.26it/s]
 76%|███████▌  | 680/900 [33:53<02:24,  1.52it/s]
 76%|███████▌  | 681/900 [34:23<34:29,  9.45s/it]
 76%|███████▌  | 682/900 [34:23<24:23,  6.71s/it]
 76%|███████▌  | 683/900 [34:24<17:20,  4.80s/it]
 76%|███████▌  | 684/900 [34:24<12:26,  3.46s/it]
 76%|███████▌  | 685/900 [34:24<09:00,  2.52s/it]
 76%|███████▌  | 686/900 [34:25<06:37,  1.86s/it]
 76%|███████▋  | 687/900 [34:25<04:57,  1.40s/it]
 76%|███████▋  | 688/900 [34:25<03:48,  1.08s/it]
 77%|███████▋  | 689/900 [34:57<35:45, 10.17s/it]
 77%|███████▋  | 690/900 [34:57<25:15,  7.22s/it]
 77%|███████▋  | 691/900 [34:57<17:56,  5.15s/it]
 77%|███████▋  | 692/900 [34:58<12:50,  3.70s/it]
 77%|███████▋  | 693/900 [34:58<09:16,  2.69s/it]
 77%|███████▋  | 694/900 [34:58<06:48,  1.98s/it]
 77%|███████▋  | 695/900 [34:59<05:04,  1.49s/it]
 77%|███████▋  | 696/900 [34:59<03:52,  1.14s/it]
 77%|███████▋  | 697/900 [35:25<29:37,  8.76s/it]
 78%|███████▊  | 698/900 [35:26<20:58,  6.23s/it]
 78%|███████▊  | 699/900 [35:26<14:55,  4.46s/it]
 78%|███████▊  | 700/900 [35:26<10:43,  3.22s/it]
 78%|███████▊  | 701/900 [35:27<07:47,  2.35s/it]
 78%|███████▊  | 702/900 [35:27<05:45,  1.75s/it]
 78%|███████▊  | 703/900 [35:27<04:20,  1.32s/it]
 78%|███████▊  | 704/900 [35:28<03:21,  1.03s/it]
 78%|███████▊  | 705/900 [35:56<30:20,  9.34s/it]
 78%|███████▊  | 706/900 [35:57<21:27,  6.64s/it]
 79%|███████▊  | 707/900 [35:57<15:15,  4.74s/it]
 79%|███████▊  | 708/900 [35:57<10:56,  3.42s/it]
 79%|███████▉  | 709/900 [35:58<07:59,  2.51s/it]
 79%|███████▉  | 710/900 [35:58<05:53,  1.86s/it]
 79%|███████▉  | 711/900 [35:59<04:25,  1.40s/it]
 79%|███████▉  | 712/900 [35:59<03:23,  1.08s/it]
 79%|███████▉  | 713/900 [36:37<38:13, 12.26s/it]
 79%|███████▉  | 714/900 [36:38<26:56,  8.69s/it]
 79%|███████▉  | 715/900 [36:38<19:04,  6.19s/it]
 80%|███████▉  | 716/900 [36:38<13:36,  4.44s/it]
 80%|███████▉  | 717/900 [36:39<09:46,  3.21s/it]
 80%|███████▉  | 718/900 [36:39<07:07,  2.35s/it]
 80%|███████▉  | 719/900 [36:39<05:17,  1.76s/it]
 80%|████████  | 720/900 [36:40<03:59,  1.33s/it]
 80%|████████  | 721/900 [37:19<37:41, 12.63s/it]
 80%|████████  | 722/900 [37:19<26:32,  8.95s/it]
 80%|████████  | 723/900 [37:19<18:46,  6.36s/it]
 80%|████████  | 724/900 [37:20<13:22,  4.56s/it]
 81%|████████  | 725/900 [37:20<09:35,  3.29s/it]
 81%|████████  | 726/900 [37:20<06:58,  2.40s/it]
 81%|████████  | 727/900 [37:21<05:08,  1.78s/it]
 81%|████████  | 728/900 [37:21<03:51,  1.35s/it]
 81%|████████  | 729/900 [38:01<36:59, 12.98s/it]
 81%|████████  | 730/900 [38:01<26:01,  9.19s/it]
 81%|████████  | 731/900 [38:02<18:23,  6.53s/it]
 81%|████████▏ | 732/900 [38:02<13:04,  4.67s/it]
 81%|████████▏ | 733/900 [38:02<09:22,  3.37s/it]
 82%|████████▏ | 734/900 [38:03<06:48,  2.46s/it]
 82%|████████▏ | 735/900 [38:03<05:00,  1.82s/it]
 82%|████████▏ | 736/900 [38:03<03:45,  1.38s/it]
 82%|████████▏ | 737/900 [39:29<1:12:10, 26.57s/it]
 82%|████████▏ | 738/900 [39:29<50:28, 18.70s/it]  
 82%|████████▏ | 739/900 [39:29<35:23, 13.19s/it]
 82%|████████▏ | 740/900 [39:30<24:52,  9.33s/it]
 82%|████████▏ | 741/900 [39:30<17:33,  6.63s/it]
 82%|████████▏ | 742/900 [39:30<12:28,  4.74s/it]
 83%|████████▎ | 743/900 [39:31<08:56,  3.42s/it]
 83%|████████▎ | 744/900 [39:31<06:28,  2.49s/it]
 83%|████████▎ | 745/900 [40:19<41:50, 16.19s/it]
 83%|████████▎ | 746/900 [40:20<29:21, 11.44s/it]
 83%|████████▎ | 747/900 [40:20<20:39,  8.10s/it]
 83%|████████▎ | 748/900 [40:20<14:37,  5.77s/it]
 83%|████████▎ | 749/900 [40:21<10:25,  4.14s/it]
 83%|████████▎ | 750/900 [40:21<07:29,  3.00s/it]
 83%|████████▎ | 751/900 [40:21<05:27,  2.20s/it]
 84%|████████▎ | 752/900 [40:22<04:02,  1.64s/it]
 84%|████████▎ | 753/900 [40:37<14:03,  5.74s/it]
 84%|████████▍ | 754/900 [40:37<10:00,  4.12s/it]
 84%|████████▍ | 755/900 [40:38<07:12,  2.98s/it]
 84%|████████▍ | 756/900 [40:38<05:14,  2.19s/it]
 84%|████████▍ | 757/900 [40:38<03:53,  1.63s/it]
 84%|████████▍ | 758/900 [40:39<02:56,  1.24s/it]
 84%|████████▍ | 759/900 [40:39<02:16,  1.03it/s]
 84%|████████▍ | 760/900 [40:39<01:48,  1.29it/s]
 85%|████████▍ | 761/900 [40:54<11:44,  5.07s/it]
 85%|████████▍ | 762/900 [40:55<08:23,  3.65s/it]
 85%|████████▍ | 763/900 [40:55<06:03,  2.66s/it]
 85%|████████▍ | 764/900 [40:55<04:26,  1.96s/it]
 85%|████████▌ | 765/900 [40:56<03:18,  1.47s/it]
 85%|████████▌ | 766/900 [40:56<02:31,  1.13s/it]
 85%|████████▌ | 767/900 [40:56<01:58,  1.13it/s]
 85%|████████▌ | 768/900 [40:57<01:34,  1.39it/s]
 85%|████████▌ | 769/900 [41:17<14:07,  6.47s/it]
 86%|████████▌ | 770/900 [41:17<10:01,  4.63s/it]
 86%|████████▌ | 771/900 [41:17<07:11,  3.34s/it]
 86%|████████▌ | 772/900 [41:18<05:11,  2.44s/it]
 86%|████████▌ | 773/900 [41:18<03:49,  1.81s/it]
 86%|████████▌ | 774/900 [41:18<02:51,  1.36s/it]
 86%|████████▌ | 775/900 [41:19<02:12,  1.06s/it]
 86%|████████▌ | 776/900 [41:19<01:44,  1.19it/s]
 86%|████████▋ | 777/900 [41:35<11:11,  5.46s/it]
 86%|████████▋ | 778/900 [41:35<07:58,  3.92s/it]
 87%|████████▋ | 779/900 [41:36<05:43,  2.84s/it]
 87%|████████▋ | 780/900 [41:36<04:10,  2.09s/it]
 87%|████████▋ | 781/900 [41:36<03:05,  1.56s/it]
 87%|████████▋ | 782/900 [41:37<02:20,  1.19s/it]
 87%|████████▋ | 783/900 [41:37<01:48,  1.08it/s]
 87%|████████▋ | 784/900 [41:37<01:26,  1.34it/s]
 87%|████████▋ | 785/900 [42:08<18:52,  9.85s/it]
 87%|████████▋ | 786/900 [42:09<13:17,  6.99s/it]
 87%|████████▋ | 787/900 [42:09<09:24,  4.99s/it]
 88%|████████▊ | 788/900 [42:09<06:42,  3.60s/it]
 88%|████████▊ | 789/900 [42:10<04:50,  2.62s/it]
 88%|████████▊ | 790/900 [42:10<03:33,  1.94s/it]
 88%|████████▊ | 791/900 [42:10<02:38,  1.46s/it]
 88%|████████▊ | 792/900 [42:11<02:01,  1.12s/it]
 88%|████████▊ | 793/900 [42:25<09:04,  5.09s/it]
 88%|████████▊ | 794/900 [42:26<06:28,  3.66s/it]
 88%|████████▊ | 795/900 [42:26<04:40,  2.67s/it]
 88%|████████▊ | 796/900 [42:26<03:24,  1.97s/it]
 89%|████████▊ | 797/900 [42:27<02:32,  1.48s/it]
 89%|████████▊ | 798/900 [42:27<01:56,  1.15s/it]
 89%|████████▉ | 799/900 [42:27<01:31,  1.11it/s]
 89%|████████▉ | 800/900 [42:28<01:13,  1.37it/s]
 89%|████████▉ | 801/900 [42:42<08:03,  4.88s/it]
 89%|████████▉ | 802/900 [42:42<05:44,  3.51s/it]
 89%|████████▉ | 803/900 [42:43<04:07,  2.55s/it]
 89%|████████▉ | 804/900 [42:43<03:00,  1.88s/it]
 89%|████████▉ | 805/900 [42:43<02:14,  1.41s/it]
 90%|████████▉ | 806/900 [42:44<01:41,  1.08s/it]
 90%|████████▉ | 807/900 [42:44<01:18,  1.18it/s]
 90%|████████▉ | 808/900 [42:44<01:02,  1.48it/s]
 90%|████████▉ | 809/900 [44:05<37:36, 24.80s/it]
 90%|█████████ | 810/900 [44:06<26:10, 17.46s/it]
 90%|█████████ | 811/900 [44:06<18:16, 12.32s/it]
 90%|█████████ | 812/900 [44:06<12:48,  8.73s/it]
 90%|█████████ | 813/900 [44:07<08:59,  6.20s/it]
 90%|█████████ | 814/900 [44:07<06:21,  4.43s/it]
 91%|█████████ | 815/900 [44:07<04:31,  3.19s/it]
 91%|█████████ | 816/900 [44:08<03:15,  2.32s/it]
 91%|█████████ | 817/900 [44:39<15:06, 10.92s/it]
 91%|█████████ | 818/900 [44:39<10:34,  7.74s/it]
 91%|█████████ | 819/900 [44:39<07:27,  5.52s/it]
 91%|█████████ | 820/900 [44:40<05:16,  3.96s/it]
 91%|█████████ | 821/900 [44:40<03:46,  2.86s/it]
 91%|█████████▏| 822/900 [44:40<02:43,  2.09s/it]
 91%|█████████▏| 823/900 [44:40<01:59,  1.56s/it]
 92%|█████████▏| 824/900 [44:41<01:29,  1.18s/it]
 92%|█████████▏| 825/900 [45:07<11:01,  8.82s/it]
 92%|█████████▏| 826/900 [45:08<07:43,  6.27s/it]
 92%|█████████▏| 827/900 [45:08<05:26,  4.48s/it]
 92%|█████████▏| 828/900 [45:08<03:52,  3.23s/it]
 92%|█████████▏| 829/900 [45:09<02:46,  2.35s/it]
 92%|█████████▏| 830/900 [45:09<02:01,  1.74s/it]
 92%|█████████▏| 831/900 [45:09<01:30,  1.31s/it]
 92%|█████████▏| 832/900 [45:10<01:08,  1.01s/it]
 93%|█████████▎| 833/900 [45:31<07:56,  7.11s/it]
 93%|█████████▎| 834/900 [45:31<05:34,  5.07s/it]
 93%|█████████▎| 835/900 [45:32<03:56,  3.64s/it]
 93%|█████████▎| 836/900 [45:32<02:48,  2.64s/it]
 93%|█████████▎| 837/900 [45:32<02:02,  1.94s/it]
 93%|█████████▎| 838/900 [45:32<01:29,  1.45s/it]
 93%|█████████▎| 839/900 [45:33<01:07,  1.11s/it]
 93%|█████████▎| 840/900 [45:33<00:51,  1.16it/s]
 93%|█████████▎| 841/900 [46:14<12:40, 12.88s/it]
 94%|█████████▎| 842/900 [46:14<08:48,  9.11s/it]
 94%|█████████▎| 843/900 [46:15<06:08,  6.47s/it]
 94%|█████████▍| 844/900 [46:15<04:18,  4.62s/it]
 94%|█████████▍| 845/900 [46:15<03:02,  3.32s/it]
 94%|█████████▍| 846/900 [46:15<02:10,  2.42s/it]
 94%|█████████▍| 847/900 [46:16<01:34,  1.78s/it]
 94%|█████████▍| 848/900 [46:16<01:09,  1.34s/it]
 94%|█████████▍| 849/900 [46:52<09:52, 11.62s/it]
 94%|█████████▍| 850/900 [46:52<06:51,  8.23s/it]
 95%|█████████▍| 851/900 [46:52<04:46,  5.85s/it]
 95%|█████████▍| 852/900 [46:53<03:20,  4.18s/it]
 95%|█████████▍| 853/900 [46:53<02:21,  3.02s/it]
 95%|█████████▍| 854/900 [46:53<01:41,  2.21s/it]
 95%|█████████▌| 855/900 [46:54<01:13,  1.64s/it]
 95%|█████████▌| 856/900 [46:54<00:54,  1.24s/it]
 95%|█████████▌| 857/900 [47:10<04:03,  5.66s/it]
 95%|█████████▌| 858/900 [47:10<02:50,  4.05s/it]
 95%|█████████▌| 859/900 [47:10<02:00,  2.93s/it]
 96%|█████████▌| 860/900 [47:11<01:25,  2.14s/it]
 96%|█████████▌| 861/900 [47:11<01:01,  1.59s/it]
 96%|█████████▌| 862/900 [47:11<00:45,  1.20s/it]
 96%|█████████▌| 863/900 [47:12<00:34,  1.07it/s]
 96%|█████████▌| 864/900 [47:12<00:26,  1.34it/s]
 96%|█████████▌| 865/900 [47:46<06:14, 10.71s/it]
 96%|█████████▌| 866/900 [47:46<04:18,  7.60s/it]
 96%|█████████▋| 867/900 [47:47<02:58,  5.41s/it]
 96%|█████████▋| 868/900 [47:47<02:04,  3.88s/it]
 97%|█████████▋| 869/900 [47:47<01:27,  2.81s/it]
 97%|█████████▋| 870/900 [47:47<01:01,  2.06s/it]
 97%|█████████▋| 871/900 [47:48<00:44,  1.53s/it]
 97%|█████████▋| 872/900 [47:48<00:32,  1.17s/it]
 97%|█████████▋| 873/900 [49:12<11:39, 25.89s/it]
 97%|█████████▋| 874/900 [49:12<07:53, 18.22s/it]
 97%|█████████▋| 875/900 [49:12<05:21, 12.84s/it]
 97%|█████████▋| 876/900 [49:13<03:38,  9.08s/it]
 97%|█████████▋| 877/900 [49:13<02:28,  6.45s/it]
 98%|█████████▊| 878/900 [49:13<01:41,  4.61s/it]
 98%|█████████▊| 879/900 [49:14<01:09,  3.32s/it]
 98%|█████████▊| 880/900 [49:14<00:48,  2.42s/it]
 98%|█████████▊| 881/900 [49:50<04:00, 12.67s/it]
 98%|█████████▊| 882/900 [49:51<02:41,  8.96s/it]
 98%|█████████▊| 883/900 [49:51<01:48,  6.36s/it]
 98%|█████████▊| 884/900 [49:51<01:12,  4.54s/it]
 98%|█████████▊| 885/900 [49:52<00:49,  3.27s/it]
 98%|█████████▊| 886/900 [49:52<00:33,  2.39s/it]
 99%|█████████▊| 887/900 [49:52<00:22,  1.76s/it]
 99%|█████████▊| 888/900 [49:53<00:15,  1.32s/it]
 99%|█████████▉| 889/900 [50:08<01:01,  5.57s/it]
 99%|█████████▉| 890/900 [50:08<00:39,  3.99s/it]
 99%|█████████▉| 891/900 [50:09<00:25,  2.88s/it]
 99%|█████████▉| 892/900 [50:09<00:16,  2.11s/it]
 99%|█████████▉| 893/900 [50:09<00:10,  1.56s/it]
 99%|█████████▉| 894/900 [50:10<00:07,  1.19s/it]
 99%|█████████▉| 895/900 [50:10<00:04,  1.09it/s]
100%|█████████▉| 896/900 [50:10<00:02,  1.36it/s]
100%|█████████▉| 897/900 [50:49<00:36, 12.11s/it]
100%|█████████▉| 898/900 [50:49<00:17,  8.57s/it]
100%|█████████▉| 899/900 [50:49<00:06,  6.09s/it]
100%|█████████▉| 899/900 [50:50<00:03,  3.39s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/log_1_env0.json.
+ReorientWhiteMugsTask_1 complete: task_name: ReorientWhiteMugsTask, run_name: ReorientWhiteMugsTask_1, run: 1, env_id: 0, policy: harness, instruction: Make sure all the white mugs are upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -15.838528067137725, 'joint_sparc_mean': -19.375414750135313, 'ee_isj': 57641.873190374856, 'joint_isj': 3101357.709827616, 'ee_path_length': 12.669398082623651, 'joint_rmse_mean': 1.8140176776080517, 'ee_speed_max': 2.022843837738037, 'ee_speed_mean': 0.20836271345615387}, events: {'GRIPPER_HIT_OBJECT': 3, 'WRONG_OBJECT_GRABBED': 7, 'GRIPPER_FULLY_CLOSED': 5, 'OBJECT_BUMPED': 11, 'GRIPPER_HIT_TABLE': 1, 'OBJECT_MOVED': 3, 'MULTIPLE_OBJECTS_GRABBED': 1, 'OBJECT_OUT_OF_SCENE': 1, 'wrong_objects_grabbed': ['upright_white_mug', 'upright_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'red_mug', 'sideways_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 2771.334, 'policy_inference_avg_ms': 3079.3, 'env_step_s': 270.917, 'env_step_avg_ms': 301.0, 'video_write_s': 7.535, 'video_write_avg_ms': 8.4, 'wall_total_s': 3049.786, 'it_per_sec': 0.3}, score: 0.0, reason: Condition not satisfied: object_upright(object=sideways_white_mug, require_gripper_detached=True) (step 2/2), harness_episode_id: bc0eaedcab1342fbba47608e421ad401-1
+[RoboLab] Running ReorientWhiteMugsTask_2: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:30<7:36:47, 30.49s/it]
  0%|          | 2/900 [00:30<3:10:44, 12.74s/it]
  0%|          | 3/900 [00:31<1:45:30,  7.06s/it]
  0%|          | 4/900 [00:31<1:05:31,  4.39s/it]
  1%|          | 5/900 [00:31<43:27,  2.91s/it]  
  1%|          | 6/900 [00:31<30:10,  2.02s/it]
  1%|          | 7/900 [00:32<21:44,  1.46s/it]
  1%|          | 8/900 [00:32<16:12,  1.09s/it]
  1%|          | 9/900 [00:36<31:26,  2.12s/it]
  1%|          | 10/900 [00:37<23:04,  1.56s/it]
  1%|          | 11/900 [00:37<17:20,  1.17s/it]
  1%|▏         | 12/900 [00:37<13:22,  1.11it/s]
  1%|▏         | 13/900 [00:38<10:38,  1.39it/s]
  2%|▏         | 14/900 [00:38<08:42,  1.69it/s]
  2%|▏         | 15/900 [00:38<07:23,  2.00it/s]
  2%|▏         | 16/900 [00:39<06:29,  2.27it/s]
  2%|▏         | 17/900 [00:46<35:59,  2.45s/it]
  2%|▏         | 18/900 [00:46<26:28,  1.80s/it]
  2%|▏         | 19/900 [00:46<19:48,  1.35s/it]
  2%|▏         | 20/900 [00:47<15:09,  1.03s/it]
  2%|▏         | 21/900 [00:47<11:56,  1.23it/s]
  2%|▏         | 22/900 [00:47<09:41,  1.51it/s]
  3%|▎         | 23/900 [00:47<08:04,  1.81it/s]
  3%|▎         | 24/900 [00:48<06:59,  2.09it/s]
  3%|▎         | 25/900 [00:52<23:43,  1.63s/it]
  3%|▎         | 26/900 [00:52<17:54,  1.23s/it]
  3%|▎         | 27/900 [00:53<13:49,  1.05it/s]
  3%|▎         | 28/900 [00:53<10:56,  1.33it/s]
  3%|▎         | 29/900 [00:53<08:56,  1.62it/s]
  3%|▎         | 30/900 [00:54<07:31,  1.93it/s]
  3%|▎         | 31/900 [00:54<06:31,  2.22it/s]
  4%|▎         | 32/900 [00:54<05:49,  2.48it/s]
  4%|▎         | 33/900 [00:59<26:27,  1.83s/it]
  4%|▍         | 34/900 [01:00<19:46,  1.37s/it]
  4%|▍         | 35/900 [01:00<15:08,  1.05s/it]
  4%|▍         | 36/900 [01:00<11:54,  1.21it/s]
  4%|▍         | 37/900 [01:00<09:36,  1.50it/s]
  4%|▍         | 38/900 [01:01<08:00,  1.79it/s]
  4%|▍         | 39/900 [01:01<06:51,  2.09it/s]
  4%|▍         | 40/900 [01:01<06:05,  2.36it/s]
  5%|▍         | 41/900 [01:17<1:11:19,  4.98s/it]
  5%|▍         | 42/900 [01:17<51:07,  3.58s/it]  
  5%|▍         | 43/900 [01:18<37:01,  2.59s/it]
  5%|▍         | 44/900 [01:18<27:08,  1.90s/it]
  5%|▌         | 45/900 [01:18<20:16,  1.42s/it]
  5%|▌         | 46/900 [01:18<15:25,  1.08s/it]
  5%|▌         | 47/900 [01:19<12:02,  1.18it/s]
  5%|▌         | 48/900 [01:19<09:43,  1.46it/s]
  5%|▌         | 49/900 [01:26<37:34,  2.65s/it]
  6%|▌         | 50/900 [01:27<27:31,  1.94s/it]
  6%|▌         | 51/900 [01:27<20:30,  1.45s/it]
  6%|▌         | 52/900 [01:27<15:35,  1.10s/it]
  6%|▌         | 53/900 [01:28<12:10,  1.16it/s]
  6%|▌         | 54/900 [01:28<09:46,  1.44it/s]
  6%|▌         | 55/900 [01:28<08:06,  1.74it/s]
  6%|▌         | 56/900 [01:28<06:57,  2.02it/s]
  6%|▋         | 57/900 [01:47<1:24:05,  5.98s/it]
  6%|▋         | 58/900 [01:48<1:00:03,  4.28s/it]
  7%|▋         | 59/900 [01:48<43:16,  3.09s/it]  
  7%|▋         | 60/900 [01:48<31:31,  2.25s/it]
  7%|▋         | 61/900 [01:48<23:18,  1.67s/it]
  7%|▋         | 62/900 [01:49<17:33,  1.26s/it]
  7%|▋         | 63/900 [01:49<13:33,  1.03it/s]
  7%|▋         | 64/900 [01:49<10:45,  1.29it/s]
  7%|▋         | 65/900 [01:54<27:01,  1.94s/it]
  7%|▋         | 66/900 [01:54<20:06,  1.45s/it]
  7%|▋         | 67/900 [01:55<15:19,  1.10s/it]
  8%|▊         | 68/900 [01:55<11:57,  1.16it/s]
  8%|▊         | 69/900 [01:55<09:37,  1.44it/s]
  8%|▊         | 70/900 [01:56<08:00,  1.73it/s]
  8%|▊         | 71/900 [01:56<06:52,  2.01it/s]
  8%|▊         | 72/900 [01:56<06:10,  2.24it/s]
  8%|▊         | 73/900 [02:07<47:58,  3.48s/it]
  8%|▊         | 74/900 [02:07<34:53,  2.53s/it]
  8%|▊         | 75/900 [02:07<25:42,  1.87s/it]
  8%|▊         | 76/900 [02:08<19:18,  1.41s/it]
  9%|▊         | 77/900 [02:08<14:52,  1.09s/it]
  9%|▊         | 78/900 [02:08<11:43,  1.17it/s]
  9%|▉         | 79/900 [02:09<09:27,  1.45it/s]
  9%|▉         | 80/900 [02:09<07:52,  1.74it/s]
  9%|▉         | 81/900 [02:18<41:49,  3.06s/it]
  9%|▉         | 82/900 [02:18<30:29,  2.24s/it]
  9%|▉         | 83/900 [02:18<22:35,  1.66s/it]
  9%|▉         | 84/900 [02:19<17:02,  1.25s/it]
  9%|▉         | 85/900 [02:19<13:10,  1.03it/s]
 10%|▉         | 86/900 [02:19<10:29,  1.29it/s]
 10%|▉         | 87/900 [02:20<08:37,  1.57it/s]
 10%|▉         | 88/900 [02:20<07:23,  1.83it/s]
 10%|▉         | 89/900 [02:37<1:13:18,  5.42s/it]
 10%|█         | 90/900 [02:37<52:31,  3.89s/it]  
 10%|█         | 91/900 [02:37<37:54,  2.81s/it]
 10%|█         | 92/900 [02:38<27:41,  2.06s/it]
 10%|█         | 93/900 [02:38<20:33,  1.53s/it]
 10%|█         | 94/900 [02:38<15:34,  1.16s/it]
 11%|█         | 95/900 [02:39<12:06,  1.11it/s]
 11%|█         | 96/900 [02:39<09:39,  1.39it/s]
 11%|█         | 97/900 [02:52<59:11,  4.42s/it]
 11%|█         | 98/900 [02:52<42:34,  3.19s/it]
 11%|█         | 99/900 [02:53<30:56,  2.32s/it]
 11%|█         | 100/900 [02:53<22:48,  1.71s/it]
 11%|█         | 101/900 [02:53<17:08,  1.29s/it]
 11%|█▏        | 102/900 [02:53<13:09,  1.01it/s]
 11%|█▏        | 103/900 [02:54<10:22,  1.28it/s]
 12%|█▏        | 104/900 [02:54<08:27,  1.57it/s]
 12%|█▏        | 105/900 [03:05<50:43,  3.83s/it]
 12%|█▏        | 106/900 [03:06<36:38,  2.77s/it]
 12%|█▏        | 107/900 [03:06<26:47,  2.03s/it]
 12%|█▏        | 108/900 [03:06<19:54,  1.51s/it]
 12%|█▏        | 109/900 [03:07<15:03,  1.14s/it]
 12%|█▏        | 110/900 [03:07<11:45,  1.12it/s]
 12%|█▏        | 111/900 [03:07<09:29,  1.38it/s]
 12%|█▏        | 112/900 [03:07<07:58,  1.65it/s]
 13%|█▎        | 113/900 [03:13<26:19,  2.01s/it]
 13%|█▎        | 114/900 [03:13<19:41,  1.50s/it]
 13%|█▎        | 115/900 [03:13<15:03,  1.15s/it]
 13%|█▎        | 116/900 [03:14<11:48,  1.11it/s]
 13%|█▎        | 117/900 [03:14<09:32,  1.37it/s]
 13%|█▎        | 118/900 [03:14<07:57,  1.64it/s]
 13%|█▎        | 119/900 [03:15<06:50,  1.90it/s]
 13%|█▎        | 120/900 [03:15<06:03,  2.15it/s]
 13%|█▎        | 121/900 [03:22<31:18,  2.41s/it]
 14%|█▎        | 122/900 [03:22<23:08,  1.78s/it]
 14%|█▎        | 123/900 [03:23<17:24,  1.34s/it]
 14%|█▍        | 124/900 [03:23<13:25,  1.04s/it]
 14%|█▍        | 125/900 [03:23<10:39,  1.21it/s]
 14%|█▍        | 126/900 [03:24<08:43,  1.48it/s]
 14%|█▍        | 127/900 [03:24<07:23,  1.74it/s]
 14%|█▍        | 128/900 [03:24<06:26,  2.00it/s]
 14%|█▍        | 129/900 [03:29<24:29,  1.91s/it]
 14%|█▍        | 130/900 [03:30<18:22,  1.43s/it]
 15%|█▍        | 131/900 [03:30<14:05,  1.10s/it]
 15%|█▍        | 132/900 [03:30<10:58,  1.17it/s]
 15%|█▍        | 133/900 [03:31<08:50,  1.45it/s]
 15%|█▍        | 134/900 [03:31<07:20,  1.74it/s]
 15%|█▌        | 135/900 [03:31<06:16,  2.03it/s]
 15%|█▌        | 136/900 [03:32<05:31,  2.30it/s]
 15%|█▌        | 137/900 [03:48<1:04:42,  5.09s/it]
 15%|█▌        | 138/900 [03:48<46:25,  3.66s/it]  
 15%|█▌        | 139/900 [03:48<33:38,  2.65s/it]
 16%|█▌        | 140/900 [03:48<24:40,  1.95s/it]
 16%|█▌        | 141/900 [03:49<18:21,  1.45s/it]
 16%|█▌        | 142/900 [03:49<13:57,  1.11s/it]
 16%|█▌        | 143/900 [03:49<10:53,  1.16it/s]
 16%|█▌        | 144/900 [03:50<08:45,  1.44it/s]
 16%|█▌        | 145/900 [03:57<32:11,  2.56s/it]
 16%|█▌        | 146/900 [03:57<23:37,  1.88s/it]
 16%|█▋        | 147/900 [03:57<17:37,  1.40s/it]
 16%|█▋        | 148/900 [03:57<13:26,  1.07s/it]
 17%|█▋        | 149/900 [03:58<10:31,  1.19it/s]
 17%|█▋        | 150/900 [03:58<08:30,  1.47it/s]
 17%|█▋        | 151/900 [03:58<07:10,  1.74it/s]
 17%|█▋        | 152/900 [03:59<06:14,  2.00it/s]
 17%|█▋        | 153/900 [04:10<47:48,  3.84s/it]
 17%|█▋        | 154/900 [04:11<34:37,  2.79s/it]
 17%|█▋        | 155/900 [04:11<25:28,  2.05s/it]
 17%|█▋        | 156/900 [04:11<19:01,  1.53s/it]
 17%|█▋        | 157/900 [04:12<14:30,  1.17s/it]
 18%|█▊        | 158/900 [04:12<11:20,  1.09it/s]
 18%|█▊        | 159/900 [04:12<09:07,  1.35it/s]
 18%|█▊        | 160/900 [04:13<07:33,  1.63it/s]
 18%|█▊        | 161/900 [04:20<31:59,  2.60s/it]
 18%|█▊        | 162/900 [04:20<23:37,  1.92s/it]
 18%|█▊        | 163/900 [04:21<17:42,  1.44s/it]
 18%|█▊        | 164/900 [04:21<13:34,  1.11s/it]
 18%|█▊        | 165/900 [04:21<10:40,  1.15it/s]
 18%|█▊        | 166/900 [04:22<08:38,  1.42it/s]
 19%|█▊        | 167/900 [04:22<07:14,  1.69it/s]
 19%|█▊        | 168/900 [04:22<06:15,  1.95it/s]
 19%|█▉        | 169/900 [04:36<53:34,  4.40s/it]
 19%|█▉        | 170/900 [04:36<38:31,  3.17s/it]
 19%|█▉        | 171/900 [04:36<28:02,  2.31s/it]
 19%|█▉        | 172/900 [04:37<20:51,  1.72s/it]
 19%|█▉        | 173/900 [04:37<15:38,  1.29s/it]
 19%|█▉        | 174/900 [04:37<12:01,  1.01it/s]
 19%|█▉        | 175/900 [04:37<09:29,  1.27it/s]
 20%|█▉        | 176/900 [04:38<07:42,  1.56it/s]
 20%|█▉        | 177/900 [04:48<42:28,  3.53s/it]
 20%|█▉        | 178/900 [04:48<30:46,  2.56s/it]
 20%|█▉        | 179/900 [04:49<22:35,  1.88s/it]
 20%|██        | 180/900 [04:49<16:53,  1.41s/it]
 20%|██        | 181/900 [04:49<12:54,  1.08s/it]
 20%|██        | 182/900 [04:50<10:04,  1.19it/s]
 20%|██        | 183/900 [04:50<08:07,  1.47it/s]
 20%|██        | 184/900 [04:50<06:48,  1.75it/s]
 21%|██        | 185/900 [05:01<45:05,  3.78s/it]
 21%|██        | 186/900 [05:02<32:34,  2.74s/it]
 21%|██        | 187/900 [05:02<23:50,  2.01s/it]
 21%|██        | 188/900 [05:02<17:42,  1.49s/it]
 21%|██        | 189/900 [05:03<13:27,  1.14s/it]
 21%|██        | 190/900 [05:03<10:29,  1.13it/s]
 21%|██        | 191/900 [05:03<08:24,  1.41it/s]
 21%|██▏       | 192/900 [05:04<06:56,  1.70it/s]
 21%|██▏       | 193/900 [05:10<28:00,  2.38s/it]
 22%|██▏       | 194/900 [05:10<20:37,  1.75s/it]
 22%|██▏       | 195/900 [05:11<15:26,  1.31s/it]
 22%|██▏       | 196/900 [05:11<11:50,  1.01s/it]
 22%|██▏       | 197/900 [05:11<09:19,  1.26it/s]
 22%|██▏       | 198/900 [05:12<07:35,  1.54it/s]
 22%|██▏       | 199/900 [05:12<06:27,  1.81it/s]
 22%|██▏       | 200/900 [05:12<05:34,  2.09it/s]
 22%|██▏       | 201/900 [05:31<1:08:57,  5.92s/it]
 22%|██▏       | 202/900 [05:31<49:16,  4.24s/it]  
 23%|██▎       | 203/900 [05:31<35:29,  3.06s/it]
 23%|██▎       | 204/900 [05:32<25:50,  2.23s/it]
 23%|██▎       | 205/900 [05:32<19:08,  1.65s/it]
 23%|██▎       | 206/900 [05:32<14:26,  1.25s/it]
 23%|██▎       | 207/900 [05:33<11:11,  1.03it/s]
 23%|██▎       | 208/900 [05:33<08:56,  1.29it/s]
 23%|██▎       | 209/900 [05:49<1:03:14,  5.49s/it]
 23%|██▎       | 210/900 [05:50<45:16,  3.94s/it]  
 23%|██▎       | 211/900 [05:50<32:45,  2.85s/it]
 24%|██▎       | 212/900 [05:50<23:59,  2.09s/it]
 24%|██▎       | 213/900 [05:51<17:53,  1.56s/it]
 24%|██▍       | 214/900 [05:51<13:35,  1.19s/it]
 24%|██▍       | 215/900 [05:51<10:36,  1.08it/s]
 24%|██▍       | 216/900 [05:52<08:30,  1.34it/s]
 24%|██▍       | 217/900 [06:03<42:57,  3.77s/it]
 24%|██▍       | 218/900 [06:03<31:10,  2.74s/it]
 24%|██▍       | 219/900 [06:03<22:53,  2.02s/it]
 24%|██▍       | 220/900 [06:04<17:07,  1.51s/it]
 25%|██▍       | 221/900 [06:04<13:04,  1.15s/it]
 25%|██▍       | 222/900 [06:04<10:15,  1.10it/s]
 25%|██▍       | 223/900 [06:05<08:17,  1.36it/s]
 25%|██▍       | 224/900 [06:05<06:54,  1.63it/s]
 25%|██▌       | 225/900 [06:13<32:13,  2.86s/it]
 25%|██▌       | 226/900 [06:13<23:35,  2.10s/it]
 25%|██▌       | 227/900 [06:14<17:36,  1.57s/it]
 25%|██▌       | 228/900 [06:14<13:23,  1.20s/it]
 25%|██▌       | 229/900 [06:14<10:27,  1.07it/s]
 26%|██▌       | 230/900 [06:15<08:22,  1.33it/s]
 26%|██▌       | 231/900 [06:15<06:56,  1.61it/s]
 26%|██▌       | 232/900 [06:15<05:55,  1.88it/s]
 26%|██▌       | 233/900 [06:22<25:25,  2.29s/it]
 26%|██▌       | 234/900 [06:22<18:57,  1.71s/it]
 26%|██▌       | 235/900 [06:22<14:20,  1.29s/it]
 26%|██▌       | 236/900 [06:23<11:04,  1.00s/it]
 26%|██▋       | 237/900 [06:23<08:52,  1.25it/s]
 26%|██▋       | 238/900 [06:23<07:17,  1.51it/s]
 27%|██▋       | 239/900 [06:24<06:10,  1.78it/s]
 27%|██▋       | 240/900 [06:24<05:23,  2.04it/s]
 27%|██▋       | 241/900 [06:36<43:21,  3.95s/it]
 27%|██▋       | 242/900 [06:36<31:17,  2.85s/it]
 27%|██▋       | 243/900 [06:37<22:51,  2.09s/it]
 27%|██▋       | 244/900 [06:37<16:57,  1.55s/it]
 27%|██▋       | 245/900 [06:37<12:50,  1.18s/it]
 27%|██▋       | 246/900 [06:37<09:56,  1.10it/s]
 27%|██▋       | 247/900 [06:38<07:56,  1.37it/s]
 28%|██▊       | 248/900 [06:38<06:32,  1.66it/s]
 28%|██▊       | 249/900 [06:45<27:37,  2.55s/it]
 28%|██▊       | 250/900 [06:45<20:16,  1.87s/it]
 28%|██▊       | 251/900 [06:46<15:08,  1.40s/it]
 28%|██▊       | 252/900 [06:46<11:35,  1.07s/it]
 28%|██▊       | 253/900 [06:46<09:03,  1.19it/s]
 28%|██▊       | 254/900 [06:47<07:16,  1.48it/s]
 28%|██▊       | 255/900 [06:47<06:02,  1.78it/s]
 28%|██▊       | 256/900 [06:47<05:13,  2.06it/s]
 29%|██▊       | 257/900 [06:53<22:34,  2.11s/it]
 29%|██▊       | 258/900 [06:53<16:43,  1.56s/it]
 29%|██▉       | 259/900 [06:54<12:40,  1.19s/it]
 29%|██▉       | 260/900 [06:54<09:51,  1.08it/s]
 29%|██▉       | 261/900 [06:54<07:51,  1.36it/s]
 29%|██▉       | 262/900 [06:55<06:26,  1.65it/s]
 29%|██▉       | 263/900 [06:55<05:31,  1.92it/s]
 29%|██▉       | 264/900 [06:55<04:52,  2.17it/s]
 29%|██▉       | 265/900 [07:02<25:14,  2.39s/it]
 30%|██▉       | 266/900 [07:03<18:41,  1.77s/it]
 30%|██▉       | 267/900 [07:03<14:04,  1.33s/it]
 30%|██▉       | 268/900 [07:03<10:48,  1.03s/it]
 30%|██▉       | 269/900 [07:03<08:33,  1.23it/s]
 30%|███       | 270/900 [07:04<07:00,  1.50it/s]
 30%|███       | 271/900 [07:04<05:55,  1.77it/s]
 30%|███       | 272/900 [07:04<05:14,  2.00it/s]
 30%|███       | 273/900 [07:10<21:31,  2.06s/it]
 30%|███       | 274/900 [07:10<16:01,  1.54s/it]
 31%|███       | 275/900 [07:11<12:13,  1.17s/it]
 31%|███       | 276/900 [07:11<09:32,  1.09it/s]
 31%|███       | 277/900 [07:11<07:38,  1.36it/s]
 31%|███       | 278/900 [07:12<06:18,  1.64it/s]
 31%|███       | 279/900 [07:12<05:24,  1.91it/s]
 31%|███       | 280/900 [07:12<04:43,  2.18it/s]
 31%|███       | 281/900 [07:19<23:15,  2.25s/it]
 31%|███▏      | 282/900 [07:19<17:14,  1.67s/it]
 31%|███▏      | 283/900 [07:19<13:01,  1.27s/it]
 32%|███▏      | 284/900 [07:20<10:05,  1.02it/s]
 32%|███▏      | 285/900 [07:20<08:01,  1.28it/s]
 32%|███▏      | 286/900 [07:20<06:34,  1.56it/s]
 32%|███▏      | 287/900 [07:21<05:28,  1.87it/s]
 32%|███▏      | 288/900 [07:21<04:43,  2.16it/s]
 32%|███▏      | 289/900 [07:29<27:10,  2.67s/it]
 32%|███▏      | 290/900 [07:29<19:52,  1.96s/it]
 32%|███▏      | 291/900 [07:29<14:48,  1.46s/it]
 32%|███▏      | 292/900 [07:30<11:16,  1.11s/it]
 33%|███▎      | 293/900 [07:30<08:49,  1.15it/s]
 33%|███▎      | 294/900 [07:30<07:05,  1.42it/s]
 33%|███▎      | 295/900 [07:31<05:52,  1.71it/s]
 33%|███▎      | 296/900 [07:31<05:01,  2.00it/s]
 33%|███▎      | 297/900 [07:51<1:05:04,  6.47s/it]
 33%|███▎      | 298/900 [07:52<46:21,  4.62s/it]  
 33%|███▎      | 299/900 [07:52<33:17,  3.32s/it]
 33%|███▎      | 300/900 [07:52<24:10,  2.42s/it]
 33%|███▎      | 301/900 [07:53<17:45,  1.78s/it]
 34%|███▎      | 302/900 [07:53<13:15,  1.33s/it]
 34%|███▎      | 303/900 [07:53<10:07,  1.02s/it]
 34%|███▍      | 304/900 [07:53<07:57,  1.25it/s]
 34%|███▍      | 305/900 [08:01<27:23,  2.76s/it]
 34%|███▍      | 306/900 [08:01<20:01,  2.02s/it]
 34%|███▍      | 307/900 [08:01<14:51,  1.50s/it]
 34%|███▍      | 308/900 [08:02<11:16,  1.14s/it]
 34%|███▍      | 309/900 [08:02<08:46,  1.12it/s]
 34%|███▍      | 310/900 [08:02<07:01,  1.40it/s]
 35%|███▍      | 311/900 [08:03<05:48,  1.69it/s]
 35%|███▍      | 312/900 [08:03<04:57,  1.97it/s]
 35%|███▍      | 313/900 [08:21<55:38,  5.69s/it]
 35%|███▍      | 314/900 [08:21<39:49,  4.08s/it]
 35%|███▌      | 315/900 [08:21<28:45,  2.95s/it]
 35%|███▌      | 316/900 [08:22<21:02,  2.16s/it]
 35%|███▌      | 317/900 [08:22<15:42,  1.62s/it]
 35%|███▌      | 318/900 [08:22<12:00,  1.24s/it]
 35%|███▌      | 319/900 [08:23<09:19,  1.04it/s]
 36%|███▌      | 320/900 [08:23<07:26,  1.30it/s]
 36%|███▌      | 321/900 [08:30<27:09,  2.81s/it]
 36%|███▌      | 322/900 [08:31<19:55,  2.07s/it]
 36%|███▌      | 323/900 [08:31<14:54,  1.55s/it]
 36%|███▌      | 324/900 [08:31<11:21,  1.18s/it]
 36%|███▌      | 325/900 [08:32<08:53,  1.08it/s]
 36%|███▌      | 326/900 [08:32<07:09,  1.34it/s]
 36%|███▋      | 327/900 [08:32<05:55,  1.61it/s]
 36%|███▋      | 328/900 [08:33<05:04,  1.88it/s]
 37%|███▋      | 329/900 [08:53<1:01:01,  6.41s/it]
 37%|███▋      | 330/900 [08:53<43:30,  4.58s/it]  
 37%|███▋      | 331/900 [08:54<31:15,  3.30s/it]
 37%|███▋      | 332/900 [08:54<22:41,  2.40s/it]
 37%|███▋      | 333/900 [08:54<16:40,  1.76s/it]
 37%|███▋      | 334/900 [08:54<12:30,  1.33s/it]
 37%|███▋      | 335/900 [08:55<09:36,  1.02s/it]
 37%|███▋      | 336/900 [08:55<07:35,  1.24it/s]
 37%|███▋      | 337/900 [09:08<40:26,  4.31s/it]
 38%|███▊      | 338/900 [09:08<29:13,  3.12s/it]
 38%|███▊      | 339/900 [09:08<21:21,  2.28s/it]
 38%|███▊      | 340/900 [09:09<15:51,  1.70s/it]
 38%|███▊      | 341/900 [09:09<12:00,  1.29s/it]
 38%|███▊      | 342/900 [09:09<09:18,  1.00s/it]
 38%|███▊      | 343/900 [09:10<07:26,  1.25it/s]
 38%|███▊      | 344/900 [09:10<06:06,  1.52it/s]
 38%|███▊      | 345/900 [09:40<1:27:32,  9.46s/it]
 38%|███▊      | 346/900 [09:40<1:02:00,  6.72s/it]
 39%|███▊      | 347/900 [09:40<44:08,  4.79s/it]  
 39%|███▊      | 348/900 [09:41<31:42,  3.45s/it]
 39%|███▉      | 349/900 [09:41<22:57,  2.50s/it]
 39%|███▉      | 350/900 [09:41<16:52,  1.84s/it]
 39%|███▉      | 351/900 [09:42<12:35,  1.38s/it]
 39%|███▉      | 352/900 [09:42<09:38,  1.06s/it]
 39%|███▉      | 353/900 [10:07<1:15:11,  8.25s/it]
 39%|███▉      | 354/900 [10:07<53:22,  5.86s/it]  
 39%|███▉      | 355/900 [10:08<38:07,  4.20s/it]
 40%|███▉      | 356/900 [10:08<27:27,  3.03s/it]
 40%|███▉      | 357/900 [10:08<19:59,  2.21s/it]
 40%|███▉      | 358/900 [10:09<14:47,  1.64s/it]
 40%|███▉      | 359/900 [10:09<11:08,  1.24s/it]
 40%|████      | 360/900 [10:09<08:37,  1.04it/s]
 40%|████      | 361/900 [10:16<25:49,  2.87s/it]
 40%|████      | 362/900 [10:17<18:51,  2.10s/it]
 40%|████      | 363/900 [10:17<14:00,  1.57s/it]
 40%|████      | 364/900 [10:17<10:37,  1.19s/it]
 41%|████      | 365/900 [10:18<08:14,  1.08it/s]
 41%|████      | 366/900 [10:18<06:34,  1.35it/s]
 41%|████      | 367/900 [10:18<05:23,  1.65it/s]
 41%|████      | 368/900 [10:19<04:38,  1.91it/s]
 41%|████      | 369/900 [10:40<1:01:09,  6.91s/it]
 41%|████      | 370/900 [10:41<43:34,  4.93s/it]  
 41%|████      | 371/900 [10:41<31:18,  3.55s/it]
 41%|████▏     | 372/900 [10:41<22:44,  2.58s/it]
 41%|████▏     | 373/900 [10:42<16:47,  1.91s/it]
 42%|████▏     | 374/900 [10:42<12:36,  1.44s/it]
 42%|████▏     | 375/900 [10:42<09:40,  1.10s/it]
 42%|████▏     | 376/900 [10:43<07:36,  1.15it/s]
 42%|████▏     | 377/900 [10:49<22:53,  2.63s/it]
 42%|████▏     | 378/900 [10:50<16:49,  1.93s/it]
 42%|████▏     | 379/900 [10:50<12:34,  1.45s/it]
 42%|████▏     | 380/900 [10:50<09:37,  1.11s/it]
 42%|████▏     | 381/900 [10:51<07:34,  1.14it/s]
 42%|████▏     | 382/900 [10:51<06:06,  1.41it/s]
 43%|████▎     | 383/900 [10:51<05:05,  1.69it/s]
 43%|████▎     | 384/900 [10:52<04:23,  1.96it/s]
 43%|████▎     | 385/900 [11:12<56:32,  6.59s/it]
 43%|████▎     | 386/900 [11:13<40:22,  4.71s/it]
 43%|████▎     | 387/900 [11:13<29:03,  3.40s/it]
 43%|████▎     | 388/900 [11:13<21:06,  2.47s/it]
 43%|████▎     | 389/900 [11:14<15:29,  1.82s/it]
 43%|████▎     | 390/900 [11:14<11:35,  1.36s/it]
 43%|████▎     | 391/900 [11:14<08:53,  1.05s/it]
 44%|████▎     | 392/900 [11:15<07:00,  1.21it/s]
 44%|████▎     | 393/900 [11:26<33:29,  3.96s/it]
 44%|████▍     | 394/900 [11:26<24:10,  2.87s/it]
 44%|████▍     | 395/900 [11:27<17:38,  2.10s/it]
 44%|████▍     | 396/900 [11:27<13:05,  1.56s/it]
 44%|████▍     | 397/900 [11:27<09:53,  1.18s/it]
 44%|████▍     | 398/900 [11:27<07:41,  1.09it/s]
 44%|████▍     | 399/900 [11:28<06:11,  1.35it/s]
 44%|████▍     | 400/900 [11:28<05:07,  1.62it/s]
 45%|████▍     | 401/900 [11:36<23:13,  2.79s/it]
 45%|████▍     | 402/900 [11:36<17:00,  2.05s/it]
 45%|████▍     | 403/900 [11:37<12:39,  1.53s/it]
 45%|████▍     | 404/900 [11:37<09:36,  1.16s/it]
 45%|████▌     | 405/900 [11:37<07:29,  1.10it/s]
 45%|████▌     | 406/900 [11:38<06:00,  1.37it/s]
 45%|████▌     | 407/900 [11:38<04:57,  1.66it/s]
 45%|████▌     | 408/900 [11:38<04:14,  1.93it/s]
 45%|████▌     | 409/900 [11:46<22:37,  2.76s/it]
 46%|████▌     | 410/900 [11:47<16:36,  2.03s/it]
 46%|████▌     | 411/900 [11:47<12:24,  1.52s/it]
 46%|████▌     | 412/900 [11:47<09:29,  1.17s/it]
 46%|████▌     | 413/900 [11:48<07:24,  1.10it/s]
 46%|████▌     | 414/900 [11:48<05:59,  1.35it/s]
 46%|████▌     | 415/900 [11:48<05:00,  1.61it/s]
 46%|████▌     | 416/900 [11:49<04:16,  1.89it/s]
 46%|████▋     | 417/900 [12:09<52:12,  6.49s/it]
 46%|████▋     | 418/900 [12:09<37:13,  4.63s/it]
 47%|████▋     | 419/900 [12:10<26:46,  3.34s/it]
 47%|████▋     | 420/900 [12:10<19:27,  2.43s/it]
 47%|████▋     | 421/900 [12:10<14:20,  1.80s/it]
 47%|████▋     | 422/900 [12:10<10:46,  1.35s/it]
 47%|████▋     | 423/900 [12:11<08:17,  1.04s/it]
 47%|████▋     | 424/900 [12:11<06:32,  1.21it/s]
 47%|████▋     | 425/900 [12:30<48:23,  6.11s/it]
 47%|████▋     | 426/900 [12:30<34:31,  4.37s/it]
 47%|████▋     | 427/900 [12:30<24:49,  3.15s/it]
 48%|████▊     | 428/900 [12:30<18:03,  2.30s/it]
 48%|████▊     | 429/900 [12:31<13:20,  1.70s/it]
 48%|████▊     | 430/900 [12:31<10:04,  1.29s/it]
 48%|████▊     | 431/900 [12:31<07:47,  1.00it/s]
 48%|████▊     | 432/900 [12:32<06:10,  1.26it/s]
 48%|████▊     | 433/900 [12:44<33:21,  4.29s/it]
 48%|████▊     | 434/900 [12:44<23:59,  3.09s/it]
 48%|████▊     | 435/900 [12:45<17:28,  2.25s/it]
 48%|████▊     | 436/900 [12:45<12:53,  1.67s/it]
 49%|████▊     | 437/900 [12:45<09:41,  1.26s/it]
 49%|████▊     | 438/900 [12:46<07:27,  1.03it/s]
 49%|████▉     | 439/900 [12:46<05:52,  1.31it/s]
 49%|████▉     | 440/900 [12:46<04:46,  1.60it/s]
 49%|████▉     | 441/900 [12:58<31:22,  4.10s/it]
 49%|████▉     | 442/900 [12:59<22:36,  2.96s/it]
 49%|████▉     | 443/900 [12:59<16:30,  2.17s/it]
 49%|████▉     | 444/900 [12:59<12:15,  1.61s/it]
 49%|████▉     | 445/900 [13:00<09:15,  1.22s/it]
 50%|████▉     | 446/900 [13:00<07:09,  1.06it/s]
 50%|████▉     | 447/900 [13:00<05:39,  1.33it/s]
 50%|████▉     | 448/900 [13:01<04:37,  1.63it/s]
 50%|████▉     | 449/900 [13:07<18:42,  2.49s/it]
 50%|█████     | 450/900 [13:08<13:45,  1.83s/it]
 50%|█████     | 451/900 [13:08<10:19,  1.38s/it]
 50%|█████     | 452/900 [13:08<07:55,  1.06s/it]
 50%|█████     | 453/900 [13:09<06:12,  1.20it/s]
 50%|█████     | 454/900 [13:09<05:00,  1.48it/s]
 51%|█████     | 455/900 [13:09<04:09,  1.78it/s]
 51%|█████     | 456/900 [13:10<03:34,  2.07it/s]
 51%|█████     | 457/900 [13:19<24:02,  3.26s/it]
 51%|█████     | 458/900 [13:20<17:27,  2.37s/it]
 51%|█████     | 459/900 [13:20<12:52,  1.75s/it]
 51%|█████     | 460/900 [13:20<09:37,  1.31s/it]
 51%|█████     | 461/900 [13:21<07:24,  1.01s/it]
 51%|█████▏    | 462/900 [13:21<05:49,  1.25it/s]
 51%|█████▏    | 463/900 [13:21<04:45,  1.53it/s]
 52%|█████▏    | 464/900 [13:21<04:02,  1.80it/s]
 52%|█████▏    | 465/900 [13:32<25:29,  3.52s/it]
 52%|█████▏    | 466/900 [13:32<18:27,  2.55s/it]
 52%|█████▏    | 467/900 [13:33<13:31,  1.87s/it]
 52%|█████▏    | 468/900 [13:33<10:05,  1.40s/it]
 52%|█████▏    | 469/900 [13:33<07:40,  1.07s/it]
 52%|█████▏    | 470/900 [13:33<05:59,  1.20it/s]
 52%|█████▏    | 471/900 [13:34<04:48,  1.49it/s]
 52%|█████▏    | 472/900 [13:34<04:00,  1.78it/s]
 53%|█████▎    | 473/900 [13:46<28:48,  4.05s/it]
 53%|█████▎    | 474/900 [13:46<20:44,  2.92s/it]
 53%|█████▎    | 475/900 [13:47<15:05,  2.13s/it]
 53%|█████▎    | 476/900 [13:47<11:09,  1.58s/it]
 53%|█████▎    | 477/900 [13:47<08:23,  1.19s/it]
 53%|█████▎    | 478/900 [13:48<06:29,  1.08it/s]
 53%|█████▎    | 479/900 [13:48<05:09,  1.36it/s]
 53%|█████▎    | 480/900 [13:48<04:16,  1.64it/s]
 53%|█████▎    | 481/900 [14:00<28:30,  4.08s/it]
 54%|█████▎    | 482/900 [14:01<20:36,  2.96s/it]
 54%|█████▎    | 483/900 [14:01<15:04,  2.17s/it]
 54%|█████▍    | 484/900 [14:01<11:09,  1.61s/it]
 54%|█████▍    | 485/900 [14:02<08:29,  1.23s/it]
 54%|█████▍    | 486/900 [14:02<06:35,  1.05it/s]
 54%|█████▍    | 487/900 [14:02<05:14,  1.31it/s]
 54%|█████▍    | 488/900 [14:03<04:19,  1.58it/s]
 54%|█████▍    | 489/900 [14:13<24:55,  3.64s/it]
 54%|█████▍    | 490/900 [14:14<18:03,  2.64s/it]
 55%|█████▍    | 491/900 [14:14<13:16,  1.95s/it]
 55%|█████▍    | 492/900 [14:14<09:54,  1.46s/it]
 55%|█████▍    | 493/900 [14:15<07:35,  1.12s/it]
 55%|█████▍    | 494/900 [14:15<05:56,  1.14it/s]
 55%|█████▌    | 495/900 [14:15<04:47,  1.41it/s]
 55%|█████▌    | 496/900 [14:16<03:59,  1.69it/s]
 55%|█████▌    | 497/900 [14:28<27:58,  4.16s/it]
 55%|█████▌    | 498/900 [14:28<20:11,  3.01s/it]
 55%|█████▌    | 499/900 [14:29<14:45,  2.21s/it]
 56%|█████▌    | 500/900 [14:30<11:51,  1.78s/it]
 56%|█████▌    | 501/900 [14:30<08:54,  1.34s/it]
 56%|█████▌    | 502/900 [14:30<06:49,  1.03s/it]
 56%|█████▌    | 503/900 [14:30<05:21,  1.23it/s]
 56%|█████▌    | 504/900 [14:31<04:20,  1.52it/s]
 56%|█████▌    | 505/900 [14:46<33:21,  5.07s/it]
 56%|█████▌    | 506/900 [14:46<23:53,  3.64s/it]
 56%|█████▋    | 507/900 [14:47<17:16,  2.64s/it]
 56%|█████▋    | 508/900 [14:47<12:43,  1.95s/it]
 57%|█████▋    | 509/900 [14:47<09:30,  1.46s/it]
 57%|█████▋    | 510/900 [14:48<07:14,  1.11s/it]
 57%|█████▋    | 511/900 [14:48<05:40,  1.14it/s]
 57%|█████▋    | 512/900 [14:48<04:34,  1.41it/s]
 57%|█████▋    | 513/900 [14:58<21:26,  3.33s/it]
 57%|█████▋    | 514/900 [14:58<15:33,  2.42s/it]
 57%|█████▋    | 515/900 [14:58<11:25,  1.78s/it]
 57%|█████▋    | 516/900 [14:59<08:30,  1.33s/it]
 57%|█████▋    | 517/900 [14:59<06:29,  1.02s/it]
 58%|█████▊    | 518/900 [14:59<05:06,  1.25it/s]
 58%|█████▊    | 519/900 [14:59<04:07,  1.54it/s]
 58%|█████▊    | 520/900 [15:00<03:26,  1.84it/s]
 58%|█████▊    | 521/900 [15:11<23:23,  3.70s/it]
 58%|█████▊    | 522/900 [15:11<16:53,  2.68s/it]
 58%|█████▊    | 523/900 [15:11<12:20,  1.96s/it]
 58%|█████▊    | 524/900 [15:12<09:09,  1.46s/it]
 58%|█████▊    | 525/900 [15:12<06:57,  1.11s/it]
 58%|█████▊    | 526/900 [15:12<05:24,  1.15it/s]
 59%|█████▊    | 527/900 [15:13<04:19,  1.44it/s]
 59%|█████▊    | 528/900 [15:13<03:33,  1.74it/s]
 59%|█████▉    | 529/900 [15:30<34:38,  5.60s/it]
 59%|█████▉    | 530/900 [15:31<24:43,  4.01s/it]
 59%|█████▉    | 531/900 [15:31<17:48,  2.90s/it]
 59%|█████▉    | 532/900 [15:31<12:58,  2.12s/it]
 59%|█████▉    | 533/900 [15:31<09:35,  1.57s/it]
 59%|█████▉    | 534/900 [15:32<07:14,  1.19s/it]
 59%|█████▉    | 535/900 [15:32<05:35,  1.09it/s]
 60%|█████▉    | 536/900 [15:32<04:26,  1.36it/s]
 60%|█████▉    | 537/900 [15:51<36:30,  6.03s/it]
 60%|█████▉    | 538/900 [15:51<26:06,  4.33s/it]
 60%|█████▉    | 539/900 [15:51<18:46,  3.12s/it]
 60%|██████    | 540/900 [15:52<13:39,  2.28s/it]
 60%|██████    | 541/900 [15:52<10:04,  1.68s/it]
 60%|██████    | 542/900 [15:52<07:33,  1.27s/it]
 60%|██████    | 543/900 [15:53<05:49,  1.02it/s]
 60%|██████    | 544/900 [15:53<04:35,  1.29it/s]
 61%|██████    | 545/900 [16:11<35:25,  5.99s/it]
 61%|██████    | 546/900 [16:11<25:17,  4.29s/it]
 61%|██████    | 547/900 [16:12<18:15,  3.10s/it]
 61%|██████    | 548/900 [16:12<13:18,  2.27s/it]
 61%|██████    | 549/900 [16:12<09:51,  1.69s/it]
 61%|██████    | 550/900 [16:13<07:28,  1.28s/it]
 61%|██████    | 551/900 [16:13<05:46,  1.01it/s]
 61%|██████▏   | 552/900 [16:13<04:36,  1.26it/s]
 61%|██████▏   | 553/900 [16:40<49:22,  8.54s/it]
 62%|██████▏   | 554/900 [16:40<35:01,  6.07s/it]
 62%|██████▏   | 555/900 [16:41<24:59,  4.35s/it]
 62%|██████▏   | 556/900 [16:41<18:00,  3.14s/it]
 62%|██████▏   | 557/900 [16:41<13:08,  2.30s/it]
 62%|██████▏   | 558/900 [16:42<09:43,  1.70s/it]
 62%|██████▏   | 559/900 [16:42<07:19,  1.29s/it]
 62%|██████▏   | 560/900 [16:42<05:39,  1.00it/s]
 62%|██████▏   | 561/900 [17:06<43:37,  7.72s/it]
 62%|██████▏   | 562/900 [17:06<31:00,  5.50s/it]
 63%|██████▎   | 563/900 [17:06<22:11,  3.95s/it]
 63%|██████▎   | 564/900 [17:07<16:02,  2.86s/it]
 63%|██████▎   | 565/900 [17:07<11:44,  2.10s/it]
 63%|██████▎   | 566/900 [17:07<08:43,  1.57s/it]
 63%|██████▎   | 567/900 [17:08<06:38,  1.20s/it]
 63%|██████▎   | 568/900 [17:08<05:10,  1.07it/s]
 63%|██████▎   | 569/900 [17:19<22:02,  3.99s/it]
 63%|██████▎   | 570/900 [17:19<15:55,  2.89s/it]
 63%|██████▎   | 571/900 [17:20<11:38,  2.12s/it]
 64%|██████▎   | 572/900 [17:20<08:39,  1.58s/it]
 64%|██████▎   | 573/900 [17:20<06:35,  1.21s/it]
 64%|██████▍   | 574/900 [17:21<05:07,  1.06it/s]
 64%|██████▍   | 575/900 [17:21<04:10,  1.30it/s]
 64%|██████▍   | 576/900 [17:21<03:25,  1.58it/s]
 64%|██████▍   | 577/900 [17:34<22:35,  4.20s/it]
 64%|██████▍   | 578/900 [17:34<16:16,  3.03s/it]
 64%|██████▍   | 579/900 [17:34<11:52,  2.22s/it]
 64%|██████▍   | 580/900 [17:35<08:46,  1.65s/it]
 65%|██████▍   | 581/900 [17:35<06:38,  1.25s/it]
 65%|██████▍   | 582/900 [17:35<05:08,  1.03it/s]
 65%|██████▍   | 583/900 [17:36<04:03,  1.30it/s]
 65%|██████▍   | 584/900 [17:36<03:16,  1.60it/s]
 65%|██████▌   | 585/900 [18:00<40:24,  7.70s/it]
 65%|██████▌   | 586/900 [18:00<28:39,  5.48s/it]
 65%|██████▌   | 587/900 [18:01<20:28,  3.92s/it]
 65%|██████▌   | 588/900 [18:01<14:44,  2.84s/it]
 65%|██████▌   | 589/900 [18:01<10:44,  2.07s/it]
 66%|██████▌   | 590/900 [18:02<07:57,  1.54s/it]
 66%|██████▌   | 591/900 [18:02<06:02,  1.17s/it]
 66%|██████▌   | 592/900 [18:02<04:40,  1.10it/s]
 66%|██████▌   | 593/900 [18:38<57:22, 11.21s/it]
 66%|██████▌   | 594/900 [18:38<40:29,  7.94s/it]
 66%|██████▌   | 595/900 [18:38<28:43,  5.65s/it]
 66%|██████▌   | 596/900 [18:38<20:30,  4.05s/it]
 66%|██████▋   | 597/900 [18:39<14:45,  2.92s/it]
 66%|██████▋   | 598/900 [18:39<10:45,  2.14s/it]
 67%|██████▋   | 599/900 [18:39<07:58,  1.59s/it]
 67%|██████▋   | 600/900 [18:40<06:01,  1.20s/it]
 67%|██████▋   | 601/900 [19:02<38:01,  7.63s/it]
 67%|██████▋   | 602/900 [19:03<26:59,  5.43s/it]
 67%|██████▋   | 603/900 [19:03<19:16,  3.90s/it]
 67%|██████▋   | 604/900 [19:03<13:54,  2.82s/it]
 67%|██████▋   | 605/900 [19:04<10:08,  2.06s/it]
 67%|██████▋   | 606/900 [19:04<07:30,  1.53s/it]
 67%|██████▋   | 607/900 [19:04<05:40,  1.16s/it]
 68%|██████▊   | 608/900 [19:04<04:23,  1.11it/s]
 68%|██████▊   | 609/900 [19:14<16:33,  3.42s/it]
 68%|██████▊   | 610/900 [19:14<11:58,  2.48s/it]
 68%|██████▊   | 611/900 [19:14<08:47,  1.82s/it]
 68%|██████▊   | 612/900 [19:15<06:33,  1.37s/it]
 68%|██████▊   | 613/900 [19:15<04:59,  1.05s/it]
 68%|██████▊   | 614/900 [19:15<03:55,  1.22it/s]
 68%|██████▊   | 615/900 [19:15<03:09,  1.50it/s]
 68%|██████▊   | 616/900 [19:16<02:38,  1.79it/s]
 69%|██████▊   | 617/900 [19:58<1:01:26, 13.02s/it]
 69%|██████▊   | 618/900 [19:58<43:16,  9.21s/it]  
 69%|██████▉   | 619/900 [19:59<30:36,  6.53s/it]
 69%|██████▉   | 620/900 [19:59<21:45,  4.66s/it]
 69%|██████▉   | 621/900 [19:59<15:36,  3.36s/it]
 69%|██████▉   | 622/900 [19:59<11:17,  2.44s/it]
 69%|██████▉   | 623/900 [20:00<08:17,  1.79s/it]
 69%|██████▉   | 624/900 [20:00<06:11,  1.35s/it]
 69%|██████▉   | 625/900 [20:16<25:52,  5.65s/it]
 70%|██████▉   | 626/900 [20:16<18:27,  4.04s/it]
 70%|██████▉   | 627/900 [20:16<13:16,  2.92s/it]
 70%|██████▉   | 628/900 [20:17<09:40,  2.14s/it]
 70%|██████▉   | 629/900 [20:17<07:09,  1.58s/it]
 70%|███████   | 630/900 [20:17<05:23,  1.20s/it]
 70%|███████   | 631/900 [20:17<04:09,  1.08it/s]
 70%|███████   | 632/900 [20:18<03:19,  1.35it/s]
 70%|███████   | 633/900 [20:35<25:28,  5.72s/it]
 70%|███████   | 634/900 [20:35<18:10,  4.10s/it]
 71%|███████   | 635/900 [20:36<13:04,  2.96s/it]
 71%|███████   | 636/900 [20:36<09:31,  2.16s/it]
 71%|███████   | 637/900 [20:36<07:02,  1.60s/it]
 71%|███████   | 638/900 [20:37<05:18,  1.22s/it]
 71%|███████   | 639/900 [20:37<04:08,  1.05it/s]
 71%|███████   | 640/900 [20:37<03:18,  1.31it/s]
 71%|███████   | 641/900 [20:51<20:04,  4.65s/it]
 71%|███████▏  | 642/900 [20:51<14:24,  3.35s/it]
 71%|███████▏  | 643/900 [20:52<10:26,  2.44s/it]
 72%|███████▏  | 644/900 [20:52<07:41,  1.80s/it]
 72%|███████▏  | 645/900 [20:52<05:46,  1.36s/it]
 72%|███████▏  | 646/900 [20:53<04:25,  1.05s/it]
 72%|███████▏  | 647/900 [20:53<03:29,  1.21it/s]
 72%|███████▏  | 648/900 [20:53<02:49,  1.48it/s]
 72%|███████▏  | 649/900 [21:03<14:18,  3.42s/it]
 72%|███████▏  | 650/900 [21:03<10:22,  2.49s/it]
 72%|███████▏  | 651/900 [21:04<07:37,  1.84s/it]
 72%|███████▏  | 652/900 [21:04<05:42,  1.38s/it]
 73%|███████▎  | 653/900 [21:04<04:22,  1.06s/it]
 73%|███████▎  | 654/900 [21:05<03:26,  1.19it/s]
 73%|███████▎  | 655/900 [21:05<02:47,  1.46it/s]
 73%|███████▎  | 656/900 [21:05<02:19,  1.75it/s]
 73%|███████▎  | 657/900 [21:18<16:48,  4.15s/it]
 73%|███████▎  | 658/900 [21:18<12:07,  3.01s/it]
 73%|███████▎  | 659/900 [21:18<08:51,  2.20s/it]
 73%|███████▎  | 660/900 [21:19<06:33,  1.64s/it]
 73%|███████▎  | 661/900 [21:19<04:57,  1.25s/it]
 74%|███████▎  | 662/900 [21:19<03:50,  1.03it/s]
 74%|███████▎  | 663/900 [21:20<03:03,  1.29it/s]
 74%|███████▍  | 664/900 [21:20<02:31,  1.56it/s]
 74%|███████▍  | 665/900 [21:35<19:39,  5.02s/it]
 74%|███████▍  | 666/900 [21:36<14:03,  3.61s/it]
 74%|███████▍  | 667/900 [21:36<10:09,  2.62s/it]
 74%|███████▍  | 668/900 [21:36<07:25,  1.92s/it]
 74%|███████▍  | 669/900 [21:37<05:31,  1.44s/it]
 74%|███████▍  | 670/900 [21:37<04:12,  1.10s/it]
 75%|███████▍  | 671/900 [21:37<03:16,  1.17it/s]
 75%|███████▍  | 672/900 [21:37<02:37,  1.45it/s]
 75%|███████▍  | 673/900 [21:49<14:55,  3.95s/it]
 75%|███████▍  | 674/900 [21:49<10:44,  2.85s/it]
 75%|███████▌  | 675/900 [21:50<07:49,  2.09s/it]
 75%|███████▌  | 676/900 [21:50<05:47,  1.55s/it]
 75%|███████▌  | 677/900 [21:50<04:22,  1.18s/it]
 75%|███████▌  | 678/900 [21:51<03:22,  1.09it/s]
 75%|███████▌  | 679/900 [21:51<02:41,  1.37it/s]
 76%|███████▌  | 680/900 [21:51<02:12,  1.66it/s]
 76%|███████▌  | 681/900 [22:13<25:16,  6.92s/it]
 76%|███████▌  | 682/900 [22:13<17:55,  4.94s/it]
 76%|███████▌  | 683/900 [22:13<12:49,  3.54s/it]
 76%|███████▌  | 684/900 [22:14<09:15,  2.57s/it]
 76%|███████▌  | 685/900 [22:14<06:46,  1.89s/it]
 76%|███████▌  | 686/900 [22:14<05:01,  1.41s/it]
 76%|███████▋  | 687/900 [22:15<03:49,  1.08s/it]
 76%|███████▋  | 688/900 [22:15<02:59,  1.18it/s]
 77%|███████▋  | 689/900 [22:33<20:43,  5.89s/it]
 77%|███████▋  | 690/900 [22:33<14:44,  4.21s/it]
 77%|███████▋  | 691/900 [22:33<10:35,  3.04s/it]
 77%|███████▋  | 692/900 [22:33<07:41,  2.22s/it]
 77%|███████▋  | 693/900 [22:34<05:39,  1.64s/it]
 77%|███████▋  | 694/900 [22:34<04:17,  1.25s/it]
 77%|███████▋  | 695/900 [22:34<03:17,  1.04it/s]
 77%|███████▋  | 696/900 [22:35<02:36,  1.30it/s]
 77%|███████▋  | 697/900 [22:50<17:43,  5.24s/it]
 78%|███████▊  | 698/900 [22:51<12:38,  3.76s/it]
 78%|███████▊  | 699/900 [22:51<09:06,  2.72s/it]
 78%|███████▊  | 700/900 [22:51<06:38,  1.99s/it]
 78%|███████▊  | 701/900 [22:52<04:55,  1.48s/it]
 78%|███████▊  | 702/900 [22:52<03:43,  1.13s/it]
 78%|███████▊  | 703/900 [22:52<02:52,  1.14it/s]
 78%|███████▊  | 704/900 [22:52<02:17,  1.42it/s]
 78%|███████▊  | 705/900 [23:07<15:49,  4.87s/it]
 78%|███████▊  | 706/900 [23:07<11:18,  3.50s/it]
 79%|███████▊  | 707/900 [23:08<08:09,  2.54s/it]
 79%|███████▊  | 708/900 [23:08<05:58,  1.86s/it]
 79%|███████▉  | 709/900 [23:08<04:26,  1.40s/it]
 79%|███████▉  | 710/900 [23:09<03:23,  1.07s/it]
 79%|███████▉  | 711/900 [23:09<02:38,  1.19it/s]
 79%|███████▉  | 712/900 [23:09<02:07,  1.47it/s]
 79%|███████▉  | 713/900 [23:26<17:16,  5.54s/it]
 79%|███████▉  | 714/900 [23:26<12:18,  3.97s/it]
 79%|███████▉  | 715/900 [23:27<08:50,  2.87s/it]
 80%|███████▉  | 716/900 [23:27<06:26,  2.10s/it]
 80%|███████▉  | 717/900 [23:27<04:45,  1.56s/it]
 80%|███████▉  | 718/900 [23:28<03:34,  1.18s/it]
 80%|███████▉  | 719/900 [23:28<02:46,  1.09it/s]
 80%|████████  | 720/900 [23:28<02:12,  1.36it/s]
 80%|████████  | 721/900 [23:42<13:47,  4.62s/it]
 80%|████████  | 722/900 [23:42<09:52,  3.33s/it]
 80%|████████  | 723/900 [23:42<07:08,  2.42s/it]
 80%|████████  | 724/900 [23:43<05:13,  1.78s/it]
 81%|████████  | 725/900 [23:43<03:54,  1.34s/it]
 81%|████████  | 726/900 [23:43<02:58,  1.03s/it]
 81%|████████  | 727/900 [23:44<02:20,  1.24it/s]
 81%|████████  | 728/900 [23:44<01:52,  1.53it/s]
 81%|████████  | 729/900 [24:01<15:35,  5.47s/it]
 81%|████████  | 730/900 [24:01<11:06,  3.92s/it]
 81%|████████  | 731/900 [24:01<07:59,  2.84s/it]
 81%|████████▏ | 732/900 [24:02<05:48,  2.08s/it]
 81%|████████▏ | 733/900 [24:02<04:18,  1.55s/it]
 82%|████████▏ | 734/900 [24:02<03:15,  1.18s/it]
 82%|████████▏ | 735/900 [24:03<02:32,  1.09it/s]
 82%|████████▏ | 736/900 [24:03<02:01,  1.35it/s]
 82%|████████▏ | 737/900 [24:16<11:57,  4.40s/it]
 82%|████████▏ | 738/900 [24:16<08:35,  3.18s/it]
 82%|████████▏ | 739/900 [24:16<06:14,  2.32s/it]
 82%|████████▏ | 740/900 [24:17<04:35,  1.72s/it]
 82%|████████▏ | 741/900 [24:17<03:27,  1.30s/it]
 82%|████████▏ | 742/900 [24:17<02:38,  1.01s/it]
 83%|████████▎ | 743/900 [24:18<02:05,  1.25it/s]
 83%|████████▎ | 744/900 [24:18<01:41,  1.53it/s]
 83%|████████▎ | 745/900 [24:29<09:19,  3.61s/it]
 83%|████████▎ | 746/900 [24:29<06:42,  2.62s/it]
 83%|████████▎ | 747/900 [24:29<04:53,  1.92s/it]
 83%|████████▎ | 748/900 [24:29<03:38,  1.44s/it]
 83%|████████▎ | 749/900 [24:30<02:45,  1.10s/it]
 83%|████████▎ | 750/900 [24:30<02:08,  1.17it/s]
 83%|████████▎ | 751/900 [24:30<01:42,  1.45it/s]
 84%|████████▎ | 752/900 [24:31<01:24,  1.74it/s]
 84%|████████▎ | 753/900 [24:42<09:12,  3.76s/it]
 84%|████████▍ | 754/900 [24:42<06:38,  2.73s/it]
 84%|████████▍ | 755/900 [24:42<04:51,  2.01s/it]
 84%|████████▍ | 756/900 [24:43<03:36,  1.51s/it]
 84%|████████▍ | 757/900 [24:43<02:43,  1.15s/it]
 84%|████████▍ | 758/900 [24:43<02:07,  1.11it/s]
 84%|████████▍ | 759/900 [24:44<01:41,  1.39it/s]
 84%|████████▍ | 760/900 [24:44<01:23,  1.68it/s]
 85%|████████▍ | 761/900 [24:58<10:48,  4.66s/it]
 85%|████████▍ | 762/900 [24:58<07:43,  3.36s/it]
 85%|████████▍ | 763/900 [24:59<05:34,  2.44s/it]
 85%|████████▍ | 764/900 [24:59<04:04,  1.80s/it]
 85%|████████▌ | 765/900 [24:59<03:03,  1.36s/it]
 85%|████████▌ | 766/900 [25:00<02:20,  1.05s/it]
 85%|████████▌ | 767/900 [25:00<01:51,  1.20it/s]
 85%|████████▌ | 768/900 [25:00<01:30,  1.46it/s]
 85%|████████▌ | 769/900 [25:12<08:26,  3.87s/it]
 86%|████████▌ | 770/900 [25:12<06:05,  2.81s/it]
 86%|████████▌ | 771/900 [25:12<04:27,  2.07s/it]
 86%|████████▌ | 772/900 [25:13<03:18,  1.55s/it]
 86%|████████▌ | 773/900 [25:13<02:29,  1.18s/it]
 86%|████████▌ | 774/900 [25:13<01:55,  1.09it/s]
 86%|████████▌ | 775/900 [25:14<01:32,  1.35it/s]
 86%|████████▌ | 776/900 [25:14<01:15,  1.63it/s]
 86%|████████▋ | 777/900 [25:47<21:14, 10.36s/it]
 86%|████████▋ | 778/900 [25:47<14:57,  7.35s/it]
 87%|████████▋ | 779/900 [25:48<10:34,  5.25s/it]
 87%|████████▋ | 780/900 [25:48<07:32,  3.77s/it]
 87%|████████▋ | 781/900 [25:48<05:25,  2.73s/it]
 87%|████████▋ | 782/900 [25:49<03:56,  2.01s/it]
 87%|████████▋ | 783/900 [25:49<02:54,  1.49s/it]
 87%|████████▋ | 784/900 [25:49<02:12,  1.14s/it]
 87%|████████▋ | 785/900 [26:09<12:56,  6.75s/it]
 87%|████████▋ | 786/900 [26:09<09:08,  4.82s/it]
 87%|████████▋ | 787/900 [26:10<06:31,  3.46s/it]
 88%|████████▊ | 788/900 [26:10<04:41,  2.51s/it]
 88%|████████▊ | 789/900 [26:10<03:25,  1.85s/it]
 88%|████████▊ | 790/900 [26:11<02:33,  1.39s/it]
 88%|████████▊ | 791/900 [26:11<01:57,  1.07s/it]
 88%|████████▊ | 792/900 [26:11<01:31,  1.18it/s]
 88%|████████▊ | 793/900 [26:26<08:51,  4.97s/it]
 88%|████████▊ | 794/900 [26:26<06:19,  3.58s/it]
 88%|████████▊ | 795/900 [26:27<04:33,  2.60s/it]
 88%|████████▊ | 796/900 [26:27<03:19,  1.92s/it]
 89%|████████▊ | 797/900 [26:27<02:28,  1.44s/it]
 89%|████████▊ | 798/900 [26:28<01:52,  1.11s/it]
 89%|████████▉ | 799/900 [26:28<01:28,  1.15it/s]
 89%|████████▉ | 800/900 [26:28<01:10,  1.42it/s]
 89%|████████▉ | 801/900 [26:44<08:45,  5.31s/it]
 89%|████████▉ | 802/900 [26:45<06:14,  3.82s/it]
 89%|████████▉ | 803/900 [26:45<04:28,  2.77s/it]
 89%|████████▉ | 804/900 [26:45<03:15,  2.03s/it]
 89%|████████▉ | 805/900 [26:46<02:24,  1.52s/it]
 90%|████████▉ | 806/900 [26:46<01:49,  1.17s/it]
 90%|████████▉ | 807/900 [26:46<01:25,  1.09it/s]
 90%|████████▉ | 808/900 [26:47<01:08,  1.35it/s]
 90%|████████▉ | 809/900 [27:01<07:19,  4.83s/it]
 90%|█████████ | 810/900 [27:01<05:13,  3.48s/it]
 90%|█████████ | 811/900 [27:02<03:45,  2.54s/it]
 90%|█████████ | 812/900 [27:02<02:45,  1.88s/it]
 90%|█████████ | 813/900 [27:02<02:03,  1.42s/it]
 90%|█████████ | 814/900 [27:03<01:33,  1.09s/it]
 91%|█████████ | 815/900 [27:03<01:13,  1.16it/s]
 91%|█████████ | 816/900 [27:03<00:58,  1.43it/s]
 91%|█████████ | 817/900 [27:20<07:43,  5.59s/it]
 91%|█████████ | 818/900 [27:21<05:28,  4.01s/it]
 91%|█████████ | 819/900 [27:21<03:55,  2.90s/it]
 91%|█████████ | 820/900 [27:21<02:50,  2.13s/it]
 91%|█████████ | 821/900 [27:22<02:05,  1.59s/it]
 91%|█████████▏| 822/900 [27:22<01:34,  1.21s/it]
 91%|█████████▏| 823/900 [27:22<01:12,  1.06it/s]
 92%|█████████▏| 824/900 [27:23<00:57,  1.32it/s]
 92%|█████████▏| 825/900 [27:45<09:00,  7.21s/it]
 92%|█████████▏| 826/900 [27:45<06:20,  5.14s/it]
 92%|█████████▏| 827/900 [27:45<04:29,  3.69s/it]
 92%|█████████▏| 828/900 [27:46<03:12,  2.68s/it]
 92%|█████████▏| 829/900 [27:46<02:19,  1.96s/it]
 92%|█████████▏| 830/900 [27:46<01:42,  1.46s/it]
 92%|█████████▏| 831/900 [27:47<01:17,  1.12s/it]
 92%|█████████▏| 832/900 [27:47<00:59,  1.15it/s]
 93%|█████████▎| 833/900 [28:05<06:34,  5.89s/it]
 93%|█████████▎| 834/900 [28:05<04:37,  4.21s/it]
 93%|█████████▎| 835/900 [28:05<03:17,  3.04s/it]
 93%|█████████▎| 836/900 [28:05<02:21,  2.22s/it]
 93%|█████████▎| 837/900 [28:06<01:43,  1.64s/it]
 93%|█████████▎| 838/900 [28:06<01:16,  1.24s/it]
 93%|█████████▎| 839/900 [28:06<00:58,  1.05it/s]
 93%|█████████▎| 840/900 [28:07<00:45,  1.32it/s]
 93%|█████████▎| 841/900 [28:44<11:37, 11.82s/it]
 94%|█████████▎| 842/900 [28:45<08:04,  8.36s/it]
 94%|█████████▎| 843/900 [28:45<05:38,  5.94s/it]
 94%|█████████▍| 844/900 [28:45<03:57,  4.25s/it]
 94%|█████████▍| 845/900 [28:45<02:48,  3.06s/it]
 94%|█████████▍| 846/900 [28:46<02:00,  2.24s/it]
 94%|█████████▍| 847/900 [28:46<01:27,  1.65s/it]
 94%|█████████▍| 848/900 [28:46<01:04,  1.24s/it]
 94%|█████████▍| 849/900 [29:21<09:33, 11.24s/it]
 94%|█████████▍| 850/900 [29:21<06:38,  7.96s/it]
 95%|█████████▍| 851/900 [29:22<04:37,  5.66s/it]
 95%|█████████▍| 852/900 [29:22<03:14,  4.05s/it]
 95%|█████████▍| 853/900 [29:22<02:17,  2.92s/it]
 95%|█████████▍| 854/900 [29:22<01:38,  2.14s/it]
 95%|█████████▌| 855/900 [29:23<01:11,  1.58s/it]
 95%|█████████▌| 856/900 [29:23<00:52,  1.20s/it]
 95%|█████████▌| 857/900 [29:44<05:05,  7.10s/it]
 95%|█████████▌| 858/900 [29:44<03:32,  5.06s/it]
 95%|█████████▌| 859/900 [29:44<02:29,  3.64s/it]
 96%|█████████▌| 860/900 [29:45<01:45,  2.64s/it]
 96%|█████████▌| 861/900 [29:45<01:15,  1.94s/it]
 96%|█████████▌| 862/900 [29:45<00:55,  1.45s/it]
 96%|█████████▌| 863/900 [29:46<00:41,  1.11s/it]
 96%|█████████▌| 864/900 [29:46<00:31,  1.14it/s]
 96%|█████████▌| 865/900 [30:40<09:42, 16.66s/it]
 96%|█████████▌| 866/900 [30:40<06:39, 11.75s/it]
 96%|█████████▋| 867/900 [30:40<04:34,  8.32s/it]
 96%|█████████▋| 868/900 [30:40<03:09,  5.91s/it]
 97%|█████████▋| 869/900 [30:41<02:11,  4.23s/it]
 97%|█████████▋| 870/900 [30:41<01:31,  3.05s/it]
 97%|█████████▋| 871/900 [30:41<01:04,  2.23s/it]
 97%|█████████▋| 872/900 [30:42<00:46,  1.65s/it]
 97%|█████████▋| 873/900 [31:39<08:15, 18.34s/it]
 97%|█████████▋| 874/900 [31:39<05:36, 12.93s/it]
 97%|█████████▋| 875/900 [31:40<03:48,  9.14s/it]
 97%|█████████▋| 876/900 [31:40<02:35,  6.49s/it]
 97%|█████████▋| 877/900 [31:40<01:46,  4.64s/it]
 98%|█████████▊| 878/900 [31:40<01:13,  3.34s/it]
 98%|█████████▊| 879/900 [31:41<00:51,  2.44s/it]
 98%|█████████▊| 880/900 [31:41<00:36,  1.81s/it]
 98%|█████████▊| 881/900 [32:19<04:00, 12.66s/it]
 98%|█████████▊| 882/900 [32:19<02:41,  8.96s/it]
 98%|█████████▊| 883/900 [32:20<01:48,  6.37s/it]
 98%|█████████▊| 884/900 [32:20<01:12,  4.56s/it]
 98%|█████████▊| 885/900 [32:20<00:49,  3.29s/it]
 98%|█████████▊| 886/900 [32:21<00:33,  2.40s/it]
 99%|█████████▊| 887/900 [32:21<00:23,  1.78s/it]
 99%|█████████▊| 888/900 [32:21<00:16,  1.34s/it]
 99%|█████████▉| 889/900 [32:41<01:14,  6.80s/it]
 99%|█████████▉| 890/900 [32:41<00:48,  4.86s/it]
 99%|█████████▉| 891/900 [32:42<00:31,  3.50s/it]
 99%|█████████▉| 892/900 [32:42<00:20,  2.55s/it]
 99%|█████████▉| 893/900 [32:42<00:13,  1.88s/it]
 99%|█████████▉| 894/900 [32:43<00:08,  1.41s/it]
 99%|█████████▉| 895/900 [32:43<00:05,  1.09s/it]
100%|█████████▉| 896/900 [32:43<00:03,  1.16it/s]
100%|█████████▉| 897/900 [32:58<00:15,  5.04s/it]
100%|█████████▉| 898/900 [32:58<00:07,  3.62s/it]
100%|█████████▉| 899/900 [32:59<00:02,  2.63s/it]
100%|█████████▉| 899/900 [32:59<00:02,  2.20s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/log_2_env0.json.
+ReorientWhiteMugsTask_2 complete: task_name: ReorientWhiteMugsTask, run_name: ReorientWhiteMugsTask_2, run: 2, env_id: 0, policy: harness, instruction: Make sure all the white mugs are upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -11.975101438703078, 'joint_sparc_mean': -21.344280152724682, 'ee_isj': 27805.66772639593, 'joint_isj': 1471875.5569589774, 'ee_path_length': 7.909206703520926, 'joint_rmse_mean': 1.3573695007037139, 'ee_speed_max': 2.5857386589050293, 'ee_speed_mean': 0.12979555130004883}, events: {'GRIPPER_HIT_TABLE': 4, 'GRIPPER_FULLY_CLOSED': 18, 'GRIPPER_HIT_OBJECT': 2, 'WRONG_OBJECT_GRABBED': 10, 'OBJECT_BUMPED': 6, 'wrong_objects_grabbed': ['upright_white_mug', 'upright_white_mug', 'upright_white_mug', 'upright_white_mug', 'upright_white_mug', 'upright_white_mug', 'upright_white_mug', 'upright_white_mug', 'sideways_white_mug', 'upright_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 1707.944, 'policy_inference_avg_ms': 1897.7, 'env_step_s': 262.261, 'env_step_avg_ms': 291.4, 'video_write_s': 8.89, 'video_write_avg_ms': 9.9, 'wall_total_s': 1979.095, 'it_per_sec': 0.45}, score: 0.0, reason: Condition not satisfied: object_upright(object=sideways_white_mug, require_gripper_detached=True) (step 2/2), harness_episode_id: ff23ce0f55ab4f2ebe7fcd51343141e9-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-30T21:46:46Z [20,579,595ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.235508 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-30T21:46:51Z [20,583,911ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-30T21:46:51Z [20,584,015ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-30T21:46:51Z [20,584,015ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T21:46:51Z [20,584,024ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-30T21:46:51Z [20,584,024ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T21:46:51Z [20,584,033ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T21:46:51Z [20,584,040ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-30T21:46:51Z [20,584,653ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((604))' not available in the MDL representation.
+2026-10-30T21:46:51Z [20,584,653ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((604))' not available in the MDL representation.
+2026-10-30T21:46:51Z [20,584,653ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((604))' not available in the MDL representation.
+2026-10-30T21:46:51Z [20,584,662ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((605))' not available in the MDL representation.
+2026-10-30T21:46:51Z [20,584,662ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((605))' not available in the MDL representation.
+2026-10-30T21:46:51Z [20,584,665ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((606))' not available in the MDL representation.
+2026-10-30T21:46:51Z [20,584,665ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((606))' not available in the MDL representation.
+2026-10-30T21:46:52Z [20,585,051ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((623))' not available in the MDL representation.
+2026-10-30T21:46:52Z [20,585,051ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((623))' not available in the MDL representation.
+2026-10-30T21:46:52Z [20,585,097ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((640))' not available in the MDL representation.
+2026-10-30T21:46:52Z [20,585,097ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((640))' not available in the MDL representation.
+2026-10-30T21:46:52Z [20,585,097ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((640))' not available in the MDL representation.
+2026-10-30T21:46:52Z [20,585,122ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((645))' not available in the MDL representation.
+2026-10-30T21:46:52Z [20,585,122ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((645))' not available in the MDL representation.
+2026-10-30T21:46:52Z [20,585,122ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((645))' not available in the MDL representation.
+2026-10-30T21:46:52Z [20,585,452ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((711))' not available in the MDL representation.
+2026-10-30T21:46:52Z [20,585,452ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((711))' not available in the MDL representation.
+2026-10-30T21:46:52Z [20,585,480ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((719))' not available in the MDL representation.
+2026-10-30T21:46:52Z [20,585,480ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((719))' not available in the MDL representation.
+2026-10-30T21:46:52Z [20,585,480ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((719))' not available in the MDL representation.
+2026-10-30T21:46:53Z [20,586,438ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((604))' not available in the MDL representation.
+2026-10-30T21:46:53Z [20,586,438ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((604))' not available in the MDL representation.
+2026-10-30T21:46:53Z [20,586,439ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((604))' not available in the MDL representation.
+2026-10-30T21:46:53Z [20,586,439ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((605))' not available in the MDL representation.
+2026-10-30T21:46:53Z [20,586,439ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((605))' not available in the MDL representation.
+2026-10-30T21:46:53Z [20,586,440ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((606))' not available in the MDL representation.
+2026-10-30T21:46:53Z [20,586,440ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((606))' not available in the MDL representation.
+2026-10-30T21:46:53Z [20,586,442ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((640))' not available in the MDL representation.
+2026-10-30T21:46:53Z [20,586,442ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((640))' not available in the MDL representation.
+2026-10-30T21:46:53Z [20,586,442ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((640))' not available in the MDL representation.
+2026-10-30T21:46:53Z [20,586,443ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((645))' not available in the MDL representation.
+2026-10-30T21:46:53Z [20,586,443ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((645))' not available in the MDL representation.
+2026-10-30T21:46:53Z [20,586,443ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((645))' not available in the MDL representation.
+2026-10-30T21:46:53Z [20,586,446ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((711))' not available in the MDL representation.
+2026-10-30T21:46:53Z [20,586,447ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((711))' not available in the MDL representation.
+2026-10-30T21:46:53Z [20,586,447ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((719))' not available in the MDL representation.
+2026-10-30T21:46:53Z [20,586,448ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((719))' not available in the MDL representation.
+2026-10-30T21:46:53Z [20,586,448ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((719))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.729942 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : TakeSpatulaOffShelfTask                       │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Take the spatula off the shelf and put it on the table │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : TakeSpatulaOffShelfTaskSceneEnvCfg            │
+│  Attributes  : affordance, spatial, moderate                 │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running TakeSpatulaOffShelfTask_0: 'Take the spatula off the shelf and put it on the table' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:33<8:26:31, 33.81s/it]
  0%|          | 2/900 [00:34<3:31:16, 14.12s/it]
  0%|          | 3/900 [00:34<1:56:49,  7.81s/it]
  0%|          | 4/900 [00:34<1:12:30,  4.85s/it]
  1%|          | 5/900 [00:35<48:03,  3.22s/it]  
  1%|          | 6/900 [00:35<33:19,  2.24s/it]
  1%|          | 7/900 [00:35<23:57,  1.61s/it]
  1%|          | 8/900 [00:36<17:51,  1.20s/it]
  1%|          | 9/900 [00:49<1:13:29,  4.95s/it]
  1%|          | 10/900 [00:49<52:14,  3.52s/it] 
  1%|          | 11/900 [00:49<37:42,  2.55s/it]
  1%|▏         | 12/900 [00:50<27:40,  1.87s/it]
  1%|▏         | 13/900 [00:50<20:43,  1.40s/it]
  2%|▏         | 14/900 [00:50<15:55,  1.08s/it]
  2%|▏         | 15/900 [00:51<12:34,  1.17it/s]
  2%|▏         | 16/900 [00:51<10:13,  1.44it/s]
  2%|▏         | 17/900 [01:02<55:33,  3.77s/it]
  2%|▏         | 18/900 [01:02<40:15,  2.74s/it]
  2%|▏         | 19/900 [01:03<29:32,  2.01s/it]
  2%|▏         | 20/900 [01:03<22:04,  1.50s/it]
  2%|▏         | 21/900 [01:03<16:51,  1.15s/it]
  2%|▏         | 22/900 [01:04<13:10,  1.11it/s]
  3%|▎         | 23/900 [01:04<10:37,  1.37it/s]
  3%|▎         | 24/900 [01:04<08:50,  1.65it/s]
  3%|▎         | 25/900 [01:11<35:54,  2.46s/it]
  3%|▎         | 26/900 [01:11<26:32,  1.82s/it]
  3%|▎         | 27/900 [01:12<19:57,  1.37s/it]
  3%|▎         | 28/900 [01:12<15:24,  1.06s/it]
  3%|▎         | 29/900 [01:12<12:11,  1.19it/s]
  3%|▎         | 30/900 [01:13<09:55,  1.46it/s]
  3%|▎         | 31/900 [01:13<08:20,  1.74it/s]
  4%|▎         | 32/900 [01:13<07:14,  2.00it/s]
  4%|▎         | 33/900 [01:32<1:26:20,  5.98s/it]
  4%|▍         | 34/900 [01:32<1:01:47,  4.28s/it]
  4%|▍         | 35/900 [01:33<44:36,  3.09s/it]  
  4%|▍         | 36/900 [01:33<32:36,  2.26s/it]
  4%|▍         | 37/900 [01:33<24:12,  1.68s/it]
  4%|▍         | 38/900 [01:34<18:22,  1.28s/it]
  4%|▍         | 39/900 [01:34<14:15,  1.01it/s]
  4%|▍         | 40/900 [01:34<11:24,  1.26it/s]
  5%|▍         | 41/900 [01:42<41:34,  2.90s/it]
  5%|▍         | 42/900 [01:43<30:26,  2.13s/it]
  5%|▍         | 43/900 [01:43<22:41,  1.59s/it]
  5%|▍         | 44/900 [01:43<17:16,  1.21s/it]
  5%|▌         | 45/900 [01:44<13:29,  1.06it/s]
  5%|▌         | 46/900 [01:44<10:49,  1.32it/s]
  5%|▌         | 47/900 [01:44<08:59,  1.58it/s]
  5%|▌         | 48/900 [01:44<07:41,  1.85it/s]
  5%|▌         | 49/900 [01:54<45:50,  3.23s/it]
  6%|▌         | 50/900 [01:54<33:26,  2.36s/it]
  6%|▌         | 51/900 [01:55<24:45,  1.75s/it]
  6%|▌         | 52/900 [01:55<18:42,  1.32s/it]
  6%|▌         | 53/900 [01:55<14:28,  1.03s/it]
  6%|▌         | 54/900 [01:56<11:28,  1.23it/s]
  6%|▌         | 55/900 [01:56<09:25,  1.50it/s]
  6%|▌         | 56/900 [01:56<07:59,  1.76it/s]
  6%|▋         | 57/900 [02:12<1:11:28,  5.09s/it]
  6%|▋         | 58/900 [02:12<51:20,  3.66s/it]  
  7%|▋         | 59/900 [02:13<37:15,  2.66s/it]
  7%|▋         | 60/900 [02:13<27:25,  1.96s/it]
  7%|▋         | 61/900 [02:13<20:31,  1.47s/it]
  7%|▋         | 62/900 [02:14<15:42,  1.12s/it]
  7%|▋         | 63/900 [02:14<12:22,  1.13it/s]
  7%|▋         | 64/900 [02:14<10:01,  1.39it/s]
  7%|▋         | 65/900 [02:45<2:15:02,  9.70s/it]
  7%|▋         | 66/900 [02:45<1:35:46,  6.89s/it]
  7%|▋         | 67/900 [02:46<1:08:19,  4.92s/it]
  8%|▊         | 68/900 [02:46<49:08,  3.54s/it]  
  8%|▊         | 69/900 [02:46<35:43,  2.58s/it]
  8%|▊         | 70/900 [02:47<26:21,  1.91s/it]
  8%|▊         | 71/900 [02:47<19:47,  1.43s/it]
  8%|▊         | 72/900 [02:47<15:14,  1.10s/it]
  8%|▊         | 73/900 [03:03<1:17:05,  5.59s/it]
  8%|▊         | 74/900 [03:04<55:15,  4.01s/it]  
  8%|▊         | 75/900 [03:04<39:57,  2.91s/it]
  8%|▊         | 76/900 [03:04<29:16,  2.13s/it]
  9%|▊         | 77/900 [03:05<21:49,  1.59s/it]
  9%|▊         | 78/900 [03:05<16:37,  1.21s/it]
  9%|▉         | 79/900 [03:05<12:59,  1.05it/s]
  9%|▉         | 80/900 [03:06<10:28,  1.31it/s]
  9%|▉         | 81/900 [03:15<46:42,  3.42s/it]
  9%|▉         | 82/900 [03:16<34:01,  2.50s/it]
  9%|▉         | 83/900 [03:16<25:08,  1.85s/it]
  9%|▉         | 84/900 [03:16<18:55,  1.39s/it]
  9%|▉         | 85/900 [03:17<14:34,  1.07s/it]
 10%|▉         | 86/900 [03:17<11:30,  1.18it/s]
 10%|▉         | 87/900 [03:17<09:23,  1.44it/s]
 10%|▉         | 88/900 [03:18<07:54,  1.71it/s]
 10%|▉         | 89/900 [03:48<2:09:28,  9.58s/it]
 10%|█         | 90/900 [03:48<1:31:51,  6.80s/it]
 10%|█         | 91/900 [03:49<1:05:33,  4.86s/it]
 10%|█         | 92/900 [03:49<47:10,  3.50s/it]  
 10%|█         | 93/900 [03:49<34:19,  2.55s/it]
 10%|█         | 94/900 [03:50<25:18,  1.88s/it]
 11%|█         | 95/900 [03:50<18:59,  1.42s/it]
 11%|█         | 96/900 [03:50<14:35,  1.09s/it]
 11%|█         | 97/900 [04:34<3:03:48, 13.73s/it]
 11%|█         | 98/900 [04:34<2:09:49,  9.71s/it]
 11%|█         | 99/900 [04:34<1:32:02,  6.89s/it]
 11%|█         | 100/900 [04:35<1:05:35,  4.92s/it]
 11%|█         | 101/900 [04:35<47:08,  3.54s/it]  
 11%|█▏        | 102/900 [04:35<34:18,  2.58s/it]
 11%|█▏        | 103/900 [04:36<25:17,  1.90s/it]
 12%|█▏        | 104/900 [04:36<19:00,  1.43s/it]
 12%|█▏        | 105/900 [04:46<55:18,  4.17s/it]
 12%|█▏        | 106/900 [04:47<40:05,  3.03s/it]
 12%|█▏        | 107/900 [04:47<29:27,  2.23s/it]
 12%|█▏        | 108/900 [04:48<22:00,  1.67s/it]
 12%|█▏        | 109/900 [04:48<16:47,  1.27s/it]
 12%|█▏        | 110/900 [04:48<13:06,  1.00it/s]
 12%|█▏        | 111/900 [04:49<10:33,  1.24it/s]
 12%|█▏        | 112/900 [04:49<08:49,  1.49it/s]
 13%|█▎        | 113/900 [05:01<53:12,  4.06s/it]
 13%|█▎        | 114/900 [05:01<38:39,  2.95s/it]
 13%|█▎        | 115/900 [05:02<28:26,  2.17s/it]
 13%|█▎        | 116/900 [05:02<21:15,  1.63s/it]
 13%|█▎        | 117/900 [05:02<16:07,  1.24s/it]
 13%|█▎        | 118/900 [05:03<12:34,  1.04it/s]
 13%|█▎        | 119/900 [05:03<10:06,  1.29it/s]
 13%|█▎        | 120/900 [05:03<08:18,  1.56it/s]
 13%|█▎        | 121/900 [05:24<1:26:06,  6.63s/it]
 14%|█▎        | 122/900 [05:24<1:01:29,  4.74s/it]
 14%|█▎        | 123/900 [05:25<44:17,  3.42s/it]  
 14%|█▍        | 124/900 [05:25<32:15,  2.49s/it]
 14%|█▍        | 125/900 [05:25<23:52,  1.85s/it]
 14%|█▍        | 126/900 [05:26<17:59,  1.40s/it]
 14%|█▍        | 127/900 [05:26<13:52,  1.08s/it]
 14%|█▍        | 128/900 [05:26<10:59,  1.17it/s]
 14%|█▍        | 129/900 [05:42<1:07:22,  5.24s/it]
 14%|█▍        | 130/900 [05:42<48:22,  3.77s/it]  
 15%|█▍        | 131/900 [05:42<35:04,  2.74s/it]
 15%|█▍        | 132/900 [05:43<25:47,  2.01s/it]
 15%|█▍        | 133/900 [05:43<19:15,  1.51s/it]
 15%|█▍        | 134/900 [05:43<14:40,  1.15s/it]
 15%|█▌        | 135/900 [05:44<11:29,  1.11it/s]
 15%|█▌        | 136/900 [05:44<09:16,  1.37it/s]
 15%|█▌        | 137/900 [05:56<51:09,  4.02s/it]
 15%|█▌        | 138/900 [05:56<36:59,  2.91s/it]
 15%|█▌        | 139/900 [05:56<27:08,  2.14s/it]
 16%|█▌        | 140/900 [05:57<20:14,  1.60s/it]
 16%|█▌        | 141/900 [05:57<15:26,  1.22s/it]
 16%|█▌        | 142/900 [05:57<12:01,  1.05it/s]
 16%|█▌        | 143/900 [05:58<09:41,  1.30it/s]
 16%|█▌        | 144/900 [05:58<08:00,  1.57it/s]
 16%|█▌        | 145/900 [06:08<41:55,  3.33s/it]
 16%|█▌        | 146/900 [06:08<30:33,  2.43s/it]
 16%|█▋        | 147/900 [06:08<22:36,  1.80s/it]
 16%|█▋        | 148/900 [06:09<17:01,  1.36s/it]
 17%|█▋        | 149/900 [06:09<13:07,  1.05s/it]
 17%|█▋        | 150/900 [06:09<10:24,  1.20it/s]
 17%|█▋        | 151/900 [06:10<08:31,  1.47it/s]
 17%|█▋        | 152/900 [06:10<07:10,  1.74it/s]
 17%|█▋        | 153/900 [06:34<1:34:21,  7.58s/it]
 17%|█▋        | 154/900 [06:34<1:07:10,  5.40s/it]
 17%|█▋        | 155/900 [06:35<48:12,  3.88s/it]  
 17%|█▋        | 156/900 [06:35<34:55,  2.82s/it]
 17%|█▋        | 157/900 [06:35<25:37,  2.07s/it]
 18%|█▊        | 158/900 [06:36<19:10,  1.55s/it]
 18%|█▊        | 159/900 [06:36<14:37,  1.18s/it]
 18%|█▊        | 160/900 [06:36<11:31,  1.07it/s]
 18%|█▊        | 161/900 [06:48<51:51,  4.21s/it]
 18%|█▊        | 162/900 [06:48<37:37,  3.06s/it]
 18%|█▊        | 163/900 [06:49<27:39,  2.25s/it]
 18%|█▊        | 164/900 [06:49<20:40,  1.68s/it]
 18%|█▊        | 165/900 [06:50<15:47,  1.29s/it]
 18%|█▊        | 166/900 [06:50<12:22,  1.01s/it]
 19%|█▊        | 167/900 [06:50<09:59,  1.22it/s]
 19%|█▊        | 168/900 [06:51<08:18,  1.47it/s]
 19%|█▉        | 169/900 [07:21<1:58:16,  9.71s/it]
 19%|█▉        | 170/900 [07:22<1:23:59,  6.90s/it]
 19%|█▉        | 171/900 [07:22<59:59,  4.94s/it]  
 19%|█▉        | 172/900 [07:22<43:11,  3.56s/it]
 19%|█▉        | 173/900 [07:23<31:27,  2.60s/it]
 19%|█▉        | 174/900 [07:23<23:15,  1.92s/it]
 19%|█▉        | 175/900 [07:24<17:32,  1.45s/it]
 20%|█▉        | 176/900 [07:24<13:30,  1.12s/it]
 20%|█▉        | 177/900 [07:33<41:34,  3.45s/it]
 20%|█▉        | 178/900 [07:33<30:22,  2.52s/it]
 20%|█▉        | 179/900 [07:33<22:29,  1.87s/it]
 20%|██        | 180/900 [07:34<16:55,  1.41s/it]
 20%|██        | 181/900 [07:34<13:01,  1.09s/it]
 20%|██        | 182/900 [07:34<10:16,  1.16it/s]
 20%|██        | 183/900 [07:35<08:22,  1.43it/s]
 20%|██        | 184/900 [07:35<07:03,  1.69it/s]
 21%|██        | 185/900 [07:45<41:08,  3.45s/it]
 21%|██        | 186/900 [07:46<29:59,  2.52s/it]
 21%|██        | 187/900 [07:46<22:10,  1.87s/it]
 21%|██        | 188/900 [07:46<16:43,  1.41s/it]
 21%|██        | 189/900 [07:47<12:52,  1.09s/it]
 21%|██        | 190/900 [07:47<10:08,  1.17it/s]
 21%|██        | 191/900 [07:47<08:19,  1.42it/s]
 21%|██▏       | 192/900 [07:48<06:59,  1.69it/s]
 21%|██▏       | 193/900 [08:01<53:09,  4.51s/it]
 22%|██▏       | 194/900 [08:02<38:17,  3.25s/it]
 22%|██▏       | 195/900 [08:02<27:54,  2.38s/it]
 22%|██▏       | 196/900 [08:02<20:39,  1.76s/it]
 22%|██▏       | 197/900 [08:03<15:36,  1.33s/it]
 22%|██▏       | 198/900 [08:03<12:05,  1.03s/it]
 22%|██▏       | 199/900 [08:03<09:38,  1.21it/s]
 22%|██▏       | 200/900 [08:04<08:00,  1.46it/s]
 22%|██▏       | 201/900 [08:14<43:19,  3.72s/it]
 22%|██▏       | 202/900 [08:15<31:33,  2.71s/it]
 23%|██▎       | 203/900 [08:15<23:18,  2.01s/it]
 23%|██▎       | 204/900 [08:15<17:30,  1.51s/it]
 23%|██▎       | 205/900 [08:16<13:24,  1.16s/it]
 23%|██▎       | 206/900 [08:16<10:32,  1.10it/s]
 23%|██▎       | 207/900 [08:17<08:32,  1.35it/s]
 23%|██▎       | 208/900 [08:17<07:05,  1.63it/s]
 23%|██▎       | 209/900 [08:25<32:20,  2.81s/it]
 23%|██▎       | 210/900 [08:25<23:43,  2.06s/it]
 23%|██▎       | 211/900 [08:25<17:41,  1.54s/it]
 24%|██▎       | 212/900 [08:26<13:29,  1.18s/it]
 24%|██▎       | 213/900 [08:26<10:32,  1.09it/s]
 24%|██▍       | 214/900 [08:26<08:28,  1.35it/s]
 24%|██▍       | 215/900 [08:27<07:03,  1.62it/s]
 24%|██▍       | 216/900 [08:27<06:03,  1.88it/s]
 24%|██▍       | 217/900 [08:34<28:23,  2.49s/it]
 24%|██▍       | 218/900 [08:34<21:08,  1.86s/it]
 24%|██▍       | 219/900 [08:35<15:55,  1.40s/it]
 24%|██▍       | 220/900 [08:35<12:15,  1.08s/it]
 25%|██▍       | 221/900 [08:35<09:41,  1.17it/s]
 25%|██▍       | 222/900 [08:36<07:55,  1.43it/s]
 25%|██▍       | 223/900 [08:36<06:39,  1.70it/s]
 25%|██▍       | 224/900 [08:36<05:45,  1.96it/s]
 25%|██▌       | 225/900 [08:47<40:40,  3.62s/it]
 25%|██▌       | 226/900 [08:48<29:33,  2.63s/it]
 25%|██▌       | 227/900 [08:48<21:46,  1.94s/it]
 25%|██▌       | 228/900 [08:48<16:20,  1.46s/it]
 25%|██▌       | 229/900 [08:49<12:31,  1.12s/it]
 26%|██▌       | 230/900 [08:49<09:51,  1.13it/s]
 26%|██▌       | 231/900 [08:49<07:58,  1.40it/s]
 26%|██▌       | 232/900 [08:50<06:41,  1.66it/s]
 26%|██▌       | 233/900 [09:18<1:39:59,  9.00s/it]
 26%|██▌       | 234/900 [09:19<1:11:00,  6.40s/it]
 26%|██▌       | 235/900 [09:19<50:42,  4.58s/it]  
 26%|██▌       | 236/900 [09:19<36:31,  3.30s/it]
 26%|██▋       | 237/900 [09:20<26:40,  2.41s/it]
 26%|██▋       | 238/900 [09:20<19:47,  1.79s/it]
 27%|██▋       | 239/900 [09:20<14:57,  1.36s/it]
 27%|██▋       | 240/900 [09:21<11:36,  1.06s/it]
 27%|██▋       | 241/900 [09:46<1:32:05,  8.38s/it]
 27%|██▋       | 242/900 [09:46<1:05:30,  5.97s/it]
 27%|██▋       | 243/900 [09:47<46:54,  4.28s/it]  
 27%|██▋       | 244/900 [09:47<33:54,  3.10s/it]
 27%|██▋       | 245/900 [09:47<24:50,  2.28s/it]
 27%|██▋       | 246/900 [09:48<18:32,  1.70s/it]
 27%|██▋       | 247/900 [09:48<14:03,  1.29s/it]
 28%|██▊       | 248/900 [09:49<10:54,  1.00s/it]
 28%|██▊       | 249/900 [09:59<41:27,  3.82s/it]
 28%|██▊       | 250/900 [09:59<30:09,  2.78s/it]
 28%|██▊       | 251/900 [10:00<22:09,  2.05s/it]
 28%|██▊       | 252/900 [10:00<16:31,  1.53s/it]
 28%|██▊       | 253/900 [10:00<12:35,  1.17s/it]
 28%|██▊       | 254/900 [10:01<09:49,  1.09it/s]
 28%|██▊       | 255/900 [10:01<07:54,  1.36it/s]
 28%|██▊       | 256/900 [10:01<06:33,  1.64it/s]
 29%|██▊       | 257/900 [10:43<2:18:51, 12.96s/it]
 29%|██▊       | 258/900 [10:43<1:38:06,  9.17s/it]
 29%|██▉       | 259/900 [10:44<1:09:37,  6.52s/it]
 29%|██▉       | 260/900 [10:44<49:44,  4.66s/it]  
 29%|██▉       | 261/900 [10:44<35:48,  3.36s/it]
 29%|██▉       | 262/900 [10:45<26:07,  2.46s/it]
 29%|██▉       | 263/900 [10:45<19:18,  1.82s/it]
 29%|██▉       | 264/900 [10:45<14:32,  1.37s/it]
 29%|██▉       | 265/900 [11:21<2:04:29, 11.76s/it]
 30%|██▉       | 266/900 [11:22<1:28:03,  8.33s/it]
 30%|██▉       | 267/900 [11:22<1:02:35,  5.93s/it]
 30%|██▉       | 268/900 [11:22<44:46,  4.25s/it]  
 30%|██▉       | 269/900 [11:23<32:18,  3.07s/it]
 30%|███       | 270/900 [11:23<23:36,  2.25s/it]
 30%|███       | 271/900 [11:23<17:30,  1.67s/it]
 30%|███       | 272/900 [11:24<13:15,  1.27s/it]
 30%|███       | 273/900 [11:37<51:26,  4.92s/it]
 30%|███       | 274/900 [11:37<36:58,  3.54s/it]
 31%|███       | 275/900 [11:38<26:52,  2.58s/it]
 31%|███       | 276/900 [11:38<19:49,  1.91s/it]
 31%|███       | 277/900 [11:38<14:52,  1.43s/it]
 31%|███       | 278/900 [11:39<11:25,  1.10s/it]
 31%|███       | 279/900 [11:39<09:00,  1.15it/s]
 31%|███       | 280/900 [11:39<07:18,  1.41it/s]
 31%|███       | 281/900 [11:56<55:34,  5.39s/it]
 31%|███▏      | 282/900 [11:56<39:51,  3.87s/it]
 31%|███▏      | 283/900 [11:56<28:52,  2.81s/it]
 32%|███▏      | 284/900 [11:57<21:09,  2.06s/it]
 32%|███▏      | 285/900 [11:57<15:48,  1.54s/it]
 32%|███▏      | 286/900 [11:57<12:04,  1.18s/it]
 32%|███▏      | 287/900 [11:58<09:27,  1.08it/s]
 32%|███▏      | 288/900 [11:58<07:36,  1.34it/s]
 32%|███▏      | 289/900 [12:19<1:09:04,  6.78s/it]
 32%|███▏      | 290/900 [12:19<49:19,  4.85s/it]  
 32%|███▏      | 291/900 [12:19<35:27,  3.49s/it]
 32%|███▏      | 292/900 [12:20<25:47,  2.54s/it]
 33%|███▎      | 293/900 [12:20<19:02,  1.88s/it]
 33%|███▎      | 294/900 [12:20<14:18,  1.42s/it]
 33%|███▎      | 295/900 [12:21<10:59,  1.09s/it]
 33%|███▎      | 296/900 [12:21<08:40,  1.16it/s]
 33%|███▎      | 297/900 [12:28<28:04,  2.79s/it]
 33%|███▎      | 298/900 [12:29<20:39,  2.06s/it]
 33%|███▎      | 299/900 [12:29<15:29,  1.55s/it]
 33%|███▎      | 300/900 [12:29<11:50,  1.18s/it]
 33%|███▎      | 301/900 [12:30<09:17,  1.07it/s]
 34%|███▎      | 302/900 [12:30<07:30,  1.33it/s]
 34%|███▎      | 303/900 [12:30<06:13,  1.60it/s]
 34%|███▍      | 304/900 [12:31<05:20,  1.86it/s]
 34%|███▍      | 305/900 [12:49<57:34,  5.81s/it]
 34%|███▍      | 306/900 [12:49<41:14,  4.17s/it]
 34%|███▍      | 307/900 [12:50<29:47,  3.01s/it]
 34%|███▍      | 308/900 [12:50<21:49,  2.21s/it]
 34%|███▍      | 309/900 [12:50<16:13,  1.65s/it]
 34%|███▍      | 310/900 [12:51<12:18,  1.25s/it]
 35%|███▍      | 311/900 [12:51<09:36,  1.02it/s]
 35%|███▍      | 312/900 [12:51<07:42,  1.27it/s]
 35%|███▍      | 313/900 [13:10<1:01:35,  6.30s/it]
 35%|███▍      | 314/900 [13:11<44:01,  4.51s/it]  
 35%|███▌      | 315/900 [13:11<31:46,  3.26s/it]
 35%|███▌      | 316/900 [13:11<23:10,  2.38s/it]
 35%|███▌      | 317/900 [13:12<17:08,  1.76s/it]
 35%|███▌      | 318/900 [13:12<12:56,  1.33s/it]
 35%|███▌      | 319/900 [13:12<09:59,  1.03s/it]
 36%|███▌      | 320/900 [13:13<07:55,  1.22it/s]
 36%|███▌      | 321/900 [13:19<25:03,  2.60s/it]
 36%|███▌      | 322/900 [13:20<18:28,  1.92s/it]
 36%|███▌      | 323/900 [13:20<13:51,  1.44s/it]
 36%|███▌      | 324/900 [13:20<10:38,  1.11s/it]
 36%|███▌      | 325/900 [13:21<08:22,  1.14it/s]
 36%|███▌      | 326/900 [13:21<06:47,  1.41it/s]
 36%|███▋      | 327/900 [13:21<05:40,  1.68it/s]
 36%|███▋      | 328/900 [13:22<04:52,  1.95it/s]
 37%|███▋      | 329/900 [14:31<3:20:22, 21.06s/it]
 37%|███▋      | 330/900 [14:31<2:20:58, 14.84s/it]
 37%|███▋      | 331/900 [14:31<1:39:27, 10.49s/it]
 37%|███▋      | 332/900 [14:32<1:10:27,  7.44s/it]
 37%|███▋      | 333/900 [14:32<50:08,  5.31s/it]  
 37%|███▋      | 334/900 [14:32<35:57,  3.81s/it]
 37%|███▋      | 335/900 [14:33<26:03,  2.77s/it]
 37%|███▋      | 336/900 [14:33<19:06,  2.03s/it]
 37%|███▋      | 337/900 [15:09<1:55:21, 12.29s/it]
 38%|███▊      | 338/900 [15:10<1:21:33,  8.71s/it]
 38%|███▊      | 339/900 [15:10<57:55,  6.20s/it]  
 38%|███▊      | 340/900 [15:10<41:25,  4.44s/it]
 38%|███▊      | 341/900 [15:11<29:52,  3.21s/it]
 38%|███▊      | 342/900 [15:11<21:49,  2.35s/it]
 38%|███▊      | 343/900 [15:11<16:10,  1.74s/it]
 38%|███▊      | 344/900 [15:12<12:14,  1.32s/it]
 38%|███▊      | 345/900 [15:30<59:31,  6.44s/it]
 38%|███▊      | 346/900 [15:30<42:30,  4.60s/it]
 39%|███▊      | 347/900 [15:31<30:35,  3.32s/it]
 39%|███▊      | 348/900 [15:31<22:17,  2.42s/it]
 39%|███▉      | 349/900 [15:31<16:30,  1.80s/it]
 39%|███▉      | 350/900 [15:32<12:29,  1.36s/it]
 39%|███▉      | 351/900 [15:32<09:41,  1.06s/it]
 39%|███▉      | 352/900 [15:32<07:40,  1.19it/s]
 39%|███▉      | 353/900 [15:53<1:02:34,  6.86s/it]
 39%|███▉      | 354/900 [15:54<44:36,  4.90s/it]  
 39%|███▉      | 355/900 [15:54<32:02,  3.53s/it]
 40%|███▉      | 356/900 [15:54<23:16,  2.57s/it]
 40%|███▉      | 357/900 [15:55<17:08,  1.89s/it]
 40%|███▉      | 358/900 [15:55<12:52,  1.43s/it]
 40%|███▉      | 359/900 [15:55<09:53,  1.10s/it]
 40%|████      | 360/900 [15:56<07:46,  1.16it/s]
 40%|████      | 361/900 [16:18<1:06:30,  7.40s/it]
 40%|████      | 362/900 [16:19<47:21,  5.28s/it]  
 40%|████      | 363/900 [16:19<33:58,  3.80s/it]
 40%|████      | 364/900 [16:19<24:37,  2.76s/it]
 41%|████      | 365/900 [16:20<18:05,  2.03s/it]
 41%|████      | 366/900 [16:20<13:30,  1.52s/it]
 41%|████      | 367/900 [16:20<10:23,  1.17s/it]
 41%|████      | 368/900 [16:21<08:09,  1.09it/s]
 41%|████      | 369/900 [16:44<1:07:41,  7.65s/it]
 41%|████      | 370/900 [16:44<48:10,  5.45s/it]  
 41%|████      | 371/900 [16:45<34:32,  3.92s/it]
 41%|████▏     | 372/900 [16:45<25:00,  2.84s/it]
 41%|████▏     | 373/900 [16:45<18:20,  2.09s/it]
 42%|████▏     | 374/900 [16:46<13:40,  1.56s/it]
 42%|████▏     | 375/900 [16:46<10:25,  1.19s/it]
 42%|████▏     | 376/900 [16:46<08:08,  1.07it/s]
 42%|████▏     | 377/900 [17:14<1:19:10,  9.08s/it]
 42%|████▏     | 378/900 [17:15<56:09,  6.46s/it]  
 42%|████▏     | 379/900 [17:15<40:08,  4.62s/it]
 42%|████▏     | 380/900 [17:15<28:56,  3.34s/it]
 42%|████▏     | 381/900 [17:16<21:05,  2.44s/it]
 42%|████▏     | 382/900 [17:16<15:37,  1.81s/it]
 43%|████▎     | 383/900 [17:16<11:47,  1.37s/it]
 43%|████▎     | 384/900 [17:17<09:05,  1.06s/it]
 43%|████▎     | 385/900 [17:50<1:33:16, 10.87s/it]
 43%|████▎     | 386/900 [17:51<1:05:59,  7.70s/it]
 43%|████▎     | 387/900 [17:51<46:56,  5.49s/it]  
 43%|████▎     | 388/900 [17:51<33:39,  3.94s/it]
 43%|████▎     | 389/900 [17:52<24:21,  2.86s/it]
 43%|████▎     | 390/900 [17:52<17:50,  2.10s/it]
 43%|████▎     | 391/900 [17:52<13:17,  1.57s/it]
 44%|████▎     | 392/900 [17:53<10:07,  1.20s/it]
 44%|████▎     | 393/900 [18:07<43:03,  5.10s/it]
 44%|████▍     | 394/900 [18:07<30:54,  3.67s/it]
 44%|████▍     | 395/900 [18:08<22:26,  2.67s/it]
 44%|████▍     | 396/900 [18:08<16:29,  1.96s/it]
 44%|████▍     | 397/900 [18:08<12:20,  1.47s/it]
 44%|████▍     | 398/900 [18:09<09:26,  1.13s/it]
 44%|████▍     | 399/900 [18:09<07:25,  1.13it/s]
 44%|████▍     | 400/900 [18:09<06:00,  1.39it/s]
 45%|████▍     | 401/900 [18:38<1:15:09,  9.04s/it]
 45%|████▍     | 402/900 [18:38<53:20,  6.43s/it]  
 45%|████▍     | 403/900 [18:38<38:04,  4.60s/it]
 45%|████▍     | 404/900 [18:39<27:24,  3.31s/it]
 45%|████▌     | 405/900 [18:39<19:56,  2.42s/it]
 45%|████▌     | 406/900 [18:39<14:44,  1.79s/it]
 45%|████▌     | 407/900 [18:40<11:05,  1.35s/it]
 45%|████▌     | 408/900 [18:40<08:33,  1.04s/it]
 45%|████▌     | 409/900 [18:48<25:18,  3.09s/it]
 46%|████▌     | 410/900 [18:48<18:29,  2.27s/it]
 46%|████▌     | 411/900 [18:49<13:44,  1.69s/it]
 46%|████▌     | 412/900 [18:49<10:24,  1.28s/it]
 46%|████▌     | 413/900 [18:49<08:04,  1.00it/s]
 46%|████▌     | 414/900 [18:50<06:26,  1.26it/s]
 46%|████▌     | 415/900 [18:50<05:18,  1.52it/s]
 46%|████▌     | 416/900 [18:50<04:29,  1.80it/s]
 46%|████▋     | 417/900 [19:05<38:15,  4.75s/it]
 46%|████▋     | 418/900 [19:05<27:32,  3.43s/it]
 47%|████▋     | 419/900 [19:05<20:01,  2.50s/it]
 47%|████▋     | 420/900 [19:06<14:46,  1.85s/it]
 47%|████▋     | 421/900 [19:06<11:05,  1.39s/it]
 47%|████▋     | 422/900 [19:06<08:32,  1.07s/it]
 47%|████▋     | 423/900 [19:07<06:45,  1.18it/s]
 47%|████▋     | 424/900 [19:07<05:30,  1.44it/s]
 47%|████▋     | 425/900 [19:32<1:02:40,  7.92s/it]
 47%|████▋     | 426/900 [19:32<44:34,  5.64s/it]  
 47%|████▋     | 427/900 [19:32<31:55,  4.05s/it]
 48%|████▊     | 428/900 [19:33<23:04,  2.93s/it]
 48%|████▊     | 429/900 [19:33<16:53,  2.15s/it]
 48%|████▊     | 430/900 [19:33<12:33,  1.60s/it]
 48%|████▊     | 431/900 [19:34<09:31,  1.22s/it]
 48%|████▊     | 432/900 [19:34<07:23,  1.06it/s]
 48%|████▊     | 433/900 [19:45<29:33,  3.80s/it]
 48%|████▊     | 434/900 [19:45<21:24,  2.76s/it]
 48%|████▊     | 435/900 [19:45<15:44,  2.03s/it]
 48%|████▊     | 436/900 [19:46<11:45,  1.52s/it]
 49%|████▊     | 437/900 [19:46<08:59,  1.17s/it]
 49%|████▊     | 438/900 [19:46<07:02,  1.09it/s]
 49%|████▉     | 439/900 [19:47<05:41,  1.35it/s]
 49%|████▉     | 440/900 [19:47<04:44,  1.62it/s]
 49%|████▉     | 441/900 [20:07<49:51,  6.52s/it]
 49%|████▉     | 442/900 [20:07<35:37,  4.67s/it]
 49%|████▉     | 443/900 [20:08<25:40,  3.37s/it]
 49%|████▉     | 444/900 [20:08<18:42,  2.46s/it]
 49%|████▉     | 445/900 [20:09<13:52,  1.83s/it]
 50%|████▉     | 446/900 [20:09<10:27,  1.38s/it]
 50%|████▉     | 447/900 [20:09<08:05,  1.07s/it]
 50%|████▉     | 448/900 [20:10<06:25,  1.17it/s]
 50%|████▉     | 449/900 [21:16<2:35:25, 20.68s/it]
 50%|█████     | 450/900 [21:17<1:49:19, 14.58s/it]
 50%|█████     | 451/900 [21:17<1:17:06, 10.30s/it]
 50%|█████     | 452/900 [21:17<54:36,  7.31s/it]  
 50%|█████     | 453/900 [21:18<38:53,  5.22s/it]
 50%|█████     | 454/900 [21:18<27:54,  3.75s/it]
 51%|█████     | 455/900 [21:19<20:14,  2.73s/it]
 51%|█████     | 456/900 [21:19<14:53,  2.01s/it]
 51%|█████     | 457/900 [21:54<1:27:12, 11.81s/it]
 51%|█████     | 458/900 [21:54<1:01:41,  8.38s/it]
 51%|█████     | 459/900 [21:54<43:52,  5.97s/it]  
 51%|█████     | 460/900 [21:55<31:25,  4.29s/it]
 51%|█████     | 461/900 [21:55<22:43,  3.11s/it]
 51%|█████▏    | 462/900 [21:55<16:39,  2.28s/it]
 51%|█████▏    | 463/900 [21:56<12:23,  1.70s/it]
 52%|█████▏    | 464/900 [21:56<09:25,  1.30s/it]
 52%|█████▏    | 465/900 [22:08<33:20,  4.60s/it]
 52%|█████▏    | 466/900 [22:09<24:03,  3.33s/it]
 52%|█████▏    | 467/900 [22:09<17:32,  2.43s/it]
 52%|█████▏    | 468/900 [22:09<13:00,  1.81s/it]
 52%|█████▏    | 469/900 [22:10<09:49,  1.37s/it]
 52%|█████▏    | 470/900 [22:10<07:37,  1.06s/it]
 52%|█████▏    | 471/900 [22:10<06:06,  1.17it/s]
 52%|█████▏    | 472/900 [22:11<05:02,  1.42it/s]
 53%|█████▎    | 473/900 [22:38<1:00:43,  8.53s/it]
 53%|█████▎    | 474/900 [22:38<43:10,  6.08s/it]  
 53%|█████▎    | 475/900 [22:38<30:55,  4.37s/it]
 53%|█████▎    | 476/900 [22:39<22:22,  3.17s/it]
 53%|█████▎    | 477/900 [22:39<16:23,  2.32s/it]
 53%|█████▎    | 478/900 [22:39<12:12,  1.74s/it]
 53%|█████▎    | 479/900 [22:40<09:15,  1.32s/it]
 53%|█████▎    | 480/900 [22:40<07:09,  1.02s/it]
 53%|█████▎    | 481/900 [22:56<39:11,  5.61s/it]
 54%|█████▎    | 482/900 [22:57<28:03,  4.03s/it]
 54%|█████▎    | 483/900 [22:57<20:17,  2.92s/it]
 54%|█████▍    | 484/900 [22:57<14:50,  2.14s/it]
 54%|█████▍    | 485/900 [22:58<11:03,  1.60s/it]
 54%|█████▍    | 485/900 [22:58<19:39,  2.84s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json.
+TakeSpatulaOffShelfTask_0 complete: task_name: TakeSpatulaOffShelfTask, run_name: TakeSpatulaOffShelfTask_0, run: 0, env_id: 0, policy: harness, instruction: Take the spatula off the shelf and put it on the table, attributes: ['affordance', 'spatial', 'moderate'], success: True, episode_step: 486, duration: 32.4, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.52144871780367, 'joint_sparc_mean': -9.785860560500293, 'ee_isj': 27296.77140919039, 'joint_isj': 1384211.6314626657, 'ee_path_length': 9.130541614907044, 'joint_rmse_mean': 1.42419143042112, 'ee_speed_max': 1.6301281452178955, 'ee_speed_mean': 0.26684263348579407}, events: {'GRIPPER_FULLY_CLOSED': 7, 'GRIPPER_HIT_OBJECT': 1, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 1220.336, 'policy_inference_avg_ms': 2511.0, 'env_step_s': 153.792, 'env_step_avg_ms': 316.4, 'video_write_s': 4.215, 'video_write_avg_ms': 8.7, 'wall_total_s': 1378.343, 'it_per_sec': 0.35}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: 5ee18345893e4933a18b39904481ee04-0
+[RoboLab] Running TakeSpatulaOffShelfTask_1: 'Take the spatula off the shelf and put it on the table' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:35<8:51:40, 35.48s/it]
  0%|          | 2/900 [00:35<3:41:39, 14.81s/it]
  0%|          | 3/900 [00:36<2:02:36,  8.20s/it]
  0%|          | 4/900 [00:36<1:16:05,  5.10s/it]
  1%|          | 5/900 [00:36<50:21,  3.38s/it]  
  1%|          | 6/900 [00:37<34:54,  2.34s/it]
  1%|          | 7/900 [00:37<25:05,  1.69s/it]
  1%|          | 8/900 [00:37<18:40,  1.26s/it]
  1%|          | 9/900 [00:51<1:15:58,  5.12s/it]
  1%|          | 10/900 [00:51<53:56,  3.64s/it] 
  1%|          | 11/900 [00:52<38:49,  2.62s/it]
  1%|▏         | 12/900 [00:52<28:28,  1.92s/it]
  1%|▏         | 13/900 [00:52<21:19,  1.44s/it]
  2%|▏         | 14/900 [00:53<16:17,  1.10s/it]
  2%|▏         | 15/900 [00:53<12:46,  1.15it/s]
  2%|▏         | 16/900 [00:53<10:23,  1.42it/s]
  2%|▏         | 17/900 [00:59<33:45,  2.29s/it]
  2%|▏         | 18/900 [01:00<25:03,  1.70s/it]
  2%|▏         | 19/900 [01:00<18:55,  1.29s/it]
  2%|▏         | 20/900 [01:00<14:38,  1.00it/s]
  2%|▏         | 21/900 [01:00<11:39,  1.26it/s]
  2%|▏         | 22/900 [01:01<09:32,  1.53it/s]
  3%|▎         | 23/900 [01:01<08:07,  1.80it/s]
  3%|▎         | 24/900 [01:01<07:07,  2.05it/s]
  3%|▎         | 25/900 [01:17<1:11:13,  4.88s/it]
  3%|▎         | 26/900 [01:17<51:14,  3.52s/it]  
  3%|▎         | 27/900 [01:17<37:16,  2.56s/it]
  3%|▎         | 28/900 [01:18<27:29,  1.89s/it]
  3%|▎         | 29/900 [01:18<20:38,  1.42s/it]
  3%|▎         | 30/900 [01:18<15:51,  1.09s/it]
  3%|▎         | 31/900 [01:19<12:30,  1.16it/s]
  4%|▎         | 32/900 [01:19<10:10,  1.42it/s]
  4%|▎         | 33/900 [01:33<1:07:58,  4.70s/it]
  4%|▍         | 34/900 [01:33<48:56,  3.39s/it]  
  4%|▍         | 35/900 [01:34<35:37,  2.47s/it]
  4%|▍         | 36/900 [01:34<26:19,  1.83s/it]
  4%|▍         | 37/900 [01:34<19:47,  1.38s/it]
  4%|▍         | 38/900 [01:35<15:16,  1.06s/it]
  4%|▍         | 39/900 [01:35<12:06,  1.19it/s]
  4%|▍         | 40/900 [01:35<09:51,  1.45it/s]
  5%|▍         | 41/900 [01:47<57:02,  3.98s/it]
  5%|▍         | 42/900 [01:47<41:18,  2.89s/it]
  5%|▍         | 43/900 [01:48<30:16,  2.12s/it]
  5%|▍         | 44/900 [01:48<22:34,  1.58s/it]
  5%|▌         | 45/900 [01:48<17:12,  1.21s/it]
  5%|▌         | 46/900 [01:49<13:26,  1.06it/s]
  5%|▌         | 47/900 [01:49<10:47,  1.32it/s]
  5%|▌         | 48/900 [01:49<08:57,  1.58it/s]
  5%|▌         | 49/900 [01:58<42:51,  3.02s/it]
  6%|▌         | 50/900 [01:58<31:20,  2.21s/it]
  6%|▌         | 51/900 [01:58<23:17,  1.65s/it]
  6%|▌         | 52/900 [01:59<17:41,  1.25s/it]
  6%|▌         | 53/900 [01:59<13:46,  1.03it/s]
  6%|▌         | 54/900 [01:59<11:03,  1.27it/s]
  6%|▌         | 55/900 [02:00<09:07,  1.54it/s]
  6%|▌         | 56/900 [02:00<07:46,  1.81it/s]
  6%|▋         | 57/900 [02:09<40:58,  2.92s/it]
  6%|▋         | 58/900 [02:09<30:01,  2.14s/it]
  7%|▋         | 59/900 [02:09<22:21,  1.60s/it]
  7%|▋         | 60/900 [02:10<17:00,  1.22s/it]
  7%|▋         | 61/900 [02:10<13:16,  1.05it/s]
  7%|▋         | 62/900 [02:10<10:40,  1.31it/s]
  7%|▋         | 63/900 [02:11<08:52,  1.57it/s]
  7%|▋         | 64/900 [02:11<07:35,  1.84it/s]
  7%|▋         | 65/900 [02:21<47:15,  3.40s/it]
  7%|▋         | 66/900 [02:21<34:27,  2.48s/it]
  7%|▋         | 67/900 [02:22<25:31,  1.84s/it]
  8%|▊         | 68/900 [02:22<19:14,  1.39s/it]
  8%|▊         | 69/900 [02:22<14:52,  1.07s/it]
  8%|▊         | 70/900 [02:23<11:50,  1.17it/s]
  8%|▊         | 71/900 [02:23<09:43,  1.42it/s]
  8%|▊         | 72/900 [02:23<08:11,  1.68it/s]
  8%|▊         | 73/900 [02:37<1:02:41,  4.55s/it]
  8%|▊         | 74/900 [02:37<45:12,  3.28s/it]  
  8%|▊         | 75/900 [02:38<32:58,  2.40s/it]
  8%|▊         | 76/900 [02:38<24:25,  1.78s/it]
  9%|▊         | 77/900 [02:38<18:26,  1.34s/it]
  9%|▊         | 78/900 [02:39<14:16,  1.04s/it]
  9%|▉         | 79/900 [02:39<11:21,  1.21it/s]
  9%|▉         | 80/900 [02:39<09:17,  1.47it/s]
  9%|▉         | 81/900 [02:46<31:55,  2.34s/it]
  9%|▉         | 82/900 [02:46<23:41,  1.74s/it]
  9%|▉         | 83/900 [02:46<17:57,  1.32s/it]
  9%|▉         | 84/900 [02:47<13:53,  1.02s/it]
  9%|▉         | 85/900 [02:47<11:02,  1.23it/s]
 10%|▉         | 86/900 [02:47<09:03,  1.50it/s]
 10%|▉         | 87/900 [02:48<07:40,  1.76it/s]
 10%|▉         | 88/900 [02:48<06:43,  2.01it/s]
 10%|▉         | 89/900 [03:07<1:23:25,  6.17s/it]
 10%|█         | 90/900 [03:08<59:39,  4.42s/it]  
 10%|█         | 91/900 [03:08<43:02,  3.19s/it]
 10%|█         | 92/900 [03:08<31:25,  2.33s/it]
 10%|█         | 93/900 [03:09<23:18,  1.73s/it]
 10%|█         | 94/900 [03:09<17:38,  1.31s/it]
 11%|█         | 95/900 [03:09<13:41,  1.02s/it]
 11%|█         | 96/900 [03:10<10:54,  1.23it/s]
 11%|█         | 97/900 [03:22<57:53,  4.33s/it]
 11%|█         | 98/900 [03:23<41:47,  3.13s/it]
 11%|█         | 99/900 [03:23<30:31,  2.29s/it]
 11%|█         | 100/900 [03:23<22:39,  1.70s/it]
 11%|█         | 101/900 [03:24<17:06,  1.29s/it]
 11%|█▏        | 102/900 [03:24<13:17,  1.00it/s]
 11%|█▏        | 103/900 [03:24<10:38,  1.25it/s]
 12%|█▏        | 104/900 [03:25<08:49,  1.50it/s]
 12%|█▏        | 105/900 [03:55<2:06:30,  9.55s/it]
 12%|█▏        | 106/900 [03:55<1:30:06,  6.81s/it]
 12%|█▏        | 107/900 [03:56<1:04:24,  4.87s/it]
 12%|█▏        | 108/900 [03:56<46:26,  3.52s/it]  
 12%|█▏        | 109/900 [03:56<33:52,  2.57s/it]
 12%|█▏        | 110/900 [03:57<25:06,  1.91s/it]
 12%|█▏        | 111/900 [03:57<18:55,  1.44s/it]
 12%|█▏        | 112/900 [03:57<14:32,  1.11s/it]
 13%|█▎        | 113/900 [04:07<47:43,  3.64s/it]
 13%|█▎        | 114/900 [04:07<34:41,  2.65s/it]
 13%|█▎        | 115/900 [04:08<25:38,  1.96s/it]
 13%|█▎        | 116/900 [04:08<19:21,  1.48s/it]
 13%|█▎        | 117/900 [04:08<14:55,  1.14s/it]
 13%|█▎        | 118/900 [04:09<11:45,  1.11it/s]
 13%|█▎        | 119/900 [04:09<09:31,  1.37it/s]
 13%|█▎        | 120/900 [04:09<07:58,  1.63it/s]
 13%|█▎        | 121/900 [04:39<2:01:46,  9.38s/it]
 14%|█▎        | 122/900 [04:39<1:26:26,  6.67s/it]
 14%|█▎        | 123/900 [04:40<1:01:43,  4.77s/it]
 14%|█▍        | 124/900 [04:40<44:25,  3.43s/it]  
 14%|█▍        | 125/900 [04:40<32:18,  2.50s/it]
 14%|█▍        | 126/900 [04:41<23:50,  1.85s/it]
 14%|█▍        | 127/900 [04:41<17:55,  1.39s/it]
 14%|█▍        | 128/900 [04:41<13:54,  1.08s/it]
 14%|█▍        | 129/900 [05:05<1:41:57,  7.93s/it]
 14%|█▍        | 130/900 [05:06<1:12:39,  5.66s/it]
 15%|█▍        | 131/900 [05:06<52:10,  4.07s/it]  
 15%|█▍        | 132/900 [05:06<37:40,  2.94s/it]
 15%|█▍        | 133/900 [05:07<27:33,  2.16s/it]
 15%|█▍        | 134/900 [05:07<20:31,  1.61s/it]
 15%|█▌        | 135/900 [05:07<15:36,  1.22s/it]
 15%|█▌        | 136/900 [05:08<12:08,  1.05it/s]
 15%|█▌        | 137/900 [05:19<52:11,  4.10s/it]
 15%|█▌        | 138/900 [05:20<37:42,  2.97s/it]
 15%|█▌        | 139/900 [05:20<27:33,  2.17s/it]
 16%|█▌        | 140/900 [05:20<20:28,  1.62s/it]
 16%|█▌        | 141/900 [05:20<15:31,  1.23s/it]
 16%|█▌        | 142/900 [05:21<12:03,  1.05it/s]
 16%|█▌        | 143/900 [05:21<09:39,  1.31it/s]
 16%|█▌        | 144/900 [05:21<07:57,  1.58it/s]
 16%|█▌        | 145/900 [05:32<45:12,  3.59s/it]
 16%|█▌        | 146/900 [05:32<32:58,  2.62s/it]
 16%|█▋        | 147/900 [05:33<24:26,  1.95s/it]
 16%|█▋        | 148/900 [05:33<18:26,  1.47s/it]
 17%|█▋        | 149/900 [05:33<14:13,  1.14s/it]
 17%|█▋        | 150/900 [05:34<11:16,  1.11it/s]
 17%|█▋        | 151/900 [05:34<09:12,  1.36it/s]
 17%|█▋        | 152/900 [05:34<07:47,  1.60it/s]
 17%|█▋        | 153/900 [05:40<25:27,  2.05s/it]
 17%|█▋        | 154/900 [05:40<19:08,  1.54s/it]
 17%|█▋        | 155/900 [05:41<14:45,  1.19s/it]
 17%|█▋        | 156/900 [05:41<11:41,  1.06it/s]
 17%|█▋        | 157/900 [05:41<09:30,  1.30it/s]
 18%|█▊        | 158/900 [05:42<08:05,  1.53it/s]
 18%|█▊        | 159/900 [05:42<06:57,  1.78it/s]
 18%|█▊        | 160/900 [05:42<06:11,  1.99it/s]
 18%|█▊        | 161/900 [05:55<52:12,  4.24s/it]
 18%|█▊        | 162/900 [05:56<37:48,  3.07s/it]
 18%|█▊        | 163/900 [05:56<27:44,  2.26s/it]
 18%|█▊        | 164/900 [05:56<20:42,  1.69s/it]
 18%|█▊        | 165/900 [05:57<15:47,  1.29s/it]
 18%|█▊        | 166/900 [05:57<12:20,  1.01s/it]
 19%|█▊        | 167/900 [05:57<09:55,  1.23it/s]
 19%|█▊        | 168/900 [05:58<08:14,  1.48it/s]
 19%|█▉        | 169/900 [06:14<1:05:05,  5.34s/it]
 19%|█▉        | 170/900 [06:14<46:46,  3.84s/it]  
 19%|█▉        | 171/900 [06:15<33:58,  2.80s/it]
 19%|█▉        | 172/900 [06:15<25:00,  2.06s/it]
 19%|█▉        | 173/900 [06:15<18:40,  1.54s/it]
 19%|█▉        | 174/900 [06:16<14:14,  1.18s/it]
 19%|█▉        | 175/900 [06:16<11:07,  1.09it/s]
 20%|█▉        | 176/900 [06:16<08:58,  1.34it/s]
 20%|█▉        | 177/900 [06:31<59:13,  4.91s/it]
 20%|█▉        | 178/900 [06:31<42:38,  3.54s/it]
 20%|█▉        | 179/900 [06:32<31:02,  2.58s/it]
 20%|██        | 180/900 [06:32<22:53,  1.91s/it]
 20%|██        | 181/900 [06:32<17:11,  1.43s/it]
 20%|██        | 182/900 [06:33<13:11,  1.10s/it]
 20%|██        | 183/900 [06:33<10:24,  1.15it/s]
 20%|██        | 184/900 [06:33<08:27,  1.41it/s]
 21%|██        | 185/900 [06:41<33:06,  2.78s/it]
 21%|██        | 186/900 [06:41<24:16,  2.04s/it]
 21%|██        | 187/900 [06:42<18:09,  1.53s/it]
 21%|██        | 188/900 [06:42<13:52,  1.17s/it]
 21%|██        | 189/900 [06:42<10:52,  1.09it/s]
 21%|██        | 190/900 [06:43<08:47,  1.35it/s]
 21%|██        | 191/900 [06:43<07:20,  1.61it/s]
 21%|██▏       | 192/900 [06:43<06:15,  1.88it/s]
 21%|██▏       | 193/900 [06:51<31:27,  2.67s/it]
 22%|██▏       | 194/900 [06:51<23:07,  1.97s/it]
 22%|██▏       | 195/900 [06:52<17:17,  1.47s/it]
 22%|██▏       | 196/900 [06:52<13:13,  1.13s/it]
 22%|██▏       | 197/900 [06:52<10:23,  1.13it/s]
 22%|██▏       | 198/900 [06:53<08:23,  1.39it/s]
 22%|██▏       | 199/900 [06:53<07:00,  1.67it/s]
 22%|██▏       | 200/900 [06:53<06:02,  1.93it/s]
 22%|██▏       | 201/900 [07:00<28:49,  2.47s/it]
 22%|██▏       | 202/900 [07:01<21:20,  1.83s/it]
 23%|██▎       | 203/900 [07:01<16:07,  1.39s/it]
 23%|██▎       | 204/900 [07:01<12:28,  1.08s/it]
 23%|██▎       | 205/900 [07:02<09:57,  1.16it/s]
 23%|██▎       | 206/900 [07:02<08:11,  1.41it/s]
 23%|██▎       | 207/900 [07:02<06:55,  1.67it/s]
 23%|██▎       | 208/900 [07:03<06:01,  1.92it/s]
 23%|██▎       | 209/900 [07:17<54:53,  4.77s/it]
 23%|██▎       | 210/900 [07:18<39:29,  3.43s/it]
 23%|██▎       | 211/900 [07:18<28:42,  2.50s/it]
 24%|██▎       | 212/900 [07:18<21:11,  1.85s/it]
 24%|██▎       | 213/900 [07:19<15:56,  1.39s/it]
 24%|██▍       | 214/900 [07:19<12:15,  1.07s/it]
 24%|██▍       | 215/900 [07:19<09:41,  1.18it/s]
 24%|██▍       | 216/900 [07:20<07:52,  1.45it/s]
 24%|██▍       | 217/900 [07:36<59:48,  5.25s/it]
 24%|██▍       | 218/900 [07:36<42:54,  3.77s/it]
 24%|██▍       | 219/900 [07:36<31:06,  2.74s/it]
 24%|██▍       | 220/900 [07:37<22:50,  2.01s/it]
 25%|██▍       | 221/900 [07:37<17:04,  1.51s/it]
 25%|██▍       | 222/900 [07:37<13:02,  1.15s/it]
 25%|██▍       | 223/900 [07:37<10:13,  1.10it/s]
 25%|██▍       | 224/900 [07:38<08:14,  1.37it/s]
 25%|██▌       | 225/900 [07:44<28:06,  2.50s/it]
 25%|██▌       | 226/900 [07:45<20:45,  1.85s/it]
 25%|██▌       | 227/900 [07:45<15:36,  1.39s/it]
 25%|██▌       | 228/900 [07:45<12:02,  1.08s/it]
 25%|██▌       | 229/900 [07:46<09:31,  1.17it/s]
 26%|██▌       | 230/900 [07:46<07:44,  1.44it/s]
 26%|██▌       | 231/900 [07:46<06:30,  1.71it/s]
 26%|██▌       | 232/900 [07:47<05:38,  1.98it/s]
 26%|██▌       | 233/900 [07:58<42:54,  3.86s/it]
 26%|██▌       | 234/900 [07:59<31:06,  2.80s/it]
 26%|██▌       | 235/900 [07:59<22:51,  2.06s/it]
 26%|██▌       | 236/900 [07:59<17:06,  1.55s/it]
 26%|██▋       | 237/900 [08:00<13:08,  1.19s/it]
 26%|██▋       | 238/900 [08:00<10:21,  1.06it/s]
 27%|██▋       | 239/900 [08:00<08:24,  1.31it/s]
 27%|██▋       | 240/900 [08:01<07:02,  1.56it/s]
 27%|██▋       | 241/900 [08:08<29:10,  2.66s/it]
 27%|██▋       | 242/900 [08:09<21:34,  1.97s/it]
 27%|██▋       | 243/900 [08:09<16:14,  1.48s/it]
 27%|██▋       | 244/900 [08:09<12:31,  1.15s/it]
 27%|██▋       | 245/900 [08:10<09:56,  1.10it/s]
 27%|██▋       | 246/900 [08:10<08:07,  1.34it/s]
 27%|██▋       | 247/900 [08:10<06:49,  1.59it/s]
 28%|██▊       | 248/900 [08:11<05:57,  1.82it/s]
 28%|██▊       | 249/900 [08:22<41:18,  3.81s/it]
 28%|██▊       | 250/900 [08:22<30:02,  2.77s/it]
 28%|██▊       | 251/900 [08:23<22:10,  2.05s/it]
 28%|██▊       | 252/900 [08:23<16:40,  1.54s/it]
 28%|██▊       | 253/900 [08:24<12:47,  1.19s/it]
 28%|██▊       | 254/900 [08:24<10:05,  1.07it/s]
 28%|██▊       | 255/900 [08:24<08:11,  1.31it/s]
 28%|██▊       | 256/900 [08:25<06:51,  1.57it/s]
 29%|██▊       | 257/900 [08:36<39:59,  3.73s/it]
 29%|██▊       | 258/900 [08:36<29:06,  2.72s/it]
 29%|██▉       | 259/900 [08:36<21:30,  2.01s/it]
 29%|██▉       | 260/900 [08:37<16:16,  1.53s/it]
 29%|██▉       | 261/900 [08:37<12:30,  1.17s/it]
 29%|██▉       | 262/900 [08:37<09:55,  1.07it/s]
 29%|██▉       | 263/900 [08:38<08:08,  1.30it/s]
 29%|██▉       | 264/900 [08:38<06:54,  1.54it/s]
 29%|██▉       | 265/900 [08:58<1:07:09,  6.35s/it]
 30%|██▉       | 266/900 [08:58<48:05,  4.55s/it]  
 30%|██▉       | 267/900 [08:59<34:41,  3.29s/it]
 30%|██▉       | 268/900 [08:59<25:19,  2.40s/it]
 30%|██▉       | 269/900 [08:59<18:47,  1.79s/it]
 30%|███       | 270/900 [09:00<14:12,  1.35s/it]
 30%|███       | 271/900 [09:00<10:56,  1.04s/it]
 30%|███       | 272/900 [09:00<08:43,  1.20it/s]
 30%|███       | 273/900 [09:16<56:44,  5.43s/it]
 30%|███       | 274/900 [09:17<40:38,  3.90s/it]
 31%|███       | 275/900 [09:17<29:23,  2.82s/it]
 31%|███       | 276/900 [09:17<21:31,  2.07s/it]
 31%|███       | 277/900 [09:18<16:01,  1.54s/it]
 31%|███       | 278/900 [09:18<12:10,  1.17s/it]
 31%|███       | 279/900 [09:18<09:29,  1.09it/s]
 31%|███       | 280/900 [09:19<07:36,  1.36it/s]
 31%|███       | 281/900 [09:38<1:06:01,  6.40s/it]
 31%|███▏      | 282/900 [09:39<47:10,  4.58s/it]  
 31%|███▏      | 283/900 [09:39<33:59,  3.31s/it]
 32%|███▏      | 284/900 [09:39<24:46,  2.41s/it]
 32%|███▏      | 285/900 [09:40<18:20,  1.79s/it]
 32%|███▏      | 286/900 [09:40<13:50,  1.35s/it]
 32%|███▏      | 287/900 [09:40<10:40,  1.05s/it]
 32%|███▏      | 288/900 [09:41<08:28,  1.20it/s]
 32%|███▏      | 289/900 [09:48<27:24,  2.69s/it]
 32%|███▏      | 290/900 [09:48<20:10,  1.98s/it]
 32%|███▏      | 291/900 [09:48<15:06,  1.49s/it]
 32%|███▏      | 292/900 [09:49<11:34,  1.14s/it]
 33%|███▎      | 293/900 [09:49<09:05,  1.11it/s]
 33%|███▎      | 294/900 [09:49<07:22,  1.37it/s]
 33%|███▎      | 295/900 [09:50<06:11,  1.63it/s]
 33%|███▎      | 296/900 [09:50<05:20,  1.89it/s]
 33%|███▎      | 297/900 [10:04<44:49,  4.46s/it]
 33%|███▎      | 298/900 [10:04<32:21,  3.23s/it]
 33%|███▎      | 299/900 [10:04<23:35,  2.36s/it]
 33%|███▎      | 300/900 [10:05<17:28,  1.75s/it]
 33%|███▎      | 301/900 [10:05<13:14,  1.33s/it]
 34%|███▎      | 302/900 [10:05<10:14,  1.03s/it]
 34%|███▎      | 303/900 [10:06<08:07,  1.23it/s]
 34%|███▍      | 304/900 [10:06<06:39,  1.49it/s]
 34%|███▍      | 305/900 [10:40<1:47:02, 10.79s/it]
 34%|███▍      | 306/900 [10:41<1:15:53,  7.67s/it]
 34%|███▍      | 307/900 [10:41<54:06,  5.47s/it]  
 34%|███▍      | 308/900 [10:41<38:52,  3.94s/it]
 34%|███▍      | 309/900 [10:42<28:13,  2.87s/it]
 34%|███▍      | 310/900 [10:42<20:46,  2.11s/it]
 35%|███▍      | 311/900 [10:42<15:31,  1.58s/it]
 35%|███▍      | 312/900 [10:43<11:52,  1.21s/it]
 35%|███▍      | 313/900 [10:51<32:59,  3.37s/it]
 35%|███▍      | 314/900 [10:52<24:07,  2.47s/it]
 35%|███▌      | 315/900 [10:52<17:55,  1.84s/it]
 35%|███▌      | 316/900 [10:52<13:32,  1.39s/it]
 35%|███▌      | 317/900 [10:53<10:32,  1.08s/it]
 35%|███▌      | 318/900 [10:53<08:21,  1.16it/s]
 35%|███▌      | 319/900 [10:53<06:52,  1.41it/s]
 36%|███▌      | 320/900 [10:54<05:48,  1.66it/s]
 36%|███▌      | 321/900 [11:10<51:41,  5.36s/it]
 36%|███▌      | 322/900 [11:10<37:07,  3.85s/it]
 36%|███▌      | 323/900 [11:11<26:53,  2.80s/it]
 36%|███▌      | 324/900 [11:11<19:44,  2.06s/it]
 36%|███▌      | 325/900 [11:11<14:45,  1.54s/it]
 36%|███▌      | 326/900 [11:12<11:17,  1.18s/it]
 36%|███▋      | 327/900 [11:12<08:53,  1.07it/s]
 36%|███▋      | 328/900 [11:12<07:13,  1.32it/s]
 37%|███▋      | 329/900 [11:30<56:02,  5.89s/it]
 37%|███▋      | 330/900 [11:31<40:10,  4.23s/it]
 37%|███▋      | 331/900 [11:31<29:06,  3.07s/it]
 37%|███▋      | 332/900 [11:31<21:22,  2.26s/it]
 37%|███▋      | 333/900 [11:32<15:59,  1.69s/it]
 37%|███▋      | 334/900 [11:32<12:12,  1.29s/it]
 37%|███▋      | 335/900 [11:33<09:31,  1.01s/it]
 37%|███▋      | 336/900 [11:33<07:40,  1.22it/s]
 37%|███▋      | 337/900 [11:48<46:58,  5.01s/it]
 38%|███▊      | 338/900 [11:48<33:47,  3.61s/it]
 38%|███▊      | 339/900 [11:48<24:34,  2.63s/it]
 38%|███▊      | 340/900 [11:49<18:09,  1.95s/it]
 38%|███▊      | 341/900 [11:49<13:40,  1.47s/it]
 38%|███▊      | 342/900 [11:49<10:29,  1.13s/it]
 38%|███▊      | 343/900 [11:50<08:16,  1.12it/s]
 38%|███▊      | 344/900 [11:50<06:38,  1.39it/s]
 38%|███▊      | 345/900 [12:00<33:13,  3.59s/it]
 38%|███▊      | 346/900 [12:01<24:05,  2.61s/it]
 39%|███▊      | 347/900 [12:01<17:41,  1.92s/it]
 39%|███▊      | 348/900 [12:01<13:13,  1.44s/it]
 39%|███▊      | 348/900 [12:02<19:05,  2.08s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/log_1_env0.json.
+TakeSpatulaOffShelfTask_1 complete: task_name: TakeSpatulaOffShelfTask, run_name: TakeSpatulaOffShelfTask_1, run: 1, env_id: 0, policy: harness, instruction: Take the spatula off the shelf and put it on the table, attributes: ['affordance', 'spatial', 'moderate'], success: True, episode_step: 349, duration: 23.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.109617729148368, 'joint_sparc_mean': -11.434183443498464, 'ee_isj': 6883.966791273967, 'joint_isj': 183288.8466269805, 'ee_path_length': 4.631040112951624, 'joint_rmse_mean': 0.9528752113532237, 'ee_speed_max': 1.042983055114746, 'ee_speed_mean': 0.18537583947181702}, events: {'GRIPPER_FULLY_CLOSED': 6, 'GRIPPER_HIT_OBJECT': 2, 'WRONG_OBJECT_GRABBED': 1, 'MULTIPLE_OBJECTS_GRABBED': 1, 'TARGET_OBJECT_DROPPED': 3, 'GRIPPER_HIT_TABLE': 1, 'wrong_objects_grabbed': ['wireshelving_a01']}, instruction_type: default, timing: {'policy_inference_s': 607.128, 'policy_inference_avg_ms': 1739.6, 'env_step_s': 111.053, 'env_step_avg_ms': 318.2, 'video_write_s': 3.813, 'video_write_avg_ms': 10.9, 'wall_total_s': 721.994, 'it_per_sec': 0.48}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: 8d8d4464ce754ce89c79e23514d66796-1
+[RoboLab] Running TakeSpatulaOffShelfTask_2: 'Take the spatula off the shelf and put it on the table' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:30<7:35:04, 30.37s/it]
  0%|          | 2/900 [00:30<3:10:13, 12.71s/it]
  0%|          | 3/900 [00:31<1:45:31,  7.06s/it]
  0%|          | 4/900 [00:31<1:05:50,  4.41s/it]
  1%|          | 5/900 [00:31<43:48,  2.94s/it]  
  1%|          | 6/900 [00:32<30:34,  2.05s/it]
  1%|          | 7/900 [00:32<22:10,  1.49s/it]
  1%|          | 8/900 [00:32<16:37,  1.12s/it]
  1%|          | 9/900 [00:45<1:09:56,  4.71s/it]
  1%|          | 10/900 [00:45<49:48,  3.36s/it] 
  1%|          | 11/900 [00:45<36:05,  2.44s/it]
  1%|▏         | 12/900 [00:46<26:37,  1.80s/it]
  1%|▏         | 13/900 [00:46<20:00,  1.35s/it]
  2%|▏         | 14/900 [00:46<15:25,  1.04s/it]
  2%|▏         | 15/900 [00:47<12:13,  1.21it/s]
  2%|▏         | 16/900 [00:47<09:56,  1.48it/s]
  2%|▏         | 17/900 [00:53<33:29,  2.28s/it]
  2%|▏         | 18/900 [00:53<24:52,  1.69s/it]
  2%|▏         | 19/900 [00:54<18:51,  1.28s/it]
  2%|▏         | 20/900 [00:54<14:36,  1.00it/s]
  2%|▏         | 21/900 [00:54<11:40,  1.25it/s]
  2%|▏         | 22/900 [00:55<09:35,  1.53it/s]
  3%|▎         | 23/900 [00:55<08:09,  1.79it/s]
  3%|▎         | 24/900 [00:55<07:06,  2.05it/s]
  3%|▎         | 25/900 [01:06<51:36,  3.54s/it]
  3%|▎         | 26/900 [01:06<37:32,  2.58s/it]
  3%|▎         | 27/900 [01:07<27:41,  1.90s/it]
  3%|▎         | 28/900 [01:07<20:58,  1.44s/it]
  3%|▎         | 29/900 [01:07<16:05,  1.11s/it]
  3%|▎         | 30/900 [01:08<12:41,  1.14it/s]
  3%|▎         | 31/900 [01:08<10:21,  1.40it/s]
  4%|▎         | 32/900 [01:08<08:41,  1.66it/s]
  4%|▎         | 33/900 [01:15<34:59,  2.42s/it]
  4%|▍         | 34/900 [01:15<25:53,  1.79s/it]
  4%|▍         | 35/900 [01:16<19:30,  1.35s/it]
  4%|▍         | 36/900 [01:16<15:01,  1.04s/it]
  4%|▍         | 37/900 [01:16<11:54,  1.21it/s]
  4%|▍         | 38/900 [01:17<09:43,  1.48it/s]
  4%|▍         | 39/900 [01:17<08:10,  1.75it/s]
  4%|▍         | 40/900 [01:17<07:06,  2.02it/s]
  5%|▍         | 41/900 [01:25<35:31,  2.48s/it]
  5%|▍         | 42/900 [01:25<26:18,  1.84s/it]
  5%|▍         | 43/900 [01:25<19:49,  1.39s/it]
  5%|▍         | 44/900 [01:26<15:20,  1.08s/it]
  5%|▌         | 45/900 [01:26<12:07,  1.18it/s]
  5%|▌         | 46/900 [01:26<09:51,  1.44it/s]
  5%|▌         | 47/900 [01:27<08:14,  1.73it/s]
  5%|▌         | 48/900 [01:27<07:05,  2.00it/s]
  5%|▌         | 49/900 [01:51<1:49:06,  7.69s/it]
  6%|▌         | 50/900 [01:52<1:17:41,  5.48s/it]
  6%|▌         | 51/900 [01:52<55:43,  3.94s/it]  
  6%|▌         | 52/900 [01:52<40:21,  2.86s/it]
  6%|▌         | 53/900 [01:53<29:36,  2.10s/it]
  6%|▌         | 54/900 [01:53<22:05,  1.57s/it]
  6%|▌         | 55/900 [01:53<16:48,  1.19s/it]
  6%|▌         | 56/900 [01:54<13:07,  1.07it/s]
  6%|▋         | 57/900 [02:01<42:26,  3.02s/it]
  6%|▋         | 58/900 [02:02<31:03,  2.21s/it]
  7%|▋         | 59/900 [02:02<23:05,  1.65s/it]
  7%|▋         | 60/900 [02:02<17:32,  1.25s/it]
  7%|▋         | 61/900 [02:03<13:43,  1.02it/s]
  7%|▋         | 62/900 [02:03<11:00,  1.27it/s]
  7%|▋         | 63/900 [02:03<09:05,  1.54it/s]
  7%|▋         | 64/900 [02:04<07:46,  1.79it/s]
  7%|▋         | 65/900 [02:11<34:33,  2.48s/it]
  7%|▋         | 66/900 [02:11<25:34,  1.84s/it]
  7%|▋         | 67/900 [02:11<19:14,  1.39s/it]
  8%|▊         | 68/900 [02:12<14:49,  1.07s/it]
  8%|▊         | 69/900 [02:12<11:43,  1.18it/s]
  8%|▊         | 70/900 [02:12<09:33,  1.45it/s]
  8%|▊         | 71/900 [02:13<08:03,  1.72it/s]
  8%|▊         | 72/900 [02:13<06:59,  1.98it/s]
  8%|▊         | 73/900 [02:27<1:01:27,  4.46s/it]
  8%|▊         | 74/900 [02:27<44:19,  3.22s/it]  
  8%|▊         | 75/900 [02:27<32:24,  2.36s/it]
  8%|▊         | 76/900 [02:28<24:00,  1.75s/it]
  9%|▊         | 77/900 [02:28<18:09,  1.32s/it]
  9%|▊         | 78/900 [02:28<14:04,  1.03s/it]
  9%|▉         | 79/900 [02:29<11:11,  1.22it/s]
  9%|▉         | 80/900 [02:29<09:10,  1.49it/s]
  9%|▉         | 81/900 [02:38<42:30,  3.11s/it]
  9%|▉         | 82/900 [02:38<31:05,  2.28s/it]
  9%|▉         | 83/900 [02:39<23:05,  1.70s/it]
  9%|▉         | 84/900 [02:39<17:29,  1.29s/it]
  9%|▉         | 85/900 [02:39<13:37,  1.00s/it]
 10%|▉         | 86/900 [02:40<10:53,  1.25it/s]
 10%|▉         | 87/900 [02:40<08:57,  1.51it/s]
 10%|▉         | 88/900 [02:40<07:41,  1.76it/s]
 10%|▉         | 89/900 [02:47<32:01,  2.37s/it]
 10%|█         | 90/900 [02:47<23:42,  1.76s/it]
 10%|█         | 91/900 [02:48<17:54,  1.33s/it]
 10%|█         | 92/900 [02:48<13:49,  1.03s/it]
 10%|█         | 93/900 [02:48<11:03,  1.22it/s]
 10%|█         | 94/900 [02:49<09:04,  1.48it/s]
 11%|█         | 95/900 [02:49<07:42,  1.74it/s]
 11%|█         | 96/900 [02:49<06:42,  2.00it/s]
 11%|█         | 97/900 [02:59<43:55,  3.28s/it]
 11%|█         | 98/900 [02:59<32:00,  2.39s/it]
 11%|█         | 99/900 [03:00<23:42,  1.78s/it]
 11%|█         | 100/900 [03:00<17:52,  1.34s/it]
 11%|█         | 101/900 [03:00<13:48,  1.04s/it]
 11%|█▏        | 102/900 [03:01<10:58,  1.21it/s]
 11%|█▏        | 103/900 [03:01<08:56,  1.48it/s]
 12%|█▏        | 104/900 [03:01<07:32,  1.76it/s]
 12%|█▏        | 105/900 [03:15<1:01:53,  4.67s/it]
 12%|█▏        | 106/900 [03:16<44:35,  3.37s/it]  
 12%|█▏        | 107/900 [03:16<32:28,  2.46s/it]
 12%|█▏        | 108/900 [03:16<24:02,  1.82s/it]
 12%|█▏        | 109/900 [03:17<18:08,  1.38s/it]
 12%|█▏        | 110/900 [03:17<14:00,  1.06s/it]
 12%|█▏        | 111/900 [03:17<11:05,  1.19it/s]
 12%|█▏        | 112/900 [03:18<09:03,  1.45it/s]
 13%|█▎        | 113/900 [03:25<35:18,  2.69s/it]
 13%|█▎        | 114/900 [03:26<25:58,  1.98s/it]
 13%|█▎        | 115/900 [03:26<19:26,  1.49s/it]
 13%|█▎        | 116/900 [03:26<14:52,  1.14s/it]
 13%|█▎        | 117/900 [03:27<11:40,  1.12it/s]
 13%|█▎        | 118/900 [03:27<09:26,  1.38it/s]
 13%|█▎        | 119/900 [03:27<07:50,  1.66it/s]
 13%|█▎        | 120/900 [03:27<06:45,  1.92it/s]
 13%|█▎        | 121/900 [03:35<35:49,  2.76s/it]
 14%|█▎        | 122/900 [03:36<26:21,  2.03s/it]
 14%|█▎        | 123/900 [03:36<19:42,  1.52s/it]
 14%|█▍        | 124/900 [03:37<15:14,  1.18s/it]
 14%|█▍        | 125/900 [03:37<11:57,  1.08it/s]
 14%|█▍        | 126/900 [03:37<09:38,  1.34it/s]
 14%|█▍        | 127/900 [03:38<08:02,  1.60it/s]
 14%|█▍        | 128/900 [03:38<06:54,  1.86it/s]
 14%|█▍        | 129/900 [03:51<57:01,  4.44s/it]
 14%|█▍        | 130/900 [03:52<41:08,  3.21s/it]
 15%|█▍        | 131/900 [03:52<30:01,  2.34s/it]
 15%|█▍        | 132/900 [03:52<22:15,  1.74s/it]
 15%|█▍        | 133/900 [03:53<16:50,  1.32s/it]
 15%|█▍        | 134/900 [03:53<13:01,  1.02s/it]
 15%|█▌        | 135/900 [03:53<10:23,  1.23it/s]
 15%|█▌        | 136/900 [03:54<08:31,  1.49it/s]
 15%|█▌        | 137/900 [04:03<43:13,  3.40s/it]
 15%|█▌        | 138/900 [04:04<31:29,  2.48s/it]
 15%|█▌        | 139/900 [04:04<23:13,  1.83s/it]
 16%|█▌        | 140/900 [04:04<17:27,  1.38s/it]
 16%|█▌        | 141/900 [04:05<13:29,  1.07s/it]
 16%|█▌        | 142/900 [04:05<10:40,  1.18it/s]
 16%|█▌        | 143/900 [04:05<08:53,  1.42it/s]
 16%|█▌        | 144/900 [04:06<07:30,  1.68it/s]
 16%|█▌        | 145/900 [04:13<33:33,  2.67s/it]
 16%|█▌        | 146/900 [04:14<24:39,  1.96s/it]
 16%|█▋        | 147/900 [04:14<18:26,  1.47s/it]
 16%|█▋        | 148/900 [04:14<14:08,  1.13s/it]
 17%|█▋        | 149/900 [04:15<11:05,  1.13it/s]
 17%|█▋        | 150/900 [04:15<08:57,  1.40it/s]
 17%|█▋        | 151/900 [04:15<07:30,  1.66it/s]
 17%|█▋        | 152/900 [04:16<06:31,  1.91it/s]
 17%|█▋        | 153/900 [04:24<34:36,  2.78s/it]
 17%|█▋        | 154/900 [04:24<25:28,  2.05s/it]
 17%|█▋        | 155/900 [04:24<19:08,  1.54s/it]
 17%|█▋        | 156/900 [04:25<14:42,  1.19s/it]
 17%|█▋        | 157/900 [04:25<11:34,  1.07it/s]
 18%|█▊        | 158/900 [04:25<09:22,  1.32it/s]
 18%|█▊        | 159/900 [04:26<07:51,  1.57it/s]
 18%|█▊        | 160/900 [04:26<06:47,  1.81it/s]
 18%|█▊        | 161/900 [04:37<44:05,  3.58s/it]
 18%|█▊        | 162/900 [04:37<32:08,  2.61s/it]
 18%|█▊        | 163/900 [04:37<23:46,  1.93s/it]
 18%|█▊        | 164/900 [04:38<17:54,  1.46s/it]
 18%|█▊        | 165/900 [04:38<13:48,  1.13s/it]
 18%|█▊        | 166/900 [04:39<10:53,  1.12it/s]
 19%|█▊        | 167/900 [04:39<08:51,  1.38it/s]
 19%|█▊        | 168/900 [04:39<07:22,  1.65it/s]
 19%|█▉        | 169/900 [04:45<27:52,  2.29s/it]
 19%|█▉        | 170/900 [04:46<20:41,  1.70s/it]
 19%|█▉        | 171/900 [04:46<15:40,  1.29s/it]
 19%|█▉        | 172/900 [04:46<12:08,  1.00s/it]
 19%|█▉        | 173/900 [04:47<09:39,  1.25it/s]
 19%|█▉        | 174/900 [04:47<07:57,  1.52it/s]
 19%|█▉        | 175/900 [04:47<06:48,  1.78it/s]
 20%|█▉        | 176/900 [04:48<05:58,  2.02it/s]
 20%|█▉        | 177/900 [05:00<48:49,  4.05s/it]
 20%|█▉        | 178/900 [05:00<35:24,  2.94s/it]
 20%|█▉        | 179/900 [05:01<26:00,  2.16s/it]
 20%|██        | 180/900 [05:01<19:25,  1.62s/it]
 20%|██        | 181/900 [05:01<14:50,  1.24s/it]
 20%|██        | 182/900 [05:02<11:38,  1.03it/s]
 20%|██        | 183/900 [05:02<09:24,  1.27it/s]
 20%|██        | 184/900 [05:03<07:49,  1.52it/s]
 21%|██        | 185/900 [05:11<34:32,  2.90s/it]
 21%|██        | 186/900 [05:11<25:23,  2.13s/it]
 21%|██        | 187/900 [05:11<19:01,  1.60s/it]
 21%|██        | 188/900 [05:12<14:28,  1.22s/it]
 21%|██        | 189/900 [05:12<11:18,  1.05it/s]
 21%|██        | 190/900 [05:12<09:06,  1.30it/s]
 21%|██        | 191/900 [05:13<07:34,  1.56it/s]
 21%|██▏       | 192/900 [05:13<06:27,  1.83it/s]
 21%|██▏       | 193/900 [05:25<45:45,  3.88s/it]
 22%|██▏       | 194/900 [05:25<33:09,  2.82s/it]
 22%|██▏       | 195/900 [05:25<24:21,  2.07s/it]
 22%|██▏       | 196/900 [05:26<18:13,  1.55s/it]
 22%|██▏       | 197/900 [05:26<13:53,  1.19s/it]
 22%|██▏       | 198/900 [05:26<10:53,  1.07it/s]
 22%|██▏       | 199/900 [05:27<08:45,  1.33it/s]
 22%|██▏       | 200/900 [05:27<07:16,  1.60it/s]
 22%|██▏       | 201/900 [05:50<1:26:52,  7.46s/it]
 22%|██▏       | 202/900 [05:51<1:01:53,  5.32s/it]
 23%|██▎       | 203/900 [05:51<44:25,  3.82s/it]  
 23%|██▎       | 204/900 [05:51<32:12,  2.78s/it]
 23%|██▎       | 205/900 [05:52<23:39,  2.04s/it]
 23%|██▎       | 206/900 [05:52<17:41,  1.53s/it]
 23%|██▎       | 207/900 [05:52<13:31,  1.17s/it]
 23%|██▎       | 208/900 [05:53<10:35,  1.09it/s]
 23%|██▎       | 209/900 [06:07<56:22,  4.89s/it]
 23%|██▎       | 210/900 [06:07<40:33,  3.53s/it]
 23%|██▎       | 211/900 [06:08<29:27,  2.57s/it]
 24%|██▎       | 212/900 [06:08<21:43,  1.89s/it]
 24%|██▎       | 213/900 [06:08<16:20,  1.43s/it]
 24%|██▍       | 214/900 [06:09<12:33,  1.10s/it]
 24%|██▍       | 215/900 [06:09<09:54,  1.15it/s]
 24%|██▍       | 216/900 [06:09<08:02,  1.42it/s]
 24%|██▍       | 217/900 [06:49<2:20:24, 12.33s/it]
 24%|██▍       | 218/900 [06:49<1:39:14,  8.73s/it]
 24%|██▍       | 219/900 [06:49<1:10:28,  6.21s/it]
 24%|██▍       | 220/900 [06:50<50:22,  4.44s/it]  
 25%|██▍       | 221/900 [06:50<36:19,  3.21s/it]
 25%|██▍       | 222/900 [06:50<26:29,  2.34s/it]
 25%|██▍       | 223/900 [06:51<19:37,  1.74s/it]
 25%|██▍       | 224/900 [06:51<14:49,  1.32s/it]
 25%|██▌       | 225/900 [06:59<36:29,  3.24s/it]
 25%|██▌       | 226/900 [06:59<26:36,  2.37s/it]
 25%|██▌       | 227/900 [06:59<19:42,  1.76s/it]
 25%|██▌       | 228/900 [07:00<14:56,  1.33s/it]
 25%|██▌       | 229/900 [07:00<11:35,  1.04s/it]
 26%|██▌       | 230/900 [07:00<09:14,  1.21it/s]
 26%|██▌       | 231/900 [07:01<07:36,  1.47it/s]
 26%|██▌       | 232/900 [07:01<06:26,  1.73it/s]
 26%|██▌       | 233/900 [07:08<27:13,  2.45s/it]
 26%|██▌       | 234/900 [07:08<20:10,  1.82s/it]
 26%|██▌       | 235/900 [07:09<15:12,  1.37s/it]
 26%|██▌       | 236/900 [07:09<11:43,  1.06s/it]
 26%|██▋       | 237/900 [07:09<09:18,  1.19it/s]
 26%|██▋       | 238/900 [07:10<07:34,  1.46it/s]
 27%|██▋       | 239/900 [07:10<06:26,  1.71it/s]
 27%|██▋       | 240/900 [07:10<05:36,  1.96it/s]
 27%|██▋       | 241/900 [07:52<2:23:07, 13.03s/it]
 27%|██▋       | 242/900 [07:53<1:41:07,  9.22s/it]
 27%|██▋       | 243/900 [07:53<1:11:43,  6.55s/it]
 27%|██▋       | 244/900 [07:53<51:12,  4.68s/it]  
 27%|██▋       | 245/900 [07:54<36:55,  3.38s/it]
 27%|██▋       | 246/900 [07:54<26:50,  2.46s/it]
 27%|██▋       | 247/900 [07:54<19:48,  1.82s/it]
 28%|██▊       | 248/900 [07:55<14:53,  1.37s/it]
 28%|██▊       | 249/900 [08:04<40:01,  3.69s/it]
 28%|██▊       | 250/900 [08:04<29:03,  2.68s/it]
 28%|██▊       | 251/900 [08:05<21:22,  1.98s/it]
 28%|██▊       | 252/900 [08:05<16:01,  1.48s/it]
 28%|██▊       | 253/900 [08:05<12:15,  1.14s/it]
 28%|██▊       | 254/900 [08:06<09:37,  1.12it/s]
 28%|██▊       | 255/900 [08:06<07:47,  1.38it/s]
 28%|██▊       | 256/900 [08:06<06:31,  1.65it/s]
 29%|██▊       | 257/900 [08:12<24:17,  2.27s/it]
 29%|██▊       | 258/900 [08:13<18:02,  1.69s/it]
 29%|██▉       | 259/900 [08:13<13:41,  1.28s/it]
 29%|██▉       | 260/900 [08:13<10:35,  1.01it/s]
 29%|██▉       | 261/900 [08:14<08:25,  1.27it/s]
 29%|██▉       | 262/900 [08:14<06:54,  1.54it/s]
 29%|██▉       | 263/900 [08:14<05:52,  1.81it/s]
 29%|██▉       | 264/900 [08:15<05:07,  2.07it/s]
 29%|██▉       | 265/900 [08:20<21:54,  2.07s/it]
 30%|██▉       | 266/900 [08:21<16:21,  1.55s/it]
 30%|██▉       | 267/900 [08:21<12:28,  1.18s/it]
 30%|██▉       | 268/900 [08:21<09:46,  1.08it/s]
 30%|██▉       | 269/900 [08:22<07:52,  1.34it/s]
 30%|███       | 270/900 [08:22<06:32,  1.61it/s]
 30%|███       | 271/900 [08:22<05:35,  1.87it/s]
 30%|███       | 272/900 [08:23<04:56,  2.12it/s]
 30%|███       | 273/900 [08:52<1:36:03,  9.19s/it]
 30%|███       | 274/900 [08:53<1:08:10,  6.53s/it]
 31%|███       | 275/900 [08:53<48:42,  4.68s/it]  
 31%|███       | 276/900 [08:53<35:05,  3.37s/it]
 31%|███       | 277/900 [08:54<25:33,  2.46s/it]
 31%|███       | 278/900 [08:54<18:54,  1.82s/it]
 31%|███       | 279/900 [08:54<14:14,  1.38s/it]
 31%|███       | 280/900 [08:55<10:58,  1.06s/it]
 31%|███       | 281/900 [09:03<33:22,  3.24s/it]
 31%|███▏      | 282/900 [09:03<24:21,  2.36s/it]
 31%|███▏      | 283/900 [09:04<18:05,  1.76s/it]
 32%|███▏      | 284/900 [09:04<13:41,  1.33s/it]
 32%|███▏      | 285/900 [09:04<10:35,  1.03s/it]
 32%|███▏      | 286/900 [09:05<08:24,  1.22it/s]
 32%|███▏      | 287/900 [09:05<06:54,  1.48it/s]
 32%|███▏      | 288/900 [09:05<05:51,  1.74it/s]
 32%|███▏      | 289/900 [09:17<40:59,  4.03s/it]
 32%|███▏      | 290/900 [09:18<29:37,  2.91s/it]
 32%|███▏      | 291/900 [09:18<21:43,  2.14s/it]
 32%|███▏      | 292/900 [09:18<16:12,  1.60s/it]
 33%|███▎      | 293/900 [09:19<12:20,  1.22s/it]
 33%|███▎      | 294/900 [09:19<09:41,  1.04it/s]
 33%|███▎      | 295/900 [09:19<07:49,  1.29it/s]
 33%|███▎      | 296/900 [09:20<06:32,  1.54it/s]
 33%|███▎      | 297/900 [09:26<23:17,  2.32s/it]
 33%|███▎      | 298/900 [09:26<17:21,  1.73s/it]
 33%|███▎      | 299/900 [09:27<13:10,  1.32s/it]
 33%|███▎      | 300/900 [09:27<10:14,  1.02s/it]
 33%|███▎      | 301/900 [09:27<08:12,  1.22it/s]
 34%|███▎      | 302/900 [09:28<06:49,  1.46it/s]
 34%|███▎      | 303/900 [09:28<05:51,  1.70it/s]
 34%|███▍      | 304/900 [09:28<05:10,  1.92it/s]
 34%|███▍      | 305/900 [09:37<30:06,  3.04s/it]
 34%|███▍      | 306/900 [09:38<22:03,  2.23s/it]
 34%|███▍      | 307/900 [09:38<16:25,  1.66s/it]
 34%|███▍      | 308/900 [09:38<12:27,  1.26s/it]
 34%|███▍      | 309/900 [09:39<09:40,  1.02it/s]
 34%|███▍      | 310/900 [09:39<07:44,  1.27it/s]
 35%|███▍      | 311/900 [09:39<06:22,  1.54it/s]
 35%|███▍      | 312/900 [09:40<05:25,  1.80it/s]
 35%|███▍      | 313/900 [10:06<1:21:26,  8.33s/it]
 35%|███▍      | 314/900 [10:06<57:54,  5.93s/it]  
 35%|███▌      | 315/900 [10:07<41:23,  4.25s/it]
 35%|███▌      | 316/900 [10:07<29:50,  3.07s/it]
 35%|███▌      | 317/900 [10:07<21:47,  2.24s/it]
 35%|███▌      | 318/900 [10:08<16:10,  1.67s/it]
 35%|███▌      | 319/900 [10:08<12:16,  1.27s/it]
 36%|███▌      | 320/900 [10:08<09:31,  1.01it/s]
 36%|███▌      | 321/900 [10:15<25:42,  2.66s/it]
 36%|███▌      | 322/900 [10:15<18:54,  1.96s/it]
 36%|███▌      | 323/900 [10:16<14:08,  1.47s/it]
 36%|███▌      | 324/900 [10:16<10:48,  1.13s/it]
 36%|███▌      | 325/900 [10:16<08:29,  1.13it/s]
 36%|███▌      | 326/900 [10:17<06:52,  1.39it/s]
 36%|███▋      | 327/900 [10:17<05:46,  1.65it/s]
 36%|███▋      | 328/900 [10:17<04:58,  1.91it/s]
 37%|███▋      | 329/900 [10:50<1:36:17, 10.12s/it]
 37%|███▋      | 330/900 [10:50<1:08:13,  7.18s/it]
 37%|███▋      | 331/900 [10:50<48:36,  5.13s/it]  
 37%|███▋      | 332/900 [10:51<34:53,  3.69s/it]
 37%|███▋      | 333/900 [10:51<25:17,  2.68s/it]
 37%|███▋      | 334/900 [10:51<18:36,  1.97s/it]
 37%|███▋      | 335/900 [10:52<13:54,  1.48s/it]
 37%|███▋      | 336/900 [10:52<10:38,  1.13s/it]
 37%|███▋      | 337/900 [11:00<28:59,  3.09s/it]
 38%|███▊      | 338/900 [11:00<21:10,  2.26s/it]
 38%|███▊      | 339/900 [11:00<15:42,  1.68s/it]
 38%|███▊      | 340/900 [11:01<11:54,  1.28s/it]
 38%|███▊      | 341/900 [11:01<09:13,  1.01it/s]
 38%|███▊      | 342/900 [11:01<07:20,  1.27it/s]
 38%|███▊      | 343/900 [11:02<06:02,  1.54it/s]
 38%|███▊      | 344/900 [11:02<05:08,  1.80it/s]
 38%|███▊      | 345/900 [11:08<20:37,  2.23s/it]
 38%|███▊      | 346/900 [11:08<15:20,  1.66s/it]
 39%|███▊      | 347/900 [11:09<11:39,  1.26s/it]
 39%|███▊      | 348/900 [11:09<09:08,  1.01it/s]
 39%|███▉      | 349/900 [11:10<07:22,  1.25it/s]
 39%|███▉      | 350/900 [11:10<06:07,  1.50it/s]
 39%|███▉      | 351/900 [11:10<05:15,  1.74it/s]
 39%|███▉      | 352/900 [11:11<04:37,  1.98it/s]
 39%|███▉      | 353/900 [11:21<30:45,  3.37s/it]
 39%|███▉      | 354/900 [11:21<22:28,  2.47s/it]
 39%|███▉      | 355/900 [11:21<16:41,  1.84s/it]
 40%|███▉      | 356/900 [11:22<12:37,  1.39s/it]
 40%|███▉      | 357/900 [11:22<09:46,  1.08s/it]
 40%|███▉      | 358/900 [11:22<07:48,  1.16it/s]
 40%|███▉      | 359/900 [11:23<06:24,  1.41it/s]
 40%|████      | 360/900 [11:23<05:25,  1.66it/s]
 40%|████      | 361/900 [11:30<22:25,  2.50s/it]
 40%|████      | 362/900 [11:30<16:37,  1.85s/it]
 40%|████      | 363/900 [11:31<12:33,  1.40s/it]
 40%|████      | 364/900 [11:31<09:42,  1.09s/it]
 41%|████      | 365/900 [11:31<07:38,  1.17it/s]
 41%|████      | 366/900 [11:32<06:11,  1.44it/s]
 41%|████      | 367/900 [11:32<05:10,  1.71it/s]
 41%|████      | 368/900 [11:32<04:28,  1.98it/s]
 41%|████      | 369/900 [11:45<36:12,  4.09s/it]
 41%|████      | 370/900 [11:45<26:10,  2.96s/it]
 41%|████      | 371/900 [11:45<19:08,  2.17s/it]
 41%|████▏     | 372/900 [11:46<14:15,  1.62s/it]
 41%|████▏     | 373/900 [11:46<10:48,  1.23s/it]
 42%|████▏     | 374/900 [11:46<08:24,  1.04it/s]
 42%|████▏     | 375/900 [11:47<06:42,  1.30it/s]
 42%|████▏     | 376/900 [11:47<05:31,  1.58it/s]
 42%|████▏     | 377/900 [11:55<23:44,  2.72s/it]
 42%|████▏     | 378/900 [11:55<17:26,  2.00s/it]
 42%|████▏     | 379/900 [11:55<13:02,  1.50s/it]
 42%|████▏     | 380/900 [11:56<09:56,  1.15s/it]
 42%|████▏     | 381/900 [11:56<07:47,  1.11it/s]
 42%|████▏     | 382/900 [11:56<06:17,  1.37it/s]
 43%|████▎     | 383/900 [11:57<05:14,  1.64it/s]
 43%|████▎     | 384/900 [11:57<04:32,  1.89it/s]
 43%|████▎     | 385/900 [12:07<27:37,  3.22s/it]
 43%|████▎     | 386/900 [12:07<20:10,  2.35s/it]
 43%|████▎     | 387/900 [12:07<14:57,  1.75s/it]
 43%|████▎     | 388/900 [12:08<11:18,  1.32s/it]
 43%|████▎     | 389/900 [12:08<08:46,  1.03s/it]
 43%|████▎     | 390/900 [12:08<07:02,  1.21it/s]
 43%|████▎     | 391/900 [12:09<05:50,  1.45it/s]
 44%|████▎     | 392/900 [12:09<04:57,  1.71it/s]
 44%|████▎     | 393/900 [12:19<29:26,  3.48s/it]
 44%|████▍     | 394/900 [12:20<21:24,  2.54s/it]
 44%|████▍     | 395/900 [12:20<15:46,  1.87s/it]
 44%|████▍     | 396/900 [12:20<11:50,  1.41s/it]
 44%|████▍     | 397/900 [12:20<09:07,  1.09s/it]
 44%|████▍     | 398/900 [12:21<07:11,  1.16it/s]
 44%|████▍     | 399/900 [12:21<05:51,  1.42it/s]
 44%|████▍     | 400/900 [12:21<04:56,  1.69it/s]
 45%|████▍     | 401/900 [12:38<45:40,  5.49s/it]
 45%|████▍     | 402/900 [12:39<32:43,  3.94s/it]
 45%|████▍     | 403/900 [12:39<23:40,  2.86s/it]
 45%|████▍     | 404/900 [12:39<17:22,  2.10s/it]
 45%|████▌     | 405/900 [12:40<12:59,  1.57s/it]
 45%|████▌     | 406/900 [12:40<09:55,  1.21s/it]
 45%|████▌     | 407/900 [12:40<07:46,  1.06it/s]
 45%|████▌     | 408/900 [12:41<06:17,  1.30it/s]
 45%|████▌     | 409/900 [12:56<42:46,  5.23s/it]
 46%|████▌     | 410/900 [12:57<30:43,  3.76s/it]
 46%|████▌     | 411/900 [12:57<22:15,  2.73s/it]
 46%|████▌     | 412/900 [12:57<16:22,  2.01s/it]
 46%|████▌     | 413/900 [12:58<12:13,  1.51s/it]
 46%|████▌     | 414/900 [12:58<09:20,  1.15s/it]
 46%|████▌     | 415/900 [12:58<07:20,  1.10it/s]
 46%|████▌     | 416/900 [12:59<05:55,  1.36it/s]
 46%|████▋     | 417/900 [13:13<37:29,  4.66s/it]
 46%|████▋     | 418/900 [13:13<27:00,  3.36s/it]
 47%|████▋     | 419/900 [13:13<19:39,  2.45s/it]
 47%|████▋     | 420/900 [13:14<14:32,  1.82s/it]
 47%|████▋     | 421/900 [13:14<10:57,  1.37s/it]
 47%|████▋     | 422/900 [13:14<08:27,  1.06s/it]
 47%|████▋     | 423/900 [13:15<06:41,  1.19it/s]
 47%|████▋     | 424/900 [13:15<05:27,  1.45it/s]
 47%|████▋     | 425/900 [13:28<35:54,  4.54s/it]
 47%|████▋     | 426/900 [13:29<25:52,  3.28s/it]
 47%|████▋     | 427/900 [13:29<18:52,  2.39s/it]
 48%|████▊     | 428/900 [13:29<13:58,  1.78s/it]
 48%|████▊     | 429/900 [13:30<10:33,  1.34s/it]
 48%|████▊     | 430/900 [13:30<08:09,  1.04s/it]
 48%|████▊     | 431/900 [13:30<06:35,  1.19it/s]
 48%|████▊     | 432/900 [13:31<05:22,  1.45it/s]
 48%|████▊     | 433/900 [13:40<25:38,  3.30s/it]
 48%|████▊     | 434/900 [13:41<18:42,  2.41s/it]
 48%|████▊     | 435/900 [13:41<13:55,  1.80s/it]
 48%|████▊     | 436/900 [13:41<10:31,  1.36s/it]
 49%|████▊     | 437/900 [13:42<08:08,  1.06s/it]
 49%|████▊     | 438/900 [13:42<06:29,  1.19it/s]
 49%|████▉     | 439/900 [13:42<05:22,  1.43it/s]
 49%|████▉     | 440/900 [13:43<04:31,  1.69it/s]
 49%|████▉     | 441/900 [13:58<38:13,  5.00s/it]
 49%|████▉     | 442/900 [13:58<27:27,  3.60s/it]
 49%|████▉     | 443/900 [13:59<19:56,  2.62s/it]
 49%|████▉     | 444/900 [13:59<14:41,  1.93s/it]
 49%|████▉     | 445/900 [13:59<11:01,  1.45s/it]
 50%|████▉     | 446/900 [14:00<08:27,  1.12s/it]
 50%|████▉     | 447/900 [14:00<06:44,  1.12it/s]
 50%|████▉     | 448/900 [14:00<05:31,  1.36it/s]
 50%|████▉     | 449/900 [14:12<29:20,  3.90s/it]
 50%|█████     | 450/900 [14:12<21:18,  2.84s/it]
 50%|█████     | 451/900 [14:12<15:42,  2.10s/it]
 50%|█████     | 452/900 [14:13<11:48,  1.58s/it]
 50%|█████     | 453/900 [14:13<09:02,  1.21s/it]
 50%|█████     | 454/900 [14:13<07:06,  1.04it/s]
 51%|█████     | 455/900 [14:14<05:45,  1.29it/s]
 51%|█████     | 456/900 [14:14<04:49,  1.53it/s]
 51%|█████     | 457/900 [14:25<28:09,  3.81s/it]
 51%|█████     | 458/900 [14:26<20:28,  2.78s/it]
 51%|█████     | 459/900 [14:26<15:04,  2.05s/it]
 51%|█████     | 460/900 [14:26<11:15,  1.53s/it]
 51%|█████     | 461/900 [14:27<08:36,  1.18s/it]
 51%|█████▏    | 462/900 [14:27<06:43,  1.09it/s]
 51%|█████▏    | 463/900 [14:27<05:25,  1.34it/s]
 52%|█████▏    | 464/900 [14:28<04:31,  1.61it/s]
 52%|█████▏    | 465/900 [14:39<27:18,  3.77s/it]
 52%|█████▏    | 466/900 [14:39<19:47,  2.74s/it]
 52%|█████▏    | 467/900 [14:39<14:32,  2.02s/it]
 52%|█████▏    | 468/900 [14:40<10:52,  1.51s/it]
 52%|█████▏    | 469/900 [14:40<08:18,  1.16s/it]
 52%|█████▏    | 470/900 [14:40<06:31,  1.10it/s]
 52%|█████▏    | 471/900 [14:41<05:16,  1.35it/s]
 52%|█████▏    | 472/900 [14:41<04:23,  1.62it/s]
 53%|█████▎    | 473/900 [14:50<21:58,  3.09s/it]
 53%|█████▎    | 474/900 [14:50<16:03,  2.26s/it]
 53%|█████▎    | 475/900 [14:51<11:55,  1.68s/it]
 53%|█████▎    | 476/900 [14:51<09:02,  1.28s/it]
 53%|█████▎    | 477/900 [14:51<07:01,  1.00it/s]
 53%|█████▎    | 478/900 [14:52<05:36,  1.26it/s]
 53%|█████▎    | 479/900 [14:52<04:36,  1.52it/s]
 53%|█████▎    | 480/900 [14:52<03:55,  1.79it/s]
 53%|█████▎    | 481/900 [15:18<56:23,  8.07s/it]
 54%|█████▎    | 482/900 [15:18<40:03,  5.75s/it]
 54%|█████▎    | 483/900 [15:19<28:40,  4.13s/it]
 54%|█████▍    | 484/900 [15:19<20:44,  2.99s/it]
 54%|█████▍    | 485/900 [15:19<15:11,  2.20s/it]
 54%|█████▍    | 486/900 [15:20<11:19,  1.64s/it]
 54%|█████▍    | 487/900 [15:20<08:35,  1.25s/it]
 54%|█████▍    | 488/900 [15:20<06:41,  1.03it/s]
 54%|█████▍    | 489/900 [15:43<50:27,  7.37s/it]
 54%|█████▍    | 490/900 [15:43<35:55,  5.26s/it]
 55%|█████▍    | 491/900 [15:43<25:46,  3.78s/it]
 55%|█████▍    | 492/900 [15:44<18:40,  2.75s/it]
 55%|█████▍    | 493/900 [15:44<13:41,  2.02s/it]
 55%|█████▍    | 494/900 [15:44<10:13,  1.51s/it]
 55%|█████▌    | 495/900 [15:45<07:48,  1.16s/it]
 55%|█████▌    | 496/900 [15:45<06:07,  1.10it/s]
 55%|█████▌    | 497/900 [16:08<50:26,  7.51s/it]
 55%|█████▌    | 498/900 [16:08<35:52,  5.36s/it]
 55%|█████▌    | 499/900 [16:08<25:41,  3.85s/it]
 56%|█████▌    | 500/900 [16:09<19:29,  2.92s/it]
 56%|█████▌    | 501/900 [16:10<14:16,  2.15s/it]
 56%|█████▌    | 502/900 [16:10<10:37,  1.60s/it]
 56%|█████▌    | 503/900 [16:10<08:05,  1.22s/it]
 56%|█████▌    | 504/900 [16:11<06:17,  1.05it/s]
 56%|█████▌    | 505/900 [16:21<24:27,  3.72s/it]
 56%|█████▌    | 506/900 [16:21<17:45,  2.70s/it]
 56%|█████▋    | 507/900 [16:21<13:03,  1.99s/it]
 56%|█████▋    | 508/900 [16:22<09:48,  1.50s/it]
 57%|█████▋    | 509/900 [16:22<07:32,  1.16s/it]
 57%|█████▋    | 510/900 [16:22<05:56,  1.09it/s]
 57%|█████▋    | 511/900 [16:23<04:50,  1.34it/s]
 57%|█████▋    | 512/900 [16:23<04:04,  1.59it/s]
 57%|█████▋    | 513/900 [16:41<37:05,  5.75s/it]
 57%|█████▋    | 514/900 [16:41<26:35,  4.13s/it]
 57%|█████▋    | 515/900 [16:42<19:15,  3.00s/it]
 57%|█████▋    | 516/900 [16:42<14:07,  2.21s/it]
 57%|█████▋    | 517/900 [16:42<10:32,  1.65s/it]
 58%|█████▊    | 518/900 [16:43<08:01,  1.26s/it]
 58%|█████▊    | 519/900 [16:43<06:15,  1.01it/s]
 58%|█████▊    | 520/900 [16:43<05:01,  1.26it/s]
 58%|█████▊    | 521/900 [17:09<51:16,  8.12s/it]
 58%|█████▊    | 522/900 [17:09<36:25,  5.78s/it]
 58%|█████▊    | 523/900 [17:09<26:02,  4.14s/it]
 58%|█████▊    | 524/900 [17:10<18:48,  3.00s/it]
 58%|█████▊    | 525/900 [17:10<13:44,  2.20s/it]
 58%|█████▊    | 526/900 [17:10<10:11,  1.63s/it]
 59%|█████▊    | 527/900 [17:10<07:43,  1.24s/it]
 59%|█████▊    | 528/900 [17:11<06:00,  1.03it/s]
 59%|█████▉    | 529/900 [17:23<27:06,  4.38s/it]
 59%|█████▉    | 530/900 [17:24<19:32,  3.17s/it]
 59%|█████▉    | 531/900 [17:24<14:15,  2.32s/it]
 59%|█████▉    | 532/900 [17:24<10:33,  1.72s/it]
 59%|█████▉    | 533/900 [17:25<07:58,  1.30s/it]
 59%|█████▉    | 534/900 [17:25<06:09,  1.01s/it]
 59%|█████▉    | 535/900 [17:25<04:53,  1.24it/s]
 60%|█████▉    | 536/900 [17:25<04:00,  1.51it/s]
 60%|█████▉    | 537/900 [17:36<21:43,  3.59s/it]
 60%|█████▉    | 538/900 [17:36<15:45,  2.61s/it]
 60%|█████▉    | 539/900 [17:37<11:35,  1.93s/it]
 60%|██████    | 540/900 [17:37<08:41,  1.45s/it]
 60%|██████    | 541/900 [17:37<06:39,  1.11s/it]
 60%|██████    | 542/900 [17:38<05:13,  1.14it/s]
 60%|██████    | 543/900 [17:38<04:14,  1.41it/s]
 60%|██████    | 544/900 [17:38<03:32,  1.67it/s]
 61%|██████    | 545/900 [18:04<49:06,  8.30s/it]
 61%|██████    | 546/900 [18:05<34:51,  5.91s/it]
 61%|██████    | 547/900 [18:05<24:54,  4.23s/it]
 61%|██████    | 548/900 [18:05<17:57,  3.06s/it]
 61%|██████    | 549/900 [18:06<13:06,  2.24s/it]
 61%|██████    | 550/900 [18:06<09:42,  1.66s/it]
 61%|██████    | 551/900 [18:06<07:21,  1.26s/it]
 61%|██████▏   | 552/900 [18:07<05:42,  1.02it/s]
 61%|██████▏   | 553/900 [18:29<42:32,  7.36s/it]
 62%|██████▏   | 554/900 [18:29<30:15,  5.25s/it]
 62%|██████▏   | 555/900 [18:30<21:41,  3.77s/it]
 62%|██████▏   | 556/900 [18:30<15:42,  2.74s/it]
 62%|██████▏   | 557/900 [18:30<11:32,  2.02s/it]
 62%|██████▏   | 558/900 [18:31<08:37,  1.51s/it]
 62%|██████▏   | 559/900 [18:31<06:35,  1.16s/it]
 62%|██████▏   | 560/900 [18:31<05:09,  1.10it/s]
 62%|██████▏   | 561/900 [18:54<41:41,  7.38s/it]
 62%|██████▏   | 562/900 [18:54<29:39,  5.27s/it]
 63%|██████▎   | 563/900 [18:54<21:15,  3.79s/it]
 63%|██████▎   | 564/900 [18:55<15:23,  2.75s/it]
 63%|██████▎   | 565/900 [18:55<11:17,  2.02s/it]
 63%|██████▎   | 566/900 [18:55<08:26,  1.52s/it]
 63%|██████▎   | 567/900 [18:56<06:27,  1.16s/it]
 63%|██████▎   | 568/900 [18:56<05:03,  1.09it/s]
 63%|██████▎   | 569/900 [19:29<58:20, 10.57s/it]
 63%|██████▎   | 570/900 [19:30<41:15,  7.50s/it]
 63%|██████▎   | 571/900 [19:30<29:20,  5.35s/it]
 64%|██████▎   | 572/900 [19:30<21:01,  3.85s/it]
 64%|██████▎   | 573/900 [19:31<15:12,  2.79s/it]
 64%|██████▍   | 574/900 [19:31<11:09,  2.05s/it]
 64%|██████▍   | 575/900 [19:31<08:19,  1.54s/it]
 64%|██████▍   | 576/900 [19:32<06:21,  1.18s/it]
 64%|██████▍   | 577/900 [19:57<45:49,  8.51s/it]
 64%|██████▍   | 578/900 [19:58<32:31,  6.06s/it]
 64%|██████▍   | 579/900 [19:58<23:14,  4.34s/it]
 64%|██████▍   | 580/900 [19:58<16:44,  3.14s/it]
 65%|██████▍   | 581/900 [19:59<12:13,  2.30s/it]
 65%|██████▍   | 582/900 [19:59<09:03,  1.71s/it]
 65%|██████▍   | 583/900 [19:59<06:50,  1.30s/it]
 65%|██████▍   | 584/900 [20:00<05:18,  1.01s/it]
 65%|██████▌   | 585/900 [20:21<37:02,  7.06s/it]
 65%|██████▌   | 586/900 [20:21<26:22,  5.04s/it]
 65%|██████▌   | 587/900 [20:21<18:56,  3.63s/it]
 65%|██████▌   | 588/900 [20:22<13:44,  2.64s/it]
 65%|██████▌   | 589/900 [20:22<10:07,  1.95s/it]
 66%|██████▌   | 590/900 [20:22<07:34,  1.47s/it]
 66%|██████▌   | 591/900 [20:23<05:47,  1.13s/it]
 66%|██████▌   | 592/900 [20:23<04:33,  1.13it/s]
 66%|██████▌   | 593/900 [20:42<31:53,  6.23s/it]
 66%|██████▌   | 594/900 [20:42<22:46,  4.46s/it]
 66%|██████▌   | 595/900 [20:42<16:23,  3.22s/it]
 66%|██████▌   | 596/900 [20:43<11:55,  2.35s/it]
 66%|██████▋   | 597/900 [20:43<08:49,  1.75s/it]
 66%|██████▋   | 598/900 [20:43<06:40,  1.32s/it]
 67%|██████▋   | 599/900 [20:44<05:09,  1.03s/it]
 67%|██████▋   | 600/900 [20:44<04:05,  1.22it/s]
 67%|██████▋   | 601/900 [21:01<28:18,  5.68s/it]
 67%|██████▋   | 602/900 [21:01<20:14,  4.08s/it]
 67%|██████▋   | 603/900 [21:02<14:36,  2.95s/it]
 67%|██████▋   | 604/900 [21:02<10:41,  2.17s/it]
 67%|██████▋   | 605/900 [21:02<07:56,  1.61s/it]
 67%|██████▋   | 606/900 [21:03<06:01,  1.23s/it]
 67%|██████▋   | 607/900 [21:03<04:42,  1.04it/s]
 68%|██████▊   | 608/900 [21:03<03:47,  1.28it/s]
 68%|██████▊   | 609/900 [21:26<34:49,  7.18s/it]
 68%|██████▊   | 610/900 [21:26<24:46,  5.13s/it]
 68%|██████▊   | 611/900 [21:26<17:45,  3.69s/it]
 68%|██████▊   | 612/900 [21:27<12:51,  2.68s/it]
 68%|██████▊   | 613/900 [21:27<09:25,  1.97s/it]
 68%|██████▊   | 614/900 [21:27<07:02,  1.48s/it]
 68%|██████▊   | 615/900 [21:28<05:22,  1.13s/it]
 68%|██████▊   | 616/900 [21:28<04:12,  1.12it/s]
 69%|██████▊   | 617/900 [21:40<20:36,  4.37s/it]
 69%|██████▊   | 618/900 [21:41<14:50,  3.16s/it]
 69%|██████▉   | 619/900 [21:41<10:50,  2.31s/it]
 69%|██████▉   | 620/900 [21:41<08:02,  1.72s/it]
 69%|██████▉   | 621/900 [21:42<06:04,  1.31s/it]
 69%|██████▉   | 622/900 [21:42<04:41,  1.01s/it]
 69%|██████▉   | 623/900 [21:42<03:44,  1.23it/s]
 69%|██████▉   | 624/900 [21:43<03:04,  1.49it/s]
 69%|██████▉   | 625/900 [22:08<36:17,  7.92s/it]
 70%|██████▉   | 626/900 [22:08<25:48,  5.65s/it]
 70%|██████▉   | 627/900 [22:08<18:28,  4.06s/it]
 70%|██████▉   | 628/900 [22:09<13:20,  2.94s/it]
 70%|██████▉   | 629/900 [22:09<09:45,  2.16s/it]
 70%|███████   | 630/900 [22:09<07:15,  1.61s/it]
 70%|███████   | 631/900 [22:10<05:30,  1.23s/it]
 70%|███████   | 632/900 [22:10<04:18,  1.04it/s]
 70%|███████   | 633/900 [22:25<23:38,  5.31s/it]
 70%|███████   | 634/900 [22:26<17:07,  3.86s/it]
 71%|███████   | 635/900 [22:26<12:21,  2.80s/it]
 71%|███████   | 636/900 [22:26<09:02,  2.06s/it]
 71%|███████   | 637/900 [22:27<06:44,  1.54s/it]
 71%|███████   | 638/900 [22:27<05:07,  1.17s/it]
 71%|███████   | 639/900 [22:27<04:00,  1.09it/s]
 71%|███████   | 640/900 [22:28<03:13,  1.35it/s]
 71%|███████   | 641/900 [22:46<26:14,  6.08s/it]
 71%|███████▏  | 642/900 [22:47<18:43,  4.36s/it]
 71%|███████▏  | 643/900 [22:47<13:29,  3.15s/it]
 72%|███████▏  | 644/900 [22:47<09:50,  2.31s/it]
 72%|███████▏  | 645/900 [22:48<07:16,  1.71s/it]
 72%|███████▏  | 646/900 [22:48<05:29,  1.30s/it]
 72%|███████▏  | 647/900 [22:48<04:14,  1.01s/it]
 72%|███████▏  | 648/900 [22:49<03:22,  1.24it/s]
 72%|███████▏  | 649/900 [23:25<47:46, 11.42s/it]
 72%|███████▏  | 650/900 [23:25<33:43,  8.09s/it]
 72%|███████▏  | 651/900 [23:26<23:55,  5.77s/it]
 72%|███████▏  | 652/900 [23:26<17:05,  4.14s/it]
 73%|███████▎  | 653/900 [23:26<12:19,  2.99s/it]
 73%|███████▎  | 654/900 [23:27<08:59,  2.19s/it]
 73%|███████▎  | 655/900 [23:27<06:40,  1.63s/it]
 73%|███████▎  | 656/900 [23:27<05:03,  1.24s/it]
 73%|███████▎  | 657/900 [23:44<23:22,  5.77s/it]
 73%|███████▎  | 658/900 [23:44<16:41,  4.14s/it]
 73%|███████▎  | 659/900 [23:44<12:02,  3.00s/it]
 73%|███████▎  | 660/900 [23:44<08:47,  2.20s/it]
 73%|███████▎  | 661/900 [23:45<06:31,  1.64s/it]
 74%|███████▎  | 662/900 [23:45<04:56,  1.25s/it]
 74%|███████▎  | 663/900 [23:45<03:50,  1.03it/s]
 74%|███████▍  | 664/900 [23:46<03:03,  1.28it/s]
 74%|███████▍  | 665/900 [24:09<29:06,  7.43s/it]
 74%|███████▍  | 666/900 [24:09<20:41,  5.30s/it]
 74%|███████▍  | 667/900 [24:09<14:48,  3.81s/it]
 74%|███████▍  | 668/900 [24:10<10:43,  2.77s/it]
 74%|███████▍  | 669/900 [24:10<07:51,  2.04s/it]
 74%|███████▍  | 670/900 [24:10<05:52,  1.53s/it]
 75%|███████▍  | 671/900 [24:11<04:27,  1.17s/it]
 75%|███████▍  | 672/900 [24:11<03:29,  1.09it/s]
 75%|███████▍  | 673/900 [24:33<27:03,  7.15s/it]
 75%|███████▍  | 674/900 [24:33<19:15,  5.11s/it]
 75%|███████▌  | 675/900 [24:34<13:48,  3.68s/it]
 75%|███████▌  | 676/900 [24:34<10:00,  2.68s/it]
 75%|███████▌  | 677/900 [24:34<07:22,  1.98s/it]
 75%|███████▌  | 678/900 [24:35<05:31,  1.49s/it]
 75%|███████▌  | 679/900 [24:35<04:13,  1.15s/it]
 76%|███████▌  | 680/900 [24:35<03:19,  1.10it/s]
 76%|███████▌  | 681/900 [25:07<36:34, 10.02s/it]
 76%|███████▌  | 682/900 [25:07<25:51,  7.12s/it]
 76%|███████▌  | 683/900 [25:07<18:23,  5.09s/it]
 76%|███████▌  | 684/900 [25:08<13:11,  3.66s/it]
 76%|███████▌  | 685/900 [25:08<09:34,  2.67s/it]
 76%|███████▌  | 686/900 [25:08<07:02,  1.97s/it]
 76%|███████▋  | 687/900 [25:09<05:16,  1.49s/it]
 76%|███████▋  | 688/900 [25:09<04:03,  1.15s/it]
 77%|███████▋  | 689/900 [25:25<19:42,  5.61s/it]
 77%|███████▋  | 690/900 [25:25<14:06,  4.03s/it]
 77%|███████▋  | 691/900 [25:26<10:10,  2.92s/it]
 77%|███████▋  | 692/900 [25:26<07:27,  2.15s/it]
 77%|███████▋  | 693/900 [25:26<05:32,  1.61s/it]
 77%|███████▋  | 694/900 [25:27<04:12,  1.22s/it]
 77%|███████▋  | 695/900 [25:27<03:15,  1.05it/s]
 77%|███████▋  | 696/900 [25:27<02:36,  1.30it/s]
 77%|███████▋  | 697/900 [26:07<41:43, 12.33s/it]
 78%|███████▊  | 698/900 [26:07<29:23,  8.73s/it]
 78%|███████▊  | 699/900 [26:07<20:48,  6.21s/it]
 78%|███████▊  | 700/900 [26:08<14:49,  4.45s/it]
 78%|███████▊  | 701/900 [26:08<10:39,  3.21s/it]
 78%|███████▊  | 702/900 [26:08<07:44,  2.35s/it]
 78%|███████▊  | 703/900 [26:09<05:42,  1.74s/it]
 78%|███████▊  | 704/900 [26:09<04:17,  1.32s/it]
 78%|███████▊  | 705/900 [27:43<1:34:34, 29.10s/it]
 78%|███████▊  | 706/900 [27:43<1:06:10, 20.47s/it]
 79%|███████▊  | 707/900 [27:44<46:24, 14.43s/it]  
 79%|███████▊  | 708/900 [27:44<32:37, 10.20s/it]
 79%|███████▉  | 709/900 [27:44<23:01,  7.23s/it]
 79%|███████▉  | 710/900 [27:45<16:21,  5.16s/it]
 79%|███████▉  | 711/900 [27:45<11:41,  3.71s/it]
 79%|███████▉  | 712/900 [27:45<08:27,  2.70s/it]
 79%|███████▉  | 713/900 [27:59<18:20,  5.89s/it]
 79%|███████▉  | 714/900 [27:59<13:06,  4.23s/it]
 79%|███████▉  | 715/900 [27:59<09:27,  3.07s/it]
 80%|███████▉  | 716/900 [28:00<06:54,  2.25s/it]
 80%|███████▉  | 717/900 [28:00<05:07,  1.68s/it]
 80%|███████▉  | 718/900 [28:00<03:53,  1.28s/it]
 80%|███████▉  | 719/900 [28:01<03:01,  1.01s/it]
 80%|████████  | 720/900 [28:01<02:25,  1.24it/s]
 80%|████████  | 721/900 [28:26<23:51,  8.00s/it]
 80%|████████  | 722/900 [28:26<16:55,  5.71s/it]
 80%|████████  | 723/900 [28:27<12:05,  4.10s/it]
 80%|████████  | 724/900 [28:27<08:46,  2.99s/it]
 81%|████████  | 725/900 [28:27<06:24,  2.20s/it]
 81%|████████  | 726/900 [28:28<04:46,  1.64s/it]
 81%|████████  | 727/900 [28:28<03:36,  1.25s/it]
 81%|████████  | 728/900 [28:28<02:48,  1.02it/s]
 81%|████████  | 729/900 [29:20<45:53, 16.10s/it]
 81%|████████  | 730/900 [29:20<32:13, 11.37s/it]
 81%|████████  | 731/900 [29:20<22:42,  8.06s/it]
 81%|████████▏ | 732/900 [29:21<16:04,  5.74s/it]
 81%|████████▏ | 733/900 [29:21<11:27,  4.12s/it]
 82%|████████▏ | 734/900 [29:21<08:15,  2.98s/it]
 82%|████████▏ | 735/900 [29:22<06:00,  2.19s/it]
 82%|████████▏ | 736/900 [29:22<04:27,  1.63s/it]
 82%|████████▏ | 737/900 [29:54<28:48, 10.61s/it]
 82%|████████▏ | 738/900 [29:54<20:19,  7.53s/it]
 82%|████████▏ | 739/900 [29:54<14:25,  5.37s/it]
 82%|████████▏ | 740/900 [29:55<10:18,  3.87s/it]
 82%|████████▏ | 741/900 [29:55<07:27,  2.81s/it]
 82%|████████▏ | 742/900 [29:55<05:27,  2.07s/it]
 83%|████████▎ | 743/900 [29:56<04:04,  1.56s/it]
 83%|████████▎ | 744/900 [29:56<03:06,  1.20s/it]
 83%|████████▎ | 745/900 [30:27<26:24, 10.23s/it]
 83%|████████▎ | 746/900 [30:28<18:38,  7.26s/it]
 83%|████████▎ | 747/900 [30:28<13:14,  5.19s/it]
 83%|████████▎ | 748/900 [30:28<09:27,  3.74s/it]
 83%|████████▎ | 749/900 [30:29<06:50,  2.72s/it]
 83%|████████▎ | 750/900 [30:29<05:00,  2.01s/it]
 83%|████████▎ | 751/900 [30:29<03:44,  1.50s/it]
 84%|████████▎ | 752/900 [30:30<02:51,  1.16s/it]
 84%|████████▎ | 753/900 [30:46<13:49,  5.64s/it]
 84%|████████▍ | 754/900 [30:46<09:52,  4.06s/it]
 84%|████████▍ | 755/900 [30:47<07:07,  2.94s/it]
 84%|████████▍ | 756/900 [30:47<05:10,  2.16s/it]
 84%|████████▍ | 757/900 [30:47<03:50,  1.61s/it]
 84%|████████▍ | 758/900 [30:48<02:55,  1.23s/it]
 84%|████████▍ | 759/900 [30:48<02:16,  1.03it/s]
 84%|████████▍ | 760/900 [30:48<01:49,  1.28it/s]
 85%|████████▍ | 761/900 [31:13<18:10,  7.84s/it]
 85%|████████▍ | 762/900 [31:13<12:51,  5.59s/it]
 85%|████████▍ | 763/900 [31:13<09:10,  4.02s/it]
 85%|████████▍ | 764/900 [31:14<06:36,  2.92s/it]
 85%|████████▌ | 765/900 [31:14<04:49,  2.15s/it]
 85%|████████▌ | 766/900 [31:14<03:36,  1.61s/it]
 85%|████████▌ | 767/900 [31:15<02:44,  1.24s/it]
 85%|████████▌ | 768/900 [31:15<02:07,  1.03it/s]
 85%|████████▌ | 769/900 [31:59<30:06, 13.79s/it]
 86%|████████▌ | 770/900 [31:59<21:07,  9.75s/it]
 86%|████████▌ | 771/900 [31:59<14:52,  6.92s/it]
 86%|████████▌ | 772/900 [32:00<10:32,  4.94s/it]
 86%|████████▌ | 773/900 [32:00<07:32,  3.56s/it]
 86%|████████▌ | 774/900 [32:00<05:27,  2.60s/it]
 86%|████████▌ | 775/900 [32:01<03:59,  1.92s/it]
 86%|████████▌ | 776/900 [32:01<02:59,  1.44s/it]
 86%|████████▋ | 777/900 [32:40<26:17, 12.83s/it]
 86%|████████▋ | 778/900 [32:41<18:28,  9.08s/it]
 87%|████████▋ | 779/900 [32:41<13:02,  6.46s/it]
 87%|████████▋ | 780/900 [32:41<09:15,  4.63s/it]
 87%|████████▋ | 781/900 [32:42<06:37,  3.34s/it]
 87%|████████▋ | 782/900 [32:42<04:48,  2.44s/it]
 87%|████████▋ | 783/900 [32:43<03:31,  1.81s/it]
 87%|████████▋ | 784/900 [32:43<02:38,  1.37s/it]
 87%|████████▋ | 785/900 [32:57<10:13,  5.34s/it]
 87%|████████▋ | 786/900 [32:58<07:17,  3.84s/it]
 87%|████████▋ | 787/900 [32:58<05:14,  2.79s/it]
 88%|████████▊ | 788/900 [32:58<03:49,  2.05s/it]
 88%|████████▊ | 789/900 [32:59<02:51,  1.55s/it]
 88%|████████▊ | 790/900 [32:59<02:10,  1.19s/it]
 88%|████████▊ | 791/900 [33:00<01:42,  1.07it/s]
 88%|████████▊ | 792/900 [33:00<01:22,  1.32it/s]
 88%|████████▊ | 793/900 [33:41<23:10, 12.99s/it]
 88%|████████▊ | 794/900 [33:42<16:14,  9.20s/it]
 88%|████████▊ | 795/900 [33:42<11:26,  6.54s/it]
 88%|████████▊ | 796/900 [33:42<08:06,  4.68s/it]
 89%|████████▊ | 797/900 [33:43<05:47,  3.38s/it]
 89%|████████▊ | 798/900 [33:43<04:11,  2.47s/it]
 89%|████████▉ | 799/900 [33:43<03:04,  1.83s/it]
 89%|████████▉ | 800/900 [33:44<02:18,  1.38s/it]
 89%|████████▉ | 801/900 [34:03<11:18,  6.85s/it]
 89%|████████▉ | 802/900 [34:04<07:59,  4.90s/it]
 89%|████████▉ | 803/900 [34:04<05:42,  3.53s/it]
 89%|████████▉ | 804/900 [34:04<04:06,  2.57s/it]
 89%|████████▉ | 805/900 [34:05<03:00,  1.90s/it]
 90%|████████▉ | 806/900 [34:05<02:14,  1.43s/it]
 90%|████████▉ | 807/900 [34:05<01:42,  1.10s/it]
 90%|████████▉ | 808/900 [34:06<01:19,  1.15it/s]
 90%|████████▉ | 809/900 [34:29<11:32,  7.61s/it]
 90%|█████████ | 810/900 [34:29<08:08,  5.43s/it]
 90%|█████████ | 811/900 [34:30<05:46,  3.90s/it]
 90%|█████████ | 812/900 [34:30<04:08,  2.83s/it]
 90%|█████████ | 813/900 [34:30<03:00,  2.08s/it]
 90%|█████████ | 814/900 [34:31<02:13,  1.56s/it]
 91%|█████████ | 815/900 [34:31<01:41,  1.19s/it]
 91%|█████████ | 816/900 [34:31<01:18,  1.07it/s]
 91%|█████████ | 817/900 [35:08<16:11, 11.70s/it]
 91%|█████████ | 818/900 [35:09<11:20,  8.30s/it]
 91%|█████████ | 819/900 [35:09<07:59,  5.92s/it]
 91%|█████████ | 820/900 [35:09<05:39,  4.25s/it]
 91%|█████████ | 821/900 [35:10<04:03,  3.08s/it]
 91%|█████████▏| 822/900 [35:10<02:56,  2.26s/it]
 91%|█████████▏| 823/900 [35:10<02:10,  1.69s/it]
 92%|█████████▏| 824/900 [35:11<01:37,  1.29s/it]
 92%|█████████▏| 825/900 [35:36<10:44,  8.59s/it]
 92%|█████████▏| 826/900 [35:37<07:32,  6.11s/it]
 92%|█████████▏| 827/900 [35:37<05:19,  4.38s/it]
 92%|█████████▏| 828/900 [35:37<03:48,  3.17s/it]
 92%|█████████▏| 829/900 [35:38<02:44,  2.32s/it]
 92%|█████████▏| 830/900 [35:38<02:00,  1.73s/it]
 92%|█████████▏| 831/900 [35:38<01:30,  1.31s/it]
 92%|█████████▏| 832/900 [35:39<01:08,  1.01s/it]
 93%|█████████▎| 833/900 [36:18<14:06, 12.63s/it]
 93%|█████████▎| 834/900 [36:19<09:50,  8.94s/it]
 93%|█████████▎| 835/900 [36:19<06:53,  6.36s/it]
 93%|█████████▎| 836/900 [36:19<04:51,  4.55s/it]
 93%|█████████▎| 837/900 [36:20<03:27,  3.29s/it]
 93%|█████████▎| 838/900 [36:20<02:29,  2.41s/it]
 93%|█████████▎| 839/900 [36:20<01:49,  1.79s/it]
 93%|█████████▎| 840/900 [36:21<01:21,  1.36s/it]
 93%|█████████▎| 841/900 [36:46<08:15,  8.40s/it]
 94%|█████████▎| 842/900 [36:46<05:47,  5.98s/it]
 94%|█████████▎| 843/900 [36:46<04:04,  4.29s/it]
 94%|█████████▍| 844/900 [36:47<02:53,  3.10s/it]
 94%|█████████▍| 845/900 [36:47<02:04,  2.27s/it]
 94%|█████████▍| 846/900 [36:47<01:31,  1.69s/it]
 94%|█████████▍| 847/900 [36:48<01:08,  1.28s/it]
 94%|█████████▍| 848/900 [36:48<00:51,  1.00it/s]
 94%|█████████▍| 849/900 [37:03<04:29,  5.28s/it]
 94%|█████████▍| 850/900 [37:04<03:09,  3.80s/it]
 95%|█████████▍| 851/900 [37:04<02:15,  2.76s/it]
 95%|█████████▍| 852/900 [37:04<01:37,  2.04s/it]
 95%|█████████▍| 853/900 [37:05<01:11,  1.53s/it]
 95%|█████████▍| 854/900 [37:05<00:53,  1.17s/it]
 95%|█████████▌| 855/900 [37:05<00:41,  1.08it/s]
 95%|█████████▌| 856/900 [37:06<00:33,  1.33it/s]
 95%|█████████▌| 857/900 [37:21<03:41,  5.14s/it]
 95%|█████████▌| 858/900 [37:21<02:35,  3.70s/it]
 95%|█████████▌| 859/900 [37:22<01:50,  2.69s/it]
 96%|█████████▌| 860/900 [37:22<01:19,  1.98s/it]
 96%|█████████▌| 861/900 [37:22<00:57,  1.48s/it]
 96%|█████████▌| 862/900 [37:23<00:43,  1.14s/it]
 96%|█████████▌| 863/900 [37:23<00:33,  1.12it/s]
 96%|█████████▌| 864/900 [37:23<00:26,  1.38it/s]
 96%|█████████▌| 865/900 [37:53<05:29,  9.41s/it]
 96%|█████████▌| 866/900 [37:53<03:47,  6.69s/it]
 96%|█████████▋| 867/900 [37:54<02:37,  4.79s/it]
 96%|█████████▋| 868/900 [37:54<01:50,  3.45s/it]
 97%|█████████▋| 869/900 [37:54<01:18,  2.53s/it]
 97%|█████████▋| 870/900 [37:55<00:56,  1.87s/it]
 97%|█████████▋| 871/900 [37:55<00:41,  1.42s/it]
 97%|█████████▋| 872/900 [37:56<00:30,  1.10s/it]
 97%|█████████▋| 873/900 [38:08<02:04,  4.63s/it]
 97%|█████████▋| 874/900 [38:09<01:26,  3.34s/it]
 97%|█████████▋| 875/900 [38:09<01:00,  2.44s/it]
 97%|█████████▋| 876/900 [38:09<00:43,  1.81s/it]
 97%|█████████▋| 877/900 [38:10<00:31,  1.37s/it]
 98%|█████████▊| 878/900 [38:10<00:23,  1.06s/it]
 98%|█████████▊| 879/900 [38:10<00:17,  1.19it/s]
 98%|█████████▊| 880/900 [38:11<00:13,  1.45it/s]
 98%|█████████▊| 881/900 [38:26<01:36,  5.10s/it]
 98%|█████████▊| 882/900 [38:26<01:06,  3.67s/it]
 98%|█████████▊| 883/900 [38:27<00:45,  2.67s/it]
 98%|█████████▊| 884/900 [38:27<00:31,  1.97s/it]
 98%|█████████▊| 885/900 [38:27<00:22,  1.48s/it]
 98%|█████████▊| 886/900 [38:28<00:15,  1.14s/it]
 99%|█████████▊| 887/900 [38:28<00:11,  1.11it/s]
 99%|█████████▊| 888/900 [38:28<00:08,  1.36it/s]
 99%|█████████▉| 889/900 [38:54<01:29,  8.10s/it]
 99%|█████████▉| 890/900 [38:54<00:57,  5.77s/it]
 99%|█████████▉| 891/900 [38:54<00:37,  4.15s/it]
 99%|█████████▉| 892/900 [38:55<00:24,  3.01s/it]
 99%|█████████▉| 893/900 [38:55<00:15,  2.21s/it]
 99%|█████████▉| 894/900 [38:56<00:09,  1.65s/it]
 99%|█████████▉| 895/900 [38:56<00:06,  1.25s/it]
100%|█████████▉| 896/900 [38:56<00:03,  1.02it/s]
100%|█████████▉| 897/900 [39:10<00:14,  4.84s/it]
100%|█████████▉| 898/900 [39:10<00:06,  3.49s/it]
100%|█████████▉| 899/900 [39:11<00:02,  2.55s/it]
100%|█████████▉| 899/900 [39:11<00:02,  2.62s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/log_2_env0.json.
+TakeSpatulaOffShelfTask_2 complete: task_name: TakeSpatulaOffShelfTask, run_name: TakeSpatulaOffShelfTask_2, run: 2, env_id: 0, policy: harness, instruction: Take the spatula off the shelf and put it on the table, attributes: ['affordance', 'spatial', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -13.207164083208225, 'joint_sparc_mean': -24.359706850329808, 'ee_isj': 11145.93230636954, 'joint_isj': 1100072.9966989644, 'ee_path_length': 10.468120411851695, 'joint_rmse_mean': 0.999486368947869, 'ee_speed_max': 0.9219772815704346, 'ee_speed_mean': 0.167811781167984}, events: {'GRIPPER_FULLY_CLOSED': 23, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_OUT_OF_SCENE': 2, 'OBJECT_MOVED': 2, 'WRONG_OBJECT_GRABBED': 3, 'TARGET_OBJECT_DROPPED': 2, 'OBJECT_BUMPED': 8, 'wrong_objects_grabbed': ['wireshelving_a01', 'wireshelving_a01', 'wireshelving_a01']}, instruction_type: default, timing: {'policy_inference_s': 2057.031, 'policy_inference_avg_ms': 2285.6, 'env_step_s': 286.651, 'env_step_avg_ms': 318.5, 'video_write_s': 7.333, 'video_write_avg_ms': 8.1, 'wall_total_s': 2351.014, 'it_per_sec': 0.38}, score: 1.0, reason: Condition not satisfied: object_grabbed(object=spatula_01) (step 1/2), harness_episode_id: 3131665854a94b15a5bf60cbccdb42bd-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-30T23:02:25Z [25,118,319ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.206994 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-30T23:02:30Z [25,123,511ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-30T23:02:30Z [25,123,511ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T23:02:30Z [25,123,520ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-30T23:02:30Z [25,123,520ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T23:02:30Z [25,123,527ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-30T23:02:30Z [25,123,534ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-30T23:02:31Z [25,124,477ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((886))' not available in the MDL representation.
+2026-10-30T23:02:31Z [25,124,477ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((886))' not available in the MDL representation.
+2026-10-30T23:02:31Z [25,124,765ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((937))' not available in the MDL representation.
+2026-10-30T23:02:31Z [25,124,765ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((937))' not available in the MDL representation.
+2026-10-30T23:02:32Z [25,125,042ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((983))' not available in the MDL representation.
+2026-10-30T23:02:32Z [25,125,043ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((983))' not available in the MDL representation.
+2026-10-30T23:02:32Z [25,125,274ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1009))' not available in the MDL representation.
+2026-10-30T23:02:32Z [25,125,274ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1009))' not available in the MDL representation.
+2026-10-30T23:02:33Z [25,126,018ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((886))' not available in the MDL representation.
+2026-10-30T23:02:33Z [25,126,018ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((886))' not available in the MDL representation.
+2026-10-30T23:02:33Z [25,126,023ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((937))' not available in the MDL representation.
+2026-10-30T23:02:33Z [25,126,023ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((937))' not available in the MDL representation.
+2026-10-30T23:02:33Z [25,126,026ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((983))' not available in the MDL representation.
+2026-10-30T23:02:33Z [25,126,026ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((983))' not available in the MDL representation.
+2026-10-30T23:02:33Z [25,126,028ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1009))' not available in the MDL representation.
+2026-10-30T23:02:33Z [25,126,028ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1009))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 7.607091 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : RedItemsInBinTask                             │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put all the red things in the grey bin        │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : RedItemsInBinTaskSceneEnvCfg                  │
+│  Attributes  : color, sorting, moderate                      │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running RedItemsInBinTask_0: 'Put all the red things in the grey bin' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:35<8:52:17, 35.53s/it]
  0%|          | 2/900 [00:35<3:41:13, 14.78s/it]
  0%|          | 3/900 [00:36<2:01:49,  8.15s/it]
  0%|          | 4/900 [00:36<1:15:07,  5.03s/it]
  1%|          | 5/900 [00:36<49:20,  3.31s/it]  
  1%|          | 6/900 [00:36<33:48,  2.27s/it]
  1%|          | 7/900 [00:37<23:55,  1.61s/it]
  1%|          | 8/900 [00:37<17:29,  1.18s/it]
  1%|          | 9/900 [00:46<55:48,  3.76s/it]
  1%|          | 10/900 [00:46<39:40,  2.67s/it]
  1%|          | 11/900 [00:47<28:39,  1.93s/it]
  1%|▏         | 12/900 [00:47<21:02,  1.42s/it]
  1%|▏         | 13/900 [00:47<15:46,  1.07s/it]
  2%|▏         | 14/900 [00:47<12:07,  1.22it/s]
  2%|▏         | 15/900 [00:48<09:35,  1.54it/s]
  2%|▏         | 16/900 [00:48<07:49,  1.88it/s]
  2%|▏         | 17/900 [00:59<55:19,  3.76s/it]
  2%|▏         | 18/900 [01:00<39:46,  2.71s/it]
  2%|▏         | 19/900 [01:00<28:53,  1.97s/it]
  2%|▏         | 20/900 [01:00<21:22,  1.46s/it]
  2%|▏         | 21/900 [01:00<16:09,  1.10s/it]
  2%|▏         | 22/900 [01:01<12:28,  1.17it/s]
  3%|▎         | 23/900 [01:01<09:55,  1.47it/s]
  3%|▎         | 24/900 [01:01<08:08,  1.79it/s]
  3%|▎         | 25/900 [01:11<49:55,  3.42s/it]
  3%|▎         | 26/900 [01:12<36:04,  2.48s/it]
  3%|▎         | 27/900 [01:12<26:23,  1.81s/it]
  3%|▎         | 28/900 [01:12<19:36,  1.35s/it]
  3%|▎         | 29/900 [01:12<14:53,  1.03s/it]
  3%|▎         | 30/900 [01:13<11:36,  1.25it/s]
  3%|▎         | 31/900 [01:13<09:14,  1.57it/s]
  4%|▎         | 32/900 [01:13<07:36,  1.90it/s]
  4%|▎         | 33/900 [01:23<49:15,  3.41s/it]
  4%|▍         | 34/900 [01:24<35:37,  2.47s/it]
  4%|▍         | 35/900 [01:24<26:05,  1.81s/it]
  4%|▍         | 36/900 [01:24<19:26,  1.35s/it]
  4%|▍         | 37/900 [01:24<14:44,  1.02s/it]
  4%|▍         | 38/900 [01:25<11:27,  1.25it/s]
  4%|▍         | 39/900 [01:25<09:09,  1.57it/s]
  4%|▍         | 40/900 [01:25<07:34,  1.89it/s]
  5%|▍         | 41/900 [01:32<34:03,  2.38s/it]
  5%|▍         | 42/900 [01:32<24:59,  1.75s/it]
  5%|▍         | 43/900 [01:32<18:35,  1.30s/it]
  5%|▍         | 44/900 [01:33<14:06,  1.01it/s]
  5%|▌         | 45/900 [01:33<10:57,  1.30it/s]
  5%|▌         | 46/900 [01:33<08:46,  1.62it/s]
  5%|▌         | 47/900 [01:33<07:11,  1.97it/s]
  5%|▌         | 48/900 [01:34<06:04,  2.34it/s]
  5%|▌         | 49/900 [01:40<32:11,  2.27s/it]
  6%|▌         | 50/900 [01:40<23:35,  1.67s/it]
  6%|▌         | 51/900 [01:41<17:33,  1.24s/it]
  6%|▌         | 52/900 [01:41<13:19,  1.06it/s]
  6%|▌         | 53/900 [01:41<10:24,  1.36it/s]
  6%|▌         | 54/900 [01:41<08:21,  1.69it/s]
  6%|▌         | 55/900 [01:42<06:55,  2.03it/s]
  6%|▌         | 56/900 [01:42<05:54,  2.38it/s]
  6%|▋         | 57/900 [01:49<31:45,  2.26s/it]
  6%|▋         | 58/900 [01:49<23:16,  1.66s/it]
  7%|▋         | 59/900 [01:49<17:20,  1.24s/it]
  7%|▋         | 60/900 [01:49<13:10,  1.06it/s]
  7%|▋         | 61/900 [01:50<10:18,  1.36it/s]
  7%|▋         | 62/900 [01:50<08:19,  1.68it/s]
  7%|▋         | 63/900 [01:50<06:53,  2.02it/s]
  7%|▋         | 64/900 [01:50<05:51,  2.38it/s]
  7%|▋         | 65/900 [01:59<39:46,  2.86s/it]
  7%|▋         | 66/900 [01:59<28:51,  2.08s/it]
  7%|▋         | 67/900 [01:59<21:10,  1.53s/it]
  8%|▊         | 68/900 [02:00<15:51,  1.14s/it]
  8%|▊         | 69/900 [02:00<12:10,  1.14it/s]
  8%|▊         | 70/900 [02:00<09:34,  1.44it/s]
  8%|▊         | 71/900 [02:00<07:45,  1.78it/s]
  8%|▊         | 72/900 [02:01<06:27,  2.14it/s]
  8%|▊         | 73/900 [02:15<1:04:22,  4.67s/it]
  8%|▊         | 74/900 [02:15<46:02,  3.34s/it]  
  8%|▊         | 75/900 [02:16<33:12,  2.41s/it]
  8%|▊         | 76/900 [02:16<24:13,  1.76s/it]
  9%|▊         | 77/900 [02:16<17:56,  1.31s/it]
  9%|▊         | 78/900 [02:16<13:33,  1.01it/s]
  9%|▉         | 79/900 [02:17<10:30,  1.30it/s]
  9%|▉         | 80/900 [02:17<08:22,  1.63it/s]
  9%|▉         | 81/900 [02:22<26:00,  1.91s/it]
  9%|▉         | 82/900 [02:22<19:10,  1.41s/it]
  9%|▉         | 83/900 [02:22<14:25,  1.06s/it]
  9%|▉         | 84/900 [02:23<11:05,  1.23it/s]
  9%|▉         | 85/900 [02:23<08:44,  1.55it/s]
 10%|▉         | 86/900 [02:23<07:11,  1.88it/s]
 10%|▉         | 87/900 [02:23<06:06,  2.22it/s]
 10%|▉         | 88/900 [02:24<05:21,  2.53it/s]
 10%|▉         | 89/900 [02:32<36:34,  2.71s/it]
 10%|█         | 90/900 [02:32<26:36,  1.97s/it]
 10%|█         | 91/900 [02:32<19:37,  1.46s/it]
 10%|█         | 92/900 [02:32<14:46,  1.10s/it]
 10%|█         | 93/900 [02:33<11:24,  1.18it/s]
 10%|█         | 94/900 [02:33<09:04,  1.48it/s]
 11%|█         | 95/900 [02:33<07:23,  1.81it/s]
 11%|█         | 96/900 [02:33<06:12,  2.16it/s]
 11%|█         | 97/900 [02:40<31:07,  2.33s/it]
 11%|█         | 98/900 [02:40<22:49,  1.71s/it]
 11%|█         | 99/900 [02:41<16:59,  1.27s/it]
 11%|█         | 100/900 [02:41<12:55,  1.03it/s]
 11%|█         | 101/900 [02:41<10:05,  1.32it/s]
 11%|█▏        | 102/900 [02:41<08:03,  1.65it/s]
 11%|█▏        | 103/900 [02:42<06:37,  2.01it/s]
 12%|█▏        | 104/900 [02:42<05:37,  2.36it/s]
 12%|█▏        | 105/900 [02:49<31:51,  2.40s/it]
 12%|█▏        | 106/900 [02:49<23:16,  1.76s/it]
 12%|█▏        | 107/900 [02:49<17:15,  1.31s/it]
 12%|█▏        | 108/900 [02:50<13:06,  1.01it/s]
 12%|█▏        | 109/900 [02:50<10:13,  1.29it/s]
 12%|█▏        | 110/900 [02:50<08:10,  1.61it/s]
 12%|█▏        | 111/900 [02:51<06:45,  1.95it/s]
 12%|█▏        | 112/900 [02:51<05:47,  2.27it/s]
 13%|█▎        | 113/900 [03:01<43:26,  3.31s/it]
 13%|█▎        | 114/900 [03:01<31:25,  2.40s/it]
 13%|█▎        | 115/900 [03:01<23:00,  1.76s/it]
 13%|█▎        | 116/900 [03:02<17:08,  1.31s/it]
 13%|█▎        | 117/900 [03:02<13:01,  1.00it/s]
 13%|█▎        | 118/900 [03:02<10:09,  1.28it/s]
 13%|█▎        | 119/900 [03:02<08:10,  1.59it/s]
 13%|█▎        | 120/900 [03:03<06:44,  1.93it/s]
 13%|█▎        | 121/900 [03:09<29:44,  2.29s/it]
 14%|█▎        | 122/900 [03:09<21:50,  1.68s/it]
 14%|█▎        | 123/900 [03:10<16:14,  1.25s/it]
 14%|█▍        | 124/900 [03:10<12:18,  1.05it/s]
 14%|█▍        | 125/900 [03:10<09:36,  1.34it/s]
 14%|█▍        | 126/900 [03:10<07:44,  1.67it/s]
 14%|█▍        | 127/900 [03:11<06:22,  2.02it/s]
 14%|█▍        | 128/900 [03:11<05:24,  2.38it/s]
 14%|█▍        | 129/900 [03:25<57:09,  4.45s/it]
 14%|█▍        | 130/900 [03:25<40:55,  3.19s/it]
 15%|█▍        | 131/900 [03:25<29:34,  2.31s/it]
 15%|█▍        | 132/900 [03:26<21:38,  1.69s/it]
 15%|█▍        | 133/900 [03:26<16:05,  1.26s/it]
 15%|█▍        | 134/900 [03:26<12:10,  1.05it/s]
 15%|█▌        | 135/900 [03:26<09:27,  1.35it/s]
 15%|█▌        | 136/900 [03:26<07:35,  1.68it/s]
 15%|█▌        | 137/900 [03:39<54:08,  4.26s/it]
 15%|█▌        | 138/900 [03:40<38:48,  3.06s/it]
 15%|█▌        | 139/900 [03:40<28:05,  2.22s/it]
 16%|█▌        | 140/900 [03:40<20:34,  1.62s/it]
 16%|█▌        | 141/900 [03:40<15:20,  1.21s/it]
 16%|█▌        | 142/900 [03:41<11:41,  1.08it/s]
 16%|█▌        | 143/900 [03:41<09:07,  1.38it/s]
 16%|█▌        | 144/900 [03:41<07:20,  1.72it/s]
 16%|█▌        | 145/900 [03:58<1:10:20,  5.59s/it]
 16%|█▌        | 146/900 [03:59<50:12,  4.00s/it]  
 16%|█▋        | 147/900 [03:59<36:05,  2.88s/it]
 16%|█▋        | 148/900 [03:59<26:12,  2.09s/it]
 17%|█▋        | 149/900 [03:59<19:16,  1.54s/it]
 17%|█▋        | 150/900 [04:00<14:25,  1.15s/it]
 17%|█▋        | 151/900 [04:00<11:01,  1.13it/s]
 17%|█▋        | 152/900 [04:00<08:38,  1.44it/s]
 17%|█▋        | 153/900 [04:12<52:08,  4.19s/it]
 17%|█▋        | 154/900 [04:13<37:24,  3.01s/it]
 17%|█▋        | 155/900 [04:13<27:06,  2.18s/it]
 17%|█▋        | 156/900 [04:13<19:53,  1.60s/it]
 17%|█▋        | 157/900 [04:14<14:51,  1.20s/it]
 18%|█▊        | 158/900 [04:14<11:18,  1.09it/s]
 18%|█▊        | 159/900 [04:14<08:50,  1.40it/s]
 18%|█▊        | 160/900 [04:14<07:05,  1.74it/s]
 18%|█▊        | 161/900 [05:03<3:05:27, 15.06s/it]
 18%|█▊        | 162/900 [05:03<2:10:37, 10.62s/it]
 18%|█▊        | 163/900 [05:04<1:32:17,  7.51s/it]
 18%|█▊        | 164/900 [05:04<1:05:27,  5.34s/it]
 18%|█▊        | 165/900 [05:04<46:41,  3.81s/it]  
 18%|█▊        | 166/900 [05:04<33:38,  2.75s/it]
 19%|█▊        | 167/900 [05:05<24:27,  2.00s/it]
 19%|█▊        | 168/900 [05:05<18:03,  1.48s/it]
 19%|█▉        | 169/900 [05:12<36:59,  3.04s/it]
 19%|█▉        | 170/900 [05:12<26:48,  2.20s/it]
 19%|█▉        | 171/900 [05:12<19:43,  1.62s/it]
 19%|█▉        | 172/900 [05:12<14:43,  1.21s/it]
 19%|█▉        | 173/900 [05:13<11:18,  1.07it/s]
 19%|█▉        | 174/900 [05:13<08:55,  1.36it/s]
 19%|█▉        | 175/900 [05:13<07:15,  1.67it/s]
 20%|█▉        | 176/900 [05:14<06:04,  1.99it/s]
 20%|█▉        | 177/900 [05:18<21:49,  1.81s/it]
 20%|█▉        | 178/900 [05:19<16:15,  1.35s/it]
 20%|█▉        | 179/900 [05:19<12:22,  1.03s/it]
 20%|██        | 180/900 [05:19<09:37,  1.25it/s]
 20%|██        | 181/900 [05:19<07:43,  1.55it/s]
 20%|██        | 182/900 [05:20<06:22,  1.88it/s]
 20%|██        | 183/900 [05:20<05:28,  2.18it/s]
 20%|██        | 184/900 [05:20<04:48,  2.48it/s]
 21%|██        | 185/900 [05:39<1:09:49,  5.86s/it]
 21%|██        | 186/900 [05:39<49:46,  4.18s/it]  
 21%|██        | 187/900 [05:39<35:47,  3.01s/it]
 21%|██        | 188/900 [05:40<26:00,  2.19s/it]
 21%|██        | 189/900 [05:40<19:11,  1.62s/it]
 21%|██        | 190/900 [05:40<14:24,  1.22s/it]
 21%|██        | 191/900 [05:41<11:03,  1.07it/s]
 21%|██▏       | 192/900 [05:41<08:44,  1.35it/s]
 21%|██▏       | 193/900 [06:00<1:13:09,  6.21s/it]
 22%|██▏       | 194/900 [06:00<52:09,  4.43s/it]  
 22%|██▏       | 195/900 [06:00<37:27,  3.19s/it]
 22%|██▏       | 196/900 [06:01<27:10,  2.32s/it]
 22%|██▏       | 197/900 [06:01<19:58,  1.70s/it]
 22%|██▏       | 198/900 [06:01<14:55,  1.28s/it]
 22%|██▏       | 199/900 [06:02<11:23,  1.02it/s]
 22%|██▏       | 200/900 [06:02<08:57,  1.30it/s]
 22%|██▏       | 201/900 [06:12<40:15,  3.46s/it]
 22%|██▏       | 202/900 [06:12<29:09,  2.51s/it]
 23%|██▎       | 203/900 [06:12<21:21,  1.84s/it]
 23%|██▎       | 204/900 [06:12<15:54,  1.37s/it]
 23%|██▎       | 205/900 [06:13<12:05,  1.04s/it]
 23%|██▎       | 206/900 [06:13<09:25,  1.23it/s]
 23%|██▎       | 207/900 [06:13<07:34,  1.53it/s]
 23%|██▎       | 208/900 [06:13<06:15,  1.84it/s]
 23%|██▎       | 209/900 [06:24<41:04,  3.57s/it]
 23%|██▎       | 210/900 [06:24<29:42,  2.58s/it]
 23%|██▎       | 211/900 [06:25<21:43,  1.89s/it]
 24%|██▎       | 212/900 [06:25<16:08,  1.41s/it]
 24%|██▎       | 213/900 [06:25<12:13,  1.07s/it]
 24%|██▍       | 214/900 [06:26<09:29,  1.20it/s]
 24%|██▍       | 215/900 [06:26<07:36,  1.50it/s]
 24%|██▍       | 216/900 [06:26<06:16,  1.82it/s]
 24%|██▍       | 217/900 [06:32<26:09,  2.30s/it]
 24%|██▍       | 218/900 [06:33<19:12,  1.69s/it]
 24%|██▍       | 219/900 [06:33<14:22,  1.27s/it]
 24%|██▍       | 220/900 [06:33<11:01,  1.03it/s]
 25%|██▍       | 221/900 [06:34<08:38,  1.31it/s]
 25%|██▍       | 222/900 [06:34<06:57,  1.62it/s]
 25%|██▍       | 223/900 [06:34<05:47,  1.95it/s]
 25%|██▍       | 224/900 [06:34<04:59,  2.26it/s]
 25%|██▌       | 225/900 [06:43<31:53,  2.84s/it]
 25%|██▌       | 226/900 [06:43<23:13,  2.07s/it]
 25%|██▌       | 227/900 [06:43<17:09,  1.53s/it]
 25%|██▌       | 228/900 [06:44<12:53,  1.15s/it]
 25%|██▌       | 229/900 [06:44<09:53,  1.13it/s]
 26%|██▌       | 230/900 [06:44<07:43,  1.45it/s]
 26%|██▌       | 231/900 [06:44<06:14,  1.79it/s]
 26%|██▌       | 232/900 [06:45<05:10,  2.15it/s]
 26%|██▌       | 233/900 [07:00<56:20,  5.07s/it]
 26%|██▌       | 234/900 [07:01<40:13,  3.62s/it]
 26%|██▌       | 235/900 [07:01<28:57,  2.61s/it]
 26%|██▌       | 236/900 [07:01<21:04,  1.90s/it]
 26%|██▋       | 237/900 [07:01<15:34,  1.41s/it]
 26%|██▋       | 238/900 [07:02<11:43,  1.06s/it]
 27%|██▋       | 239/900 [07:02<09:02,  1.22it/s]
 27%|██▋       | 240/900 [07:02<07:09,  1.54it/s]
 27%|██▋       | 241/900 [07:22<1:09:30,  6.33s/it]
 27%|██▋       | 242/900 [07:22<49:24,  4.51s/it]  
 27%|██▋       | 243/900 [07:22<35:21,  3.23s/it]
 27%|██▋       | 244/900 [07:23<25:33,  2.34s/it]
 27%|██▋       | 245/900 [07:23<18:41,  1.71s/it]
 27%|██▋       | 246/900 [07:23<13:52,  1.27s/it]
 27%|██▋       | 247/900 [07:23<10:30,  1.03it/s]
 28%|██▊       | 248/900 [07:24<08:09,  1.33it/s]
 28%|██▊       | 249/900 [07:43<1:08:38,  6.33s/it]
 28%|██▊       | 250/900 [07:43<48:47,  4.50s/it]  
 28%|██▊       | 251/900 [07:43<34:54,  3.23s/it]
 28%|██▊       | 252/900 [07:44<25:11,  2.33s/it]
 28%|██▊       | 253/900 [07:44<18:24,  1.71s/it]
 28%|██▊       | 254/900 [07:44<13:40,  1.27s/it]
 28%|██▊       | 255/900 [07:44<10:21,  1.04it/s]
 28%|██▊       | 256/900 [07:45<08:04,  1.33it/s]
 29%|██▊       | 257/900 [07:59<52:33,  4.91s/it]
 29%|██▊       | 258/900 [07:59<37:33,  3.51s/it]
 29%|██▉       | 259/900 [08:00<27:02,  2.53s/it]
 29%|██▉       | 260/900 [08:00<19:42,  1.85s/it]
 29%|██▉       | 261/900 [08:00<14:34,  1.37s/it]
 29%|██▉       | 262/900 [08:00<10:58,  1.03s/it]
 29%|██▉       | 263/900 [08:01<08:28,  1.25it/s]
 29%|██▉       | 264/900 [08:01<06:43,  1.58it/s]
 29%|██▉       | 265/900 [08:23<1:14:21,  7.03s/it]
 30%|██▉       | 266/900 [08:23<52:45,  4.99s/it]  
 30%|██▉       | 267/900 [08:23<37:41,  3.57s/it]
 30%|██▉       | 268/900 [08:24<27:07,  2.58s/it]
 30%|██▉       | 269/900 [08:24<19:43,  1.88s/it]
 30%|███       | 270/900 [08:24<14:34,  1.39s/it]
 30%|███       | 271/900 [08:24<11:00,  1.05s/it]
 30%|███       | 272/900 [08:25<08:32,  1.23it/s]
 30%|███       | 273/900 [08:49<1:20:42,  7.72s/it]
 30%|███       | 274/900 [08:49<57:11,  5.48s/it]  
 31%|███       | 275/900 [08:49<40:45,  3.91s/it]
 31%|███       | 276/900 [08:49<29:17,  2.82s/it]
 31%|███       | 277/900 [08:50<21:15,  2.05s/it]
 31%|███       | 278/900 [08:50<15:38,  1.51s/it]
 31%|███       | 279/900 [08:50<11:43,  1.13s/it]
 31%|███       | 280/900 [08:50<08:58,  1.15it/s]
 31%|███       | 281/900 [09:13<1:15:22,  7.31s/it]
 31%|███▏      | 282/900 [09:13<53:27,  5.19s/it]  
 31%|███▏      | 283/900 [09:13<38:11,  3.71s/it]
 32%|███▏      | 284/900 [09:13<27:31,  2.68s/it]
 32%|███▏      | 285/900 [09:14<20:03,  1.96s/it]
 32%|███▏      | 286/900 [09:14<14:49,  1.45s/it]
 32%|███▏      | 287/900 [09:14<11:13,  1.10s/it]
 32%|███▏      | 288/900 [09:15<08:39,  1.18it/s]
 32%|███▏      | 289/900 [09:32<58:48,  5.78s/it]
 32%|███▏      | 290/900 [09:32<41:55,  4.12s/it]
 32%|███▏      | 291/900 [09:32<30:07,  2.97s/it]
 32%|███▏      | 292/900 [09:33<21:51,  2.16s/it]
 33%|███▎      | 293/900 [09:33<16:04,  1.59s/it]
 33%|███▎      | 294/900 [09:33<12:02,  1.19s/it]
 33%|███▎      | 295/900 [09:33<09:13,  1.09it/s]
 33%|███▎      | 296/900 [09:34<07:15,  1.39it/s]
 33%|███▎      | 297/900 [09:48<47:00,  4.68s/it]
 33%|███▎      | 298/900 [09:48<33:41,  3.36s/it]
 33%|███▎      | 299/900 [09:48<24:20,  2.43s/it]
 33%|███▎      | 300/900 [09:48<17:48,  1.78s/it]
 33%|███▎      | 301/900 [09:49<13:15,  1.33s/it]
 34%|███▎      | 302/900 [09:49<10:04,  1.01s/it]
 34%|███▎      | 303/900 [09:49<07:48,  1.27it/s]
 34%|███▍      | 304/900 [09:49<06:13,  1.60it/s]
 34%|███▍      | 305/900 [10:07<55:17,  5.58s/it]
 34%|███▍      | 306/900 [10:07<39:23,  3.98s/it]
 34%|███▍      | 307/900 [10:07<28:16,  2.86s/it]
 34%|███▍      | 308/900 [10:07<20:30,  2.08s/it]
 34%|███▍      | 309/900 [10:08<15:04,  1.53s/it]
 34%|███▍      | 310/900 [10:08<11:17,  1.15s/it]
 35%|███▍      | 311/900 [10:08<08:47,  1.12it/s]
 35%|███▍      | 312/900 [10:08<06:52,  1.42it/s]
 35%|███▍      | 313/900 [11:08<3:00:46, 18.48s/it]
 35%|███▍      | 314/900 [11:09<2:07:04, 13.01s/it]
 35%|███▌      | 315/900 [11:09<1:29:31,  9.18s/it]
 35%|███▌      | 316/900 [11:09<1:03:17,  6.50s/it]
 35%|███▌      | 317/900 [11:09<44:55,  4.62s/it]  
 35%|███▌      | 318/900 [11:10<32:06,  3.31s/it]
 35%|███▌      | 319/900 [11:10<23:15,  2.40s/it]
 36%|███▌      | 320/900 [11:10<17:04,  1.77s/it]
 36%|███▌      | 321/900 [12:06<2:54:09, 18.05s/it]
 36%|███▌      | 322/900 [12:06<2:02:30, 12.72s/it]
 36%|███▌      | 323/900 [12:07<1:26:24,  8.98s/it]
 36%|███▌      | 324/900 [12:07<1:01:11,  6.37s/it]
 36%|███▌      | 325/900 [12:07<43:34,  4.55s/it]  
 36%|███▌      | 326/900 [12:08<31:14,  3.27s/it]
 36%|███▋      | 327/900 [12:08<22:37,  2.37s/it]
 36%|███▋      | 328/900 [12:08<16:36,  1.74s/it]
 37%|███▋      | 329/900 [12:30<1:12:47,  7.65s/it]
 37%|███▋      | 330/900 [12:30<51:39,  5.44s/it]  
 37%|███▋      | 331/900 [12:30<36:51,  3.89s/it]
 37%|███▋      | 332/900 [12:30<26:29,  2.80s/it]
 37%|███▋      | 333/900 [12:31<19:14,  2.04s/it]
 37%|███▋      | 334/900 [12:31<14:09,  1.50s/it]
 37%|███▋      | 335/900 [12:31<10:35,  1.12s/it]
 37%|███▋      | 336/900 [12:31<08:07,  1.16it/s]
 37%|███▋      | 337/900 [12:52<1:04:22,  6.86s/it]
 38%|███▊      | 338/900 [12:52<45:42,  4.88s/it]  
 38%|███▊      | 339/900 [12:53<32:37,  3.49s/it]
 38%|███▊      | 340/900 [12:53<23:29,  2.52s/it]
 38%|███▊      | 341/900 [12:53<17:07,  1.84s/it]
 38%|███▊      | 342/900 [12:53<12:39,  1.36s/it]
 38%|███▊      | 343/900 [12:54<09:31,  1.03s/it]
 38%|███▊      | 344/900 [12:54<07:21,  1.26it/s]
 38%|███▊      | 345/900 [13:03<30:14,  3.27s/it]
 38%|███▊      | 346/900 [13:03<21:51,  2.37s/it]
 39%|███▊      | 347/900 [13:04<15:58,  1.73s/it]
 39%|███▊      | 348/900 [13:04<11:52,  1.29s/it]
 39%|███▉      | 349/900 [13:04<08:59,  1.02it/s]
 39%|███▉      | 350/900 [13:04<06:59,  1.31it/s]
 39%|███▉      | 351/900 [13:05<05:33,  1.64it/s]
 39%|███▉      | 352/900 [13:05<04:34,  2.00it/s]
 39%|███▉      | 353/900 [13:13<25:37,  2.81s/it]
 39%|███▉      | 354/900 [13:13<18:37,  2.05s/it]
 39%|███▉      | 355/900 [13:14<13:44,  1.51s/it]
 40%|███▉      | 356/900 [13:14<10:18,  1.14s/it]
 40%|███▉      | 357/900 [13:14<07:55,  1.14it/s]
 40%|███▉      | 358/900 [13:14<06:15,  1.44it/s]
 40%|███▉      | 359/900 [13:15<05:08,  1.76it/s]
 40%|████      | 360/900 [13:15<04:20,  2.08it/s]
 40%|████      | 361/900 [13:21<20:03,  2.23s/it]
 40%|████      | 362/900 [13:21<14:45,  1.65s/it]
 40%|████      | 363/900 [13:22<11:02,  1.23s/it]
 40%|████      | 364/900 [13:22<08:22,  1.07it/s]
 41%|████      | 365/900 [13:22<06:30,  1.37it/s]
 41%|████      | 366/900 [13:22<05:12,  1.71it/s]
 41%|████      | 367/900 [13:23<04:19,  2.06it/s]
 41%|████      | 368/900 [13:23<03:42,  2.39it/s]
 41%|████      | 369/900 [13:35<33:54,  3.83s/it]
 41%|████      | 370/900 [13:35<24:20,  2.76s/it]
 41%|████      | 371/900 [13:35<17:40,  2.00s/it]
 41%|████▏     | 372/900 [13:36<13:01,  1.48s/it]
 41%|████▏     | 373/900 [13:36<09:46,  1.11s/it]
 42%|████▏     | 374/900 [13:36<07:30,  1.17it/s]
 42%|████▏     | 375/900 [13:36<05:54,  1.48it/s]
 42%|████▏     | 376/900 [13:37<04:47,  1.82it/s]
 42%|████▏     | 377/900 [13:54<48:56,  5.61s/it]
 42%|████▏     | 378/900 [13:54<34:51,  4.01s/it]
 42%|████▏     | 379/900 [13:55<25:01,  2.88s/it]
 42%|████▏     | 380/900 [13:55<18:08,  2.09s/it]
 42%|████▏     | 381/900 [13:55<13:21,  1.54s/it]
 42%|████▏     | 382/900 [13:55<09:58,  1.16s/it]
 43%|████▎     | 383/900 [13:56<07:36,  1.13it/s]
 43%|████▎     | 384/900 [13:56<05:57,  1.44it/s]
 43%|████▎     | 385/900 [14:18<1:01:56,  7.22s/it]
 43%|████▎     | 386/900 [14:18<43:55,  5.13s/it]  
 43%|████▎     | 387/900 [14:19<31:19,  3.66s/it]
 43%|████▎     | 388/900 [14:19<22:30,  2.64s/it]
 43%|████▎     | 389/900 [14:19<16:20,  1.92s/it]
 43%|████▎     | 390/900 [14:19<12:01,  1.42s/it]
 43%|████▎     | 391/900 [14:20<09:02,  1.07s/it]
 44%|████▎     | 392/900 [14:20<06:57,  1.22it/s]
 44%|████▎     | 393/900 [14:47<1:14:01,  8.76s/it]
 44%|████▍     | 394/900 [14:48<52:22,  6.21s/it]  
 44%|████▍     | 395/900 [14:48<37:15,  4.43s/it]
 44%|████▍     | 396/900 [14:48<26:41,  3.18s/it]
 44%|████▍     | 397/900 [14:48<19:18,  2.30s/it]
 44%|████▍     | 398/900 [14:49<14:08,  1.69s/it]
 44%|████▍     | 399/900 [14:49<10:32,  1.26s/it]
 44%|████▍     | 400/900 [14:49<08:02,  1.04it/s]
 45%|████▍     | 401/900 [15:03<39:37,  4.76s/it]
 45%|████▍     | 402/900 [15:03<28:20,  3.41s/it]
 45%|████▍     | 403/900 [15:03<20:25,  2.46s/it]
 45%|████▍     | 404/900 [15:03<14:52,  1.80s/it]
 45%|████▌     | 405/900 [15:04<11:00,  1.33s/it]
 45%|████▌     | 406/900 [15:04<08:17,  1.01s/it]
 45%|████▌     | 407/900 [15:04<06:24,  1.28it/s]
 45%|████▌     | 408/900 [15:04<05:05,  1.61it/s]
 45%|████▌     | 409/900 [15:17<34:15,  4.19s/it]
 46%|████▌     | 410/900 [15:17<24:33,  3.01s/it]
 46%|████▌     | 411/900 [15:18<17:48,  2.18s/it]
 46%|████▌     | 412/900 [15:18<13:03,  1.61s/it]
 46%|████▌     | 413/900 [15:18<09:44,  1.20s/it]
 46%|████▌     | 414/900 [15:18<07:25,  1.09it/s]
 46%|████▌     | 415/900 [15:19<05:49,  1.39it/s]
 46%|████▌     | 416/900 [15:19<04:41,  1.72it/s]
 46%|████▋     | 417/900 [15:44<1:05:18,  8.11s/it]
 46%|████▋     | 418/900 [15:45<46:14,  5.76s/it]  
 47%|████▋     | 419/900 [15:45<32:54,  4.11s/it]
 47%|████▋     | 420/900 [15:45<23:35,  2.95s/it]
 47%|████▋     | 421/900 [15:45<17:05,  2.14s/it]
 47%|████▋     | 422/900 [15:46<12:31,  1.57s/it]
 47%|████▋     | 423/900 [15:46<09:20,  1.17s/it]
 47%|████▋     | 424/900 [15:46<07:07,  1.11it/s]
 47%|████▋     | 425/900 [15:57<30:24,  3.84s/it]
 47%|████▋     | 426/900 [15:57<21:52,  2.77s/it]
 47%|████▋     | 427/900 [15:57<15:53,  2.02s/it]
 48%|████▊     | 428/900 [15:58<11:43,  1.49s/it]
 48%|████▊     | 429/900 [15:58<08:48,  1.12s/it]
 48%|████▊     | 430/900 [15:58<06:45,  1.16it/s]
 48%|████▊     | 431/900 [15:59<05:20,  1.47it/s]
 48%|████▊     | 432/900 [15:59<04:20,  1.79it/s]
 48%|████▊     | 433/900 [16:07<23:16,  2.99s/it]
 48%|████▊     | 434/900 [16:08<16:52,  2.17s/it]
 48%|████▊     | 435/900 [16:08<12:24,  1.60s/it]
 48%|████▊     | 436/900 [16:08<09:17,  1.20s/it]
 49%|████▊     | 437/900 [16:09<07:06,  1.09it/s]
 49%|████▊     | 438/900 [16:09<05:34,  1.38it/s]
 49%|████▉     | 439/900 [16:09<04:30,  1.71it/s]
 49%|████▉     | 440/900 [16:09<03:45,  2.04it/s]
 49%|████▉     | 441/900 [16:18<23:12,  3.03s/it]
 49%|████▉     | 442/900 [16:19<16:49,  2.21s/it]
 49%|████▉     | 443/900 [16:19<12:21,  1.62s/it]
 49%|████▉     | 444/900 [16:19<09:14,  1.22s/it]
 49%|████▉     | 445/900 [16:19<07:04,  1.07it/s]
 50%|████▉     | 446/900 [16:20<05:33,  1.36it/s]
 50%|████▉     | 447/900 [16:20<04:30,  1.67it/s]
 50%|████▉     | 448/900 [16:20<03:46,  2.00it/s]
 50%|████▉     | 449/900 [16:39<44:36,  5.93s/it]
 50%|█████     | 450/900 [16:39<31:46,  4.24s/it]
 50%|█████     | 451/900 [16:39<22:48,  3.05s/it]
 50%|█████     | 452/900 [16:40<16:33,  2.22s/it]
 50%|█████     | 453/900 [16:40<12:11,  1.64s/it]
 50%|█████     | 454/900 [16:40<09:06,  1.23s/it]
 51%|█████     | 455/900 [16:40<06:58,  1.06it/s]
 51%|█████     | 456/900 [16:41<05:29,  1.35it/s]
 51%|█████     | 457/900 [16:51<26:15,  3.56s/it]
 51%|█████     | 458/900 [16:51<18:57,  2.57s/it]
 51%|█████     | 459/900 [16:51<13:51,  1.88s/it]
 51%|█████     | 460/900 [16:52<10:17,  1.40s/it]
 51%|█████     | 461/900 [16:52<07:48,  1.07s/it]
 51%|█████▏    | 462/900 [16:52<06:03,  1.21it/s]
 51%|█████▏    | 463/900 [16:53<04:49,  1.51it/s]
 52%|█████▏    | 464/900 [16:53<03:57,  1.84it/s]
 52%|█████▏    | 465/900 [17:03<25:59,  3.59s/it]
 52%|█████▏    | 466/900 [17:04<18:44,  2.59s/it]
 52%|█████▏    | 467/900 [17:04<13:40,  1.90s/it]
 52%|█████▏    | 468/900 [17:04<10:07,  1.41s/it]
 52%|█████▏    | 469/900 [17:05<07:38,  1.06s/it]
 52%|█████▏    | 470/900 [17:05<05:52,  1.22it/s]
 52%|█████▏    | 471/900 [17:05<04:39,  1.54it/s]
 52%|█████▏    | 472/900 [17:05<03:48,  1.87it/s]
 53%|█████▎    | 473/900 [17:42<1:20:02, 11.25s/it]
 53%|█████▎    | 474/900 [17:42<56:26,  7.95s/it]  
 53%|█████▎    | 475/900 [17:42<39:57,  5.64s/it]
 53%|█████▎    | 476/900 [17:42<28:26,  4.02s/it]
 53%|█████▎    | 477/900 [17:43<20:23,  2.89s/it]
 53%|█████▎    | 478/900 [17:43<14:46,  2.10s/it]
 53%|█████▎    | 479/900 [17:43<10:50,  1.54s/it]
 53%|█████▎    | 480/900 [17:43<08:05,  1.16s/it]
 53%|█████▎    | 481/900 [18:08<56:48,  8.13s/it]
 54%|█████▎    | 482/900 [18:08<40:11,  5.77s/it]
 54%|█████▎    | 483/900 [18:08<28:36,  4.12s/it]
 54%|█████▍    | 484/900 [18:08<20:30,  2.96s/it]
 54%|█████▍    | 485/900 [18:09<14:51,  2.15s/it]
 54%|█████▍    | 486/900 [18:09<10:54,  1.58s/it]
 54%|█████▍    | 487/900 [18:09<08:08,  1.18s/it]
 54%|█████▍    | 488/900 [18:10<06:12,  1.11it/s]
 54%|█████▍    | 489/900 [18:25<36:57,  5.40s/it]
 54%|█████▍    | 490/900 [18:26<26:19,  3.85s/it]
 55%|█████▍    | 491/900 [18:26<18:53,  2.77s/it]
 55%|█████▍    | 492/900 [18:26<13:41,  2.01s/it]
 55%|█████▍    | 493/900 [18:26<10:03,  1.48s/it]
 55%|█████▍    | 494/900 [18:27<07:31,  1.11s/it]
 55%|█████▌    | 495/900 [18:27<05:45,  1.17it/s]
 55%|█████▌    | 496/900 [18:27<04:31,  1.49it/s]
 55%|█████▌    | 497/900 [18:50<48:33,  7.23s/it]
 55%|█████▌    | 498/900 [18:50<34:25,  5.14s/it]
 55%|█████▌    | 499/900 [18:50<24:31,  3.67s/it]
 56%|█████▌    | 500/900 [18:51<18:31,  2.78s/it]
 56%|█████▌    | 501/900 [18:51<13:27,  2.02s/it]
 56%|█████▌    | 502/900 [18:51<09:55,  1.50s/it]
 56%|█████▌    | 503/900 [18:52<07:27,  1.13s/it]
 56%|█████▌    | 504/900 [18:52<05:44,  1.15it/s]
 56%|█████▌    | 505/900 [19:03<25:41,  3.90s/it]
 56%|█████▌    | 506/900 [19:03<18:28,  2.81s/it]
 56%|█████▋    | 507/900 [19:03<13:25,  2.05s/it]
 56%|█████▋    | 508/900 [19:04<09:53,  1.51s/it]
 57%|█████▋    | 509/900 [19:04<07:24,  1.14s/it]
 57%|█████▋    | 510/900 [19:04<05:41,  1.14it/s]
 57%|█████▋    | 511/900 [19:04<04:29,  1.45it/s]
 57%|█████▋    | 512/900 [19:05<03:39,  1.77it/s]
 57%|█████▋    | 513/900 [19:15<21:46,  3.37s/it]
 57%|█████▋    | 514/900 [19:15<15:41,  2.44s/it]
 57%|█████▋    | 515/900 [19:15<11:27,  1.79s/it]
 57%|█████▋    | 516/900 [19:15<08:30,  1.33s/it]
 57%|█████▋    | 517/900 [19:16<06:27,  1.01s/it]
 58%|█████▊    | 518/900 [19:16<05:00,  1.27it/s]
 58%|█████▊    | 519/900 [19:16<04:00,  1.58it/s]
 58%|█████▊    | 520/900 [19:17<03:18,  1.92it/s]
 58%|█████▊    | 521/900 [20:01<1:26:18, 13.66s/it]
 58%|█████▊    | 522/900 [20:01<1:00:44,  9.64s/it]
 58%|█████▊    | 523/900 [20:01<42:51,  6.82s/it]  
 58%|█████▊    | 524/900 [20:02<30:23,  4.85s/it]
 58%|█████▊    | 525/900 [20:02<21:40,  3.47s/it]
 58%|█████▊    | 526/900 [20:02<15:36,  2.50s/it]
 59%|█████▊    | 527/900 [20:02<11:21,  1.83s/it]
 59%|█████▊    | 528/900 [20:03<08:23,  1.35s/it]
 59%|█████▉    | 529/900 [20:14<26:25,  4.27s/it]
 59%|█████▉    | 530/900 [20:14<18:56,  3.07s/it]
 59%|█████▉    | 531/900 [20:14<13:42,  2.23s/it]
 59%|█████▉    | 532/900 [20:14<10:02,  1.64s/it]
 59%|█████▉    | 533/900 [20:15<07:28,  1.22s/it]
 59%|█████▉    | 534/900 [20:15<05:40,  1.07it/s]
 59%|█████▉    | 535/900 [20:15<04:25,  1.38it/s]
 60%|█████▉    | 536/900 [20:16<03:34,  1.70it/s]
 60%|█████▉    | 537/900 [20:38<42:54,  7.09s/it]
 60%|█████▉    | 538/900 [20:38<30:24,  5.04s/it]
 60%|█████▉    | 539/900 [20:38<21:41,  3.60s/it]
 60%|██████    | 540/900 [20:39<15:34,  2.60s/it]
 60%|██████    | 541/900 [20:39<11:19,  1.89s/it]
 60%|██████    | 542/900 [20:39<08:21,  1.40s/it]
 60%|██████    | 543/900 [20:39<06:17,  1.06s/it]
 60%|██████    | 544/900 [20:40<04:50,  1.23it/s]
 61%|██████    | 545/900 [21:01<41:30,  7.02s/it]
 61%|██████    | 546/900 [21:01<29:25,  4.99s/it]
 61%|██████    | 547/900 [21:02<20:59,  3.57s/it]
 61%|██████    | 548/900 [21:02<15:05,  2.57s/it]
 61%|██████    | 549/900 [21:02<10:58,  1.88s/it]
 61%|██████    | 550/900 [21:02<08:06,  1.39s/it]
 61%|██████    | 551/900 [21:03<06:05,  1.05s/it]
 61%|██████▏   | 552/900 [21:03<04:42,  1.23it/s]
 61%|██████▏   | 553/900 [21:23<38:55,  6.73s/it]
 62%|██████▏   | 554/900 [21:24<27:37,  4.79s/it]
 62%|██████▏   | 555/900 [21:24<19:44,  3.43s/it]
 62%|██████▏   | 556/900 [21:24<14:14,  2.48s/it]
 62%|██████▏   | 557/900 [21:24<10:23,  1.82s/it]
 62%|██████▏   | 558/900 [21:25<07:42,  1.35s/it]
 62%|██████▏   | 559/900 [21:25<05:49,  1.03s/it]
 62%|██████▏   | 560/900 [21:25<04:31,  1.25it/s]
 62%|██████▏   | 561/900 [21:39<26:29,  4.69s/it]
 62%|██████▏   | 562/900 [21:39<18:58,  3.37s/it]
 63%|██████▎   | 563/900 [21:40<13:41,  2.44s/it]
 63%|██████▎   | 564/900 [21:40<10:00,  1.79s/it]
 63%|██████▎   | 565/900 [21:40<07:24,  1.33s/it]
 63%|██████▎   | 566/900 [21:40<05:35,  1.00s/it]
 63%|██████▎   | 567/900 [21:41<04:18,  1.29it/s]
 63%|██████▎   | 568/900 [21:41<03:25,  1.61it/s]
 63%|██████▎   | 569/900 [21:56<27:07,  4.92s/it]
 63%|██████▎   | 570/900 [21:56<19:20,  3.52s/it]
 63%|██████▎   | 571/900 [21:56<13:55,  2.54s/it]
 64%|██████▎   | 572/900 [21:57<10:07,  1.85s/it]
 64%|██████▎   | 573/900 [21:57<07:28,  1.37s/it]
 64%|██████▍   | 574/900 [21:57<05:37,  1.03s/it]
 64%|██████▍   | 575/900 [21:57<04:19,  1.25it/s]
 64%|██████▍   | 576/900 [21:57<03:25,  1.58it/s]
 64%|██████▍   | 577/900 [22:14<28:27,  5.28s/it]
 64%|██████▍   | 578/900 [22:14<20:16,  3.78s/it]
 64%|██████▍   | 579/900 [22:14<14:34,  2.72s/it]
 64%|██████▍   | 580/900 [22:14<10:35,  1.99s/it]
 65%|██████▍   | 581/900 [22:15<07:49,  1.47s/it]
 65%|██████▍   | 582/900 [22:15<05:53,  1.11s/it]
 65%|██████▍   | 583/900 [22:15<04:31,  1.17it/s]
 65%|██████▍   | 584/900 [22:15<03:34,  1.47it/s]
 65%|██████▌   | 585/900 [22:51<58:35, 11.16s/it]
 65%|██████▌   | 586/900 [22:51<41:17,  7.89s/it]
 65%|██████▌   | 587/900 [22:52<29:12,  5.60s/it]
 65%|██████▌   | 588/900 [22:52<20:47,  4.00s/it]
 65%|██████▌   | 589/900 [22:52<14:55,  2.88s/it]
 66%|██████▌   | 590/900 [22:52<10:49,  2.09s/it]
 66%|██████▌   | 591/900 [22:53<07:55,  1.54s/it]
 66%|██████▌   | 592/900 [22:53<05:54,  1.15s/it]
 66%|██████▌   | 593/900 [23:09<28:51,  5.64s/it]
 66%|██████▌   | 594/900 [23:09<20:31,  4.02s/it]
 66%|██████▌   | 595/900 [23:10<14:41,  2.89s/it]
 66%|██████▌   | 596/900 [23:10<10:38,  2.10s/it]
 66%|██████▋   | 597/900 [23:10<07:48,  1.55s/it]
 66%|██████▋   | 598/900 [23:10<05:49,  1.16s/it]
 67%|██████▋   | 599/900 [23:11<04:26,  1.13it/s]
 67%|██████▋   | 600/900 [23:11<03:28,  1.44it/s]
 67%|██████▋   | 601/900 [23:25<23:30,  4.72s/it]
 67%|██████▋   | 602/900 [23:25<16:46,  3.38s/it]
 67%|██████▋   | 603/900 [23:25<12:04,  2.44s/it]
 67%|██████▋   | 604/900 [23:26<08:47,  1.78s/it]
 67%|██████▋   | 605/900 [23:26<06:30,  1.32s/it]
 67%|██████▋   | 606/900 [23:26<04:53,  1.00it/s]
 67%|██████▋   | 607/900 [23:26<03:46,  1.30it/s]
 68%|██████▊   | 608/900 [23:27<02:59,  1.63it/s]
 68%|██████▊   | 609/900 [24:24<1:25:47, 17.69s/it]
 68%|██████▊   | 610/900 [24:24<1:00:12, 12.46s/it]
 68%|██████▊   | 611/900 [24:25<42:21,  8.79s/it]  
 68%|██████▊   | 612/900 [24:25<29:54,  6.23s/it]
 68%|██████▊   | 613/900 [24:25<21:13,  4.44s/it]
 68%|██████▊   | 614/900 [24:25<15:09,  3.18s/it]
 68%|██████▊   | 615/900 [24:26<10:55,  2.30s/it]
 68%|██████▊   | 616/900 [24:26<07:58,  1.68s/it]
 69%|██████▊   | 617/900 [24:59<52:17, 11.09s/it]
 69%|██████▊   | 618/900 [24:59<36:49,  7.84s/it]
 69%|██████▉   | 619/900 [24:59<26:02,  5.56s/it]
 69%|██████▉   | 620/900 [25:00<18:30,  3.97s/it]
 69%|██████▉   | 621/900 [25:00<13:15,  2.85s/it]
 69%|██████▉   | 622/900 [25:00<09:35,  2.07s/it]
 69%|██████▉   | 623/900 [25:00<07:02,  1.53s/it]
 69%|██████▉   | 624/900 [25:01<05:15,  1.14s/it]
 69%|██████▉   | 625/900 [25:14<21:46,  4.75s/it]
 70%|██████▉   | 626/900 [25:14<15:32,  3.40s/it]
 70%|██████▉   | 627/900 [25:14<11:10,  2.46s/it]
 70%|██████▉   | 628/900 [25:15<08:07,  1.79s/it]
 70%|██████▉   | 629/900 [25:15<06:00,  1.33s/it]
 70%|███████   | 630/900 [25:15<04:31,  1.01s/it]
 70%|███████   | 631/900 [25:15<03:29,  1.28it/s]
 70%|███████   | 632/900 [25:16<02:46,  1.61it/s]
 70%|███████   | 633/900 [25:27<16:33,  3.72s/it]
 70%|███████   | 634/900 [25:27<11:53,  2.68s/it]
 71%|███████   | 635/900 [25:27<08:37,  1.95s/it]
 71%|███████   | 636/900 [25:27<06:20,  1.44s/it]
 71%|███████   | 637/900 [25:28<04:49,  1.10s/it]
 71%|███████   | 638/900 [25:28<03:41,  1.18it/s]
 71%|███████   | 639/900 [25:28<02:54,  1.50it/s]
 71%|███████   | 640/900 [25:28<02:21,  1.83it/s]
 71%|███████   | 641/900 [25:40<16:23,  3.80s/it]
 71%|███████▏  | 642/900 [25:40<11:47,  2.74s/it]
 71%|███████▏  | 643/900 [25:40<08:33,  2.00s/it]
 72%|███████▏  | 644/900 [25:41<06:19,  1.48s/it]
 72%|███████▏  | 645/900 [25:41<04:45,  1.12s/it]
 72%|███████▏  | 646/900 [25:41<03:39,  1.16it/s]
 72%|███████▏  | 647/900 [25:41<02:53,  1.46it/s]
 72%|███████▏  | 648/900 [25:42<02:20,  1.79it/s]
 72%|███████▏  | 649/900 [26:22<52:16, 12.50s/it]
 72%|███████▏  | 650/900 [26:22<36:46,  8.83s/it]
 72%|███████▏  | 651/900 [26:23<25:57,  6.25s/it]
 72%|███████▏  | 652/900 [26:23<18:23,  4.45s/it]
 73%|███████▎  | 653/900 [26:23<13:08,  3.19s/it]
 73%|███████▎  | 654/900 [26:23<09:27,  2.31s/it]
 73%|███████▎  | 655/900 [26:24<06:54,  1.69s/it]
 73%|███████▎  | 656/900 [26:24<05:07,  1.26s/it]
 73%|███████▎  | 657/900 [26:38<20:27,  5.05s/it]
 73%|███████▎  | 658/900 [26:38<14:33,  3.61s/it]
 73%|███████▎  | 659/900 [26:38<10:27,  2.60s/it]
 73%|███████▎  | 660/900 [26:38<07:35,  1.90s/it]
 73%|███████▎  | 661/900 [26:39<05:34,  1.40s/it]
 74%|███████▎  | 662/900 [26:39<04:10,  1.05s/it]
 74%|███████▎  | 663/900 [26:39<03:13,  1.23it/s]
 74%|███████▍  | 664/900 [26:39<02:33,  1.53it/s]
 74%|███████▍  | 665/900 [27:01<26:47,  6.84s/it]
 74%|███████▍  | 666/900 [27:01<18:59,  4.87s/it]
 74%|███████▍  | 667/900 [27:01<13:32,  3.49s/it]
 74%|███████▍  | 668/900 [27:02<09:44,  2.52s/it]
 74%|███████▍  | 669/900 [27:02<07:05,  1.84s/it]
 74%|███████▍  | 670/900 [27:02<05:14,  1.37s/it]
 75%|███████▍  | 671/900 [27:02<03:57,  1.04s/it]
 75%|███████▍  | 672/900 [27:03<03:03,  1.24it/s]
 75%|███████▍  | 673/900 [27:25<27:15,  7.21s/it]
 75%|███████▍  | 674/900 [27:25<19:18,  5.13s/it]
 75%|███████▌  | 675/900 [27:25<13:45,  3.67s/it]
 75%|███████▌  | 676/900 [27:25<09:53,  2.65s/it]
 75%|███████▌  | 677/900 [27:26<07:10,  1.93s/it]
 75%|███████▌  | 678/900 [27:26<05:16,  1.43s/it]
 75%|███████▌  | 679/900 [27:26<03:57,  1.07s/it]
 76%|███████▌  | 680/900 [27:27<03:01,  1.21it/s]
 76%|███████▌  | 681/900 [27:58<36:32, 10.01s/it]
 76%|███████▌  | 682/900 [27:58<25:44,  7.08s/it]
 76%|███████▌  | 683/900 [27:58<18:12,  5.03s/it]
 76%|███████▌  | 684/900 [27:59<12:57,  3.60s/it]
 76%|███████▌  | 685/900 [27:59<09:18,  2.60s/it]
 76%|███████▌  | 686/900 [27:59<06:45,  1.89s/it]
 76%|███████▋  | 687/900 [27:59<04:57,  1.40s/it]
 76%|███████▋  | 688/900 [28:00<03:43,  1.05s/it]
 77%|███████▋  | 689/900 [28:30<35:03,  9.97s/it]
 77%|███████▋  | 690/900 [28:31<24:41,  7.06s/it]
 77%|███████▋  | 691/900 [28:31<17:27,  5.01s/it]
 77%|███████▋  | 692/900 [28:31<12:24,  3.58s/it]
 77%|███████▋  | 693/900 [28:31<08:54,  2.58s/it]
 77%|███████▋  | 694/900 [28:32<06:27,  1.88s/it]
 77%|███████▋  | 695/900 [28:32<04:45,  1.39s/it]
 77%|███████▋  | 696/900 [28:32<03:34,  1.05s/it]
 77%|███████▋  | 697/900 [29:05<35:30, 10.49s/it]
 78%|███████▊  | 698/900 [29:05<25:00,  7.43s/it]
 78%|███████▊  | 699/900 [29:05<17:41,  5.28s/it]
 78%|███████▊  | 700/900 [29:06<12:35,  3.78s/it]
 78%|███████▊  | 701/900 [29:06<09:02,  2.73s/it]
 78%|███████▊  | 702/900 [29:06<06:34,  1.99s/it]
 78%|███████▊  | 703/900 [29:06<04:50,  1.47s/it]
 78%|███████▊  | 704/900 [29:07<03:38,  1.11s/it]
 78%|███████▊  | 705/900 [29:32<26:52,  8.27s/it]
 78%|███████▊  | 706/900 [29:32<18:58,  5.87s/it]
 79%|███████▊  | 707/900 [29:32<13:28,  4.19s/it]
 79%|███████▊  | 708/900 [29:32<09:38,  3.01s/it]
 79%|███████▉  | 709/900 [29:33<06:58,  2.19s/it]
 79%|███████▉  | 710/900 [29:33<05:06,  1.61s/it]
 79%|███████▉  | 711/900 [29:33<03:48,  1.21s/it]
 79%|███████▉  | 712/900 [29:34<02:54,  1.08it/s]
 79%|███████▉  | 713/900 [29:59<25:40,  8.24s/it]
 79%|███████▉  | 714/900 [29:59<18:07,  5.85s/it]
 79%|███████▉  | 715/900 [29:59<12:52,  4.17s/it]
 80%|███████▉  | 716/900 [30:00<09:12,  3.00s/it]
 80%|███████▉  | 717/900 [30:00<06:39,  2.18s/it]
 80%|███████▉  | 718/900 [30:00<04:52,  1.61s/it]
 80%|███████▉  | 719/900 [30:00<03:38,  1.21s/it]
 80%|████████  | 720/900 [30:01<02:46,  1.08it/s]
 80%|████████  | 721/900 [30:28<26:12,  8.79s/it]
 80%|████████  | 722/900 [30:28<18:29,  6.23s/it]
 80%|████████  | 723/900 [30:28<13:06,  4.45s/it]
 80%|████████  | 724/900 [30:29<09:22,  3.19s/it]
 81%|████████  | 725/900 [30:29<06:45,  2.32s/it]
 81%|████████  | 726/900 [30:29<04:55,  1.70s/it]
 81%|████████  | 727/900 [30:29<03:38,  1.26s/it]
 81%|████████  | 728/900 [30:30<02:44,  1.04it/s]
 81%|████████  | 729/900 [31:18<43:02, 15.11s/it]
 81%|████████  | 730/900 [31:18<30:10, 10.65s/it]
 81%|████████  | 731/900 [31:18<21:12,  7.53s/it]
 81%|████████▏ | 732/900 [31:19<14:58,  5.35s/it]
 81%|████████▏ | 733/900 [31:19<10:38,  3.82s/it]
 82%|████████▏ | 734/900 [31:19<07:36,  2.75s/it]
 82%|████████▏ | 735/900 [31:19<05:30,  2.00s/it]
 82%|████████▏ | 736/900 [31:20<04:01,  1.47s/it]
 82%|████████▏ | 737/900 [31:34<14:28,  5.33s/it]
 82%|████████▏ | 738/900 [31:34<10:16,  3.81s/it]
 82%|████████▏ | 739/900 [31:34<07:21,  2.74s/it]
 82%|████████▏ | 740/900 [31:35<05:19,  2.00s/it]
 82%|████████▏ | 741/900 [31:35<03:54,  1.47s/it]
 82%|████████▏ | 742/900 [31:35<02:54,  1.11s/it]
 83%|████████▎ | 743/900 [31:35<02:13,  1.18it/s]
 83%|████████▎ | 744/900 [31:36<01:44,  1.49it/s]
 83%|████████▎ | 745/900 [31:53<14:23,  5.57s/it]
 83%|████████▎ | 746/900 [31:53<10:12,  3.97s/it]
 83%|████████▎ | 747/900 [31:53<07:19,  2.87s/it]
 83%|████████▎ | 748/900 [31:53<05:17,  2.09s/it]
 83%|████████▎ | 749/900 [31:54<03:52,  1.54s/it]
 83%|████████▎ | 750/900 [31:54<02:52,  1.15s/it]
 83%|████████▎ | 751/900 [31:54<02:11,  1.13it/s]
 84%|████████▎ | 752/900 [31:54<01:41,  1.45it/s]
 84%|████████▎ | 753/900 [32:22<21:28,  8.77s/it]
 84%|████████▍ | 754/900 [32:22<15:07,  6.21s/it]
 84%|████████▍ | 755/900 [32:23<10:41,  4.43s/it]
 84%|████████▍ | 756/900 [32:23<07:37,  3.17s/it]
 84%|████████▍ | 757/900 [32:23<05:28,  2.30s/it]
 84%|████████▍ | 758/900 [32:23<03:59,  1.69s/it]
 84%|████████▍ | 759/900 [32:24<02:57,  1.26s/it]
 84%|████████▍ | 760/900 [32:24<02:13,  1.05it/s]
 85%|████████▍ | 761/900 [32:35<09:21,  4.04s/it]
 85%|████████▍ | 762/900 [32:35<06:40,  2.90s/it]
 85%|████████▍ | 763/900 [32:36<04:49,  2.11s/it]
 85%|████████▍ | 764/900 [32:36<03:31,  1.55s/it]
 85%|████████▌ | 765/900 [32:36<02:36,  1.16s/it]
 85%|████████▌ | 766/900 [32:36<01:58,  1.13it/s]
 85%|████████▌ | 767/900 [32:37<01:32,  1.44it/s]
 85%|████████▌ | 768/900 [32:37<01:13,  1.79it/s]
 85%|████████▌ | 769/900 [32:57<14:10,  6.49s/it]
 86%|████████▌ | 770/900 [32:57<10:00,  4.62s/it]
 86%|████████▌ | 771/900 [32:58<07:06,  3.31s/it]
 86%|████████▌ | 772/900 [32:58<05:05,  2.39s/it]
 86%|████████▌ | 773/900 [32:58<03:41,  1.75s/it]
 86%|████████▌ | 774/900 [32:58<02:43,  1.30s/it]
 86%|████████▌ | 775/900 [32:59<02:03,  1.01it/s]
 86%|████████▌ | 776/900 [32:59<01:34,  1.31it/s]
 86%|████████▋ | 777/900 [33:30<20:12,  9.86s/it]
 86%|████████▋ | 778/900 [33:30<14:11,  6.98s/it]
 87%|████████▋ | 779/900 [33:31<10:00,  4.96s/it]
 87%|████████▋ | 780/900 [33:31<07:05,  3.55s/it]
 87%|████████▋ | 781/900 [33:31<05:04,  2.56s/it]
 87%|████████▋ | 782/900 [33:31<03:40,  1.87s/it]
 87%|████████▋ | 783/900 [33:32<02:41,  1.38s/it]
 87%|████████▋ | 784/900 [33:32<02:01,  1.05s/it]
 87%|████████▋ | 785/900 [33:45<09:07,  4.76s/it]
 87%|████████▋ | 786/900 [33:45<06:29,  3.42s/it]
 87%|████████▋ | 787/900 [33:46<04:39,  2.48s/it]
 88%|████████▊ | 788/900 [33:46<03:23,  1.82s/it]
 88%|████████▊ | 789/900 [33:46<02:30,  1.35s/it]
 88%|████████▊ | 790/900 [33:47<01:53,  1.03s/it]
 88%|████████▊ | 791/900 [33:47<01:27,  1.25it/s]
 88%|████████▊ | 792/900 [33:47<01:08,  1.57it/s]
 88%|████████▊ | 793/900 [34:11<13:39,  7.65s/it]
 88%|████████▊ | 794/900 [34:11<09:36,  5.44s/it]
 88%|████████▊ | 795/900 [34:12<06:48,  3.89s/it]
 88%|████████▊ | 796/900 [34:12<04:51,  2.80s/it]
 89%|████████▊ | 797/900 [34:12<03:30,  2.04s/it]
 89%|████████▊ | 798/900 [34:12<02:34,  1.51s/it]
 89%|████████▉ | 799/900 [34:13<01:54,  1.14s/it]
 89%|████████▉ | 800/900 [34:13<01:27,  1.14it/s]
 89%|████████▉ | 801/900 [34:26<07:16,  4.41s/it]
 89%|████████▉ | 802/900 [34:26<05:10,  3.17s/it]
 89%|████████▉ | 803/900 [34:26<03:42,  2.29s/it]
 89%|████████▉ | 804/900 [34:26<02:41,  1.68s/it]
 89%|████████▉ | 805/900 [34:27<01:59,  1.25s/it]
 90%|████████▉ | 806/900 [34:27<01:29,  1.05it/s]
 90%|████████▉ | 807/900 [34:27<01:09,  1.35it/s]
 90%|████████▉ | 808/900 [34:27<00:54,  1.68it/s]
 90%|████████▉ | 809/900 [34:45<08:47,  5.80s/it]
 90%|█████████ | 810/900 [34:46<06:11,  4.13s/it]
 90%|█████████ | 811/900 [34:46<04:24,  2.97s/it]
 90%|█████████ | 812/900 [34:46<03:09,  2.15s/it]
 90%|█████████ | 813/900 [34:46<02:17,  1.58s/it]
 90%|█████████ | 814/900 [34:47<01:41,  1.19s/it]
 91%|█████████ | 815/900 [34:47<01:17,  1.10it/s]
 91%|█████████ | 816/900 [34:47<00:59,  1.41it/s]
 91%|█████████ | 817/900 [35:33<19:47, 14.31s/it]
 91%|█████████ | 818/900 [35:33<13:47, 10.09s/it]
 91%|█████████ | 819/900 [35:34<09:38,  7.15s/it]
 91%|█████████ | 820/900 [35:34<06:47,  5.09s/it]
 91%|█████████ | 821/900 [35:34<04:48,  3.65s/it]
 91%|█████████▏| 822/900 [35:35<03:25,  2.64s/it]
 91%|█████████▏| 823/900 [35:35<02:28,  1.93s/it]
 92%|█████████▏| 824/900 [35:35<01:48,  1.43s/it]
 92%|█████████▏| 825/900 [36:13<15:28, 12.38s/it]
 92%|█████████▏| 826/900 [36:13<10:47,  8.75s/it]
 92%|█████████▏| 827/900 [36:14<07:33,  6.21s/it]
 92%|█████████▏| 828/900 [36:14<05:19,  4.43s/it]
 92%|█████████▏| 829/900 [36:14<03:45,  3.18s/it]
 92%|█████████▏| 830/900 [36:14<02:41,  2.30s/it]
 92%|█████████▏| 831/900 [36:15<01:56,  1.69s/it]
 92%|█████████▏| 832/900 [36:15<01:25,  1.26s/it]
 93%|█████████▎| 833/900 [36:38<08:42,  7.80s/it]
 93%|█████████▎| 834/900 [36:38<06:05,  5.54s/it]
 93%|█████████▎| 835/900 [36:39<04:17,  3.95s/it]
 93%|█████████▎| 836/900 [36:39<03:02,  2.85s/it]
 93%|█████████▎| 837/900 [36:39<02:10,  2.07s/it]
 93%|█████████▎| 838/900 [36:39<01:34,  1.52s/it]
 93%|█████████▎| 839/900 [36:40<01:09,  1.14s/it]
 93%|█████████▎| 840/900 [36:40<00:52,  1.14it/s]
 93%|█████████▎| 841/900 [36:55<05:06,  5.19s/it]
 94%|█████████▎| 842/900 [36:55<03:34,  3.71s/it]
 94%|█████████▎| 843/900 [36:56<02:32,  2.67s/it]
 94%|█████████▍| 844/900 [36:56<01:48,  1.95s/it]
 94%|█████████▍| 845/900 [36:56<01:19,  1.44s/it]
 94%|█████████▍| 846/900 [36:56<00:58,  1.08s/it]
 94%|█████████▍| 847/900 [36:57<00:44,  1.20it/s]
 94%|█████████▍| 848/900 [36:57<00:34,  1.51it/s]
 94%|█████████▍| 849/900 [37:18<05:54,  6.96s/it]
 94%|█████████▍| 850/900 [37:19<04:07,  4.95s/it]
 95%|█████████▍| 851/900 [37:19<02:53,  3.55s/it]
 95%|█████████▍| 852/900 [37:19<02:03,  2.57s/it]
 95%|█████████▍| 853/900 [37:20<01:28,  1.88s/it]
 95%|█████████▍| 854/900 [37:20<01:04,  1.40s/it]
 95%|█████████▌| 855/900 [37:20<00:47,  1.06s/it]
 95%|█████████▌| 856/900 [37:20<00:36,  1.21it/s]
 95%|█████████▌| 857/900 [37:40<04:39,  6.51s/it]
 95%|█████████▌| 858/900 [37:40<03:14,  4.63s/it]
 95%|█████████▌| 859/900 [37:41<02:16,  3.32s/it]
 96%|█████████▌| 860/900 [37:41<01:35,  2.40s/it]
 96%|█████████▌| 861/900 [37:41<01:08,  1.75s/it]
 96%|█████████▌| 862/900 [37:41<00:49,  1.30s/it]
 96%|█████████▌| 863/900 [37:42<00:36,  1.01it/s]
 96%|█████████▌| 864/900 [37:42<00:27,  1.30it/s]
 96%|█████████▌| 865/900 [37:54<02:25,  4.15s/it]
 96%|█████████▌| 866/900 [37:54<01:41,  2.98s/it]
 96%|█████████▋| 867/900 [37:54<01:11,  2.17s/it]
 96%|█████████▋| 868/900 [37:55<00:50,  1.59s/it]
 97%|█████████▋| 869/900 [37:55<00:36,  1.19s/it]
 97%|█████████▋| 870/900 [37:55<00:27,  1.10it/s]
 97%|█████████▋| 871/900 [37:55<00:20,  1.41it/s]
 97%|█████████▋| 872/900 [37:56<00:15,  1.75it/s]
 97%|█████████▋| 873/900 [38:21<03:38,  8.10s/it]
 97%|█████████▋| 874/900 [38:22<02:29,  5.76s/it]
 97%|█████████▋| 875/900 [38:22<01:42,  4.11s/it]
 97%|█████████▋| 876/900 [38:22<01:10,  2.96s/it]
 97%|█████████▋| 877/900 [38:23<00:49,  2.15s/it]
 98%|█████████▊| 878/900 [38:23<00:34,  1.59s/it]
 98%|█████████▊| 879/900 [38:23<00:25,  1.19s/it]
 98%|█████████▊| 880/900 [38:23<00:18,  1.09it/s]
 98%|█████████▊| 881/900 [38:43<02:04,  6.56s/it]
 98%|█████████▊| 882/900 [38:43<01:24,  4.68s/it]
 98%|█████████▊| 883/900 [38:44<00:56,  3.35s/it]
 98%|█████████▊| 884/900 [38:44<00:38,  2.42s/it]
 98%|█████████▊| 885/900 [38:44<00:26,  1.78s/it]
 98%|█████████▊| 886/900 [38:44<00:18,  1.33s/it]
 99%|█████████▊| 887/900 [38:45<00:13,  1.01s/it]
 99%|█████████▊| 888/900 [38:45<00:09,  1.26it/s]
 99%|█████████▉| 889/900 [38:59<00:52,  4.74s/it]
 99%|█████████▉| 890/900 [38:59<00:33,  3.40s/it]
 99%|█████████▉| 891/900 [38:59<00:22,  2.46s/it]
 99%|█████████▉| 892/900 [39:00<00:14,  1.80s/it]
 99%|█████████▉| 893/900 [39:00<00:09,  1.34s/it]
 99%|█████████▉| 894/900 [39:00<00:06,  1.02s/it]
 99%|█████████▉| 895/900 [39:00<00:03,  1.26it/s]
100%|█████████▉| 896/900 [39:01<00:02,  1.57it/s]
100%|█████████▉| 897/900 [39:19<00:18,  6.03s/it]
100%|█████████▉| 898/900 [39:20<00:08,  4.30s/it]
100%|█████████▉| 899/900 [39:20<00:03,  3.09s/it]
100%|█████████▉| 899/900 [39:20<00:02,  2.63s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/log_0_env0.json.
+RedItemsInBinTask_0 complete: task_name: RedItemsInBinTask, run_name: RedItemsInBinTask_0, run: 0, env_id: 0, policy: harness, instruction: Put all the red things in the grey bin, attributes: ['color', 'sorting', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -11.508226315760268, 'joint_sparc_mean': -15.077781897449452, 'ee_isj': 5304.124379599145, 'joint_isj': 158347.1824254566, 'ee_path_length': 7.463736142709469, 'joint_rmse_mean': 1.0787614496679296, 'ee_speed_max': 0.774647057056427, 'ee_speed_mean': 0.11953610926866531}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 13, 'TARGET_OBJECT_DROPPED': 8, 'OBJECT_BUMPED': 2, 'WRONG_OBJECT_GRABBED': 2, 'wrong_objects_grabbed': ['grey_bin', 'grey_bin']}, instruction_type: default, timing: {'policy_inference_s': 2134.688, 'policy_inference_avg_ms': 2371.9, 'env_step_s': 216.869, 'env_step_avg_ms': 241.0, 'video_write_s': 8.652, 'video_write_avg_ms': 9.6, 'wall_total_s': 2360.209, 'it_per_sec': 0.38}, score: 0.5, reason: Condition not satisfied: object_grabbed(object=bowl) (step 1/2), harness_episode_id: fa7441ea303f4c08b990e83cc4f9918a-0
+[RoboLab] Running RedItemsInBinTask_1: 'Put all the red things in the grey bin' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:26<6:30:35, 26.07s/it]
  0%|          | 2/900 [00:26<2:42:58, 10.89s/it]
  0%|          | 3/900 [00:26<1:30:16,  6.04s/it]
  0%|          | 4/900 [00:26<56:07,  3.76s/it]  
  1%|          | 5/900 [00:27<37:13,  2.50s/it]
  1%|          | 6/900 [00:27<25:50,  1.73s/it]
  1%|          | 7/900 [00:27<18:36,  1.25s/it]
  1%|          | 8/900 [00:27<13:52,  1.07it/s]
  1%|          | 9/900 [00:31<28:16,  1.90s/it]
  1%|          | 10/900 [00:32<20:42,  1.40s/it]
  1%|          | 11/900 [00:32<15:29,  1.05s/it]
  1%|▏         | 12/900 [00:32<11:54,  1.24it/s]
  1%|▏         | 13/900 [00:32<09:25,  1.57it/s]
  2%|▏         | 14/900 [00:33<07:41,  1.92it/s]
  2%|▏         | 15/900 [00:33<06:28,  2.28it/s]
  2%|▏         | 16/900 [00:33<05:38,  2.61it/s]
  2%|▏         | 17/900 [00:44<49:36,  3.37s/it]
  2%|▏         | 18/900 [00:44<35:46,  2.43s/it]
  2%|▏         | 19/900 [00:44<26:06,  1.78s/it]
  2%|▏         | 20/900 [00:44<19:19,  1.32s/it]
  2%|▏         | 21/900 [00:45<14:35,  1.00it/s]
  2%|▏         | 22/900 [00:45<11:15,  1.30it/s]
  3%|▎         | 23/900 [00:45<08:56,  1.63it/s]
  3%|▎         | 24/900 [00:45<07:19,  1.99it/s]
  3%|▎         | 25/900 [01:00<1:09:29,  4.76s/it]
  3%|▎         | 26/900 [01:00<49:44,  3.41s/it]  
  3%|▎         | 27/900 [01:00<35:50,  2.46s/it]
  3%|▎         | 28/900 [01:01<26:10,  1.80s/it]
  3%|▎         | 29/900 [01:01<19:22,  1.33s/it]
  3%|▎         | 30/900 [01:01<14:35,  1.01s/it]
  3%|▎         | 31/900 [01:01<11:17,  1.28it/s]
  4%|▎         | 32/900 [01:02<09:00,  1.61it/s]
  4%|▎         | 33/900 [01:17<1:11:18,  4.94s/it]
  4%|▍         | 34/900 [01:17<50:58,  3.53s/it]  
  4%|▍         | 35/900 [01:17<36:44,  2.55s/it]
  4%|▍         | 36/900 [01:17<26:47,  1.86s/it]
  4%|▍         | 37/900 [01:18<19:50,  1.38s/it]
  4%|▍         | 38/900 [01:18<14:57,  1.04s/it]
  4%|▍         | 39/900 [01:18<11:31,  1.24it/s]
  4%|▍         | 40/900 [01:18<09:07,  1.57it/s]
  5%|▍         | 41/900 [01:25<33:44,  2.36s/it]
  5%|▍         | 42/900 [01:25<24:40,  1.73s/it]
  5%|▍         | 43/900 [01:25<18:21,  1.28s/it]
  5%|▍         | 44/900 [01:26<13:55,  1.02it/s]
  5%|▌         | 45/900 [01:26<10:49,  1.32it/s]
  5%|▌         | 46/900 [01:26<08:38,  1.65it/s]
  5%|▌         | 47/900 [01:26<07:06,  2.00it/s]
  5%|▌         | 48/900 [01:27<06:03,  2.34it/s]
  5%|▌         | 49/900 [01:34<35:16,  2.49s/it]
  6%|▌         | 50/900 [01:34<25:44,  1.82s/it]
  6%|▌         | 51/900 [01:34<19:03,  1.35s/it]
  6%|▌         | 52/900 [01:35<14:22,  1.02s/it]
  6%|▌         | 53/900 [01:35<11:06,  1.27it/s]
  6%|▌         | 54/900 [01:35<08:49,  1.60it/s]
  6%|▌         | 55/900 [01:35<07:13,  1.95it/s]
  6%|▌         | 56/900 [01:36<06:07,  2.30it/s]
  6%|▋         | 57/900 [01:42<32:05,  2.28s/it]
  6%|▋         | 58/900 [01:43<23:31,  1.68s/it]
  7%|▋         | 59/900 [01:43<17:29,  1.25s/it]
  7%|▋         | 60/900 [01:43<13:14,  1.06it/s]
  7%|▋         | 61/900 [01:43<10:20,  1.35it/s]
  7%|▋         | 62/900 [01:44<08:16,  1.69it/s]
  7%|▋         | 63/900 [01:44<06:50,  2.04it/s]
  7%|▋         | 64/900 [01:44<05:50,  2.38it/s]
  7%|▋         | 65/900 [01:51<33:30,  2.41s/it]
  7%|▋         | 66/900 [01:51<24:28,  1.76s/it]
  7%|▋         | 67/900 [01:52<18:09,  1.31s/it]
  8%|▊         | 68/900 [01:52<13:43,  1.01it/s]
  8%|▊         | 69/900 [01:52<10:36,  1.31it/s]
  8%|▊         | 70/900 [01:52<08:31,  1.62it/s]
  8%|▊         | 71/900 [01:53<06:59,  1.98it/s]
  8%|▊         | 72/900 [01:53<05:55,  2.33it/s]
  8%|▊         | 73/900 [02:00<32:46,  2.38s/it]
  8%|▊         | 74/900 [02:00<23:56,  1.74s/it]
  8%|▊         | 75/900 [02:00<17:43,  1.29s/it]
  8%|▊         | 76/900 [02:00<13:26,  1.02it/s]
  9%|▊         | 77/900 [02:01<10:27,  1.31it/s]
  9%|▊         | 78/900 [02:01<08:25,  1.63it/s]
  9%|▉         | 79/900 [02:01<06:55,  1.97it/s]
  9%|▉         | 80/900 [02:02<05:53,  2.32it/s]
  9%|▉         | 81/900 [02:06<23:35,  1.73s/it]
  9%|▉         | 82/900 [02:07<17:33,  1.29s/it]
  9%|▉         | 83/900 [02:07<13:20,  1.02it/s]
  9%|▉         | 84/900 [02:07<10:23,  1.31it/s]
  9%|▉         | 85/900 [02:07<08:20,  1.63it/s]
 10%|▉         | 86/900 [02:08<06:54,  1.96it/s]
 10%|▉         | 87/900 [02:08<05:54,  2.29it/s]
 10%|▉         | 88/900 [02:08<05:10,  2.62it/s]
 10%|▉         | 89/900 [02:24<1:07:37,  5.00s/it]
 10%|█         | 90/900 [02:24<48:18,  3.58s/it]  
 10%|█         | 91/900 [02:24<34:47,  2.58s/it]
 10%|█         | 92/900 [02:25<25:20,  1.88s/it]
 10%|█         | 93/900 [02:25<18:42,  1.39s/it]
 10%|█         | 94/900 [02:25<14:03,  1.05s/it]
 11%|█         | 95/900 [02:25<10:50,  1.24it/s]
 11%|█         | 96/900 [02:26<08:36,  1.56it/s]
 11%|█         | 97/900 [02:34<39:50,  2.98s/it]
 11%|█         | 98/900 [02:34<28:52,  2.16s/it]
 11%|█         | 99/900 [02:35<21:11,  1.59s/it]
 11%|█         | 100/900 [02:35<15:48,  1.19s/it]
 11%|█         | 101/900 [02:35<12:03,  1.10it/s]
 11%|█▏        | 102/900 [02:35<09:26,  1.41it/s]
 11%|█▏        | 103/900 [02:36<07:37,  1.74it/s]
 12%|█▏        | 104/900 [02:36<06:19,  2.10it/s]
 12%|█▏        | 105/900 [02:44<34:51,  2.63s/it]
 12%|█▏        | 106/900 [02:44<25:20,  1.92s/it]
 12%|█▏        | 107/900 [02:44<18:41,  1.41s/it]
 12%|█▏        | 108/900 [02:44<14:05,  1.07s/it]
 12%|█▏        | 109/900 [02:45<10:52,  1.21it/s]
 12%|█▏        | 110/900 [02:45<08:37,  1.53it/s]
 12%|█▏        | 111/900 [02:45<07:02,  1.87it/s]
 12%|█▏        | 112/900 [02:45<05:55,  2.22it/s]
 13%|█▎        | 113/900 [02:54<37:51,  2.89s/it]
 13%|█▎        | 114/900 [02:54<27:27,  2.10s/it]
 13%|█▎        | 115/900 [02:54<20:10,  1.54s/it]
 13%|█▎        | 116/900 [02:55<15:07,  1.16s/it]
 13%|█▎        | 117/900 [02:55<11:35,  1.13it/s]
 13%|█▎        | 118/900 [02:55<09:05,  1.43it/s]
 13%|█▎        | 119/900 [02:55<07:21,  1.77it/s]
 13%|█▎        | 120/900 [02:56<06:08,  2.12it/s]
 13%|█▎        | 121/900 [03:09<56:59,  4.39s/it]
 14%|█▎        | 122/900 [03:09<40:50,  3.15s/it]
 14%|█▎        | 123/900 [03:10<29:31,  2.28s/it]
 14%|█▍        | 124/900 [03:10<21:36,  1.67s/it]
 14%|█▍        | 125/900 [03:10<16:05,  1.25s/it]
 14%|█▍        | 126/900 [03:10<12:14,  1.05it/s]
 14%|█▍        | 127/900 [03:11<09:31,  1.35it/s]
 14%|█▍        | 128/900 [03:11<07:38,  1.68it/s]
 14%|█▍        | 129/900 [03:21<42:43,  3.32s/it]
 14%|█▍        | 130/900 [03:21<30:51,  2.40s/it]
 15%|█▍        | 131/900 [03:21<22:32,  1.76s/it]
 15%|█▍        | 132/900 [03:21<16:43,  1.31s/it]
 15%|█▍        | 133/900 [03:22<12:39,  1.01it/s]
 15%|█▍        | 134/900 [03:22<09:49,  1.30it/s]
 15%|█▌        | 135/900 [03:22<07:51,  1.62it/s]
 15%|█▌        | 136/900 [03:22<06:27,  1.97it/s]
 15%|█▌        | 137/900 [03:31<35:54,  2.82s/it]
 15%|█▌        | 138/900 [03:31<26:03,  2.05s/it]
 15%|█▌        | 139/900 [03:31<19:09,  1.51s/it]
 16%|█▌        | 140/900 [03:31<14:20,  1.13s/it]
 16%|█▌        | 141/900 [03:32<10:57,  1.15it/s]
 16%|█▌        | 142/900 [03:32<08:37,  1.46it/s]
 16%|█▌        | 143/900 [03:32<07:00,  1.80it/s]
 16%|█▌        | 144/900 [03:32<05:51,  2.15it/s]
 16%|█▌        | 145/900 [03:47<1:01:03,  4.85s/it]
 16%|█▌        | 146/900 [03:48<43:42,  3.48s/it]  
 16%|█▋        | 147/900 [03:48<31:35,  2.52s/it]
 16%|█▋        | 148/900 [03:48<23:05,  1.84s/it]
 17%|█▋        | 149/900 [03:49<17:11,  1.37s/it]
 17%|█▋        | 150/900 [03:49<13:04,  1.05s/it]
 17%|█▋        | 151/900 [03:49<10:10,  1.23it/s]
 17%|█▋        | 152/900 [03:49<08:07,  1.53it/s]
 17%|█▋        | 153/900 [04:08<1:16:24,  6.14s/it]
 17%|█▋        | 154/900 [04:09<54:26,  4.38s/it]  
 17%|█▋        | 155/900 [04:09<39:02,  3.14s/it]
 17%|█▋        | 156/900 [04:09<28:14,  2.28s/it]
 17%|█▋        | 157/900 [04:09<20:40,  1.67s/it]
 18%|█▊        | 158/900 [04:10<15:23,  1.25s/it]
 18%|█▊        | 159/900 [04:10<11:40,  1.06it/s]
 18%|█▊        | 160/900 [04:10<09:03,  1.36it/s]
 18%|█▊        | 161/900 [04:21<45:12,  3.67s/it]
 18%|█▊        | 162/900 [04:21<32:32,  2.65s/it]
 18%|█▊        | 163/900 [04:21<23:38,  1.92s/it]
 18%|█▊        | 164/900 [04:21<17:27,  1.42s/it]
 18%|█▊        | 165/900 [04:22<13:08,  1.07s/it]
 18%|█▊        | 166/900 [04:22<10:06,  1.21it/s]
 19%|█▊        | 167/900 [04:22<07:58,  1.53it/s]
 19%|█▊        | 168/900 [04:22<06:31,  1.87it/s]
 19%|█▉        | 169/900 [04:37<58:37,  4.81s/it]
 19%|█▉        | 170/900 [04:37<41:54,  3.44s/it]
 19%|█▉        | 171/900 [04:38<30:13,  2.49s/it]
 19%|█▉        | 172/900 [04:38<22:02,  1.82s/it]
 19%|█▉        | 173/900 [04:38<16:21,  1.35s/it]
 19%|█▉        | 174/900 [04:39<12:25,  1.03s/it]
 19%|█▉        | 175/900 [04:39<09:40,  1.25it/s]
 20%|█▉        | 176/900 [04:39<07:46,  1.55it/s]
 20%|█▉        | 177/900 [04:47<33:32,  2.78s/it]
 20%|█▉        | 178/900 [04:47<24:28,  2.03s/it]
 20%|█▉        | 179/900 [04:47<18:08,  1.51s/it]
 20%|██        | 180/900 [04:48<13:43,  1.14s/it]
 20%|██        | 181/900 [04:48<10:36,  1.13it/s]
 20%|██        | 182/900 [04:48<08:28,  1.41it/s]
 20%|██        | 183/900 [04:49<06:57,  1.72it/s]
 20%|██        | 184/900 [04:49<05:53,  2.02it/s]
 21%|██        | 185/900 [05:07<1:10:04,  5.88s/it]
 21%|██        | 186/900 [05:08<49:59,  4.20s/it]  
 21%|██        | 187/900 [05:08<35:56,  3.02s/it]
 21%|██        | 188/900 [05:08<26:05,  2.20s/it]
 21%|██        | 189/900 [05:08<19:12,  1.62s/it]
 21%|██        | 190/900 [05:09<14:23,  1.22s/it]
 21%|██        | 191/900 [05:09<11:01,  1.07it/s]
 21%|██▏       | 192/900 [05:09<08:40,  1.36it/s]
 21%|██▏       | 193/900 [05:40<1:54:57,  9.76s/it]
 22%|██▏       | 194/900 [05:40<1:21:19,  6.91s/it]
 22%|██▏       | 195/900 [05:41<57:48,  4.92s/it]  
 22%|██▏       | 196/900 [05:41<41:20,  3.52s/it]
 22%|██▏       | 197/900 [05:41<29:51,  2.55s/it]
 22%|██▏       | 198/900 [05:41<21:48,  1.86s/it]
 22%|██▏       | 199/900 [05:42<16:11,  1.39s/it]
 22%|██▏       | 200/900 [05:42<12:13,  1.05s/it]
 22%|██▏       | 201/900 [05:54<52:00,  4.46s/it]
 22%|██▏       | 202/900 [05:55<37:19,  3.21s/it]
 23%|██▎       | 203/900 [05:55<27:03,  2.33s/it]
 23%|██▎       | 204/900 [05:55<19:52,  1.71s/it]
 23%|██▎       | 205/900 [05:55<14:52,  1.28s/it]
 23%|██▎       | 206/900 [05:56<11:21,  1.02it/s]
 23%|██▎       | 207/900 [05:56<08:52,  1.30it/s]
 23%|██▎       | 208/900 [05:56<07:07,  1.62it/s]
 23%|██▎       | 209/900 [06:04<31:51,  2.77s/it]
 23%|██▎       | 210/900 [06:04<23:11,  2.02s/it]
 23%|██▎       | 211/900 [06:05<17:09,  1.49s/it]
 24%|██▎       | 212/900 [06:05<12:54,  1.13s/it]
 24%|██▎       | 213/900 [06:05<09:58,  1.15it/s]
 24%|██▍       | 214/900 [06:05<07:55,  1.44it/s]
 24%|██▍       | 215/900 [06:06<06:29,  1.76it/s]
 24%|██▍       | 216/900 [06:06<05:30,  2.07it/s]
 24%|██▍       | 217/900 [06:53<2:44:37, 14.46s/it]
 24%|██▍       | 218/900 [06:53<1:56:01, 10.21s/it]
 24%|██▍       | 219/900 [06:54<1:22:02,  7.23s/it]
 24%|██▍       | 220/900 [06:54<58:15,  5.14s/it]  
 25%|██▍       | 221/900 [06:54<41:40,  3.68s/it]
 25%|██▍       | 222/900 [06:54<30:03,  2.66s/it]
 25%|██▍       | 223/900 [06:55<21:56,  1.95s/it]
 25%|██▍       | 224/900 [06:55<16:17,  1.45s/it]
 25%|██▌       | 225/900 [07:04<41:56,  3.73s/it]
 25%|██▌       | 226/900 [07:04<30:14,  2.69s/it]
 25%|██▌       | 227/900 [07:05<22:05,  1.97s/it]
 25%|██▌       | 228/900 [07:05<16:23,  1.46s/it]
 25%|██▌       | 229/900 [07:05<12:24,  1.11s/it]
 26%|██▌       | 230/900 [07:05<09:35,  1.16it/s]
 26%|██▌       | 231/900 [07:06<07:36,  1.46it/s]
 26%|██▌       | 232/900 [07:06<06:14,  1.78it/s]
 26%|██▌       | 233/900 [07:15<35:07,  3.16s/it]
 26%|██▌       | 234/900 [07:15<25:24,  2.29s/it]
 26%|██▌       | 235/900 [07:16<18:36,  1.68s/it]
 26%|██▌       | 236/900 [07:16<13:50,  1.25s/it]
 26%|██▋       | 237/900 [07:16<10:31,  1.05it/s]
 26%|██▋       | 238/900 [07:17<08:14,  1.34it/s]
 27%|██▋       | 239/900 [07:17<06:38,  1.66it/s]
 27%|██▋       | 240/900 [07:17<05:31,  1.99it/s]
 27%|██▋       | 241/900 [07:31<49:01,  4.46s/it]
 27%|██▋       | 242/900 [07:31<35:07,  3.20s/it]
 27%|██▋       | 243/900 [07:31<25:24,  2.32s/it]
 27%|██▋       | 244/900 [07:32<18:35,  1.70s/it]
 27%|██▋       | 245/900 [07:32<13:51,  1.27s/it]
 27%|██▋       | 246/900 [07:32<10:33,  1.03it/s]
 27%|██▋       | 247/900 [07:32<08:15,  1.32it/s]
 28%|██▊       | 248/900 [07:33<06:38,  1.63it/s]
 28%|██▊       | 249/900 [08:06<1:52:38, 10.38s/it]
 28%|██▊       | 250/900 [08:06<1:19:37,  7.35s/it]
 28%|██▊       | 251/900 [08:06<56:34,  5.23s/it]  
 28%|██▊       | 252/900 [08:07<40:27,  3.75s/it]
 28%|██▊       | 253/900 [08:07<29:10,  2.71s/it]
 28%|██▊       | 254/900 [08:07<21:17,  1.98s/it]
 28%|██▊       | 255/900 [08:07<15:43,  1.46s/it]
 28%|██▊       | 256/900 [08:08<11:47,  1.10s/it]
 29%|██▊       | 257/900 [08:23<56:29,  5.27s/it]
 29%|██▊       | 258/900 [08:23<40:19,  3.77s/it]
 29%|██▉       | 259/900 [08:23<28:59,  2.71s/it]
 29%|██▉       | 260/900 [08:23<21:03,  1.97s/it]
 29%|██▉       | 261/900 [08:24<15:30,  1.46s/it]
 29%|██▉       | 262/900 [08:24<11:39,  1.10s/it]
 29%|██▉       | 263/900 [08:24<08:59,  1.18it/s]
 29%|██▉       | 264/900 [08:25<07:09,  1.48it/s]
 29%|██▉       | 265/900 [08:36<42:03,  3.97s/it]
 30%|██▉       | 266/900 [08:36<30:16,  2.86s/it]
 30%|██▉       | 267/900 [08:37<22:02,  2.09s/it]
 30%|██▉       | 268/900 [08:37<16:15,  1.54s/it]
 30%|██▉       | 269/900 [08:37<12:14,  1.16s/it]
 30%|███       | 270/900 [08:38<09:24,  1.12it/s]
 30%|███       | 271/900 [08:38<07:26,  1.41it/s]
 30%|███       | 272/900 [08:38<06:03,  1.73it/s]
 30%|███       | 273/900 [08:57<1:04:57,  6.22s/it]
 30%|███       | 274/900 [08:58<46:16,  4.44s/it]  
 31%|███       | 275/900 [08:58<33:14,  3.19s/it]
 31%|███       | 276/900 [08:58<24:06,  2.32s/it]
 31%|███       | 277/900 [08:59<17:45,  1.71s/it]
 31%|███       | 278/900 [08:59<13:14,  1.28s/it]
 31%|███       | 279/900 [08:59<10:05,  1.03it/s]
 31%|███       | 280/900 [08:59<07:51,  1.31it/s]
 31%|███       | 281/900 [09:12<44:00,  4.27s/it]
 31%|███▏      | 282/900 [09:12<31:34,  3.06s/it]
 31%|███▏      | 283/900 [09:12<22:52,  2.22s/it]
 32%|███▏      | 284/900 [09:13<16:48,  1.64s/it]
 32%|███▏      | 285/900 [09:13<12:33,  1.23s/it]
 32%|███▏      | 286/900 [09:13<09:36,  1.07it/s]
 32%|███▏      | 287/900 [09:13<07:32,  1.36it/s]
 32%|███▏      | 288/900 [09:14<06:04,  1.68it/s]
 32%|███▏      | 289/900 [09:24<35:09,  3.45s/it]
 32%|███▏      | 290/900 [09:24<25:23,  2.50s/it]
 32%|███▏      | 291/900 [09:24<18:34,  1.83s/it]
 32%|███▏      | 292/900 [09:25<13:48,  1.36s/it]
 33%|███▎      | 293/900 [09:25<10:29,  1.04s/it]
 33%|███▎      | 294/900 [09:25<08:10,  1.24it/s]
 33%|███▎      | 295/900 [09:25<06:33,  1.54it/s]
 33%|███▎      | 296/900 [09:26<05:25,  1.86it/s]
 33%|███▎      | 297/900 [09:48<1:09:49,  6.95s/it]
 33%|███▎      | 298/900 [09:48<49:33,  4.94s/it]  
 33%|███▎      | 299/900 [09:48<35:26,  3.54s/it]
 33%|███▎      | 300/900 [09:48<25:35,  2.56s/it]
 33%|███▎      | 301/900 [09:49<18:41,  1.87s/it]
 34%|███▎      | 302/900 [09:49<13:52,  1.39s/it]
 34%|███▎      | 303/900 [09:49<10:29,  1.05s/it]
 34%|███▍      | 304/900 [09:50<08:07,  1.22it/s]
 34%|███▍      | 305/900 [09:58<32:13,  3.25s/it]
 34%|███▍      | 306/900 [09:59<23:20,  2.36s/it]
 34%|███▍      | 307/900 [09:59<17:06,  1.73s/it]
 34%|███▍      | 308/900 [09:59<12:45,  1.29s/it]
 34%|███▍      | 309/900 [10:00<09:42,  1.01it/s]
 34%|███▍      | 310/900 [10:00<07:35,  1.29it/s]
 35%|███▍      | 311/900 [10:00<06:05,  1.61it/s]
 35%|███▍      | 312/900 [10:00<05:02,  1.94it/s]
 35%|███▍      | 313/900 [10:12<38:14,  3.91s/it]
 35%|███▍      | 314/900 [10:12<27:32,  2.82s/it]
 35%|███▌      | 315/900 [10:13<20:00,  2.05s/it]
 35%|███▌      | 316/900 [10:13<14:47,  1.52s/it]
 35%|███▌      | 317/900 [10:13<11:09,  1.15s/it]
 35%|███▌      | 318/900 [10:14<08:36,  1.13it/s]
 35%|███▌      | 319/900 [10:14<06:49,  1.42it/s]
 36%|███▌      | 320/900 [10:14<05:33,  1.74it/s]
 36%|███▌      | 321/900 [10:36<1:08:02,  7.05s/it]
 36%|███▌      | 322/900 [10:37<48:21,  5.02s/it]  
 36%|███▌      | 323/900 [10:37<34:34,  3.60s/it]
 36%|███▌      | 324/900 [10:37<24:56,  2.60s/it]
 36%|███▌      | 325/900 [10:37<18:13,  1.90s/it]
 36%|███▌      | 326/900 [10:38<13:31,  1.41s/it]
 36%|███▋      | 327/900 [10:38<10:14,  1.07s/it]
 36%|███▋      | 328/900 [10:38<07:57,  1.20it/s]
 37%|███▋      | 329/900 [10:48<33:02,  3.47s/it]
 37%|███▋      | 330/900 [10:48<23:53,  2.52s/it]
 37%|███▋      | 331/900 [10:48<17:29,  1.84s/it]
 37%|███▋      | 332/900 [10:49<13:00,  1.37s/it]
 37%|███▋      | 333/900 [10:49<09:52,  1.04s/it]
 37%|███▋      | 334/900 [10:49<07:40,  1.23it/s]
 37%|███▋      | 335/900 [10:50<06:16,  1.50it/s]
 37%|███▋      | 336/900 [10:50<05:10,  1.82it/s]
 37%|███▋      | 337/900 [11:02<39:05,  4.17s/it]
 38%|███▊      | 338/900 [11:03<28:00,  2.99s/it]
 38%|███▊      | 339/900 [11:03<20:16,  2.17s/it]
 38%|███▊      | 340/900 [11:03<14:52,  1.59s/it]
 38%|███▊      | 341/900 [11:03<11:04,  1.19s/it]
 38%|███▊      | 342/900 [11:04<08:26,  1.10it/s]
 38%|███▊      | 343/900 [11:04<06:36,  1.41it/s]
 38%|███▊      | 344/900 [11:04<05:18,  1.74it/s]
 38%|███▊      | 345/900 [11:38<1:38:05, 10.60s/it]
 38%|███▊      | 346/900 [11:38<1:09:13,  7.50s/it]
 39%|███▊      | 347/900 [11:39<49:03,  5.32s/it]  
 39%|███▊      | 348/900 [11:39<34:57,  3.80s/it]
 39%|███▉      | 349/900 [11:39<25:07,  2.74s/it]
 39%|███▉      | 350/900 [11:39<18:14,  1.99s/it]
 39%|███▉      | 351/900 [11:40<13:24,  1.47s/it]
 39%|███▉      | 352/900 [11:40<10:02,  1.10s/it]
 39%|███▉      | 353/900 [11:48<28:58,  3.18s/it]
 39%|███▉      | 354/900 [11:48<20:55,  2.30s/it]
 39%|███▉      | 355/900 [11:48<15:17,  1.68s/it]
 40%|███▉      | 356/900 [11:49<11:22,  1.26s/it]
 40%|███▉      | 357/900 [11:49<08:37,  1.05it/s]
 40%|███▉      | 358/900 [11:49<06:42,  1.35it/s]
 40%|███▉      | 359/900 [11:49<05:21,  1.68it/s]
 40%|████      | 360/900 [11:50<04:25,  2.03it/s]
 40%|████      | 361/900 [12:12<1:04:11,  7.14s/it]
 40%|████      | 362/900 [12:13<45:30,  5.08s/it]  
 40%|████      | 363/900 [12:13<32:27,  3.63s/it]
 40%|████      | 364/900 [12:13<23:20,  2.61s/it]
 41%|████      | 365/900 [12:13<16:58,  1.90s/it]
 41%|████      | 366/900 [12:14<12:32,  1.41s/it]
 41%|████      | 367/900 [12:14<09:25,  1.06s/it]
 41%|████      | 368/900 [12:14<07:15,  1.22it/s]
 41%|████      | 369/900 [12:32<53:53,  6.09s/it]
 41%|████      | 370/900 [12:33<38:18,  4.34s/it]
 41%|████      | 371/900 [12:33<27:25,  3.11s/it]
 41%|████▏     | 372/900 [12:33<19:48,  2.25s/it]
 41%|████▏     | 373/900 [12:33<14:30,  1.65s/it]
 42%|████▏     | 374/900 [12:34<10:50,  1.24s/it]
 42%|████▏     | 375/900 [12:34<08:13,  1.06it/s]
 42%|████▏     | 376/900 [12:34<06:23,  1.37it/s]
 42%|████▏     | 377/900 [12:44<29:51,  3.43s/it]
 42%|████▏     | 378/900 [12:44<21:34,  2.48s/it]
 42%|████▏     | 379/900 [12:45<15:47,  1.82s/it]
 42%|████▏     | 380/900 [12:45<11:43,  1.35s/it]
 42%|████▏     | 381/900 [12:45<08:51,  1.02s/it]
 42%|████▏     | 382/900 [12:45<06:53,  1.25it/s]
 43%|████▎     | 383/900 [12:46<05:33,  1.55it/s]
 43%|████▎     | 384/900 [12:46<04:35,  1.87it/s]
 43%|████▎     | 385/900 [12:54<24:32,  2.86s/it]
 43%|████▎     | 386/900 [12:54<17:51,  2.08s/it]
 43%|████▎     | 387/900 [12:55<13:11,  1.54s/it]
 43%|████▎     | 388/900 [12:55<09:54,  1.16s/it]
 43%|████▎     | 389/900 [12:55<07:37,  1.12it/s]
 43%|████▎     | 390/900 [12:56<06:01,  1.41it/s]
 43%|████▎     | 391/900 [12:56<04:55,  1.72it/s]
 44%|████▎     | 392/900 [12:56<04:08,  2.04it/s]
 44%|████▎     | 393/900 [13:22<1:08:44,  8.14s/it]
 44%|████▍     | 394/900 [13:22<48:43,  5.78s/it]  
 44%|████▍     | 395/900 [13:23<34:41,  4.12s/it]
 44%|████▍     | 396/900 [13:23<24:52,  2.96s/it]
 44%|████▍     | 397/900 [13:23<18:00,  2.15s/it]
 44%|████▍     | 398/900 [13:23<13:11,  1.58s/it]
 44%|████▍     | 399/900 [13:24<09:51,  1.18s/it]
 44%|████▍     | 400/900 [13:24<07:31,  1.11it/s]
 45%|████▍     | 401/900 [13:34<30:11,  3.63s/it]
 45%|████▍     | 402/900 [13:34<21:42,  2.62s/it]
 45%|████▍     | 403/900 [13:34<15:47,  1.91s/it]
 45%|████▍     | 404/900 [13:35<11:40,  1.41s/it]
 45%|████▌     | 405/900 [13:35<08:47,  1.07s/it]
 45%|████▌     | 406/900 [13:35<06:46,  1.21it/s]
 45%|████▌     | 407/900 [13:35<05:22,  1.53it/s]
 45%|████▌     | 408/900 [13:36<04:24,  1.86it/s]
 45%|████▌     | 409/900 [14:12<1:31:05, 11.13s/it]
 46%|████▌     | 410/900 [14:12<1:04:16,  7.87s/it]
 46%|████▌     | 411/900 [14:12<45:30,  5.58s/it]  
 46%|████▌     | 412/900 [14:12<32:24,  3.98s/it]
 46%|████▌     | 413/900 [14:13<23:15,  2.86s/it]
 46%|████▌     | 414/900 [14:13<16:51,  2.08s/it]
 46%|████▌     | 415/900 [14:13<12:24,  1.54s/it]
 46%|████▌     | 416/900 [14:13<09:16,  1.15s/it]
 46%|████▋     | 417/900 [14:58<1:54:27, 14.22s/it]
 46%|████▋     | 418/900 [14:58<1:20:33, 10.03s/it]
 47%|████▋     | 419/900 [14:58<56:52,  7.10s/it]  
 47%|████▋     | 420/900 [14:59<40:19,  5.04s/it]
 47%|████▋     | 421/900 [14:59<28:45,  3.60s/it]
 47%|████▋     | 422/900 [14:59<20:41,  2.60s/it]
 47%|████▋     | 423/900 [14:59<15:03,  1.89s/it]
 47%|████▋     | 424/900 [15:00<11:07,  1.40s/it]
 47%|████▋     | 425/900 [15:48<2:02:34, 15.48s/it]
 47%|████▋     | 426/900 [15:48<1:26:15, 10.92s/it]
 47%|████▋     | 427/900 [15:49<1:00:51,  7.72s/it]
 48%|████▊     | 428/900 [15:49<43:08,  5.48s/it]  
 48%|████▊     | 429/900 [15:49<30:45,  3.92s/it]
 48%|████▊     | 430/900 [15:49<22:05,  2.82s/it]
 48%|████▊     | 431/900 [15:50<16:02,  2.05s/it]
 48%|████▊     | 432/900 [15:50<11:50,  1.52s/it]
 48%|████▊     | 433/900 [16:02<35:59,  4.62s/it]
 48%|████▊     | 434/900 [16:02<25:45,  3.32s/it]
 48%|████▊     | 435/900 [16:02<18:37,  2.40s/it]
 48%|████▊     | 436/900 [16:03<13:36,  1.76s/it]
 49%|████▊     | 437/900 [16:03<10:07,  1.31s/it]
 49%|████▊     | 438/900 [16:03<07:42,  1.00s/it]
 49%|████▉     | 439/900 [16:03<06:00,  1.28it/s]
 49%|████▉     | 440/900 [16:04<04:50,  1.59it/s]
 49%|████▉     | 441/900 [16:13<24:10,  3.16s/it]
 49%|████▉     | 442/900 [16:13<17:30,  2.29s/it]
 49%|████▉     | 443/900 [16:13<12:51,  1.69s/it]
 49%|████▉     | 444/900 [16:14<09:37,  1.27s/it]
 49%|████▉     | 445/900 [16:14<07:22,  1.03it/s]
 50%|████▉     | 446/900 [16:14<05:47,  1.31it/s]
 50%|████▉     | 447/900 [16:14<04:40,  1.62it/s]
 50%|████▉     | 448/900 [16:15<03:53,  1.93it/s]
 50%|████▉     | 449/900 [16:25<26:08,  3.48s/it]
 50%|█████     | 450/900 [16:25<18:52,  2.52s/it]
 50%|█████     | 451/900 [16:26<13:48,  1.84s/it]
 50%|█████     | 452/900 [16:26<10:15,  1.37s/it]
 50%|█████     | 453/900 [16:26<07:45,  1.04s/it]
 50%|█████     | 454/900 [16:26<06:01,  1.23it/s]
 51%|█████     | 455/900 [16:27<04:49,  1.54it/s]
 51%|█████     | 456/900 [16:27<03:59,  1.86it/s]
 51%|█████     | 457/900 [16:37<24:58,  3.38s/it]
 51%|█████     | 458/900 [16:37<18:02,  2.45s/it]
 51%|█████     | 459/900 [16:38<13:13,  1.80s/it]
 51%|█████     | 460/900 [16:38<09:52,  1.35s/it]
 51%|█████     | 461/900 [16:38<07:32,  1.03s/it]
 51%|█████▏    | 462/900 [16:38<05:53,  1.24it/s]
 51%|█████▏    | 463/900 [16:39<04:44,  1.54it/s]
 52%|█████▏    | 464/900 [16:39<03:56,  1.85it/s]
 52%|█████▏    | 465/900 [16:48<21:19,  2.94s/it]
 52%|█████▏    | 466/900 [16:48<15:30,  2.14s/it]
 52%|█████▏    | 467/900 [16:48<11:25,  1.58s/it]
 52%|█████▏    | 468/900 [16:48<08:34,  1.19s/it]
 52%|█████▏    | 469/900 [16:49<06:35,  1.09it/s]
 52%|█████▏    | 470/900 [16:49<05:12,  1.38it/s]
 52%|█████▏    | 471/900 [16:49<04:13,  1.69it/s]
 52%|█████▏    | 472/900 [16:50<03:32,  2.01it/s]
 53%|█████▎    | 473/900 [17:00<25:31,  3.59s/it]
 53%|█████▎    | 474/900 [17:01<18:26,  2.60s/it]
 53%|█████▎    | 475/900 [17:01<13:28,  1.90s/it]
 53%|█████▎    | 476/900 [17:01<10:00,  1.42s/it]
 53%|█████▎    | 477/900 [17:01<07:34,  1.07s/it]
 53%|█████▎    | 478/900 [17:02<05:51,  1.20it/s]
 53%|█████▎    | 479/900 [17:02<04:40,  1.50it/s]
 53%|█████▎    | 480/900 [17:02<03:50,  1.82it/s]
 53%|█████▎    | 481/900 [17:12<22:09,  3.17s/it]
 54%|█████▎    | 482/900 [17:12<16:03,  2.30s/it]
 54%|█████▎    | 483/900 [17:12<11:47,  1.70s/it]
 54%|█████▍    | 484/900 [17:12<08:48,  1.27s/it]
 54%|█████▍    | 485/900 [17:13<06:43,  1.03it/s]
 54%|█████▍    | 486/900 [17:13<05:16,  1.31it/s]
 54%|█████▍    | 487/900 [17:13<04:15,  1.62it/s]
 54%|█████▍    | 488/900 [17:14<03:32,  1.94it/s]
 54%|█████▍    | 489/900 [17:24<24:43,  3.61s/it]
 54%|█████▍    | 490/900 [17:25<17:50,  2.61s/it]
 55%|█████▍    | 491/900 [17:25<13:02,  1.91s/it]
 55%|█████▍    | 492/900 [17:25<09:40,  1.42s/it]
 55%|█████▍    | 493/900 [17:25<07:18,  1.08s/it]
 55%|█████▍    | 494/900 [17:26<05:39,  1.20it/s]
 55%|█████▌    | 495/900 [17:26<04:30,  1.50it/s]
 55%|█████▌    | 496/900 [17:26<03:42,  1.81it/s]
 55%|█████▌    | 497/900 [17:37<24:25,  3.64s/it]
 55%|█████▌    | 498/900 [17:37<17:37,  2.63s/it]
 55%|█████▌    | 499/900 [17:38<12:52,  1.93s/it]
 56%|█████▌    | 500/900 [17:38<10:25,  1.56s/it]
 56%|█████▌    | 501/900 [17:39<07:50,  1.18s/it]
 56%|█████▌    | 502/900 [17:39<06:01,  1.10it/s]
 56%|█████▌    | 503/900 [17:39<04:45,  1.39it/s]
 56%|█████▌    | 504/900 [17:40<03:51,  1.71it/s]
 56%|█████▌    | 505/900 [17:54<32:09,  4.88s/it]
 56%|█████▌    | 506/900 [17:55<23:00,  3.50s/it]
 56%|█████▋    | 507/900 [17:55<16:36,  2.54s/it]
 56%|█████▋    | 508/900 [17:55<12:08,  1.86s/it]
 57%|█████▋    | 509/900 [17:56<09:01,  1.38s/it]
 57%|█████▋    | 510/900 [17:56<06:50,  1.05s/it]
 57%|█████▋    | 511/900 [17:56<05:18,  1.22it/s]
 57%|█████▋    | 512/900 [17:56<04:14,  1.52it/s]
 57%|█████▋    | 512/900 [18:12<13:47,  2.13s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/log_1_env0.json.
+RedItemsInBinTask_1 complete: task_name: RedItemsInBinTask, run_name: RedItemsInBinTask_1, run: 1, env_id: 0, policy: harness, instruction: Put all the red things in the grey bin, attributes: ['color', 'sorting', 'moderate'], success: True, episode_step: 513, duration: 34.2, dt: 0.06666666666666667, metrics: {'ee_sparc': -11.640689790239993, 'joint_sparc_mean': -11.007958759702104, 'ee_isj': 17312.515149268074, 'joint_isj': 504716.67159246985, 'ee_path_length': 6.270995911833866, 'joint_rmse_mean': 1.9513477360764029, 'ee_speed_max': 2.7782998085021973, 'ee_speed_mean': 0.17551961541175842}, events: {'TARGET_OBJECT_DROPPED': 11, 'GRIPPER_HIT_TABLE': 1, 'GRIPPER_FULLY_CLOSED': 5}, instruction_type: default, timing: {'policy_inference_s': 960.753, 'policy_inference_avg_ms': 1872.8, 'env_step_s': 126.16, 'env_step_avg_ms': 245.9, 'video_write_s': 5.134, 'video_write_avg_ms': 10.0, 'wall_total_s': 1092.047, 'it_per_sec': 0.47}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 7cb83fe9fdc14f4ba1ddd66ba7217441-1
+[RoboLab] Running RedItemsInBinTask_2: 'Put all the red things in the grey bin' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:22<5:42:11, 22.84s/it]
  0%|          | 2/900 [00:23<2:23:02,  9.56s/it]
  0%|          | 3/900 [00:23<1:19:21,  5.31s/it]
  0%|          | 4/900 [00:23<49:27,  3.31s/it]  
  1%|          | 5/900 [00:23<32:57,  2.21s/it]
  1%|          | 6/900 [00:24<22:59,  1.54s/it]
  1%|          | 7/900 [00:24<16:40,  1.12s/it]
  1%|          | 8/900 [00:24<12:33,  1.18it/s]
  1%|          | 9/900 [00:28<26:32,  1.79s/it]
  1%|          | 10/900 [00:28<19:28,  1.31s/it]
  1%|          | 11/900 [00:28<14:40,  1.01it/s]
  1%|▏         | 12/900 [00:29<11:21,  1.30it/s]
  1%|▏         | 13/900 [00:29<09:01,  1.64it/s]
  2%|▏         | 14/900 [00:29<07:26,  1.99it/s]
  2%|▏         | 15/900 [00:30<06:21,  2.32it/s]
  2%|▏         | 16/900 [00:30<05:33,  2.65it/s]
  2%|▏         | 17/900 [00:38<42:01,  2.86s/it]
  2%|▏         | 18/900 [00:39<30:28,  2.07s/it]
  2%|▏         | 19/900 [00:39<22:25,  1.53s/it]
  2%|▏         | 20/900 [00:39<16:52,  1.15s/it]
  2%|▏         | 21/900 [00:39<12:55,  1.13it/s]
  2%|▏         | 22/900 [00:40<10:08,  1.44it/s]
  3%|▎         | 23/900 [00:40<08:11,  1.79it/s]
  3%|▎         | 24/900 [00:40<06:49,  2.14it/s]
  3%|▎         | 25/900 [00:45<24:11,  1.66s/it]
  3%|▎         | 26/900 [00:45<18:00,  1.24s/it]
  3%|▎         | 27/900 [00:45<13:39,  1.06it/s]
  3%|▎         | 28/900 [00:45<10:38,  1.37it/s]
  3%|▎         | 29/900 [00:46<08:31,  1.70it/s]
  3%|▎         | 30/900 [00:46<07:03,  2.06it/s]
  3%|▎         | 31/900 [00:46<06:01,  2.40it/s]
  4%|▎         | 32/900 [00:46<05:18,  2.73it/s]
  4%|▎         | 33/900 [00:58<52:04,  3.60s/it]
  4%|▍         | 34/900 [00:58<37:29,  2.60s/it]
  4%|▍         | 35/900 [00:58<27:18,  1.89s/it]
  4%|▍         | 36/900 [00:58<20:08,  1.40s/it]
  4%|▍         | 37/900 [00:59<15:08,  1.05s/it]
  4%|▍         | 38/900 [00:59<11:39,  1.23it/s]
  4%|▍         | 39/900 [00:59<09:15,  1.55it/s]
  4%|▍         | 40/900 [00:59<07:33,  1.90it/s]
  5%|▍         | 41/900 [01:08<41:03,  2.87s/it]
  5%|▍         | 42/900 [01:08<29:48,  2.08s/it]
  5%|▍         | 43/900 [01:08<21:54,  1.53s/it]
  5%|▍         | 44/900 [01:08<16:23,  1.15s/it]
  5%|▌         | 45/900 [01:09<12:31,  1.14it/s]
  5%|▌         | 46/900 [01:09<09:48,  1.45it/s]
  5%|▌         | 47/900 [01:09<07:55,  1.79it/s]
  5%|▌         | 48/900 [01:09<06:37,  2.15it/s]
  5%|▌         | 49/900 [01:18<40:59,  2.89s/it]
  6%|▌         | 50/900 [01:18<29:43,  2.10s/it]
  6%|▌         | 51/900 [01:18<21:49,  1.54s/it]
  6%|▌         | 52/900 [01:19<16:19,  1.16s/it]
  6%|▌         | 53/900 [01:19<12:27,  1.13it/s]
  6%|▌         | 54/900 [01:19<09:46,  1.44it/s]
  6%|▌         | 55/900 [01:19<07:53,  1.79it/s]
  6%|▌         | 56/900 [01:20<06:35,  2.13it/s]
  6%|▋         | 57/900 [01:38<1:19:59,  5.69s/it]
  6%|▋         | 58/900 [01:38<57:00,  4.06s/it]  
  7%|▋         | 59/900 [01:38<40:54,  2.92s/it]
  7%|▋         | 60/900 [01:38<29:40,  2.12s/it]
  7%|▋         | 61/900 [01:39<21:48,  1.56s/it]
  7%|▋         | 62/900 [01:39<16:18,  1.17s/it]
  7%|▋         | 63/900 [01:39<12:27,  1.12it/s]
  7%|▋         | 64/900 [01:39<09:44,  1.43it/s]
  7%|▋         | 65/900 [01:49<45:37,  3.28s/it]
  7%|▋         | 66/900 [01:49<32:57,  2.37s/it]
  7%|▋         | 67/900 [01:49<24:05,  1.74s/it]
  8%|▊         | 68/900 [01:49<17:53,  1.29s/it]
  8%|▊         | 69/900 [01:50<13:32,  1.02it/s]
  8%|▊         | 70/900 [01:50<10:31,  1.31it/s]
  8%|▊         | 71/900 [01:50<08:24,  1.64it/s]
  8%|▊         | 72/900 [01:50<06:55,  1.99it/s]
  8%|▊         | 73/900 [01:57<31:00,  2.25s/it]
  8%|▊         | 74/900 [01:57<22:43,  1.65s/it]
  8%|▊         | 75/900 [01:57<16:56,  1.23s/it]
  8%|▊         | 76/900 [01:57<12:52,  1.07it/s]
  9%|▊         | 77/900 [01:58<10:02,  1.37it/s]
  9%|▊         | 78/900 [01:58<08:02,  1.70it/s]
  9%|▉         | 79/900 [01:58<06:40,  2.05it/s]
  9%|▉         | 80/900 [01:58<05:41,  2.40it/s]
  9%|▉         | 81/900 [02:06<36:21,  2.66s/it]
  9%|▉         | 82/900 [02:07<26:29,  1.94s/it]
  9%|▉         | 83/900 [02:07<19:33,  1.44s/it]
  9%|▉         | 84/900 [02:07<14:41,  1.08s/it]
  9%|▉         | 85/900 [02:07<11:18,  1.20it/s]
 10%|▉         | 86/900 [02:08<08:56,  1.52it/s]
 10%|▉         | 87/900 [02:08<07:17,  1.86it/s]
 10%|▉         | 88/900 [02:08<06:07,  2.21it/s]
 10%|▉         | 89/900 [02:18<44:27,  3.29s/it]
 10%|█         | 90/900 [02:18<32:07,  2.38s/it]
 10%|█         | 91/900 [02:19<23:27,  1.74s/it]
 10%|█         | 92/900 [02:19<17:25,  1.29s/it]
 10%|█         | 93/900 [02:19<13:10,  1.02it/s]
 10%|█         | 94/900 [02:19<10:13,  1.31it/s]
 11%|█         | 95/900 [02:20<08:15,  1.62it/s]
 11%|█         | 96/900 [02:20<06:52,  1.95it/s]
 11%|█         | 97/900 [02:28<39:20,  2.94s/it]
 11%|█         | 98/900 [02:29<28:35,  2.14s/it]
 11%|█         | 99/900 [02:29<21:04,  1.58s/it]
 11%|█         | 100/900 [02:29<15:48,  1.19s/it]
 11%|█         | 101/900 [02:30<12:07,  1.10it/s]
 11%|█▏        | 102/900 [02:30<09:34,  1.39it/s]
 11%|█▏        | 103/900 [02:30<07:47,  1.71it/s]
 12%|█▏        | 104/900 [02:30<06:32,  2.03it/s]
 12%|█▏        | 105/900 [02:37<32:08,  2.43s/it]
 12%|█▏        | 106/900 [02:38<23:34,  1.78s/it]
 12%|█▏        | 107/900 [02:38<17:33,  1.33s/it]
 12%|█▏        | 108/900 [02:38<13:21,  1.01s/it]
 12%|█▏        | 109/900 [02:38<10:23,  1.27it/s]
 12%|█▏        | 110/900 [02:39<08:21,  1.58it/s]
 12%|█▏        | 111/900 [02:39<06:54,  1.91it/s]
 12%|█▏        | 112/900 [02:39<05:52,  2.23it/s]
 13%|█▎        | 113/900 [04:02<5:30:36, 25.21s/it]
 13%|█▎        | 114/900 [04:02<3:52:16, 17.73s/it]
 13%|█▎        | 115/900 [04:03<2:43:28, 12.49s/it]
 13%|█▎        | 116/900 [04:03<1:55:22,  8.83s/it]
 13%|█▎        | 117/900 [04:03<1:21:45,  6.26s/it]
 13%|█▎        | 118/900 [04:04<58:14,  4.47s/it]  
 13%|█▎        | 119/900 [04:04<41:48,  3.21s/it]
 13%|█▎        | 120/900 [04:04<30:18,  2.33s/it]
 13%|█▎        | 121/900 [04:17<1:10:58,  5.47s/it]
 14%|█▎        | 122/900 [04:17<50:45,  3.91s/it]  
 14%|█▎        | 123/900 [04:17<36:34,  2.82s/it]
 14%|█▍        | 124/900 [04:18<26:38,  2.06s/it]
 14%|█▍        | 125/900 [04:18<19:42,  1.53s/it]
 14%|█▍        | 126/900 [04:18<14:52,  1.15s/it]
 14%|█▍        | 127/900 [04:19<11:27,  1.12it/s]
 14%|█▍        | 128/900 [04:19<09:04,  1.42it/s]
 14%|█▍        | 129/900 [04:26<34:35,  2.69s/it]
 14%|█▍        | 130/900 [04:26<25:15,  1.97s/it]
 15%|█▍        | 131/900 [04:27<18:43,  1.46s/it]
 15%|█▍        | 132/900 [04:27<14:09,  1.11s/it]
 15%|█▍        | 133/900 [04:27<10:57,  1.17it/s]
 15%|█▍        | 134/900 [04:28<08:43,  1.46it/s]
 15%|█▌        | 135/900 [04:28<07:08,  1.78it/s]
 15%|█▌        | 136/900 [04:28<06:03,  2.10it/s]
 15%|█▌        | 137/900 [04:41<52:22,  4.12s/it]
 15%|█▌        | 138/900 [04:41<37:41,  2.97s/it]
 15%|█▌        | 139/900 [04:41<27:23,  2.16s/it]
 16%|█▌        | 140/900 [04:42<20:11,  1.59s/it]
 16%|█▌        | 141/900 [04:42<15:05,  1.19s/it]
 16%|█▌        | 142/900 [04:42<11:30,  1.10it/s]
 16%|█▌        | 143/900 [04:42<08:57,  1.41it/s]
 16%|█▌        | 144/900 [04:43<07:09,  1.76it/s]
 16%|█▌        | 145/900 [04:51<36:08,  2.87s/it]
 16%|█▌        | 146/900 [04:51<26:13,  2.09s/it]
 16%|█▋        | 147/900 [04:51<19:16,  1.54s/it]
 16%|█▋        | 148/900 [04:52<14:23,  1.15s/it]
 17%|█▋        | 149/900 [04:52<11:00,  1.14it/s]
 17%|█▋        | 150/900 [04:52<08:38,  1.45it/s]
 17%|█▋        | 151/900 [04:52<06:57,  1.79it/s]
 17%|█▋        | 152/900 [04:53<05:48,  2.15it/s]
 17%|█▋        | 153/900 [05:15<1:26:42,  6.96s/it]
 17%|█▋        | 154/900 [05:15<1:01:32,  4.95s/it]
 17%|█▋        | 155/900 [05:15<43:57,  3.54s/it]  
 17%|█▋        | 156/900 [05:15<31:40,  2.55s/it]
 17%|█▋        | 157/900 [05:16<23:05,  1.87s/it]
 18%|█▊        | 158/900 [05:16<17:05,  1.38s/it]
 18%|█▊        | 159/900 [05:16<12:52,  1.04s/it]
 18%|█▊        | 160/900 [05:16<09:56,  1.24it/s]
 18%|█▊        | 161/900 [05:26<42:55,  3.49s/it]
 18%|█▊        | 162/900 [05:26<30:56,  2.52s/it]
 18%|█▊        | 163/900 [05:27<22:33,  1.84s/it]
 18%|█▊        | 164/900 [05:27<16:41,  1.36s/it]
 18%|█▊        | 165/900 [05:27<12:34,  1.03s/it]
 18%|█▊        | 166/900 [05:27<09:42,  1.26it/s]
 19%|█▊        | 167/900 [05:28<07:44,  1.58it/s]
 19%|█▊        | 168/900 [05:28<06:20,  1.92it/s]
 19%|█▉        | 169/900 [05:34<26:28,  2.17s/it]
 19%|█▉        | 170/900 [05:34<19:26,  1.60s/it]
 19%|█▉        | 171/900 [05:35<14:30,  1.19s/it]
 19%|█▉        | 172/900 [05:35<11:03,  1.10it/s]
 19%|█▉        | 173/900 [05:35<08:37,  1.40it/s]
 19%|█▉        | 174/900 [05:35<06:56,  1.74it/s]
 19%|█▉        | 175/900 [05:36<05:45,  2.10it/s]
 20%|█▉        | 176/900 [05:36<04:56,  2.44it/s]
 20%|█▉        | 177/900 [05:42<24:48,  2.06s/it]
 20%|█▉        | 178/900 [05:42<18:16,  1.52s/it]
 20%|█▉        | 179/900 [05:42<13:42,  1.14s/it]
 20%|██        | 180/900 [05:42<10:29,  1.14it/s]
 20%|██        | 181/900 [05:43<08:16,  1.45it/s]
 20%|██        | 182/900 [05:43<06:42,  1.78it/s]
 20%|██        | 183/900 [05:43<05:37,  2.12it/s]
 20%|██        | 184/900 [05:43<04:52,  2.45it/s]
 21%|██        | 185/900 [05:54<40:22,  3.39s/it]
 21%|██        | 186/900 [05:54<29:09,  2.45s/it]
 21%|██        | 187/900 [05:54<21:18,  1.79s/it]
 21%|██        | 188/900 [05:55<15:49,  1.33s/it]
 21%|██        | 189/900 [05:55<11:59,  1.01s/it]
 21%|██        | 190/900 [05:55<09:18,  1.27it/s]
 21%|██        | 191/900 [05:55<07:25,  1.59it/s]
 21%|██▏       | 192/900 [05:56<06:05,  1.94it/s]
 21%|██▏       | 193/900 [06:33<2:14:57, 11.45s/it]
 22%|██▏       | 194/900 [06:33<1:35:13,  8.09s/it]
 22%|██▏       | 195/900 [06:33<1:07:25,  5.74s/it]
 22%|██▏       | 196/900 [06:33<48:00,  4.09s/it]  
 22%|██▏       | 197/900 [06:34<34:24,  2.94s/it]
 22%|██▏       | 198/900 [06:34<24:59,  2.14s/it]
 22%|██▏       | 199/900 [06:34<18:19,  1.57s/it]
 22%|██▏       | 200/900 [06:34<13:40,  1.17s/it]
 22%|██▏       | 201/900 [06:46<49:44,  4.27s/it]
 22%|██▏       | 202/900 [06:46<35:39,  3.06s/it]
 23%|██▎       | 203/900 [06:46<25:46,  2.22s/it]
 23%|██▎       | 204/900 [06:47<18:53,  1.63s/it]
 23%|██▎       | 205/900 [06:47<14:03,  1.21s/it]
 23%|██▎       | 206/900 [06:47<10:40,  1.08it/s]
 23%|██▎       | 207/900 [06:47<08:21,  1.38it/s]
 23%|██▎       | 208/900 [06:48<06:41,  1.72it/s]
 23%|██▎       | 209/900 [07:00<45:59,  3.99s/it]
 23%|██▎       | 210/900 [07:00<33:00,  2.87s/it]
 23%|██▎       | 211/900 [07:00<23:54,  2.08s/it]
 24%|██▎       | 212/900 [07:00<17:34,  1.53s/it]
 24%|██▎       | 213/900 [07:01<13:07,  1.15s/it]
 24%|██▍       | 214/900 [07:01<10:00,  1.14it/s]
 24%|██▍       | 215/900 [07:01<07:50,  1.45it/s]
 24%|██▍       | 216/900 [07:01<06:19,  1.80it/s]
 24%|██▍       | 217/900 [07:07<23:19,  2.05s/it]
 24%|██▍       | 218/900 [07:07<17:09,  1.51s/it]
 24%|██▍       | 219/900 [07:07<12:51,  1.13s/it]
 24%|██▍       | 220/900 [07:08<09:49,  1.15it/s]
 25%|██▍       | 221/900 [07:08<07:40,  1.47it/s]
 25%|██▍       | 222/900 [07:08<06:11,  1.82it/s]
 25%|██▍       | 223/900 [07:08<05:09,  2.19it/s]
 25%|██▍       | 224/900 [07:09<04:25,  2.54it/s]
 25%|██▌       | 225/900 [07:14<21:09,  1.88s/it]
 25%|██▌       | 226/900 [07:14<15:40,  1.40s/it]
 25%|██▌       | 227/900 [07:14<11:50,  1.06s/it]
 25%|██▌       | 228/900 [07:15<09:10,  1.22it/s]
 25%|██▌       | 229/900 [07:15<07:20,  1.52it/s]
 26%|██▌       | 230/900 [07:15<06:02,  1.85it/s]
 26%|██▌       | 231/900 [07:16<05:08,  2.17it/s]
 26%|██▌       | 232/900 [07:16<04:28,  2.49it/s]
 26%|██▌       | 233/900 [07:26<36:02,  3.24s/it]
 26%|██▌       | 234/900 [07:26<26:07,  2.35s/it]
 26%|██▌       | 235/900 [07:26<19:12,  1.73s/it]
 26%|██▌       | 236/900 [07:27<14:20,  1.30s/it]
 26%|██▋       | 237/900 [07:27<10:56,  1.01it/s]
 26%|██▋       | 238/900 [07:27<08:34,  1.29it/s]
 27%|██▋       | 239/900 [07:27<06:53,  1.60it/s]
 27%|██▋       | 240/900 [07:28<05:41,  1.93it/s]
 27%|██▋       | 241/900 [07:35<29:12,  2.66s/it]
 27%|██▋       | 242/900 [07:36<21:19,  1.95s/it]
 27%|██▋       | 243/900 [07:36<15:44,  1.44s/it]
 27%|██▋       | 244/900 [07:36<11:48,  1.08s/it]
 27%|██▋       | 245/900 [07:36<09:03,  1.20it/s]
 27%|██▋       | 246/900 [07:37<07:08,  1.53it/s]
 27%|██▋       | 247/900 [07:37<05:47,  1.88it/s]
 28%|██▊       | 248/900 [07:37<04:50,  2.24it/s]
 28%|██▊       | 249/900 [07:52<51:37,  4.76s/it]
 28%|██▊       | 250/900 [07:52<36:51,  3.40s/it]
 28%|██▊       | 251/900 [07:52<26:32,  2.45s/it]
 28%|██▊       | 252/900 [07:53<19:21,  1.79s/it]
 28%|██▊       | 253/900 [07:53<14:21,  1.33s/it]
 28%|██▊       | 254/900 [07:53<10:49,  1.01s/it]
 28%|██▊       | 255/900 [07:53<08:22,  1.28it/s]
 28%|██▊       | 256/900 [07:54<06:38,  1.61it/s]
 29%|██▊       | 257/900 [08:00<24:47,  2.31s/it]
 29%|██▊       | 258/900 [08:00<18:11,  1.70s/it]
 29%|██▉       | 259/900 [08:00<13:34,  1.27s/it]
 29%|██▉       | 260/900 [08:01<10:19,  1.03it/s]
 29%|██▉       | 261/900 [08:01<08:04,  1.32it/s]
 29%|██▉       | 262/900 [08:01<06:28,  1.64it/s]
 29%|██▉       | 263/900 [08:01<05:21,  1.98it/s]
 29%|██▉       | 264/900 [08:02<04:34,  2.32it/s]
 29%|██▉       | 265/900 [08:13<38:32,  3.64s/it]
 30%|██▉       | 266/900 [08:13<27:45,  2.63s/it]
 30%|██▉       | 267/900 [08:13<20:09,  1.91s/it]
 30%|██▉       | 268/900 [08:14<14:50,  1.41s/it]
 30%|██▉       | 269/900 [08:14<11:08,  1.06s/it]
 30%|███       | 270/900 [08:14<08:33,  1.23it/s]
 30%|███       | 271/900 [08:14<06:46,  1.55it/s]
 30%|███       | 272/900 [08:15<05:31,  1.89it/s]
 30%|███       | 273/900 [08:25<36:21,  3.48s/it]
 30%|███       | 274/900 [08:25<26:10,  2.51s/it]
 31%|███       | 275/900 [08:25<19:03,  1.83s/it]
 31%|███       | 276/900 [08:26<14:06,  1.36s/it]
 31%|███       | 277/900 [08:26<10:41,  1.03s/it]
 31%|███       | 278/900 [08:26<08:14,  1.26it/s]
 31%|███       | 279/900 [08:26<06:30,  1.59it/s]
 31%|███       | 280/900 [08:27<05:18,  1.94it/s]
 31%|███       | 281/900 [08:34<25:57,  2.52s/it]
 31%|███▏      | 282/900 [08:34<18:53,  1.83s/it]
 31%|███▏      | 283/900 [08:34<13:57,  1.36s/it]
 32%|███▏      | 284/900 [08:35<10:31,  1.03s/it]
 32%|███▏      | 285/900 [08:35<08:06,  1.26it/s]
 32%|███▏      | 286/900 [08:35<06:25,  1.59it/s]
 32%|███▏      | 287/900 [08:35<05:14,  1.95it/s]
 32%|███▏      | 288/900 [08:36<04:26,  2.30it/s]
 32%|███▏      | 289/900 [08:46<34:45,  3.41s/it]
 32%|███▏      | 290/900 [08:46<25:01,  2.46s/it]
 32%|███▏      | 291/900 [08:46<18:14,  1.80s/it]
 32%|███▏      | 292/900 [08:47<13:28,  1.33s/it]
 33%|███▎      | 293/900 [08:47<10:08,  1.00s/it]
 33%|███▎      | 294/900 [08:47<07:49,  1.29it/s]
 33%|███▎      | 295/900 [08:47<06:11,  1.63it/s]
 33%|███▎      | 296/900 [08:48<05:04,  1.98it/s]
 33%|███▎      | 297/900 [08:56<29:26,  2.93s/it]
 33%|███▎      | 298/900 [08:56<21:18,  2.12s/it]
 33%|███▎      | 299/900 [08:57<15:37,  1.56s/it]
 33%|███▎      | 300/900 [08:57<11:38,  1.16s/it]
 33%|███▎      | 301/900 [08:57<08:51,  1.13it/s]
 34%|███▎      | 302/900 [08:57<07:00,  1.42it/s]
 34%|███▎      | 303/900 [08:58<05:42,  1.74it/s]
 34%|███▍      | 304/900 [08:58<04:47,  2.07it/s]
 34%|███▍      | 305/900 [09:07<29:39,  2.99s/it]
 34%|███▍      | 306/900 [09:07<21:32,  2.18s/it]
 34%|███▍      | 307/900 [09:07<15:51,  1.60s/it]
 34%|███▍      | 308/900 [09:08<11:51,  1.20s/it]
 34%|███▍      | 309/900 [09:08<09:03,  1.09it/s]
 34%|███▍      | 310/900 [09:08<07:05,  1.39it/s]
 35%|███▍      | 311/900 [09:08<05:43,  1.71it/s]
 35%|███▍      | 312/900 [09:09<04:46,  2.05it/s]
 35%|███▍      | 313/900 [09:16<25:41,  2.63s/it]
 35%|███▍      | 314/900 [09:17<18:46,  1.92s/it]
 35%|███▌      | 315/900 [09:17<13:56,  1.43s/it]
 35%|███▌      | 316/900 [09:17<10:33,  1.08s/it]
 35%|███▌      | 317/900 [09:17<08:09,  1.19it/s]
 35%|███▌      | 318/900 [09:18<06:25,  1.51it/s]
 35%|███▌      | 319/900 [09:18<05:12,  1.86it/s]
 36%|███▌      | 320/900 [09:18<04:21,  2.22it/s]
 36%|███▌      | 321/900 [09:30<38:39,  4.01s/it]
 36%|███▌      | 322/900 [09:31<27:43,  2.88s/it]
 36%|███▌      | 323/900 [09:31<20:04,  2.09s/it]
 36%|███▌      | 324/900 [09:31<14:43,  1.53s/it]
 36%|███▌      | 325/900 [09:31<10:59,  1.15s/it]
 36%|███▌      | 326/900 [09:32<08:23,  1.14it/s]
 36%|███▋      | 327/900 [09:32<06:34,  1.45it/s]
 36%|███▋      | 328/900 [09:32<05:17,  1.80it/s]
 37%|███▋      | 329/900 [09:44<38:49,  4.08s/it]
 37%|███▋      | 330/900 [09:45<27:49,  2.93s/it]
 37%|███▋      | 331/900 [09:45<20:08,  2.12s/it]
 37%|███▋      | 332/900 [09:45<14:45,  1.56s/it]
 37%|███▋      | 333/900 [09:45<10:59,  1.16s/it]
 37%|███▋      | 334/900 [09:46<08:22,  1.13it/s]
 37%|███▋      | 335/900 [09:46<06:32,  1.44it/s]
 37%|███▋      | 336/900 [09:46<05:15,  1.79it/s]
 37%|███▋      | 337/900 [09:54<26:40,  2.84s/it]
 38%|███▊      | 338/900 [09:55<19:19,  2.06s/it]
 38%|███▊      | 339/900 [09:55<14:11,  1.52s/it]
 38%|███▊      | 340/900 [09:55<10:35,  1.13s/it]
 38%|███▊      | 341/900 [09:55<08:07,  1.15it/s]
 38%|███▊      | 342/900 [09:56<06:24,  1.45it/s]
 38%|███▊      | 343/900 [09:56<05:12,  1.78it/s]
 38%|███▊      | 344/900 [09:56<04:20,  2.13it/s]
 38%|███▊      | 345/900 [10:07<33:36,  3.63s/it]
 38%|███▊      | 346/900 [10:07<24:10,  2.62s/it]
 39%|███▊      | 347/900 [10:08<17:36,  1.91s/it]
 39%|███▊      | 348/900 [10:08<12:58,  1.41s/it]
 39%|███▉      | 349/900 [10:08<09:45,  1.06s/it]
 39%|███▉      | 350/900 [10:08<07:29,  1.22it/s]
 39%|███▉      | 351/900 [10:09<05:55,  1.54it/s]
 39%|███▉      | 352/900 [10:09<04:48,  1.90it/s]
 39%|███▉      | 353/900 [10:21<35:55,  3.94s/it]
 39%|███▉      | 354/900 [10:21<25:50,  2.84s/it]
 39%|███▉      | 355/900 [10:21<18:46,  2.07s/it]
 40%|███▉      | 356/900 [10:22<13:49,  1.52s/it]
 40%|███▉      | 357/900 [10:22<10:22,  1.15s/it]
 40%|███▉      | 358/900 [10:22<08:00,  1.13it/s]
 40%|███▉      | 359/900 [10:22<06:18,  1.43it/s]
 40%|████      | 360/900 [10:23<05:07,  1.76it/s]
 40%|████      | 361/900 [10:28<18:36,  2.07s/it]
 40%|████      | 362/900 [10:29<13:43,  1.53s/it]
 40%|████      | 363/900 [10:29<10:19,  1.15s/it]
 40%|████      | 364/900 [10:29<07:55,  1.13it/s]
 41%|████      | 365/900 [10:29<06:15,  1.42it/s]
 41%|████      | 366/900 [10:30<05:05,  1.75it/s]
 41%|████      | 367/900 [10:30<04:16,  2.08it/s]
 41%|████      | 368/900 [10:30<03:43,  2.38it/s]
 41%|████      | 369/900 [10:45<42:35,  4.81s/it]
 41%|████      | 370/900 [10:45<30:24,  3.44s/it]
 41%|████      | 371/900 [10:46<21:53,  2.48s/it]
 41%|████▏     | 372/900 [10:46<15:56,  1.81s/it]
 41%|████▏     | 373/900 [10:46<11:47,  1.34s/it]
 42%|████▏     | 374/900 [10:46<08:54,  1.02s/it]
 42%|████▏     | 375/900 [10:47<06:52,  1.27it/s]
 42%|████▏     | 376/900 [10:47<05:26,  1.60it/s]
 42%|████▏     | 377/900 [10:56<28:16,  3.24s/it]
 42%|████▏     | 378/900 [10:57<20:23,  2.34s/it]
 42%|████▏     | 379/900 [10:57<14:52,  1.71s/it]
 42%|████▏     | 380/900 [10:57<11:01,  1.27s/it]
 42%|████▏     | 381/900 [10:57<08:20,  1.04it/s]
 42%|████▏     | 382/900 [10:58<06:28,  1.33it/s]
 43%|████▎     | 383/900 [10:58<05:10,  1.67it/s]
 43%|████▎     | 384/900 [10:58<04:14,  2.02it/s]
 43%|████▎     | 385/900 [11:08<29:55,  3.49s/it]
 43%|████▎     | 386/900 [11:09<21:31,  2.51s/it]
 43%|████▎     | 387/900 [11:09<15:39,  1.83s/it]
 43%|████▎     | 388/900 [11:09<11:34,  1.36s/it]
 43%|████▎     | 389/900 [11:09<08:42,  1.02s/it]
 43%|████▎     | 390/900 [11:10<06:42,  1.27it/s]
 43%|████▎     | 391/900 [11:10<05:18,  1.60it/s]
 44%|████▎     | 392/900 [11:10<04:20,  1.95it/s]
 44%|████▎     | 393/900 [11:45<1:31:40, 10.85s/it]
 44%|████▍     | 394/900 [11:45<1:04:39,  7.67s/it]
 44%|████▍     | 395/900 [11:46<45:47,  5.44s/it]  
 44%|████▍     | 396/900 [11:46<32:37,  3.88s/it]
 44%|████▍     | 397/900 [11:46<23:24,  2.79s/it]
 44%|████▍     | 398/900 [11:46<16:58,  2.03s/it]
 44%|████▍     | 399/900 [11:47<12:29,  1.50s/it]
 44%|████▍     | 400/900 [11:47<09:21,  1.12s/it]
 45%|████▍     | 401/900 [12:03<45:56,  5.52s/it]
 45%|████▍     | 402/900 [12:03<32:42,  3.94s/it]
 45%|████▍     | 403/900 [12:03<23:27,  2.83s/it]
 45%|████▍     | 404/900 [12:03<17:00,  2.06s/it]
 45%|████▌     | 405/900 [12:04<12:29,  1.51s/it]
 45%|████▌     | 406/900 [12:04<09:19,  1.13s/it]
 45%|████▌     | 407/900 [12:04<07:07,  1.15it/s]
 45%|████▌     | 408/900 [12:04<05:34,  1.47it/s]
 45%|████▌     | 409/900 [12:18<36:37,  4.47s/it]
 46%|████▌     | 410/900 [12:18<26:11,  3.21s/it]
 46%|████▌     | 411/900 [12:18<18:53,  2.32s/it]
 46%|████▌     | 412/900 [12:18<13:47,  1.70s/it]
 46%|████▌     | 413/900 [12:19<10:13,  1.26s/it]
 46%|████▌     | 414/900 [12:19<07:44,  1.05it/s]
 46%|████▌     | 415/900 [12:19<05:59,  1.35it/s]
 46%|████▌     | 416/900 [12:19<04:46,  1.69it/s]
 46%|████▋     | 417/900 [12:33<35:32,  4.42s/it]
 46%|████▋     | 418/900 [12:33<25:24,  3.16s/it]
 47%|████▋     | 419/900 [12:33<18:20,  2.29s/it]
 47%|████▋     | 420/900 [12:34<13:23,  1.67s/it]
 47%|████▋     | 421/900 [12:34<09:58,  1.25s/it]
 47%|████▋     | 422/900 [12:34<07:36,  1.05it/s]
 47%|████▋     | 423/900 [12:34<05:54,  1.35it/s]
 47%|████▋     | 424/900 [12:35<04:44,  1.67it/s]
 47%|████▋     | 425/900 [12:43<24:13,  3.06s/it]
 47%|████▋     | 426/900 [12:44<17:32,  2.22s/it]
 47%|████▋     | 427/900 [12:44<12:52,  1.63s/it]
 48%|████▊     | 428/900 [12:44<09:36,  1.22s/it]
 48%|████▊     | 429/900 [12:44<07:18,  1.07it/s]
 48%|████▊     | 430/900 [12:45<05:42,  1.37it/s]
 48%|████▊     | 431/900 [12:45<04:35,  1.70it/s]
 48%|████▊     | 432/900 [12:45<03:47,  2.06it/s]
 48%|████▊     | 433/900 [13:01<38:46,  4.98s/it]
 48%|████▊     | 434/900 [13:01<27:42,  3.57s/it]
 48%|████▊     | 435/900 [13:01<19:56,  2.57s/it]
 48%|████▊     | 436/900 [13:01<14:31,  1.88s/it]
 49%|████▊     | 437/900 [13:02<10:43,  1.39s/it]
 49%|████▊     | 438/900 [13:02<08:03,  1.05s/it]
 49%|████▉     | 439/900 [13:02<06:11,  1.24it/s]
 49%|████▉     | 440/900 [13:02<04:53,  1.57it/s]
 49%|████▉     | 441/900 [13:21<46:21,  6.06s/it]
 49%|████▉     | 442/900 [13:21<32:55,  4.31s/it]
 49%|████▉     | 443/900 [13:22<23:33,  3.09s/it]
 49%|████▉     | 444/900 [13:22<17:00,  2.24s/it]
 49%|████▉     | 445/900 [13:22<12:26,  1.64s/it]
 50%|████▉     | 446/900 [13:22<09:14,  1.22s/it]
 50%|████▉     | 447/900 [13:23<07:00,  1.08it/s]
 50%|████▉     | 448/900 [13:23<05:26,  1.39it/s]
 50%|████▉     | 449/900 [15:17<4:22:07, 34.87s/it]
 50%|█████     | 450/900 [15:18<3:03:38, 24.48s/it]
 50%|█████     | 451/900 [15:18<2:08:48, 17.21s/it]
 50%|█████     | 452/900 [15:18<1:30:30, 12.12s/it]
 50%|█████     | 453/900 [15:18<1:03:45,  8.56s/it]
 50%|█████     | 454/900 [15:19<45:04,  6.06s/it]  
 51%|█████     | 455/900 [15:19<32:01,  4.32s/it]
 51%|█████     | 456/900 [15:19<22:55,  3.10s/it]
 51%|█████     | 457/900 [15:34<49:08,  6.66s/it]
 51%|█████     | 458/900 [15:34<34:51,  4.73s/it]
 51%|█████     | 459/900 [15:35<24:52,  3.38s/it]
 51%|█████     | 460/900 [15:35<17:54,  2.44s/it]
 51%|█████     | 461/900 [15:35<13:02,  1.78s/it]
 51%|█████▏    | 462/900 [15:35<09:38,  1.32s/it]
 51%|█████▏    | 463/900 [15:35<07:15,  1.00it/s]
 52%|█████▏    | 464/900 [15:36<05:36,  1.30it/s]
 52%|█████▏    | 465/900 [15:46<27:16,  3.76s/it]
 52%|█████▏    | 466/900 [15:47<19:34,  2.71s/it]
 52%|█████▏    | 467/900 [15:47<14:12,  1.97s/it]
 52%|█████▏    | 468/900 [15:47<10:26,  1.45s/it]
 52%|█████▏    | 469/900 [15:47<07:49,  1.09s/it]
 52%|█████▏    | 470/900 [15:48<05:59,  1.20it/s]
 52%|█████▏    | 471/900 [15:48<04:42,  1.52it/s]
 52%|█████▏    | 472/900 [15:48<03:48,  1.87it/s]
 53%|█████▎    | 473/900 [16:10<49:14,  6.92s/it]
 53%|█████▎    | 474/900 [16:10<34:54,  4.92s/it]
 53%|█████▎    | 475/900 [16:10<24:53,  3.51s/it]
 53%|█████▎    | 476/900 [16:11<17:54,  2.53s/it]
 53%|█████▎    | 477/900 [16:11<13:01,  1.85s/it]
 53%|█████▎    | 478/900 [16:11<09:36,  1.37s/it]
 53%|█████▎    | 479/900 [16:11<07:13,  1.03s/it]
 53%|█████▎    | 480/900 [16:12<05:33,  1.26it/s]
 53%|█████▎    | 481/900 [16:30<41:35,  5.95s/it]
 54%|█████▎    | 482/900 [16:30<29:33,  4.24s/it]
 54%|█████▎    | 483/900 [16:30<21:08,  3.04s/it]
 54%|█████▍    | 484/900 [16:30<15:16,  2.20s/it]
 54%|█████▍    | 485/900 [16:31<11:10,  1.61s/it]
 54%|█████▍    | 486/900 [16:31<08:18,  1.20s/it]
 54%|█████▍    | 487/900 [16:31<06:17,  1.09it/s]
 54%|█████▍    | 488/900 [16:31<04:53,  1.40it/s]
 54%|█████▍    | 489/900 [16:47<35:27,  5.18s/it]
 54%|█████▍    | 490/900 [16:47<25:18,  3.70s/it]
 55%|█████▍    | 491/900 [16:48<18:12,  2.67s/it]
 55%|█████▍    | 492/900 [16:48<13:14,  1.95s/it]
 55%|█████▍    | 493/900 [16:48<09:46,  1.44s/it]
 55%|█████▍    | 494/900 [16:48<07:20,  1.09s/it]
 55%|█████▌    | 495/900 [16:49<05:38,  1.20it/s]
 55%|█████▌    | 496/900 [16:49<04:27,  1.51it/s]
 55%|█████▌    | 497/900 [17:01<28:32,  4.25s/it]
 55%|█████▌    | 498/900 [17:02<20:25,  3.05s/it]
 55%|█████▌    | 499/900 [17:02<14:44,  2.21s/it]
 56%|█████▌    | 500/900 [17:03<12:23,  1.86s/it]
 56%|█████▌    | 501/900 [17:03<09:08,  1.38s/it]
 56%|█████▌    | 502/900 [17:03<06:53,  1.04s/it]
 56%|█████▌    | 503/900 [17:04<05:19,  1.24it/s]
 56%|█████▌    | 504/900 [17:04<04:12,  1.57it/s]
 56%|█████▌    | 505/900 [17:25<45:07,  6.86s/it]
 56%|█████▌    | 506/900 [17:26<32:03,  4.88s/it]
 56%|█████▋    | 507/900 [17:26<22:54,  3.50s/it]
 56%|█████▋    | 508/900 [17:26<16:31,  2.53s/it]
 57%|█████▋    | 509/900 [17:26<12:05,  1.85s/it]
 57%|█████▋    | 510/900 [17:27<08:58,  1.38s/it]
 57%|█████▋    | 511/900 [17:27<06:46,  1.05s/it]
 57%|█████▋    | 512/900 [17:27<05:15,  1.23it/s]
 57%|█████▋    | 513/900 [17:36<20:05,  3.11s/it]
 57%|█████▋    | 514/900 [17:36<14:33,  2.26s/it]
 57%|█████▋    | 515/900 [17:36<10:41,  1.67s/it]
 57%|█████▋    | 516/900 [17:37<07:59,  1.25s/it]
 57%|█████▋    | 517/900 [17:37<06:06,  1.04it/s]
 58%|█████▊    | 518/900 [17:37<04:46,  1.33it/s]
 58%|█████▊    | 519/900 [17:37<03:50,  1.66it/s]
 58%|█████▊    | 520/900 [17:38<03:08,  2.02it/s]
 58%|█████▊    | 521/900 [17:58<41:18,  6.54s/it]
 58%|█████▊    | 522/900 [17:58<29:18,  4.65s/it]
 58%|█████▊    | 523/900 [17:59<20:55,  3.33s/it]
 58%|█████▊    | 524/900 [17:59<15:05,  2.41s/it]
 58%|█████▊    | 525/900 [17:59<11:00,  1.76s/it]
 58%|█████▊    | 526/900 [17:59<08:09,  1.31s/it]
 59%|█████▊    | 527/900 [18:00<06:09,  1.01it/s]
 59%|█████▊    | 528/900 [18:00<04:46,  1.30it/s]
 59%|█████▉    | 529/900 [18:14<29:28,  4.77s/it]
 59%|█████▉    | 530/900 [18:14<21:02,  3.41s/it]
 59%|█████▉    | 531/900 [18:15<15:08,  2.46s/it]
 59%|█████▉    | 532/900 [18:15<11:01,  1.80s/it]
 59%|█████▉    | 533/900 [18:15<08:09,  1.34s/it]
 59%|█████▉    | 534/900 [18:15<06:09,  1.01s/it]
 59%|█████▉    | 535/900 [18:16<04:44,  1.28it/s]
 60%|█████▉    | 536/900 [18:16<03:46,  1.60it/s]
 60%|█████▉    | 537/900 [18:32<32:07,  5.31s/it]
 60%|█████▉    | 538/900 [18:32<22:52,  3.79s/it]
 60%|█████▉    | 539/900 [18:33<16:25,  2.73s/it]
 60%|██████    | 540/900 [18:33<11:55,  1.99s/it]
 60%|██████    | 541/900 [18:33<08:46,  1.47s/it]
 60%|██████    | 542/900 [18:33<06:34,  1.10s/it]
 60%|██████    | 543/900 [18:34<05:02,  1.18it/s]
 60%|██████    | 544/900 [18:34<03:57,  1.50it/s]
 61%|██████    | 545/900 [18:43<18:09,  3.07s/it]
 61%|██████    | 546/900 [18:43<13:07,  2.22s/it]
 61%|██████    | 547/900 [18:43<09:36,  1.63s/it]
 61%|██████    | 548/900 [18:43<07:09,  1.22s/it]
 61%|██████    | 549/900 [18:44<05:27,  1.07it/s]
 61%|██████    | 550/900 [18:44<04:15,  1.37it/s]
 61%|██████    | 551/900 [18:44<03:24,  1.70it/s]
 61%|██████▏   | 552/900 [18:44<02:50,  2.04it/s]
 61%|██████▏   | 553/900 [18:59<27:18,  4.72s/it]
 62%|██████▏   | 554/900 [18:59<19:29,  3.38s/it]
 62%|██████▏   | 555/900 [18:59<14:02,  2.44s/it]
 62%|██████▏   | 556/900 [19:00<10:14,  1.79s/it]
 62%|██████▏   | 557/900 [19:00<07:34,  1.33s/it]
 62%|██████▏   | 558/900 [19:00<05:43,  1.00s/it]
 62%|██████▏   | 559/900 [19:00<04:25,  1.28it/s]
 62%|██████▏   | 560/900 [19:01<03:31,  1.61it/s]
 62%|██████▏   | 561/900 [19:19<33:03,  5.85s/it]
 62%|██████▏   | 562/900 [19:19<23:30,  4.17s/it]
 63%|██████▎   | 563/900 [19:19<16:52,  3.00s/it]
 63%|██████▎   | 564/900 [19:20<12:14,  2.19s/it]
 63%|██████▎   | 565/900 [19:20<09:01,  1.62s/it]
 63%|██████▎   | 566/900 [19:20<06:46,  1.22s/it]
 63%|██████▎   | 567/900 [19:20<05:11,  1.07it/s]
 63%|██████▎   | 568/900 [19:21<04:04,  1.36it/s]
 63%|██████▎   | 569/900 [19:35<26:24,  4.79s/it]
 63%|██████▎   | 570/900 [19:35<18:54,  3.44s/it]
 63%|██████▎   | 571/900 [19:35<13:39,  2.49s/it]
 64%|██████▎   | 572/900 [19:36<09:59,  1.83s/it]
 64%|██████▎   | 573/900 [19:36<07:25,  1.36s/it]
 64%|██████▍   | 574/900 [19:36<05:37,  1.04s/it]
 64%|██████▍   | 575/900 [19:37<04:23,  1.24it/s]
 64%|██████▍   | 576/900 [19:37<03:30,  1.54it/s]
 64%|██████▍   | 577/900 [19:49<21:56,  4.08s/it]
 64%|██████▍   | 578/900 [19:49<15:46,  2.94s/it]
 64%|██████▍   | 579/900 [19:50<11:26,  2.14s/it]
 64%|██████▍   | 580/900 [19:50<08:26,  1.58s/it]
 65%|██████▍   | 581/900 [19:50<06:20,  1.19s/it]
 65%|██████▍   | 582/900 [19:50<04:51,  1.09it/s]
 65%|██████▍   | 583/900 [19:51<03:49,  1.38it/s]
 65%|██████▍   | 584/900 [19:51<03:04,  1.71it/s]
 65%|██████▌   | 585/900 [20:08<29:37,  5.64s/it]
 65%|██████▌   | 586/900 [20:09<21:06,  4.03s/it]
 65%|██████▌   | 587/900 [20:09<15:07,  2.90s/it]
 65%|██████▌   | 588/900 [20:09<10:56,  2.11s/it]
 65%|██████▌   | 589/900 [20:09<08:01,  1.55s/it]
 66%|██████▌   | 590/900 [20:10<05:59,  1.16s/it]
 66%|██████▌   | 591/900 [20:10<04:34,  1.13it/s]
 66%|██████▌   | 592/900 [20:10<03:34,  1.44it/s]
 66%|██████▌   | 593/900 [20:34<38:44,  7.57s/it]
 66%|██████▌   | 594/900 [20:34<27:24,  5.38s/it]
 66%|██████▌   | 595/900 [20:34<19:30,  3.84s/it]
 66%|██████▌   | 596/900 [20:34<13:59,  2.76s/it]
 66%|██████▋   | 597/900 [20:35<10:08,  2.01s/it]
 66%|██████▋   | 598/900 [20:35<07:27,  1.48s/it]
 67%|██████▋   | 599/900 [20:35<05:35,  1.11s/it]
 67%|██████▋   | 600/900 [20:35<04:16,  1.17it/s]
 67%|██████▋   | 601/900 [20:56<33:13,  6.67s/it]
 67%|██████▋   | 602/900 [20:56<23:33,  4.74s/it]
 67%|██████▋   | 603/900 [20:56<16:48,  3.39s/it]
 67%|██████▋   | 604/900 [20:56<12:06,  2.45s/it]
 67%|██████▋   | 605/900 [20:57<08:48,  1.79s/it]
 67%|██████▋   | 606/900 [20:57<06:31,  1.33s/it]
 67%|██████▋   | 607/900 [20:57<04:55,  1.01s/it]
 68%|██████▊   | 608/900 [20:57<03:48,  1.28it/s]
 68%|██████▊   | 609/900 [21:19<33:39,  6.94s/it]
 68%|██████▊   | 610/900 [21:19<23:50,  4.93s/it]
 68%|██████▊   | 611/900 [21:19<17:00,  3.53s/it]
 68%|██████▊   | 612/900 [21:20<12:13,  2.55s/it]
 68%|██████▊   | 613/900 [21:20<08:53,  1.86s/it]
 68%|██████▊   | 614/900 [21:20<06:33,  1.38s/it]
 68%|██████▊   | 615/900 [21:20<04:56,  1.04s/it]
 68%|██████▊   | 616/900 [21:21<03:47,  1.25it/s]
 69%|██████▊   | 617/900 [21:51<45:34,  9.66s/it]
 69%|██████▊   | 618/900 [21:51<32:08,  6.84s/it]
 69%|██████▉   | 619/900 [21:51<22:46,  4.86s/it]
 69%|██████▉   | 620/900 [21:52<16:14,  3.48s/it]
 69%|██████▉   | 621/900 [21:52<11:40,  2.51s/it]
 69%|██████▉   | 622/900 [21:52<08:30,  1.83s/it]
 69%|██████▉   | 623/900 [21:52<06:16,  1.36s/it]
 69%|██████▉   | 624/900 [21:53<04:43,  1.03s/it]
 69%|██████▉   | 625/900 [22:10<27:45,  6.06s/it]
 70%|██████▉   | 626/900 [22:11<19:42,  4.32s/it]
 70%|██████▉   | 627/900 [22:11<14:05,  3.10s/it]
 70%|██████▉   | 628/900 [22:11<10:10,  2.24s/it]
 70%|██████▉   | 629/900 [22:11<07:26,  1.65s/it]
 70%|███████   | 630/900 [22:12<05:31,  1.23s/it]
 70%|███████   | 631/900 [22:12<04:12,  1.07it/s]
 70%|███████   | 632/900 [22:12<03:16,  1.36it/s]
 70%|███████   | 633/900 [22:37<34:54,  7.84s/it]
 70%|███████   | 634/900 [22:37<24:40,  5.57s/it]
 71%|███████   | 635/900 [22:37<17:32,  3.97s/it]
 71%|███████   | 636/900 [22:37<12:34,  2.86s/it]
 71%|███████   | 637/900 [22:38<09:05,  2.08s/it]
 71%|███████   | 638/900 [22:38<06:40,  1.53s/it]
 71%|███████   | 639/900 [22:38<04:58,  1.14s/it]
 71%|███████   | 640/900 [22:38<03:46,  1.15it/s]
 71%|███████   | 641/900 [22:59<29:01,  6.72s/it]
 71%|███████▏  | 642/900 [22:59<20:34,  4.78s/it]
 71%|███████▏  | 643/900 [22:59<14:40,  3.42s/it]
 72%|███████▏  | 644/900 [23:00<10:32,  2.47s/it]
 72%|███████▏  | 645/900 [23:00<07:40,  1.81s/it]
 72%|███████▏  | 646/900 [23:00<05:40,  1.34s/it]
 72%|███████▏  | 647/900 [23:00<04:16,  1.01s/it]
 72%|███████▏  | 648/900 [23:01<03:17,  1.27it/s]
 72%|███████▏  | 649/900 [23:25<32:57,  7.88s/it]
 72%|███████▏  | 650/900 [23:25<23:17,  5.59s/it]
 72%|███████▏  | 651/900 [23:26<16:33,  3.99s/it]
 72%|███████▏  | 652/900 [23:26<11:51,  2.87s/it]
 73%|███████▎  | 653/900 [23:26<08:35,  2.09s/it]
 73%|███████▎  | 654/900 [23:26<06:17,  1.54s/it]
 73%|███████▎  | 655/900 [23:27<04:42,  1.15s/it]
 73%|███████▎  | 656/900 [23:27<03:35,  1.13it/s]
 73%|███████▎  | 657/900 [24:43<1:35:14, 23.52s/it]
 73%|███████▎  | 658/900 [24:43<1:06:42, 16.54s/it]
 73%|███████▎  | 659/900 [24:44<46:47, 11.65s/it]  
 73%|███████▎  | 660/900 [24:44<32:55,  8.23s/it]
 73%|███████▎  | 661/900 [24:44<23:15,  5.84s/it]
 74%|███████▎  | 662/900 [24:44<16:30,  4.16s/it]
 74%|███████▎  | 663/900 [24:45<11:48,  2.99s/it]
 74%|███████▍  | 664/900 [24:45<08:30,  2.17s/it]
 74%|███████▍  | 665/900 [25:17<43:39, 11.15s/it]
 74%|███████▍  | 666/900 [25:17<30:44,  7.88s/it]
 74%|███████▍  | 667/900 [25:17<21:43,  5.60s/it]
 74%|███████▍  | 668/900 [25:18<15:26,  3.99s/it]
 74%|███████▍  | 669/900 [25:18<11:02,  2.87s/it]
 74%|███████▍  | 670/900 [25:18<07:59,  2.09s/it]
 75%|███████▍  | 671/900 [25:19<05:52,  1.54s/it]
 75%|███████▍  | 672/900 [25:19<04:22,  1.15s/it]
 75%|███████▍  | 673/900 [25:54<42:42, 11.29s/it]
 75%|███████▍  | 674/900 [25:54<30:02,  7.98s/it]
 75%|███████▌  | 675/900 [25:54<21:13,  5.66s/it]
 75%|███████▌  | 676/900 [25:54<15:04,  4.04s/it]
 75%|███████▌  | 677/900 [25:55<10:47,  2.90s/it]
 75%|███████▌  | 678/900 [25:55<07:47,  2.11s/it]
 75%|███████▌  | 679/900 [25:55<05:42,  1.55s/it]
 76%|███████▌  | 680/900 [25:55<04:15,  1.16s/it]
 76%|███████▌  | 681/900 [26:07<15:56,  4.37s/it]
 76%|███████▌  | 682/900 [26:08<11:22,  3.13s/it]
 76%|███████▌  | 683/900 [26:08<08:12,  2.27s/it]
 76%|███████▌  | 684/900 [26:08<05:59,  1.66s/it]
 76%|███████▌  | 685/900 [26:08<04:26,  1.24s/it]
 76%|███████▌  | 686/900 [26:09<03:22,  1.06it/s]
 76%|███████▋  | 687/900 [26:09<02:37,  1.36it/s]
 76%|███████▋  | 688/900 [26:09<02:05,  1.69it/s]
 77%|███████▋  | 689/900 [26:28<21:35,  6.14s/it]
 77%|███████▋  | 690/900 [26:28<15:19,  4.38s/it]
 77%|███████▋  | 691/900 [26:29<10:56,  3.14s/it]
 77%|███████▋  | 692/900 [26:29<07:54,  2.28s/it]
 77%|███████▋  | 693/900 [26:29<05:46,  1.68s/it]
 77%|███████▋  | 694/900 [26:29<04:17,  1.25s/it]
 77%|███████▋  | 695/900 [26:30<03:15,  1.05it/s]
 77%|███████▋  | 696/900 [26:30<02:32,  1.34it/s]
 77%|███████▋  | 697/900 [26:41<12:25,  3.67s/it]
 78%|███████▊  | 698/900 [26:41<08:56,  2.65s/it]
 78%|███████▊  | 699/900 [26:41<06:30,  1.94s/it]
 78%|███████▊  | 700/900 [26:41<04:47,  1.44s/it]
 78%|███████▊  | 701/900 [26:42<03:36,  1.09s/it]
 78%|███████▊  | 702/900 [26:42<02:46,  1.19it/s]
 78%|███████▊  | 703/900 [26:42<02:11,  1.49it/s]
 78%|███████▊  | 704/900 [26:42<01:47,  1.82it/s]
 78%|███████▊  | 705/900 [27:14<31:55,  9.82s/it]
 78%|███████▊  | 706/900 [27:14<22:29,  6.96s/it]
 79%|███████▊  | 707/900 [27:14<15:54,  4.95s/it]
 79%|███████▊  | 708/900 [27:15<11:19,  3.54s/it]
 79%|███████▉  | 709/900 [27:15<08:07,  2.55s/it]
 79%|███████▉  | 710/900 [27:15<05:53,  1.86s/it]
 79%|███████▉  | 711/900 [27:15<04:20,  1.38s/it]
 79%|███████▉  | 712/900 [27:16<03:15,  1.04s/it]
 79%|███████▉  | 713/900 [27:30<15:42,  5.04s/it]
 79%|███████▉  | 714/900 [27:30<11:10,  3.60s/it]
 79%|███████▉  | 715/900 [27:31<08:00,  2.60s/it]
 80%|███████▉  | 716/900 [27:31<05:48,  1.89s/it]
 80%|███████▉  | 717/900 [27:31<04:15,  1.40s/it]
 80%|███████▉  | 718/900 [27:31<03:11,  1.05s/it]
 80%|███████▉  | 719/900 [27:32<02:27,  1.23it/s]
 80%|████████  | 720/900 [27:32<01:56,  1.55it/s]
 80%|████████  | 721/900 [27:52<19:38,  6.58s/it]
 80%|████████  | 722/900 [27:52<13:53,  4.68s/it]
 80%|████████  | 723/900 [27:53<09:53,  3.35s/it]
 80%|████████  | 724/900 [27:53<07:06,  2.42s/it]
 81%|████████  | 725/900 [27:53<05:10,  1.77s/it]
 81%|████████  | 726/900 [27:53<03:49,  1.32s/it]
 81%|████████  | 727/900 [27:54<02:52,  1.00it/s]
 81%|████████  | 728/900 [27:54<02:13,  1.29it/s]
 81%|████████  | 729/900 [28:15<19:07,  6.71s/it]
 81%|████████  | 730/900 [28:15<13:31,  4.77s/it]
 81%|████████  | 731/900 [28:15<09:37,  3.42s/it]
 81%|████████▏ | 732/900 [28:15<06:54,  2.46s/it]
 81%|████████▏ | 733/900 [28:16<05:00,  1.80s/it]
 82%|████████▏ | 734/900 [28:16<03:41,  1.34s/it]
 82%|████████▏ | 735/900 [28:16<02:46,  1.01s/it]
 82%|████████▏ | 736/900 [28:16<02:09,  1.27it/s]
 82%|████████▏ | 737/900 [28:44<24:27,  9.01s/it]
 82%|████████▏ | 738/900 [28:45<17:13,  6.38s/it]
 82%|████████▏ | 739/900 [28:45<12:11,  4.54s/it]
 82%|████████▏ | 740/900 [28:45<08:40,  3.25s/it]
 82%|████████▏ | 741/900 [28:45<06:14,  2.35s/it]
 82%|████████▏ | 742/900 [28:46<04:32,  1.72s/it]
 83%|████████▎ | 743/900 [28:46<03:21,  1.28s/it]
 83%|████████▎ | 744/900 [28:46<02:31,  1.03it/s]
 83%|████████▎ | 745/900 [28:58<11:06,  4.30s/it]
 83%|████████▎ | 746/900 [28:59<07:55,  3.09s/it]
 83%|████████▎ | 747/900 [28:59<05:42,  2.24s/it]
 83%|████████▎ | 748/900 [28:59<04:09,  1.64s/it]
 83%|████████▎ | 749/900 [28:59<03:04,  1.22s/it]
 83%|████████▎ | 750/900 [29:00<02:20,  1.07it/s]
 83%|████████▎ | 751/900 [29:00<01:48,  1.37it/s]
 84%|████████▎ | 752/900 [29:00<01:26,  1.70it/s]
 84%|████████▎ | 753/900 [29:17<13:16,  5.42s/it]
 84%|████████▍ | 754/900 [29:17<09:24,  3.87s/it]
 84%|████████▍ | 755/900 [29:17<06:43,  2.78s/it]
 84%|████████▍ | 756/900 [29:18<04:51,  2.02s/it]
 84%|████████▍ | 757/900 [29:18<03:33,  1.49s/it]
 84%|████████▍ | 758/900 [29:18<02:38,  1.12s/it]
 84%|████████▍ | 759/900 [29:18<02:00,  1.17it/s]
 84%|████████▍ | 760/900 [29:19<01:34,  1.48it/s]
 85%|████████▍ | 761/900 [29:42<17:40,  7.63s/it]
 85%|████████▍ | 762/900 [29:43<12:27,  5.42s/it]
 85%|████████▍ | 763/900 [29:43<08:50,  3.87s/it]
 85%|████████▍ | 764/900 [29:43<06:18,  2.78s/it]
 85%|████████▌ | 765/900 [29:43<04:33,  2.02s/it]
 85%|████████▌ | 766/900 [29:44<03:20,  1.49s/it]
 85%|████████▌ | 767/900 [29:44<02:28,  1.12s/it]
 85%|████████▌ | 768/900 [29:44<01:53,  1.17it/s]
 85%|████████▌ | 769/900 [30:15<21:12,  9.71s/it]
 86%|████████▌ | 770/900 [30:15<14:53,  6.87s/it]
 86%|████████▌ | 771/900 [30:15<10:30,  4.89s/it]
 86%|████████▌ | 772/900 [30:15<07:27,  3.50s/it]
 86%|████████▌ | 773/900 [30:16<05:20,  2.52s/it]
 86%|████████▌ | 774/900 [30:16<03:51,  1.84s/it]
 86%|████████▌ | 775/900 [30:16<02:50,  1.36s/it]
 86%|████████▌ | 776/900 [30:16<02:07,  1.03s/it]
 86%|████████▋ | 777/900 [31:34<49:18, 24.05s/it]
 86%|████████▋ | 778/900 [31:34<34:23, 16.91s/it]
 87%|████████▋ | 779/900 [31:35<24:01, 11.91s/it]
 87%|████████▋ | 780/900 [31:35<16:49,  8.41s/it]
 87%|████████▋ | 781/900 [31:35<11:49,  5.96s/it]
 87%|████████▋ | 782/900 [31:35<08:21,  4.25s/it]
 87%|████████▋ | 783/900 [31:36<05:56,  3.05s/it]
 87%|████████▋ | 784/900 [31:36<04:16,  2.21s/it]
 87%|████████▋ | 785/900 [32:07<20:43, 10.81s/it]
 87%|████████▋ | 786/900 [32:07<14:31,  7.64s/it]
 87%|████████▋ | 787/900 [32:07<10:13,  5.43s/it]
 88%|████████▊ | 788/900 [32:07<07:13,  3.87s/it]
 88%|████████▊ | 789/900 [32:08<05:09,  2.79s/it]
 88%|████████▊ | 790/900 [32:08<03:42,  2.03s/it]
 88%|████████▊ | 791/900 [32:08<02:42,  1.49s/it]
 88%|████████▊ | 792/900 [32:08<02:00,  1.12s/it]
 88%|████████▊ | 793/900 [32:19<07:15,  4.07s/it]
 88%|████████▊ | 794/900 [32:20<05:09,  2.92s/it]
 88%|████████▊ | 795/900 [32:20<03:42,  2.12s/it]
 88%|████████▊ | 796/900 [32:20<02:42,  1.56s/it]
 89%|████████▊ | 797/900 [32:20<02:00,  1.17s/it]
 89%|████████▊ | 798/900 [32:21<01:30,  1.12it/s]
 89%|████████▉ | 799/900 [32:21<01:10,  1.43it/s]
 89%|████████▉ | 800/900 [32:21<00:56,  1.78it/s]
 89%|████████▉ | 801/900 [32:39<09:21,  5.67s/it]
 89%|████████▉ | 802/900 [32:39<06:36,  4.05s/it]
 89%|████████▉ | 803/900 [32:39<04:42,  2.91s/it]
 89%|████████▉ | 804/900 [32:40<03:23,  2.12s/it]
 89%|████████▉ | 805/900 [32:40<02:27,  1.56s/it]
 90%|████████▉ | 806/900 [32:40<01:49,  1.16s/it]
 90%|████████▉ | 807/900 [32:40<01:22,  1.12it/s]
 90%|████████▉ | 808/900 [32:41<01:04,  1.43it/s]
 90%|████████▉ | 809/900 [32:53<06:26,  4.25s/it]
 90%|█████████ | 810/900 [32:53<04:34,  3.05s/it]
 90%|█████████ | 811/900 [32:54<03:16,  2.21s/it]
 90%|█████████ | 812/900 [32:54<02:22,  1.62s/it]
 90%|█████████ | 813/900 [32:54<01:45,  1.21s/it]
 90%|█████████ | 814/900 [32:54<01:19,  1.08it/s]
 91%|█████████ | 815/900 [32:55<01:01,  1.39it/s]
 91%|█████████ | 816/900 [32:55<00:48,  1.72it/s]
 91%|█████████ | 817/900 [33:19<10:31,  7.61s/it]
 91%|█████████ | 818/900 [33:19<07:23,  5.40s/it]
 91%|█████████ | 819/900 [33:19<05:12,  3.86s/it]
 91%|█████████ | 820/900 [33:20<03:42,  2.78s/it]
 91%|█████████ | 821/900 [33:20<02:40,  2.03s/it]
 91%|█████████▏| 822/900 [33:20<01:56,  1.50s/it]
 91%|█████████▏| 823/900 [33:20<01:26,  1.13s/it]
 92%|█████████▏| 824/900 [33:21<01:06,  1.15it/s]
 92%|█████████▏| 825/900 [33:45<09:43,  7.78s/it]
 92%|█████████▏| 826/900 [33:45<06:49,  5.53s/it]
 92%|█████████▏| 827/900 [33:45<04:48,  3.96s/it]
 92%|█████████▏| 828/900 [33:45<03:25,  2.85s/it]
 92%|█████████▏| 829/900 [33:46<02:27,  2.08s/it]
 92%|█████████▏| 830/900 [33:46<01:47,  1.53s/it]
 92%|█████████▏| 831/900 [33:46<01:19,  1.16s/it]
 92%|█████████▏| 832/900 [33:46<01:00,  1.12it/s]
 93%|█████████▎| 833/900 [34:14<09:51,  8.83s/it]
 93%|█████████▎| 834/900 [34:14<06:53,  6.27s/it]
 93%|█████████▎| 835/900 [34:14<04:50,  4.47s/it]
 93%|█████████▎| 836/900 [34:15<03:25,  3.21s/it]
 93%|█████████▎| 837/900 [34:15<02:26,  2.33s/it]
 93%|█████████▎| 838/900 [34:15<01:45,  1.71s/it]
 93%|█████████▎| 839/900 [34:15<01:18,  1.28s/it]
 93%|█████████▎| 840/900 [34:16<00:58,  1.02it/s]
 93%|█████████▎| 841/900 [34:40<07:56,  8.07s/it]
 94%|█████████▎| 842/900 [34:41<05:32,  5.73s/it]
 94%|█████████▎| 843/900 [34:41<03:53,  4.09s/it]
 94%|█████████▍| 844/900 [34:41<02:45,  2.95s/it]
 94%|█████████▍| 845/900 [34:41<01:57,  2.14s/it]
 94%|█████████▍| 846/900 [34:42<01:25,  1.58s/it]
 94%|█████████▍| 847/900 [34:42<01:03,  1.19s/it]
 94%|█████████▍| 848/900 [34:42<00:47,  1.10it/s]
 94%|█████████▍| 849/900 [35:07<06:48,  8.02s/it]
 94%|█████████▍| 850/900 [35:07<04:44,  5.69s/it]
 95%|█████████▍| 851/900 [35:07<03:18,  4.06s/it]
 95%|█████████▍| 852/900 [35:08<02:20,  2.92s/it]
 95%|█████████▍| 853/900 [35:08<01:39,  2.12s/it]
 95%|█████████▍| 854/900 [35:08<01:11,  1.56s/it]
 95%|█████████▌| 855/900 [35:08<00:52,  1.17s/it]
 95%|█████████▌| 856/900 [35:09<00:39,  1.12it/s]
 95%|█████████▌| 857/900 [36:51<22:29, 31.38s/it]
 95%|█████████▌| 858/900 [36:51<15:25, 22.04s/it]
 95%|█████████▌| 859/900 [36:52<10:35, 15.50s/it]
 96%|█████████▌| 860/900 [36:52<07:17, 10.93s/it]
 96%|█████████▌| 861/900 [36:52<05:01,  7.72s/it]
 96%|█████████▌| 862/900 [36:52<03:28,  5.48s/it]
 96%|█████████▌| 863/900 [36:53<02:24,  3.91s/it]
 96%|█████████▌| 864/900 [36:53<01:41,  2.81s/it]
 96%|█████████▌| 865/900 [37:06<03:27,  5.93s/it]
 96%|█████████▌| 866/900 [37:06<02:23,  4.23s/it]
 96%|█████████▋| 867/900 [37:07<01:40,  3.03s/it]
 96%|█████████▋| 868/900 [37:07<01:10,  2.20s/it]
 97%|█████████▋| 869/900 [37:07<00:50,  1.62s/it]
 97%|█████████▋| 870/900 [37:07<00:36,  1.21s/it]
 97%|█████████▋| 871/900 [37:08<00:26,  1.08it/s]
 97%|█████████▋| 872/900 [37:08<00:20,  1.37it/s]
 97%|█████████▋| 873/900 [37:21<02:03,  4.56s/it]
 97%|█████████▋| 874/900 [37:22<01:24,  3.27s/it]
 97%|█████████▋| 875/900 [37:22<00:59,  2.36s/it]
 97%|█████████▋| 876/900 [37:22<00:41,  1.73s/it]
 97%|█████████▋| 877/900 [37:22<00:29,  1.29s/it]
 98%|█████████▊| 878/900 [37:23<00:21,  1.02it/s]
 98%|█████████▊| 879/900 [37:23<00:16,  1.30it/s]
 98%|█████████▊| 880/900 [37:23<00:12,  1.62it/s]
 98%|█████████▊| 881/900 [37:51<02:46,  8.76s/it]
 98%|█████████▊| 882/900 [37:51<01:51,  6.21s/it]
 98%|█████████▊| 883/900 [37:51<01:15,  4.42s/it]
 98%|█████████▊| 884/900 [37:52<00:50,  3.17s/it]
 98%|█████████▊| 885/900 [37:52<00:34,  2.30s/it]
 98%|█████████▊| 886/900 [37:52<00:23,  1.68s/it]
 99%|█████████▊| 887/900 [37:53<00:16,  1.26s/it]
 99%|█████████▊| 888/900 [37:53<00:11,  1.05it/s]
 99%|█████████▉| 889/900 [38:14<01:16,  6.97s/it]
 99%|█████████▉| 890/900 [38:14<00:49,  4.95s/it]
 99%|█████████▉| 891/900 [38:14<00:31,  3.54s/it]
 99%|█████████▉| 892/900 [38:15<00:20,  2.56s/it]
 99%|█████████▉| 893/900 [38:15<00:13,  1.87s/it]
 99%|█████████▉| 894/900 [38:15<00:08,  1.39s/it]
 99%|█████████▉| 895/900 [38:15<00:05,  1.06s/it]
100%|█████████▉| 896/900 [38:16<00:03,  1.21it/s]
100%|█████████▉| 897/900 [38:32<00:16,  5.47s/it]
100%|█████████▉| 898/900 [38:32<00:07,  3.92s/it]
100%|█████████▉| 899/900 [38:33<00:02,  2.83s/it]
100%|█████████▉| 899/900 [38:33<00:02,  2.57s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/log_2_env0.json.
+RedItemsInBinTask_2 complete: task_name: RedItemsInBinTask, run_name: RedItemsInBinTask_2, run: 2, env_id: 0, policy: harness, instruction: Put all the red things in the grey bin, attributes: ['color', 'sorting', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -11.491069649470571, 'joint_sparc_mean': -21.451561537787633, 'ee_isj': 9388.167693749943, 'joint_isj': 611068.7028706854, 'ee_path_length': 10.87361809947934, 'joint_rmse_mean': 1.0141984745839074, 'ee_speed_max': 1.10791015625, 'ee_speed_mean': 0.1700500100851059}, events: {'TARGET_OBJECT_DROPPED': 14, 'GRIPPER_FULLY_CLOSED': 24, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 3}, instruction_type: default, timing: {'policy_inference_s': 2090.637, 'policy_inference_avg_ms': 2322.9, 'env_step_s': 214.526, 'env_step_avg_ms': 238.4, 'video_write_s': 7.638, 'video_write_avg_ms': 8.5, 'wall_total_s': 2312.802, 'it_per_sec': 0.39}, score: 0.0, reason: Condition not satisfied: object_in_container(object=bowl, container=grey_bin, require_contact_with=False, require_gripper_detached=True) (step 2/2), harness_episode_id: 2f20f6fe65a240cfa6ecf436548bb447-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-31T00:40:11Z [30,984,503ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.195973 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-31T00:40:15Z [30,988,669ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-31T00:40:15Z [30,988,669ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-31T00:40:15Z [30,988,678ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-31T00:40:15Z [30,988,678ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-31T00:40:15Z [30,988,686ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-31T00:40:15Z [30,988,693ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-31T00:40:16Z [30,989,455ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1137))' not available in the MDL representation.
+2026-10-31T00:40:16Z [30,989,456ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1137))' not available in the MDL representation.
+2026-10-31T00:40:18Z [30,990,999ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1137))' not available in the MDL representation.
+2026-10-31T00:40:18Z [30,991,000ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1137))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.410367 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : MustardInLeftBinTask                          │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the mustard in the left bin               │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : MustardInLeftBinTaskSceneEnvCfg               │
+│  Attributes  : spatial, simple                               │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running MustardInLeftBinTask_0: 'Put the mustard in the left bin' (run 0, 1 envs)
+
  0%|          | 0/450 [00:00<?, ?it/s]
  0%|          | 1/450 [00:36<4:35:09, 36.77s/it]
  0%|          | 2/450 [00:36<1:54:01, 15.27s/it]
  1%|          | 3/450 [00:37<1:02:31,  8.39s/it]
  1%|          | 4/450 [00:37<38:22,  5.16s/it]  
  1%|          | 5/450 [00:37<25:02,  3.38s/it]
  1%|▏         | 6/450 [00:37<17:02,  2.30s/it]
  2%|▏         | 7/450 [00:38<11:57,  1.62s/it]
  2%|▏         | 8/450 [00:38<08:37,  1.17s/it]
  2%|▏         | 9/450 [00:41<14:21,  1.95s/it]
  2%|▏         | 10/450 [00:42<10:22,  1.41s/it]
  2%|▏         | 11/450 [00:42<07:39,  1.05s/it]
  3%|▎         | 12/450 [00:42<05:47,  1.26it/s]
  3%|▎         | 13/450 [00:42<04:29,  1.62it/s]
  3%|▎         | 14/450 [00:42<03:35,  2.02it/s]
  3%|▎         | 15/450 [00:43<02:58,  2.43it/s]
  4%|▎         | 16/450 [00:43<02:32,  2.85it/s]
  4%|▍         | 17/450 [00:53<24:21,  3.38s/it]
  4%|▍         | 18/450 [00:54<17:28,  2.43s/it]
  4%|▍         | 19/450 [00:54<12:39,  1.76s/it]
  4%|▍         | 20/450 [00:54<09:17,  1.30s/it]
  5%|▍         | 21/450 [00:54<06:56,  1.03it/s]
  5%|▍         | 22/450 [00:54<05:18,  1.34it/s]
  5%|▌         | 23/450 [00:55<04:10,  1.71it/s]
  5%|▌         | 24/450 [00:55<03:22,  2.10it/s]
  6%|▌         | 25/450 [00:59<10:16,  1.45s/it]
  6%|▌         | 26/450 [00:59<07:37,  1.08s/it]
  6%|▌         | 27/450 [00:59<05:46,  1.22it/s]
  6%|▌         | 28/450 [00:59<04:28,  1.57it/s]
  6%|▋         | 29/450 [00:59<03:34,  1.96it/s]
  7%|▋         | 30/450 [01:00<02:56,  2.38it/s]
  7%|▋         | 31/450 [01:00<02:29,  2.80it/s]
  7%|▋         | 32/450 [01:00<02:11,  3.18it/s]
  7%|▋         | 33/450 [01:10<22:36,  3.25s/it]
  8%|▊         | 34/450 [01:10<16:14,  2.34s/it]
  8%|▊         | 35/450 [01:11<11:47,  1.70s/it]
  8%|▊         | 36/450 [01:11<08:40,  1.26s/it]
  8%|▊         | 37/450 [01:11<06:29,  1.06it/s]
  8%|▊         | 38/450 [01:11<04:59,  1.38it/s]
  9%|▊         | 39/450 [01:11<03:55,  1.74it/s]
  9%|▉         | 40/450 [01:12<03:11,  2.14it/s]
  9%|▉         | 41/450 [01:18<16:00,  2.35s/it]
  9%|▉         | 42/450 [01:19<11:38,  1.71s/it]
 10%|▉         | 43/450 [01:19<08:34,  1.26s/it]
 10%|▉         | 44/450 [01:19<06:26,  1.05it/s]
 10%|█         | 45/450 [01:19<04:56,  1.36it/s]
 10%|█         | 46/450 [01:20<03:54,  1.73it/s]
 10%|█         | 47/450 [01:20<03:10,  2.11it/s]
 11%|█         | 48/450 [01:20<02:40,  2.51it/s]
 11%|█         | 49/450 [01:34<29:27,  4.41s/it]
 11%|█         | 50/450 [01:34<21:01,  3.15s/it]
 11%|█▏        | 51/450 [01:34<15:07,  2.27s/it]
 12%|█▏        | 52/450 [01:34<11:01,  1.66s/it]
 12%|█▏        | 53/450 [01:35<08:10,  1.24s/it]
 12%|█▏        | 54/450 [01:35<06:10,  1.07it/s]
 12%|█▏        | 55/450 [01:35<04:46,  1.38it/s]
 12%|█▏        | 56/450 [01:35<03:47,  1.73it/s]
 13%|█▎        | 57/450 [01:41<13:36,  2.08s/it]
 13%|█▎        | 58/450 [01:41<09:56,  1.52s/it]
 13%|█▎        | 59/450 [01:41<07:23,  1.13s/it]
 13%|█▎        | 60/450 [01:42<05:35,  1.16it/s]
 14%|█▎        | 61/450 [01:42<04:19,  1.50it/s]
 14%|█▍        | 62/450 [01:42<03:26,  1.88it/s]
 14%|█▍        | 63/450 [01:42<02:48,  2.29it/s]
 14%|█▍        | 64/450 [01:42<02:22,  2.70it/s]
 14%|█▍        | 65/450 [01:49<14:08,  2.20s/it]
 15%|█▍        | 66/450 [01:49<10:16,  1.61s/it]
 15%|█▍        | 67/450 [01:49<07:35,  1.19s/it]
 15%|█▌        | 68/450 [01:50<05:42,  1.12it/s]
 15%|█▌        | 69/450 [01:50<04:23,  1.45it/s]
 16%|█▌        | 70/450 [01:50<03:27,  1.83it/s]
 16%|█▌        | 71/450 [01:50<02:48,  2.24it/s]
 16%|█▌        | 72/450 [01:50<02:23,  2.64it/s]
 16%|█▌        | 73/450 [01:56<11:42,  1.86s/it]
 16%|█▋        | 74/450 [01:56<08:35,  1.37s/it]
 17%|█▋        | 75/450 [01:56<06:24,  1.03s/it]
 17%|█▋        | 76/450 [01:56<04:53,  1.27it/s]
 17%|█▋        | 77/450 [01:57<03:49,  1.62it/s]
 17%|█▋        | 78/450 [01:57<03:05,  2.01it/s]
 18%|█▊        | 79/450 [01:57<02:35,  2.39it/s]
 18%|█▊        | 80/450 [01:57<02:13,  2.76it/s]
 18%|█▊        | 81/450 [02:03<11:51,  1.93s/it]
 18%|█▊        | 82/450 [02:03<08:41,  1.42s/it]
 18%|█▊        | 83/450 [02:03<06:27,  1.06s/it]
 19%|█▊        | 84/450 [02:04<04:53,  1.25it/s]
 19%|█▉        | 85/450 [02:04<03:48,  1.60it/s]
 19%|█▉        | 86/450 [02:04<03:03,  1.99it/s]
 19%|█▉        | 87/450 [02:04<02:31,  2.40it/s]
 20%|█▉        | 88/450 [02:04<02:08,  2.81it/s]
 20%|█▉        | 89/450 [02:24<36:16,  6.03s/it]
 20%|██        | 90/450 [02:24<25:42,  4.29s/it]
 20%|██        | 91/450 [02:24<18:20,  3.06s/it]
 20%|██        | 92/450 [02:24<13:11,  2.21s/it]
 21%|██        | 93/450 [02:25<09:35,  1.61s/it]
 21%|██        | 94/450 [02:25<07:05,  1.19s/it]
 21%|██        | 95/450 [02:25<05:20,  1.11it/s]
 21%|██▏       | 96/450 [02:25<04:06,  1.44it/s]
 22%|██▏       | 97/450 [02:33<15:43,  2.67s/it]
 22%|██▏       | 98/450 [02:33<11:21,  1.94s/it]
 22%|██▏       | 99/450 [02:33<08:19,  1.42s/it]
 22%|██▏       | 100/450 [02:33<06:13,  1.07s/it]
 22%|██▏       | 101/450 [02:33<04:45,  1.22it/s]
 23%|██▎       | 102/450 [02:34<03:42,  1.56it/s]
 23%|██▎       | 103/450 [02:34<02:59,  1.94it/s]
 23%|██▎       | 104/450 [02:34<02:27,  2.35it/s]
 23%|██▎       | 105/450 [02:42<15:00,  2.61s/it]
 24%|██▎       | 106/450 [02:42<10:51,  1.90s/it]
 24%|██▍       | 107/450 [02:42<07:58,  1.39s/it]
 24%|██▍       | 108/450 [02:42<05:57,  1.05s/it]
 24%|██▍       | 109/450 [02:43<04:33,  1.25it/s]
 24%|██▍       | 110/450 [02:43<03:34,  1.59it/s]
 25%|██▍       | 111/450 [02:43<02:59,  1.89it/s]
 25%|██▍       | 112/450 [02:43<02:29,  2.26it/s]
 25%|██▌       | 113/450 [02:54<19:15,  3.43s/it]
 25%|██▌       | 114/450 [02:54<13:50,  2.47s/it]
 26%|██▌       | 115/450 [02:54<10:02,  1.80s/it]
 26%|██▌       | 116/450 [02:55<07:23,  1.33s/it]
 26%|██▌       | 117/450 [02:55<05:31,  1.00it/s]
 26%|██▌       | 118/450 [02:55<04:13,  1.31it/s]
 26%|██▋       | 119/450 [02:55<03:17,  1.67it/s]
 27%|██▋       | 120/450 [02:55<02:39,  2.06it/s]
 27%|██▋       | 121/450 [03:05<17:15,  3.15s/it]
 27%|██▋       | 122/450 [03:05<12:23,  2.27s/it]
 27%|██▋       | 123/450 [03:05<09:00,  1.65s/it]
 28%|██▊       | 124/450 [03:05<06:40,  1.23s/it]
 28%|██▊       | 125/450 [03:06<05:02,  1.07it/s]
 28%|██▊       | 126/450 [03:06<03:54,  1.38it/s]
 28%|██▊       | 127/450 [03:06<03:06,  1.73it/s]
 28%|██▊       | 128/450 [03:06<02:32,  2.11it/s]
 29%|██▊       | 129/450 [03:15<15:46,  2.95s/it]
 29%|██▉       | 130/450 [03:15<11:22,  2.13s/it]
 29%|██▉       | 131/450 [03:16<08:18,  1.56s/it]
 29%|██▉       | 132/450 [03:16<06:09,  1.16s/it]
 30%|██▉       | 133/450 [03:16<04:39,  1.14it/s]
 30%|██▉       | 134/450 [03:16<03:35,  1.46it/s]
 30%|███       | 135/450 [03:17<02:52,  1.83it/s]
 30%|███       | 136/450 [03:17<02:21,  2.21it/s]
 30%|███       | 137/450 [03:23<11:55,  2.29s/it]
 31%|███       | 138/450 [03:24<08:41,  1.67s/it]
 31%|███       | 139/450 [03:24<06:25,  1.24s/it]
 31%|███       | 140/450 [03:24<04:50,  1.07it/s]
 31%|███▏      | 141/450 [03:24<03:44,  1.38it/s]
 32%|███▏      | 142/450 [03:24<02:58,  1.73it/s]
 32%|███▏      | 143/450 [03:25<02:26,  2.10it/s]
 32%|███▏      | 144/450 [03:25<02:02,  2.49it/s]
 32%|███▏      | 145/450 [03:31<11:17,  2.22s/it]
 32%|███▏      | 146/450 [03:32<08:14,  1.63s/it]
 33%|███▎      | 147/450 [03:32<06:07,  1.21s/it]
 33%|███▎      | 148/450 [03:32<04:38,  1.09it/s]
 33%|███▎      | 149/450 [03:32<03:35,  1.40it/s]
 33%|███▎      | 150/450 [03:33<02:51,  1.74it/s]
 34%|███▎      | 151/450 [03:33<02:21,  2.12it/s]
 34%|███▍      | 152/450 [03:33<02:00,  2.48it/s]
 34%|███▍      | 153/450 [03:39<10:29,  2.12s/it]
 34%|███▍      | 154/450 [03:39<07:40,  1.55s/it]
 34%|███▍      | 155/450 [03:40<05:42,  1.16s/it]
 35%|███▍      | 156/450 [03:40<04:19,  1.13it/s]
 35%|███▍      | 157/450 [03:40<03:21,  1.45it/s]
 35%|███▌      | 158/450 [03:40<02:41,  1.80it/s]
 35%|███▌      | 159/450 [03:41<02:13,  2.18it/s]
 36%|███▌      | 160/450 [03:41<01:53,  2.55it/s]
 36%|███▌      | 161/450 [03:47<09:35,  1.99s/it]
 36%|███▌      | 162/450 [03:47<07:01,  1.46s/it]
 36%|███▌      | 163/450 [03:47<05:14,  1.10s/it]
 36%|███▋      | 164/450 [03:47<04:00,  1.19it/s]
 37%|███▋      | 165/450 [03:48<03:07,  1.52it/s]
 37%|███▋      | 166/450 [03:48<02:31,  1.88it/s]
 37%|███▋      | 167/450 [03:48<02:05,  2.26it/s]
 37%|███▋      | 168/450 [03:48<01:46,  2.64it/s]
 38%|███▊      | 169/450 [03:57<13:32,  2.89s/it]
 38%|███▊      | 170/450 [03:57<09:46,  2.10s/it]
 38%|███▊      | 171/450 [03:57<07:08,  1.54s/it]
 38%|███▊      | 172/450 [03:58<05:18,  1.15s/it]
 38%|███▊      | 173/450 [03:58<04:02,  1.14it/s]
 39%|███▊      | 174/450 [03:58<03:08,  1.46it/s]
 39%|███▉      | 175/450 [03:58<02:31,  1.82it/s]
 39%|███▉      | 176/450 [03:59<02:04,  2.19it/s]
 39%|███▉      | 177/450 [04:16<25:00,  5.50s/it]
 40%|███▉      | 178/450 [04:16<17:46,  3.92s/it]
 40%|███▉      | 179/450 [04:16<12:43,  2.82s/it]
 40%|████      | 180/450 [04:17<09:11,  2.04s/it]
 40%|████      | 181/450 [04:17<06:43,  1.50s/it]
 40%|████      | 182/450 [04:17<05:00,  1.12s/it]
 41%|████      | 183/450 [04:17<03:48,  1.17it/s]
 41%|████      | 184/450 [04:18<02:58,  1.49it/s]
 41%|████      | 184/450 [04:23<06:21,  1.43s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/log_0_env0.json.
+MustardInLeftBinTask_0 complete: task_name: MustardInLeftBinTask, run_name: MustardInLeftBinTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the mustard in the left bin, attributes: ['spatial', 'simple'], success: True, episode_step: 185, duration: 12.333333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.63078653066251, 'joint_sparc_mean': -8.690824262552416, 'ee_isj': 856.2355270353021, 'joint_isj': 70276.11855826057, 'ee_path_length': 1.5438020596236737, 'joint_rmse_mean': 0.886892666334943, 'ee_speed_max': 0.4901716113090515, 'ee_speed_mean': 0.11986896395683289}, events: {'TARGET_OBJECT_DROPPED': 2, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 223.57, 'policy_inference_avg_ms': 1208.5, 'env_step_s': 38.467, 'env_step_avg_ms': 207.9, 'video_write_s': 1.813, 'video_write_avg_ms': 9.8, 'wall_total_s': 263.85, 'it_per_sec': 0.7}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: fc1c13f0bce1463ba1853a3a1c7b2e59-0
+[RoboLab] Running MustardInLeftBinTask_1: 'Put the mustard in the left bin' (run 1, 1 envs)
+
  0%|          | 0/450 [00:00<?, ?it/s]
  0%|          | 1/450 [00:38<4:47:55, 38.48s/it]
  0%|          | 2/450 [00:38<1:59:19, 15.98s/it]
  1%|          | 3/450 [00:38<1:05:27,  8.79s/it]
  1%|          | 4/450 [00:39<40:09,  5.40s/it]  
  1%|          | 5/450 [00:39<26:11,  3.53s/it]
  1%|▏         | 6/450 [00:39<17:48,  2.41s/it]
  2%|▏         | 7/450 [00:39<12:27,  1.69s/it]
  2%|▏         | 8/450 [00:40<08:58,  1.22s/it]
  2%|▏         | 9/450 [00:47<23:32,  3.20s/it]
  2%|▏         | 10/450 [00:47<16:43,  2.28s/it]
  2%|▏         | 11/450 [00:48<12:03,  1.65s/it]
  3%|▎         | 12/450 [00:48<08:51,  1.21s/it]
  3%|▎         | 13/450 [00:48<06:37,  1.10it/s]
  3%|▎         | 14/450 [00:48<05:04,  1.43it/s]
  3%|▎         | 15/450 [00:48<04:00,  1.81it/s]
  4%|▎         | 16/450 [00:49<03:15,  2.22it/s]
  4%|▍         | 17/450 [00:56<17:57,  2.49s/it]
  4%|▍         | 18/450 [00:56<12:59,  1.80s/it]
  4%|▍         | 19/450 [00:56<09:31,  1.33s/it]
  4%|▍         | 20/450 [00:56<07:06,  1.01it/s]
  5%|▍         | 21/450 [00:57<05:25,  1.32it/s]
  5%|▍         | 22/450 [00:57<04:15,  1.68it/s]
  5%|▌         | 23/450 [00:57<03:26,  2.07it/s]
  5%|▌         | 24/450 [00:57<02:52,  2.47it/s]
  6%|▌         | 25/450 [01:03<14:15,  2.01s/it]
  6%|▌         | 26/450 [01:03<10:28,  1.48s/it]
  6%|▌         | 27/450 [01:04<07:50,  1.11s/it]
  6%|▌         | 28/450 [01:04<05:58,  1.18it/s]
  6%|▋         | 29/450 [01:04<04:40,  1.50it/s]
  7%|▋         | 30/450 [01:04<03:46,  1.86it/s]
  7%|▋         | 31/450 [01:05<03:07,  2.23it/s]
  7%|▋         | 32/450 [01:05<02:40,  2.61it/s]
  7%|▋         | 33/450 [01:12<17:19,  2.49s/it]
  8%|▊         | 34/450 [01:12<12:31,  1.81s/it]
  8%|▊         | 35/450 [01:13<09:11,  1.33s/it]
  8%|▊         | 36/450 [01:13<06:51,  1.01it/s]
  8%|▊         | 37/450 [01:13<05:13,  1.32it/s]
  8%|▊         | 38/450 [01:13<04:05,  1.68it/s]
  9%|▊         | 39/450 [01:13<03:17,  2.08it/s]
  9%|▉         | 40/450 [01:14<02:45,  2.48it/s]
  9%|▉         | 41/450 [01:25<24:16,  3.56s/it]
  9%|▉         | 42/450 [01:25<17:22,  2.56s/it]
 10%|▉         | 43/450 [01:25<12:34,  1.85s/it]
 10%|▉         | 44/450 [01:25<09:12,  1.36s/it]
 10%|█         | 45/450 [01:25<06:52,  1.02s/it]
 10%|█         | 46/450 [01:26<05:13,  1.29it/s]
 10%|█         | 47/450 [01:26<04:05,  1.64it/s]
 11%|█         | 48/450 [01:26<03:16,  2.04it/s]
 11%|█         | 49/450 [01:38<25:14,  3.78s/it]
 11%|█         | 50/450 [01:38<18:03,  2.71s/it]
 11%|█▏        | 51/450 [01:38<13:01,  1.96s/it]
 12%|█▏        | 52/450 [01:38<09:30,  1.43s/it]
 12%|█▏        | 53/450 [01:38<07:03,  1.07s/it]
 12%|█▏        | 54/450 [01:39<05:20,  1.23it/s]
 12%|█▏        | 55/450 [01:39<04:08,  1.59it/s]
 12%|█▏        | 56/450 [01:39<03:18,  1.98it/s]
 13%|█▎        | 57/450 [01:46<15:58,  2.44s/it]
 13%|█▎        | 58/450 [01:46<11:34,  1.77s/it]
 13%|█▎        | 59/450 [01:46<08:30,  1.31s/it]
 13%|█▎        | 60/450 [01:47<06:23,  1.02it/s]
 14%|█▎        | 61/450 [01:47<04:53,  1.33it/s]
 14%|█▍        | 62/450 [01:47<03:50,  1.68it/s]
 14%|█▍        | 63/450 [01:47<03:06,  2.08it/s]
 14%|█▍        | 64/450 [01:48<02:35,  2.48it/s]
 14%|█▍        | 65/450 [01:55<15:58,  2.49s/it]
 15%|█▍        | 66/450 [01:55<11:34,  1.81s/it]
 15%|█▍        | 67/450 [01:55<08:30,  1.33s/it]
 15%|█▌        | 68/450 [01:56<06:23,  1.00s/it]
 15%|█▌        | 69/450 [01:56<04:53,  1.30it/s]
 16%|█▌        | 70/450 [01:56<03:51,  1.64it/s]
 16%|█▌        | 71/450 [01:56<03:07,  2.02it/s]
 16%|█▌        | 72/450 [01:56<02:37,  2.40it/s]
 16%|█▌        | 73/450 [02:03<14:51,  2.37s/it]
 16%|█▋        | 74/450 [02:04<10:50,  1.73s/it]
 17%|█▋        | 75/450 [02:04<08:01,  1.28s/it]
 17%|█▋        | 76/450 [02:04<06:03,  1.03it/s]
 17%|█▋        | 77/450 [02:04<04:39,  1.33it/s]
 17%|█▋        | 78/450 [02:05<03:41,  1.68it/s]
 18%|█▊        | 79/450 [02:05<03:01,  2.05it/s]
 18%|█▊        | 80/450 [02:05<02:33,  2.41it/s]
 18%|█▊        | 81/450 [02:10<10:59,  1.79s/it]
 18%|█▊        | 82/450 [02:10<08:08,  1.33s/it]
 18%|█▊        | 83/450 [02:11<06:08,  1.00s/it]
 19%|█▊        | 84/450 [02:11<04:43,  1.29it/s]
 19%|█▉        | 85/450 [02:11<03:44,  1.63it/s]
 19%|█▉        | 86/450 [02:11<03:02,  1.99it/s]
 19%|█▉        | 87/450 [02:12<02:34,  2.34it/s]
 20%|█▉        | 88/450 [02:12<02:14,  2.69it/s]
 20%|█▉        | 89/450 [02:22<20:54,  3.48s/it]
 20%|██        | 90/450 [02:23<15:02,  2.51s/it]
 20%|██        | 91/450 [02:23<10:56,  1.83s/it]
 20%|██        | 92/450 [02:23<08:03,  1.35s/it]
 21%|██        | 93/450 [02:23<06:03,  1.02s/it]
 21%|██        | 94/450 [02:24<04:38,  1.28it/s]
 21%|██        | 95/450 [02:24<03:39,  1.62it/s]
 21%|██▏       | 96/450 [02:24<02:58,  1.98it/s]
 22%|██▏       | 97/450 [02:35<20:44,  3.53s/it]
 22%|██▏       | 98/450 [02:35<14:51,  2.53s/it]
 22%|██▏       | 98/450 [02:35<09:19,  1.59s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/log_1_env0.json.
+MustardInLeftBinTask_1 complete: task_name: MustardInLeftBinTask, run_name: MustardInLeftBinTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the mustard in the left bin, attributes: ['spatial', 'simple'], success: True, episode_step: 99, duration: 6.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.690351540738292, 'joint_sparc_mean': -4.1849475475847315, 'ee_isj': 811.0827749194078, 'joint_isj': 15380.790740448552, 'ee_path_length': 1.2127895830647122, 'joint_rmse_mean': 0.8352014103752845, 'ee_speed_max': 0.4686216115951538, 'ee_speed_mean': 0.17571905255317688}, events: {'GRIPPER_FULLY_CLOSED': 2, 'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 133.751, 'policy_inference_avg_ms': 1351.0, 'env_step_s': 20.3, 'env_step_avg_ms': 205.1, 'video_write_s': 1.639, 'video_write_avg_ms': 16.6, 'wall_total_s': 155.69, 'it_per_sec': 0.64}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: e60a0d17125647469badbc8f0898e54a-1
+[RoboLab] Running MustardInLeftBinTask_2: 'Put the mustard in the left bin' (run 2, 1 envs)
+
  0%|          | 0/450 [00:00<?, ?it/s]
  0%|          | 1/450 [00:22<2:49:12, 22.61s/it]
  0%|          | 2/450 [00:22<1:10:30,  9.44s/it]
  1%|          | 3/450 [00:23<38:57,  5.23s/it]  
  1%|          | 4/450 [00:23<24:08,  3.25s/it]
  1%|          | 5/450 [00:23<15:59,  2.16s/it]
  1%|▏         | 6/450 [00:23<11:03,  1.49s/it]
  2%|▏         | 7/450 [00:23<07:56,  1.08s/it]
  2%|▏         | 8/450 [00:24<05:53,  1.25it/s]
  2%|▏         | 9/450 [00:28<13:58,  1.90s/it]
  2%|▏         | 10/450 [00:28<10:07,  1.38s/it]
  2%|▏         | 11/450 [00:28<07:29,  1.02s/it]
  3%|▎         | 12/450 [00:29<05:40,  1.29it/s]
  3%|▎         | 13/450 [00:29<04:24,  1.65it/s]
  3%|▎         | 14/450 [00:29<03:32,  2.05it/s]
  3%|▎         | 15/450 [00:29<02:55,  2.47it/s]
  4%|▎         | 16/450 [00:29<02:30,  2.88it/s]
  4%|▍         | 17/450 [00:35<13:44,  1.90s/it]
  4%|▍         | 18/450 [00:35<10:02,  1.40s/it]
  4%|▍         | 19/450 [00:35<07:28,  1.04s/it]
  4%|▍         | 20/450 [00:36<05:40,  1.26it/s]
  5%|▍         | 21/450 [00:36<04:25,  1.62it/s]
  5%|▍         | 22/450 [00:36<03:31,  2.02it/s]
  5%|▌         | 23/450 [00:36<02:54,  2.45it/s]
  5%|▌         | 24/450 [00:36<02:28,  2.86it/s]
  6%|▌         | 25/450 [00:41<11:05,  1.57s/it]
  6%|▌         | 26/450 [00:41<08:11,  1.16s/it]
  6%|▌         | 27/450 [00:41<06:09,  1.15it/s]
  6%|▌         | 28/450 [00:41<04:44,  1.48it/s]
  6%|▋         | 29/450 [00:42<03:45,  1.86it/s]
  7%|▋         | 30/450 [00:42<03:04,  2.27it/s]
  7%|▋         | 31/450 [00:42<02:35,  2.69it/s]
  7%|▋         | 32/450 [00:42<02:15,  3.09it/s]
  7%|▋         | 33/450 [00:49<15:30,  2.23s/it]
  8%|▊         | 34/450 [00:49<11:16,  1.63s/it]
  8%|▊         | 35/450 [00:49<08:18,  1.20s/it]
  8%|▊         | 36/450 [00:50<06:14,  1.11it/s]
  8%|▊         | 37/450 [00:50<04:47,  1.44it/s]
  8%|▊         | 38/450 [00:50<03:46,  1.82it/s]
  9%|▊         | 39/450 [00:50<03:04,  2.23it/s]
  9%|▉         | 40/450 [00:50<02:34,  2.66it/s]
  9%|▉         | 41/450 [01:04<28:47,  4.22s/it]
  9%|▉         | 42/450 [01:04<20:32,  3.02s/it]
 10%|▉         | 43/450 [01:04<14:45,  2.18s/it]
 10%|▉         | 44/450 [01:04<10:44,  1.59s/it]
 10%|█         | 45/450 [01:05<07:56,  1.18s/it]
 10%|█         | 46/450 [01:05<05:58,  1.13it/s]
 10%|█         | 47/450 [01:05<04:36,  1.46it/s]
 11%|█         | 48/450 [01:05<03:38,  1.84it/s]
 11%|█         | 49/450 [01:11<14:37,  2.19s/it]
 11%|█         | 50/450 [01:11<10:38,  1.60s/it]
 11%|█▏        | 51/450 [01:12<07:52,  1.18s/it]
 12%|█▏        | 52/450 [01:12<05:55,  1.12it/s]
 12%|█▏        | 53/450 [01:12<04:33,  1.45it/s]
 12%|█▏        | 54/450 [01:12<03:36,  1.83it/s]
 12%|█▏        | 55/450 [01:12<02:55,  2.25it/s]
 12%|█▏        | 56/450 [01:13<02:27,  2.67it/s]
 13%|█▎        | 57/450 [01:19<14:15,  2.18s/it]
 13%|█▎        | 58/450 [01:19<10:22,  1.59s/it]
 13%|█▎        | 59/450 [01:19<07:39,  1.18s/it]
 13%|█▎        | 60/450 [01:20<05:45,  1.13it/s]
 14%|█▎        | 61/450 [01:20<04:25,  1.46it/s]
 14%|█▍        | 62/450 [01:20<03:29,  1.85it/s]
 14%|█▍        | 63/450 [01:20<02:50,  2.27it/s]
 14%|█▍        | 64/450 [01:21<02:23,  2.69it/s]
 14%|█▍        | 65/450 [01:27<14:26,  2.25s/it]
 15%|█▍        | 66/450 [01:27<10:29,  1.64s/it]
 15%|█▍        | 67/450 [01:28<07:43,  1.21s/it]
 15%|█▌        | 68/450 [01:28<05:47,  1.10it/s]
 15%|█▌        | 69/450 [01:28<04:27,  1.43it/s]
 16%|█▌        | 70/450 [01:28<03:31,  1.79it/s]
 16%|█▌        | 71/450 [01:28<02:53,  2.19it/s]
 16%|█▌        | 72/450 [01:29<02:25,  2.60it/s]
 16%|█▌        | 73/450 [02:07<1:12:58, 11.61s/it]
 16%|█▋        | 74/450 [02:07<51:20,  8.19s/it]  
 17%|█▋        | 75/450 [02:07<36:15,  5.80s/it]
 17%|█▋        | 76/450 [02:07<25:42,  4.13s/it]
 17%|█▋        | 77/450 [02:07<18:20,  2.95s/it]
 17%|█▋        | 78/450 [02:08<13:12,  2.13s/it]
 18%|█▊        | 79/450 [02:08<09:36,  1.55s/it]
 18%|█▊        | 80/450 [02:08<07:05,  1.15s/it]
 18%|█▊        | 81/450 [02:13<14:32,  2.36s/it]
 18%|█▊        | 82/450 [02:13<10:32,  1.72s/it]
 18%|█▊        | 83/450 [02:14<07:45,  1.27s/it]
 19%|█▊        | 84/450 [02:14<05:48,  1.05it/s]
 19%|█▉        | 85/450 [02:14<04:27,  1.37it/s]
 19%|█▉        | 86/450 [02:14<03:29,  1.73it/s]
 19%|█▉        | 87/450 [02:14<02:50,  2.13it/s]
 20%|█▉        | 88/450 [02:15<02:22,  2.54it/s]
 20%|█▉        | 89/450 [02:24<18:10,  3.02s/it]
 20%|██        | 90/450 [02:24<13:04,  2.18s/it]
 20%|██        | 91/450 [02:24<09:31,  1.59s/it]
 20%|██        | 92/450 [02:25<07:01,  1.18s/it]
 21%|██        | 93/450 [02:25<05:17,  1.12it/s]
 21%|██        | 94/450 [02:25<04:04,  1.45it/s]
 21%|██        | 95/450 [02:25<03:13,  1.83it/s]
 21%|██▏       | 96/450 [02:25<02:37,  2.24it/s]
 22%|██▏       | 97/450 [02:36<21:08,  3.59s/it]
 22%|██▏       | 98/450 [02:37<15:08,  2.58s/it]
 22%|██▏       | 99/450 [02:37<10:56,  1.87s/it]
 22%|██▏       | 100/450 [02:37<08:01,  1.37s/it]
 22%|██▏       | 101/450 [02:37<05:57,  1.03s/it]
 23%|██▎       | 102/450 [02:37<04:32,  1.28it/s]
 23%|██▎       | 103/450 [02:38<03:31,  1.64it/s]
 23%|██▎       | 104/450 [02:38<02:50,  2.03it/s]
 23%|██▎       | 105/450 [02:42<09:51,  1.71s/it]
 24%|██▎       | 106/450 [02:43<07:15,  1.27s/it]
 24%|██▍       | 107/450 [02:43<05:26,  1.05it/s]
 24%|██▍       | 108/450 [02:43<04:09,  1.37it/s]
 24%|██▍       | 109/450 [02:43<03:16,  1.73it/s]
 24%|██▍       | 110/450 [02:43<02:39,  2.13it/s]
 25%|██▍       | 111/450 [02:44<02:13,  2.54it/s]
 25%|██▍       | 112/450 [02:44<01:55,  2.94it/s]
 25%|██▌       | 113/450 [03:09<43:18,  7.71s/it]
 25%|██▌       | 114/450 [03:09<30:36,  5.47s/it]
 26%|██▌       | 115/450 [03:09<21:44,  3.89s/it]
 26%|██▌       | 116/450 [03:09<15:31,  2.79s/it]
 26%|██▌       | 117/450 [03:10<11:12,  2.02s/it]
 26%|██▌       | 118/450 [03:10<08:10,  1.48s/it]
 26%|██▋       | 119/450 [03:10<06:04,  1.10s/it]
 27%|██▋       | 120/450 [03:10<04:35,  1.20it/s]
 27%|██▋       | 121/450 [03:18<15:37,  2.85s/it]
 27%|██▋       | 122/450 [03:18<11:15,  2.06s/it]
 27%|██▋       | 123/450 [03:18<08:12,  1.51s/it]
 28%|██▊       | 124/450 [03:19<06:05,  1.12s/it]
 28%|██▊       | 125/450 [03:19<04:36,  1.18it/s]
 28%|██▊       | 126/450 [03:19<03:33,  1.52it/s]
 28%|██▊       | 127/450 [03:19<02:49,  1.90it/s]
 28%|██▊       | 128/450 [03:19<02:19,  2.31it/s]
 29%|██▊       | 129/450 [03:27<14:12,  2.66s/it]
 29%|██▉       | 130/450 [03:27<10:15,  1.92s/it]
 29%|██▉       | 131/450 [03:28<07:30,  1.41s/it]
 29%|██▉       | 132/450 [03:28<05:34,  1.05s/it]
 30%|██▉       | 133/450 [03:28<04:14,  1.25it/s]
 30%|██▉       | 134/450 [03:28<03:18,  1.59it/s]
 30%|███       | 135/450 [03:29<02:39,  1.98it/s]
 30%|███       | 136/450 [03:29<02:11,  2.39it/s]
 30%|███       | 137/450 [03:36<13:17,  2.55s/it]
 31%|███       | 138/450 [03:36<09:36,  1.85s/it]
 31%|███       | 139/450 [03:37<07:02,  1.36s/it]
 31%|███       | 140/450 [03:37<05:13,  1.01s/it]
 31%|███▏      | 141/450 [03:37<03:59,  1.29it/s]
 32%|███▏      | 142/450 [03:37<03:06,  1.65it/s]
 32%|███▏      | 143/450 [03:38<02:30,  2.04it/s]
 32%|███▏      | 144/450 [03:38<02:05,  2.45it/s]
 32%|███▏      | 145/450 [03:43<10:09,  2.00s/it]
 32%|███▏      | 146/450 [03:44<07:25,  1.46s/it]
 33%|███▎      | 147/450 [03:44<05:29,  1.09s/it]
 33%|███▎      | 148/450 [03:44<04:09,  1.21it/s]
 33%|███▎      | 149/450 [03:44<03:14,  1.55it/s]
 33%|███▎      | 150/450 [03:45<02:34,  1.94it/s]
 34%|███▎      | 151/450 [03:45<02:06,  2.36it/s]
 34%|███▍      | 152/450 [03:45<01:48,  2.75it/s]
 34%|███▍      | 153/450 [03:52<11:24,  2.30s/it]
 34%|███▍      | 154/450 [03:52<08:16,  1.68s/it]
 34%|███▍      | 155/450 [03:52<06:06,  1.24s/it]
 35%|███▍      | 156/450 [03:53<04:35,  1.07it/s]
 35%|███▍      | 157/450 [03:53<03:31,  1.39it/s]
 35%|███▌      | 158/450 [03:53<02:45,  1.76it/s]
 35%|███▌      | 159/450 [03:53<02:14,  2.16it/s]
 36%|███▌      | 160/450 [03:53<01:52,  2.57it/s]
 36%|███▌      | 161/450 [04:01<11:54,  2.47s/it]
 36%|███▌      | 162/450 [04:01<08:37,  1.80s/it]
 36%|███▌      | 163/450 [04:01<06:19,  1.32s/it]
 36%|███▋      | 164/450 [04:01<04:43,  1.01it/s]
 37%|███▋      | 165/450 [04:02<03:36,  1.32it/s]
 37%|███▋      | 166/450 [04:02<02:49,  1.68it/s]
 37%|███▋      | 167/450 [04:02<02:16,  2.07it/s]
 37%|███▋      | 168/450 [04:02<01:53,  2.48it/s]
 38%|███▊      | 169/450 [04:13<16:00,  3.42s/it]
 38%|███▊      | 170/450 [04:13<11:28,  2.46s/it]
 38%|███▊      | 171/450 [04:13<08:19,  1.79s/it]
 38%|███▊      | 172/450 [04:13<06:06,  1.32s/it]
 38%|███▊      | 173/450 [04:14<04:33,  1.01it/s]
 39%|███▊      | 174/450 [04:14<03:27,  1.33it/s]
 39%|███▉      | 175/450 [04:14<02:42,  1.69it/s]
 39%|███▉      | 176/450 [04:14<02:11,  2.09it/s]
 39%|███▉      | 177/450 [04:20<09:52,  2.17s/it]
 40%|███▉      | 178/450 [04:21<07:10,  1.58s/it]
 40%|███▉      | 179/450 [04:21<05:18,  1.17s/it]
 40%|████      | 180/450 [04:21<03:59,  1.13it/s]
 40%|████      | 181/450 [04:21<03:04,  1.46it/s]
 40%|████      | 182/450 [04:21<02:26,  1.83it/s]
 41%|████      | 183/450 [04:22<01:59,  2.24it/s]
 41%|████      | 184/450 [04:22<01:40,  2.64it/s]
 41%|████      | 185/450 [04:31<13:28,  3.05s/it]
 41%|████▏     | 186/450 [04:31<09:41,  2.20s/it]
 42%|████▏     | 187/450 [04:32<07:02,  1.61s/it]
 42%|████▏     | 188/450 [04:32<05:11,  1.19s/it]
 42%|████▏     | 189/450 [04:32<03:55,  1.11it/s]
 42%|████▏     | 190/450 [04:32<03:01,  1.44it/s]
 42%|████▏     | 191/450 [04:32<02:22,  1.81it/s]
 43%|████▎     | 192/450 [04:33<01:56,  2.22it/s]
 43%|████▎     | 193/450 [04:44<16:07,  3.76s/it]
 43%|████▎     | 194/450 [04:44<11:31,  2.70s/it]
 43%|████▎     | 195/450 [04:45<08:17,  1.95s/it]
 44%|████▎     | 196/450 [04:45<06:03,  1.43s/it]
 44%|████▍     | 197/450 [04:45<04:30,  1.07s/it]
 44%|████▍     | 198/450 [04:45<03:24,  1.23it/s]
 44%|████▍     | 199/450 [04:45<02:38,  1.58it/s]
 44%|████▍     | 200/450 [04:46<02:06,  1.97it/s]
 45%|████▍     | 201/450 [05:01<20:08,  4.85s/it]
 45%|████▍     | 202/450 [05:01<14:18,  3.46s/it]
 45%|████▌     | 203/450 [05:01<10:14,  2.49s/it]
 45%|████▌     | 204/450 [05:01<07:25,  1.81s/it]
 46%|████▌     | 205/450 [05:02<05:26,  1.33s/it]
 46%|████▌     | 206/450 [05:02<04:03,  1.00it/s]
 46%|████▌     | 207/450 [05:02<03:05,  1.31it/s]
 46%|████▌     | 208/450 [05:02<02:25,  1.66it/s]
 46%|████▋     | 209/450 [05:11<11:59,  2.98s/it]
 47%|████▋     | 210/450 [05:11<08:36,  2.15s/it]
 47%|████▋     | 211/450 [05:11<06:15,  1.57s/it]
 47%|████▋     | 212/450 [05:11<04:37,  1.16s/it]
 47%|████▋     | 213/450 [05:12<03:28,  1.14it/s]
 48%|████▊     | 214/450 [05:12<02:40,  1.47it/s]
 48%|████▊     | 215/450 [05:12<02:07,  1.85it/s]
 48%|████▊     | 216/450 [05:12<01:43,  2.25it/s]
 48%|████▊     | 217/450 [05:24<14:48,  3.81s/it]
 48%|████▊     | 218/450 [05:24<10:34,  2.74s/it]
 49%|████▊     | 219/450 [05:24<07:37,  1.98s/it]
 49%|████▉     | 220/450 [05:25<05:34,  1.45s/it]
 49%|████▉     | 221/450 [05:25<04:07,  1.08s/it]
 49%|████▉     | 222/450 [05:25<03:07,  1.22it/s]
 50%|████▉     | 223/450 [05:25<02:25,  1.56it/s]
 50%|████▉     | 224/450 [05:25<01:56,  1.94it/s]
 50%|█████     | 225/450 [05:39<16:12,  4.32s/it]
 50%|█████     | 226/450 [05:39<11:32,  3.09s/it]
 50%|█████     | 227/450 [05:39<08:16,  2.23s/it]
 51%|█████     | 228/450 [05:39<06:00,  1.63s/it]
 51%|█████     | 229/450 [05:40<04:25,  1.20s/it]
 51%|█████     | 230/450 [05:40<03:19,  1.10it/s]
 51%|█████▏    | 231/450 [05:40<02:33,  1.43it/s]
 52%|█████▏    | 232/450 [05:40<02:01,  1.80it/s]
 52%|█████▏    | 233/450 [05:46<07:54,  2.19s/it]
 52%|█████▏    | 234/450 [05:46<05:44,  1.60s/it]
 52%|█████▏    | 235/450 [05:47<04:14,  1.18s/it]
 52%|█████▏    | 236/450 [05:47<03:10,  1.12it/s]
 53%|█████▎    | 237/450 [05:47<02:26,  1.45it/s]
 53%|█████▎    | 238/450 [05:47<01:56,  1.82it/s]
 53%|█████▎    | 239/450 [05:47<01:34,  2.23it/s]
 53%|█████▎    | 240/450 [05:48<01:19,  2.63it/s]
 54%|█████▎    | 241/450 [05:58<11:23,  3.27s/it]
 54%|█████▍    | 242/450 [05:58<08:10,  2.36s/it]
 54%|█████▍    | 243/450 [05:58<05:55,  1.72s/it]
 54%|█████▍    | 244/450 [05:58<04:20,  1.27s/it]
 54%|█████▍    | 245/450 [05:59<03:14,  1.05it/s]
 55%|█████▍    | 246/450 [05:59<02:29,  1.36it/s]
 55%|█████▍    | 247/450 [05:59<01:57,  1.72it/s]
 55%|█████▌    | 248/450 [05:59<01:35,  2.12it/s]
 55%|█████▌    | 249/450 [06:11<12:57,  3.87s/it]
 56%|█████▌    | 250/450 [06:11<09:14,  2.77s/it]
 56%|█████▌    | 251/450 [06:11<06:39,  2.01s/it]
 56%|█████▌    | 252/450 [06:12<04:50,  1.47s/it]
 56%|█████▌    | 253/450 [06:12<03:35,  1.09s/it]
 56%|█████▋    | 254/450 [06:12<02:42,  1.21it/s]
 57%|█████▋    | 255/450 [06:12<02:05,  1.55it/s]
 57%|█████▋    | 256/450 [06:13<01:40,  1.94it/s]
 57%|█████▋    | 257/450 [06:18<06:18,  1.96s/it]
 57%|█████▋    | 258/450 [06:18<04:35,  1.44s/it]
 58%|█████▊    | 259/450 [06:18<03:24,  1.07s/it]
 58%|█████▊    | 260/450 [06:19<02:34,  1.23it/s]
 58%|█████▊    | 261/450 [06:19<01:59,  1.58it/s]
 58%|█████▊    | 262/450 [06:19<01:35,  1.96it/s]
 58%|█████▊    | 263/450 [06:19<01:19,  2.36it/s]
 59%|█████▊    | 264/450 [06:19<01:07,  2.77it/s]
 59%|█████▉    | 265/450 [06:45<24:51,  8.06s/it]
 59%|█████▉    | 266/450 [06:46<17:30,  5.71s/it]
 59%|█████▉    | 267/450 [06:46<12:22,  4.06s/it]
 60%|█████▉    | 268/450 [06:46<08:49,  2.91s/it]
 60%|█████▉    | 269/450 [06:46<06:20,  2.10s/it]
 60%|██████    | 270/450 [06:47<04:36,  1.54s/it]
 60%|██████    | 271/450 [06:47<03:23,  1.14s/it]
 60%|██████    | 272/450 [06:47<02:33,  1.16it/s]
 61%|██████    | 273/450 [07:07<19:11,  6.51s/it]
 61%|██████    | 274/450 [07:07<13:33,  4.62s/it]
 61%|██████    | 275/450 [07:07<09:37,  3.30s/it]
 61%|██████▏   | 276/450 [07:07<06:53,  2.37s/it]
 62%|██████▏   | 277/450 [07:07<04:58,  1.72s/it]
 62%|██████▏   | 278/450 [07:08<03:38,  1.27s/it]
 62%|██████▏   | 279/450 [07:08<02:42,  1.05it/s]
 62%|██████▏   | 280/450 [07:08<02:04,  1.37it/s]
 62%|██████▏   | 281/450 [07:19<10:15,  3.64s/it]
 63%|██████▎   | 282/450 [07:19<07:19,  2.62s/it]
 63%|██████▎   | 283/450 [07:19<05:16,  1.90s/it]
 63%|██████▎   | 284/450 [07:19<03:50,  1.39s/it]
 63%|██████▎   | 285/450 [07:19<02:51,  1.04s/it]
 64%|██████▎   | 286/450 [07:20<02:09,  1.26it/s]
 64%|██████▍   | 287/450 [07:20<01:41,  1.61it/s]
 64%|██████▍   | 288/450 [07:20<01:20,  2.00it/s]
 64%|██████▍   | 289/450 [07:29<08:18,  3.09s/it]
 64%|██████▍   | 290/450 [07:29<05:57,  2.23s/it]
 65%|██████▍   | 291/450 [07:30<04:18,  1.63s/it]
 65%|██████▍   | 292/450 [07:30<03:10,  1.20s/it]
 65%|██████▌   | 293/450 [07:30<02:22,  1.10it/s]
 65%|██████▌   | 294/450 [07:30<01:49,  1.43it/s]
 66%|██████▌   | 295/450 [07:31<01:26,  1.80it/s]
 66%|██████▌   | 296/450 [07:31<01:09,  2.20it/s]
 66%|██████▌   | 297/450 [07:37<05:43,  2.25s/it]
 66%|██████▌   | 298/450 [07:37<04:09,  1.64s/it]
 66%|██████▋   | 299/450 [07:38<03:03,  1.21s/it]
 67%|██████▋   | 300/450 [07:38<02:17,  1.09it/s]
 67%|██████▋   | 301/450 [07:38<01:44,  1.42it/s]
 67%|██████▋   | 302/450 [07:38<01:22,  1.79it/s]
 67%|██████▋   | 303/450 [07:38<01:06,  2.20it/s]
 68%|██████▊   | 304/450 [07:39<00:55,  2.62it/s]
 68%|██████▊   | 305/450 [07:46<06:02,  2.50s/it]
 68%|██████▊   | 306/450 [07:46<04:21,  1.81s/it]
 68%|██████▊   | 307/450 [07:47<03:10,  1.33s/it]
 68%|██████▊   | 308/450 [07:47<02:21,  1.00it/s]
 69%|██████▊   | 309/450 [07:47<01:47,  1.31it/s]
 69%|██████▉   | 310/450 [07:47<01:23,  1.67it/s]
 69%|██████▉   | 311/450 [07:47<01:07,  2.07it/s]
 69%|██████▉   | 312/450 [07:48<00:55,  2.48it/s]
 70%|██████▉   | 313/450 [07:58<07:48,  3.42s/it]
 70%|██████▉   | 314/450 [07:58<05:34,  2.46s/it]
 70%|███████   | 315/450 [07:59<04:01,  1.79s/it]
 70%|███████   | 316/450 [07:59<02:56,  1.31s/it]
 70%|███████   | 317/450 [07:59<02:10,  1.02it/s]
 71%|███████   | 318/450 [07:59<01:39,  1.33it/s]
 71%|███████   | 319/450 [07:59<01:17,  1.69it/s]
 71%|███████   | 320/450 [08:00<01:02,  2.08it/s]
 71%|███████▏  | 321/450 [08:08<06:03,  2.82s/it]
 72%|███████▏  | 322/450 [08:08<04:20,  2.04s/it]
 72%|███████▏  | 323/450 [08:08<03:09,  1.49s/it]
 72%|███████▏  | 324/450 [08:09<02:19,  1.11s/it]
 72%|███████▏  | 325/450 [08:09<01:44,  1.19it/s]
 72%|███████▏  | 326/450 [08:09<01:20,  1.53it/s]
 73%|███████▎  | 327/450 [08:09<01:04,  1.92it/s]
 73%|███████▎  | 328/450 [08:09<00:52,  2.32it/s]
 73%|███████▎  | 329/450 [08:18<05:44,  2.85s/it]
 73%|███████▎  | 330/450 [08:18<04:07,  2.06s/it]
 74%|███████▎  | 331/450 [08:18<02:59,  1.51s/it]
 74%|███████▍  | 332/450 [08:19<02:12,  1.12s/it]
 74%|███████▍  | 333/450 [08:19<01:39,  1.18it/s]
 74%|███████▍  | 334/450 [08:19<01:16,  1.51it/s]
 74%|███████▍  | 335/450 [08:19<01:00,  1.89it/s]
 75%|███████▍  | 336/450 [08:19<00:49,  2.30it/s]
 75%|███████▍  | 337/450 [08:28<05:23,  2.86s/it]
 75%|███████▌  | 338/450 [08:28<03:51,  2.07s/it]
 75%|███████▌  | 339/450 [08:28<02:47,  1.51s/it]
 76%|███████▌  | 340/450 [08:29<02:03,  1.12s/it]
 76%|███████▌  | 341/450 [08:29<01:32,  1.18it/s]
 76%|███████▌  | 342/450 [08:29<01:11,  1.52it/s]
 76%|███████▌  | 343/450 [08:29<00:56,  1.90it/s]
 76%|███████▋  | 344/450 [08:29<00:45,  2.32it/s]
 77%|███████▋  | 345/450 [08:38<05:15,  3.01s/it]
 77%|███████▋  | 346/450 [08:39<03:45,  2.17s/it]
 77%|███████▋  | 347/450 [08:39<02:43,  1.59s/it]
 77%|███████▋  | 348/450 [08:39<01:59,  1.17s/it]
 78%|███████▊  | 349/450 [08:39<01:29,  1.13it/s]
 78%|███████▊  | 350/450 [08:40<01:08,  1.46it/s]
 78%|███████▊  | 351/450 [08:40<00:54,  1.83it/s]
 78%|███████▊  | 352/450 [08:40<00:43,  2.24it/s]
 78%|███████▊  | 353/450 [09:00<10:01,  6.20s/it]
 79%|███████▊  | 354/450 [09:00<07:02,  4.40s/it]
 79%|███████▉  | 355/450 [09:00<04:59,  3.15s/it]
 79%|███████▉  | 356/450 [09:00<03:33,  2.27s/it]
 79%|███████▉  | 357/450 [09:00<02:33,  1.65s/it]
 80%|███████▉  | 358/450 [09:01<01:52,  1.22s/it]
 80%|███████▉  | 359/450 [09:01<01:23,  1.09it/s]
 80%|████████  | 360/450 [09:01<01:03,  1.41it/s]
 80%|████████  | 361/450 [09:24<10:44,  7.24s/it]
 80%|████████  | 362/450 [09:24<07:31,  5.14s/it]
 81%|████████  | 363/450 [09:24<05:18,  3.66s/it]
 81%|████████  | 364/450 [09:24<03:45,  2.63s/it]
 81%|████████  | 365/450 [09:24<02:41,  1.90s/it]
 81%|████████▏ | 366/450 [09:25<01:57,  1.40s/it]
 82%|████████▏ | 367/450 [09:25<01:26,  1.04s/it]
 82%|████████▏ | 368/450 [09:25<01:05,  1.26it/s]
 82%|████████▏ | 369/450 [09:42<07:34,  5.62s/it]
 82%|████████▏ | 370/450 [09:42<05:19,  4.00s/it]
 82%|████████▏ | 371/450 [09:42<03:46,  2.86s/it]
 83%|████████▎ | 372/450 [09:43<02:41,  2.07s/it]
 83%|████████▎ | 373/450 [09:43<01:56,  1.51s/it]
 83%|████████▎ | 374/450 [09:43<01:25,  1.12s/it]
 83%|████████▎ | 375/450 [09:43<01:03,  1.17it/s]
 84%|████████▎ | 376/450 [09:43<00:48,  1.51it/s]
 84%|████████▍ | 377/450 [10:11<10:37,  8.73s/it]
 84%|████████▍ | 378/450 [10:11<07:24,  6.18s/it]
 84%|████████▍ | 379/450 [10:11<05:11,  4.39s/it]
 84%|████████▍ | 380/450 [10:12<03:39,  3.14s/it]
 85%|████████▍ | 381/450 [10:12<02:35,  2.26s/it]
 85%|████████▍ | 382/450 [10:12<01:51,  1.65s/it]
 85%|████████▌ | 383/450 [10:12<01:21,  1.22s/it]
 85%|████████▌ | 384/450 [10:13<01:00,  1.09it/s]
 86%|████████▌ | 385/450 [10:32<06:58,  6.44s/it]
 86%|████████▌ | 386/450 [10:32<04:52,  4.57s/it]
 86%|████████▌ | 387/450 [10:32<03:25,  3.27s/it]
 86%|████████▌ | 388/450 [10:33<02:25,  2.35s/it]
 86%|████████▋ | 389/450 [10:33<01:44,  1.71s/it]
 87%|████████▋ | 390/450 [10:33<01:15,  1.26s/it]
 87%|████████▋ | 391/450 [10:33<00:55,  1.06it/s]
 87%|████████▋ | 392/450 [10:33<00:42,  1.37it/s]
 87%|████████▋ | 393/450 [10:42<02:50,  2.99s/it]
 88%|████████▊ | 394/450 [10:42<02:00,  2.16s/it]
 88%|████████▊ | 395/450 [10:42<01:26,  1.58s/it]
 88%|████████▊ | 396/450 [10:42<01:03,  1.17s/it]
 88%|████████▊ | 397/450 [10:43<00:46,  1.13it/s]
 88%|████████▊ | 398/450 [10:43<00:35,  1.47it/s]
 89%|████████▊ | 399/450 [10:43<00:27,  1.85it/s]
 89%|████████▉ | 400/450 [10:43<00:22,  2.26it/s]
 89%|████████▉ | 401/450 [11:03<05:04,  6.21s/it]
 89%|████████▉ | 402/450 [11:03<03:31,  4.41s/it]
 90%|████████▉ | 403/450 [11:03<02:28,  3.15s/it]
 90%|████████▉ | 404/450 [11:03<01:44,  2.27s/it]
 90%|█████████ | 405/450 [11:04<01:14,  1.66s/it]
 90%|█████████ | 406/450 [11:04<00:53,  1.22s/it]
 90%|█████████ | 407/450 [11:04<00:39,  1.08it/s]
 91%|█████████ | 408/450 [11:04<00:29,  1.41it/s]
 91%|█████████ | 409/450 [12:09<13:38, 19.96s/it]
 91%|█████████ | 410/450 [12:09<09:21, 14.04s/it]
 91%|█████████▏| 411/450 [12:10<06:25,  9.89s/it]
 92%|█████████▏| 412/450 [12:10<04:25,  6.99s/it]
 92%|█████████▏| 413/450 [12:10<03:03,  4.96s/it]
 92%|█████████▏| 414/450 [12:10<02:07,  3.53s/it]
 92%|█████████▏| 415/450 [12:11<01:28,  2.54s/it]
 92%|█████████▏| 416/450 [12:11<01:02,  1.84s/it]
 93%|█████████▎| 417/450 [12:27<03:20,  6.06s/it]
 93%|█████████▎| 418/450 [12:27<02:17,  4.31s/it]
 93%|█████████▎| 419/450 [12:27<01:35,  3.08s/it]
 93%|█████████▎| 420/450 [12:27<01:06,  2.22s/it]
 94%|█████████▎| 421/450 [12:28<00:46,  1.62s/it]
 94%|█████████▍| 422/450 [12:28<00:33,  1.20s/it]
 94%|█████████▍| 423/450 [12:28<00:24,  1.11it/s]
 94%|█████████▍| 424/450 [12:28<00:18,  1.43it/s]
 94%|█████████▍| 425/450 [12:40<01:40,  4.02s/it]
 95%|█████████▍| 426/450 [12:40<01:09,  2.88s/it]
 95%|█████████▍| 427/450 [12:40<00:47,  2.08s/it]
 95%|█████████▌| 428/450 [12:41<00:33,  1.53s/it]
 95%|█████████▌| 429/450 [12:41<00:23,  1.14s/it]
 96%|█████████▌| 430/450 [12:41<00:17,  1.15it/s]
 96%|█████████▌| 431/450 [12:41<00:12,  1.49it/s]
 96%|█████████▌| 432/450 [12:41<00:09,  1.88it/s]
 96%|█████████▌| 433/450 [12:51<00:53,  3.13s/it]
 96%|█████████▋| 434/450 [12:51<00:36,  2.25s/it]
 97%|█████████▋| 435/450 [12:51<00:24,  1.64s/it]
 97%|█████████▋| 436/450 [12:51<00:17,  1.22s/it]
 97%|█████████▋| 437/450 [12:52<00:11,  1.09it/s]
 97%|█████████▋| 438/450 [12:52<00:08,  1.41it/s]
 98%|█████████▊| 439/450 [12:52<00:06,  1.78it/s]
 98%|█████████▊| 440/450 [12:52<00:04,  2.18it/s]
 98%|█████████▊| 441/450 [12:59<00:20,  2.32s/it]
 98%|█████████▊| 442/450 [12:59<00:13,  1.69s/it]
 98%|█████████▊| 443/450 [12:59<00:08,  1.25s/it]
 99%|█████████▊| 444/450 [13:00<00:05,  1.07it/s]
 99%|█████████▉| 445/450 [13:00<00:03,  1.38it/s]
 99%|█████████▉| 446/450 [13:00<00:02,  1.74it/s]
 99%|█████████▉| 447/450 [13:00<00:01,  2.14it/s]
100%|█████████▉| 448/450 [13:00<00:00,  2.54it/s]
100%|█████████▉| 449/450 [13:10<00:03,  3.05s/it]
100%|█████████▉| 449/450 [13:10<00:01,  1.76s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/log_2_env0.json.
+MustardInLeftBinTask_2 complete: task_name: MustardInLeftBinTask, run_name: MustardInLeftBinTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the mustard in the left bin, attributes: ['spatial', 'simple'], success: False, episode_step: 450, duration: 30.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -10.099468778784843, 'joint_sparc_mean': -14.681265039938028, 'ee_isj': 127192.56548661356, 'joint_isj': 2693292.627538469, 'ee_path_length': 13.113727580535922, 'joint_rmse_mean': 2.0204329264878003, 'ee_speed_max': 4.370962619781494, 'ee_speed_mean': 0.4209628105163574}, events: {}, instruction_type: default, timing: {'policy_inference_s': 697.173, 'policy_inference_avg_ms': 1549.3, 'env_step_s': 88.352, 'env_step_avg_ms': 196.3, 'video_write_s': 4.661, 'video_write_avg_ms': 10.4, 'wall_total_s': 790.186, 'it_per_sec': 0.57}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=mustard) (step 1/2), harness_episode_id: df1c32989fd5489f8297b76fb017eb0f-2
+------------------------------------------------------------------- EXPERIMENT SUMMARY --------------------------------------------------------------------
+Task Name               Success    %     95% CI         Score(total) Score(fail) Time(s) EE SPARC PathLen(m) Speed(cm/s) it/s Walltime(m)
+-----------------------------------------------------------------------------------------------------------------------------------------------------------
+TOTAL (5 tasks)         5/15     33.3%   [15.2-58.7]    0.433        0.150       21.76   -10.72   9.04       19.9        0.41 35.2       
+-----------------------------------------------------------------------------------------------------------------------------------------------------------
+MustardInLeftBinTask    2/3      66.7%   [19.4-93.2]    0.667        0.000       9.47    -7.14    5.29       23.9        0.64 6.7        
+RedItemsInBinTask       1/3      33.3%   [6.8-80.6]     0.500        0.250       34.20   -11.55   8.20       15.5        0.41 32.0       
+ReorientWhiteMugsTask   0/3      0.0%    [0.6-60.2]     0.000        0.000       -       -12.16   13.19      22.1        0.36 42.9       
+SmallPumpkinInBinTask   0/3      0.0%    [0.6-60.2]     0.000        0.000       -       -12.81   10.42      17.2        0.22 69.7       
+TakeSpatulaOffShelfTask 2/3      66.7%   [19.4-93.2]    1.000        1.000       27.83   -9.95    8.08       20.7        0.40 24.7       
+-----------------------------------------------------------------------------------------------------------------------------------------------------------
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval.episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b60be1a237f61ae7a73df8d42c326f4b2ade1fb
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval.episodes.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba4a878244354ac03ffe2093d8ca9692622630bda0a554856aa7fdc83c172c70
+size 30118
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2eb811d0778a7000a64ab2689e86114c5d511c00
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7eff541d80aa606e0b41d7a0ad86b441985e54bae3ed3d311f77f866ee69e7e1
+size 3794869
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0001/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f1ca8f1354d486348fa814f4f7069c21ac30926d
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0001/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96eb1cd73196cfc526b7e3b9efc565a5f452b9f238fdb02823c29704e88009db
+size 32423816
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0001/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0001/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..82728e01cb1ebbfed0f4784230e0cf09fe695906
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0001/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71cd4380c810118899e70a46c4f3fe864aaca0d64d59bbc156b3ad1441238606
+size 50375
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0001/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0002/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0002/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e24622d3acb628b7378255b1d06caefb4c44b69f
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0002/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adffec831fcd1887dd4641a178ab1fcee378d3c00e5ad3e84f6b831eee8664f9
+size 31368616
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0002/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0002/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9ffc2a6a1de4d53e08492d41f52e7717f1d05de9
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0002/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d30efa4e1eaeed47ef08900023440c5a952677baf771a764bff01f5411a618fa
+size 47137
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0002/stderr.log b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0002/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0003/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0003/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e5781e8a9349dc84603af19c393440a085e99137
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0003/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa17df1959a9bb3fa52e7e62da35031baa24ae28a3409d5693ead993e7124cab
+size 33418522
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0003/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0003/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0ab818da601a3e9c2179e020c224fccbba53ab77
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0003/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ee6376b6d78aba13fc5b7338b7d4fbfc8d2ccc293dff50e8fe7ee3176b80e1a
+size 56040
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0003/stderr.log b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0003/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0004/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0004/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..90b64917fa5ce856ab14bfd3d70654283fdfaf86
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0004/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b96c0d84d326d416d8073f0f88ee76ed32f5918e8672fc44425a97c7b1550a98
+size 31873382
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0004/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0004/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fdf9e7dbe7bb76fd463d50acc662e8a90db6ef37
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0004/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33ecd1f0da864f95901d0a6f3c643987cc10ac4ef168d013393dd2b38e0962f1
+size 37537
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0004/stderr.log b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0004/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..3f59d1878970095d9ca5a0ac6210e783d629d7ef
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0004/stderr.log
@@ -0,0 +1 @@
+2026-10-30T19:37:22.454676Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0005/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0005/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c19dd143b860df752c91de5144bf7465df10e678
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0005/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d7eb24ee384c40e31f75c6e1d6d8195758c1fd0c2bf4748d99b24c2f2161039
+size 33367099
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0005/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0005/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..56d6b7fbd8f136960053b5ee0a083cc9b1b5e79e
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0005/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:126d13177b2f07bd538bad2728d7b7725212943a2952ea79580e6a12869498e0
+size 39291
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0005/stderr.log b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0005/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0006/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0006/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..21951b7ef5c3395d01dd210e421d954137be9516
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0006/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9730de685755f0df7c846d6cf7d21f3ebd74cf83b5224d94c8e439400a551eef
+size 30731506
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0006/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0006/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c40f8402970eadd57c0a66e25751a9a2e4c1f6b0
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0006/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1503b9e6d036ed25d880235d399d5c72e723557ec551f7d1f2aa5da128a4f3a8
+size 35484
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0006/stderr.log b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0006/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0007/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0007/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..205b2e3cd49f4498d956b4e6cb25fc3b0b139b54
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0007/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2baea41f34a2aa5ba699f8489714396fc558c66be92c622ca62ab543de86049
+size 17850508
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0007/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0007/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ce10f03ac54014a50f958338b3adae8f4ec66fee
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0007/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06d76581e1e9f83fca8960f4caef0871b60d6921274bc1e8b99d6971948a6972
+size 19836
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0007/stderr.log b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0007/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0008/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0008/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6455d57756aec8864d841a0252293b2c2a6b683c
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0008/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63f887bd2da958c307861e7d0630ee3f6377f58599c9af06d7ac1143e0850bce
+size 13264757
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0008/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0008/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bd990a8acb7a04ebf351c0e33a4b454fa3fdffba
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0008/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ea4b64ace7fec75b78fd2585d95772785e49a0b8b21658a59db4b4273fe7d70
+size 14920
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0008/stderr.log b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0008/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0009/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0009/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2538cd302190dbf3c6825c00ccd9bbb7050de0cb
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0009/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03ea118d9581c9abba7a5faddc11411f436299b796a9b2391f42e4be304be3be
+size 31801454
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0009/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0009/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..05ee987e7bc345fded431a6803eff9a935782332
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0009/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ef4fab19bd314cbbb20f4f87c70cf5b3d0f5baa17a5893f103227ed52d5d6c8
+size 46516
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0009/stderr.log b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0009/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0010/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0010/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..adabeb8b9b2183f5220800bb2300f78ba376822a
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0010/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b629f4dda283c983f92ca615d5f1db6e50bbd316a70900bb567df204474d9a3
+size 31238124
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0010/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0010/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c978df0cfdd7f0205d4ed329c47bc85ccfed63ab
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0010/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e296cb5bebd38e580a2217f382da4a921500f19f771b5d9aee9336ee5b8bda4b
+size 33380
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0010/stderr.log b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0010/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0011/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0011/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f0b2d97d16e426676e26693f52f2f8f17bbf0266
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0011/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ff9c6b438e40bcf34711fb1d1be2e7aab9e85aa022571eee3519814c0ded24c
+size 18212506
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0011/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0011/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1e3b19884a7e67b05f2563fca05f3ac3c81cabba
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0011/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27980cd582385abeabf73d175163fc9c918ec2746d829204d46df990ae437d20
+size 21613
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0011/stderr.log b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0011/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0012/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0012/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..84a449c243eacb95a8c49765c82122217a20b218
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0012/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d376591fed745f20cf7de3167819a0f6c37801fdd22990759c7da4f86d2d449f
+size 30754206
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0012/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0012/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..af9fc029672088690cefb94c5b4c83e9f55b04c8
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0012/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35a544482fb3afb5aca6ee809d3fe2249dcee9e1ad98eb6205c74b9c755e8d47
+size 36845
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0012/stderr.log b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0012/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0013/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0013/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c03518beef93416748d859413de751dfb6a67a28
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0013/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc829e582f6084cc7bd80e5da229b8bc2257884a30b7219cb3942bafbc7c9ad1
+size 7118194
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0013/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0013/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..807c91ff4bf5d722a4960e5c89cf3548e34a0e30
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0013/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4717197a068fa132418077348bde197f230b43c3597a9a560c016952f1a5e5bd
+size 8472
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0013/stderr.log b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0013/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0014/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0014/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2c6ac11030aeab38005743ce9fdfe4f8bdd5a37e
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0014/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbe401cbf9822552e84e11955c21a5a1655ae5657cdb482f8eb6f7bb2200b1c4
+size 3949976
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0014/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0014/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6cf676d63dbfa75c12a00701802a9d481a6681a7
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0014/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbc4a9d6ee6d404a3a79c72fe4ec5c0a693050d5675b3223144df0b39be94a1e
+size 5112
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0014/stderr.log b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0014/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0015/events.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0015/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4ce64caffa4b4de28eb7f13500b4945e6cd69e78
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0015/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab8cb0ee21f2bc73add8f36aad4f48a5e2863051301ef1519bad34d4139e6b82
+size 16097140
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0015/network_timing.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0015/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4addf6656048344e845c8ea6d07a40beb504dc49
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0015/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b38ce45f1de81a60e3260069a6b59b65b9ab5f1254332699c399fcd7f610c4a
+size 20987
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0015/stderr.log b/harness_robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval/episode-0015/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_0.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b298f5e604307af39f6b8c93bdb42d242c7912b4
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83b4bee3388685bdc146ff9eb9e1096989f7c20239de8e2e0626162e19835f06
+size 4230126
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_0_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2002129ac328cb7522069ac02c4a3f96c0423180
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63d100654cadc9a84ba5bd8fff3b1919e6e7a8082c0cb06d4e2c68167e07354a
+size 1178358
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_1.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..13faed511df9773a29fefb3fcec95889126633e8
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba7e492bfcaf1f0baa751945f3c533d7d3bea730897ef94800ad4527987d9423
+size 2196625
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_1_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d36100ca1de42b4ef1926c5d0cc6dbaf70cf5aeb
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be368e62326bff398cd37ec4fb384cbea939ce648bd7df6fc1a9a0030a789fc7
+size 641911
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_2.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d96611cbc1c67a33a71c5c46c98e2940b122f9eb
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:300f1dcd69c7e3a76656352737c8cc75649da152146e98e1b3d4f2f8df273811
+size 10567075
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_2_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4afba11ddbce361db51f3438d713a7fe8b58231c
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5532ee387ee9729b1ebda2c1d3fff66ea56eaaba9e4f5d91eb2fde0458257fa9
+size 1670851
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/env_cfg.json b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..61f082b60d852126f75fb31d5b2b9d75d98c5f1d
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:7", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/two_bin.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471368432044983, 1.2532538562481932e-08, -0.3449999988079071], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "mustard": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mustard", "spawn": null, "init_state": {"pos": [0.5899075865745544, 3.1596486223861575e-05, 0.10049273818731308], "rot": [0.9999995827674866, -0.0001625543796023939, -0.0008989080091618884, 2.305972504116673e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "grey_bin_right": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/grey_bin_right", "spawn": null, "init_state": {"pos": [0.5183118581771851, -0.29250726103782654, 0.005000010132789612], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "grey_bin_left": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/grey_bin_left", "spawn": null, "init_state": {"pos": [0.5183117985725403, 0.28813636302948, 0.005000028759241104], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard", "/World/envs/env_.*/scene/grey_bin_right", "/World/envs/env_.*/scene/grey_bin_left"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__grey_bin_right": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_right"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__grey_bin_left": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_left"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__grey_bin_right": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_right"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__grey_bin_left": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_left"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mustard__grey_bin_right": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_right"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mustard__grey_bin_left": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_left"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin_right__grey_bin_left": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin_right", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_left"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 30, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "mustard", "container": "grey_bin_left", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"mustard": [["functools.partial(<function object_grabbed at 0x7fc7a13fd9e0>, object='mustard')", 0.0], ["functools.partial(<function object_in_container at 0x7fc7a13fd760>, object='mustard', container='grey_bin_left', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["spatial", "simple"], "_task_attributes": ["spatial", "simple"], "_task_name": "MustardInLeftBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the mustard in the left bin", "contact_object_list": ["table", "mustard", "grey_bin_right", "grey_bin_left"], "_instruction_variants": {"default": "Put the mustard in the left bin", "vague": "Use the left bin for mustard", "specific": "Pick up the mustard bottle and place it in the bin on the left side"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/log_0_env0.json b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..632d7efb88e5637b49e8abc8d67a3eb06c311b88
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 185, "events": [{"step": 53, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 55, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 55, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 74, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 185, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 185, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/log_1_env0.json b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb9a858d405d3a5b219016ee7d4ba0815b55d015
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 99, "events": [{"step": 26, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 33, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 33, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 33, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 73, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 97, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 97, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 97, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 99, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/log_2_env0.json b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce565c85109da63f80bcd6b2a7eb49f6aaa76383
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 2, "success": false, "final_step": 450, "events": []}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/run_0.hdf5 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f533d7a62cf1ee4405d6f2985711a2e13c7bd808
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b49e5f23df0ea5d6d7fc7703cea1808a69f13cec288e4e88ec8f2b9ff044711
+size 243974
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/run_1.hdf5 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..cf68e2f4d834c0ac41ab5334b4a51bf133a0ac71
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:134211d33c88f3df9ec4d1ed904fa51e1f1b5a2e718324491ca9dcdd9739a0e8
+size 212493
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/run_2.hdf5 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..95e9cf06b06e16696e787cb99e890724069faa14
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/MustardInLeftBinTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95f141935c130ee624c395abf0aaf7c2e1d3da47aed8377e826592754d99e774
+size 334138
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d9e858e30fcab37e10d514c942ef83979ae72bdc
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59685e982361627bb9da253305c74a0998050aa3314d4a6c80b84fc49d30e302
+size 21359599
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..202436d96a1bebbeca321ae91e947e0a2e560a88
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb4428562e440f0b9752e2a092300417785f9a20fcc16437e1d9e0a7ebee930b
+size 5462763
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..606e59114d6f3e22fe0423551fcc76a635d2c9bf
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c17a80d816e268189c8defaf27e76bd10c3c4e548a5b24211e1cb4398577d8bc
+size 13150970
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da117af4970907cfba66f31c3ca7099581d3f0eb
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2792a192480966a60c4de4eb011aab85ac0d0232cc7b41f34d4a4daa60f6f8b6
+size 3341855
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b9eaa7998455d912e44685241dd93a2d3fad678f
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc9550326496c87b44f260ff131ff5fe2aaa00827d93371c5e0dfd42333a1cc3
+size 20313458
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b15f2e6cbd0b32092159490c53dbb3fae8fa2ad
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:158f636c0cb89831ebace667d41edfd85a1728256224efd0e9d0936158564e9f
+size 5190913
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/env_cfg.json b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..c656e838cf70590558f8efc5d76ce22de8d29b83
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:7", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/rubiks_cube_banana_bowl_mug_bin.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.37651363015174866, -0.21301063895225525, 0.030325712636113167], "rot": [0.9999999403953552, -0.00013068903548728105, -0.00031947125349474667, 8.232872643681093e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "rubiks_cube": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "spawn": null, "init_state": {"pos": [0.43070706725120544, 0.031155899167060852, 0.03409084305167198], "rot": [0.9999987483024597, -0.0007058795111196671, 0.0014135157511410818, 8.426654660775871e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "banana": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/banana", "spawn": null, "init_state": {"pos": [0.5388621091842651, -0.07553913444280624, 0.021424103528261185], "rot": [0.9999789595603943, -0.0026495461569310936, -0.005916839225075561, 0.00022661698574001523], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "grey_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/grey_bin", "spawn": null, "init_state": {"pos": [0.4809686839580536, 0.31765681505203247, 0.002999093383550644], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mug", "spawn": null, "init_state": {"pos": [0.612150251865387, 0.07300157099962234, 0.04352624714374542], "rot": [0.9999993443489075, -0.0006294004352500517, -0.0009533495229199647, 7.925613184833387e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.19861090183258057, 0.022085392847657204, 0.003002345561981201], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug", "/World/envs/env_.*/scene/bowl", "/World/envs/env_.*/scene/grey_bin", "/World/envs/env_.*/scene/banana", "/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["mug", "bowl"], "container": "grey_bin", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"mug": [["functools.partial(<function object_grabbed at 0x7fc7a13fd9e0>, object='mug')", 0.0], ["functools.partial(<function object_in_container at 0x7fc7a13fd760>, object='mug', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "bowl": [["functools.partial(<function object_grabbed at 0x7fc7a13fd9e0>, object='bowl')", 0.0], ["functools.partial(<function object_in_container at 0x7fc7a13fd760>, object='bowl', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["color", "sorting", "moderate"], "_task_attributes": ["color", "sorting", "moderate"], "_task_name": "RedItemsInBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put all the red things in the grey bin", "contact_object_list": ["mug", "bowl", "grey_bin", "table", "banana", "rubiks_cube"], "_instruction_variants": {"default": "Put all the red things in the grey bin", "vague": "Sort items by color", "specific": "Identify every red-colored object on the table and place each one into the grey bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/log_0_env0.json b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab969b21e73224270e60dba6370470c4b6f65695
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 20, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 58, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 123, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 186, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 187, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 217, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 217, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 283, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 297, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 297, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 298, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 303, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 303, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 332, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 358, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 359, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 361, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 362, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 363, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 363, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 378, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 443, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 455, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 469, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 469, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 476, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.084m", "score": 0.5}, {"step": 564, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 676, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 725, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 746, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 784, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 801, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 801, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 801, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 819, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 827, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 827, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 832, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bowl', 'mug'])", "score": 0.5}, {"step": 834, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.072m", "score": 0.5}, {"step": 836, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.5}, {"step": 858, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 887, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bowl', 'mug'])", "score": 0.5}, {"step": 899, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/log_1_env0.json b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c6183e4586c18d10474b7c37ce6a3542d958a22
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 513, "events": [{"step": 154, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 155, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 155, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 182, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 228, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 228, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 229, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 232, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 232, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 251, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 252, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 255, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 255, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 263, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 276, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 276, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 277, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 278, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 278, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 291, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 297, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 297, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 315, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 337, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 337, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 338, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 377, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 387, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 394, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 394, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 432, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 433, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 433, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 434, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 513, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 513, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/log_2_env0.json b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5146be2d129a9fd206cb7cbf75d7f2a251a5bd95
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 95, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 97, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 97, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 99, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 104, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 104, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 105, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 139, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 139, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 140, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 186, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 233, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 243, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 302, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 315, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 315, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 316, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 316, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 317, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 317, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 343, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 344, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 344, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 363, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 363, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 369, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 369, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 421, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 433, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 433, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 458, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 482, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 489, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 497, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 497, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 498, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 505, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 519, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 519, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 522, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 554, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 587, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 610, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 626, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 642, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 666, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 682, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 707, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 754, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 778, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 794, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 834, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 834, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 839, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 841, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 841, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 842, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 845, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 845, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 846, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 847, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.064m", "score": 0.0}, {"step": 847, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 847, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 851, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 866, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 874, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.086m", "score": 0.0}, {"step": 881, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.082m", "score": 0.0}, {"step": 890, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 894, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/run_0.hdf5 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..61b6489d00f22c56c6f12e2bbbd1b9a3d6273487
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:881422087fb7b3681f2f8a702a200554531755459efd9865bddf6806186ac9bd
+size 609706
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/run_1.hdf5 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..24e79a62e7493c33859c477866f6f865eb752bfa
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fe9a663f74df4ca5cf9b4061af54e4d84eb84c3e496fd8614dbd28ffe1d26ee
+size 452396
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/run_2.hdf5 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3cf35aa92e15ed0d6e9e87d92e366e8d5a47c0a0
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/RedItemsInBinTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54666ffce5ecfcc42f1e47fdddce2b78dfcdf043808372c445ac9b5986a63f6d
+size 616805
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d93f7132635287757de36d545a71fbc255f8062
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1f7b841e620e326caf390ed6f51e504b1897682f0868b1461a3b4db714b19ba
+size 17882128
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1be93eb5205f85efe1e7a30a40d118cb754d3c26
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06580aeb97432c183f190f3602f636db17abe23275e52986d8a67b0cff1363fa
+size 5637559
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2a42cdbd7570832c4546e5ff14f41cad0429e0b6
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c03152abda6ac912a6cb04310d7d9e373089061f70d98cea6932087083a6e516
+size 18223172
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a5daf0272e20555db485d9fb1babbd8d62cace0
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d752b37e259a85b1ad6640ec9053b724453df5f9bcf0d696637fa37c2b128fd
+size 5019976
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_2.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5f7e3a128ea7a6bc3093d13fb636b17ca8a7d589
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b78d0b5a570ddd607dcc60cd7c5735b2939e8f147d368197fce2fc66a782c75
+size 15949839
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_2_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..97834dd34d244b742ab349c86572791ea4b6622b
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b50c65d30f462f2a271bb885dbda4d9ca88b33937b0e3fff801ab380d2f03553
+size 4829960
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/env_cfg.json b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..111ed19997ff771c0729e3406c126d504c8ad05c
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:7", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/mugs4_measuringcup_drill_bowl_v2.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.19859781861305237, 0.022068122401833534, 0.05000331252813339], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.3577835559844965, -0.15699950562908752, 0.07734613120555886], "rot": [0.9999995827674866, -0.0005100198318133888, -0.0007578271317653915, -6.531637603328665e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "ceramic_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "spawn": null, "init_state": {"pos": [0.4228050112724304, 0.38089555501937866, 0.09759876877069473], "rot": [-0.07831525057554245, -0.6183157783848653, 0.33409981131658834, 0.7070570244370876], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "red_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_mug", "spawn": null, "init_state": {"pos": [0.39351657032966614, 0.03161013871431351, 0.10334596782922745], "rot": [0.7180227041244508, -0.1619565392647481, -0.6584077103990432, 0.1572029345727593], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "measuring_cup": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/measuring_cup", "spawn": null, "init_state": {"pos": [0.33294488523219357, -0.13786247714482544, 0.15878276657184598], "rot": [0.6315095424652098, -0.6293708753387485, 0.3064612184923824, 0.33342093607163176], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "cordless_drill": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "spawn": null, "init_state": {"pos": [0.6272314190864563, -0.13758935034275055, 0.07787983864545822], "rot": [0.7692766785621643, -0.0007317252418772974, 0.00015319586883993998, -0.6389153566236773], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "upright_white_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "spawn": null, "init_state": {"pos": [0.5596883296966553, 0.20370197296142578, 0.050025418400764465], "rot": [0.8934262990951538, -0.001972623371147258, 0.002114251239366738, -0.44920049731035383], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sideways_white_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "spawn": null, "init_state": {"pos": [0.2661939859390259, 0.17003755271434784, 0.08165376633405685], "rot": [0.5630677342414856, -0.4930617350200139, 0.4112477168205797, -0.5203077623148377], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_mug", "/World/envs/env_.*/scene/bowl", "/World/envs/env_.*/scene/ceramic_mug", "/World/envs/env_.*/scene/upright_white_mug", "/World/envs/env_.*/scene/sideways_white_mug", "/World/envs/env_.*/scene/cordless_drill", "/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__red_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sideways_white_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sideways_white_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sideways_white_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "measuring_cup__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/measuring_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_upright", "params": {"object": ["upright_white_mug", "sideways_white_mug"], "up_axis": "z", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"reorienting_sideways_white_mug": [["functools.partial(<function object_grabbed at 0x7fc7a13fd9e0>, object='sideways_white_mug')", 0.5], ["functools.partial(<function object_upright at 0x7fc7a1d8b4c0>, object='sideways_white_mug', require_gripper_detached=True)", 0.5]]}, "score": 1.0, "logical": "all", "K": null, "name": "reorient_white_mugs"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["reorientation", "color", "moderate"], "_task_attributes": ["reorientation", "color", "moderate"], "_task_name": "ReorientWhiteMugsTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Make sure all the white mugs are upright so that the opening is facing upwards.", "contact_object_list": ["red_mug", "bowl", "ceramic_mug", "upright_white_mug", "sideways_white_mug", "cordless_drill", "measuring_cup", "table"], "_instruction_variants": {"default": "Make sure all the white mugs are upright so that the opening is facing upwards.", "vague": "Fix the cups", "specific": "For each white mug that is tipped over or upside down, rotate it so the opening faces straight up"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/log_0_env0.json b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..69c847b2edf45f18fc01fc27b32b2909772da7b2
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 44, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 136, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 154, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 155, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 155, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 186, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.158m", "score": 0.0}, {"step": 278, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 307, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 307, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 307, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 309, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 309, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 310, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 310, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 310, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 313, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 313, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 323, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.069m", "score": 0.0}, {"step": 328, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 335, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 345, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.061m", "score": 0.0}, {"step": 386, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 410, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 497, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.087m", "score": 0.0}, {"step": 585, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.052m", "score": 0.0}, {"step": 602, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 607, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 659, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 804, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 810, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 811, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'upright_white_mug'", "score": 0.0}, {"step": 812, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.292m", "score": 0.0}, {"step": 842, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.072m", "score": 0.0}, {"step": 842, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.058m", "score": 0.0}, {"step": 842, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.089m", "score": 0.0}, {"step": 842, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.090m", "score": 0.0}, {"step": 842, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'upright_white_mug' displaced 1.651m", "score": 0.0}, {"step": 869, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/log_1_env0.json b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0e4fc38eb25fa777be008ae6ad3bbe949cab6d2
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 69, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 92, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 94, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 97, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 101, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.103m", "score": 0.0}, {"step": 178, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 178, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 179, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 274, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 299, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 314, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.072m", "score": 0.0}, {"step": 330, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 330, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 330, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 361, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 361, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 370, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 370, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 370, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 396, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 396, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 397, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 397, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 446, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'sideways_white_mug' displaced 0.725m", "score": 0.5}, {"step": 498, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.166m", "score": 0.5}, {"step": 569, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'sideways_white_mug' displaced 0.630m", "score": 0.5}, {"step": 619, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.271m", "score": 0.5}, {"step": 622, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.118m", "score": 0.5}, {"step": 633, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.083m", "score": 0.5}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.218m", "score": 0.5}, {"step": 706, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.104m", "score": 0.5}, {"step": 751, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.078m", "score": 0.5}, {"step": 762, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.294m", "score": 0.5}, {"step": 778, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 778, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 778, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 779, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 780, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.110m", "score": 0.5}, {"step": 799, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 801, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 816, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'sideways_white_mug'", "score": 0.0}, {"step": 836, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'sideways_white_mug' displaced 0.848m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/log_2_env0.json b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a536e2f94ada67c369378128e34051c792e6cab
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 71, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 91, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 110, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 128, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 131, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 131, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 169, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 188, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.107m", "score": 0.0}, {"step": 236, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 240, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 241, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 264, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 270, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 282, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 284, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 284, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 322, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 327, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 327, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 412, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 413, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 414, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 415, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 417, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 458, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 464, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 474, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 481, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 483, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 489, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 490, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 495, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 514, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 582, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 639, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 639, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 641, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 645, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 664, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 665, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 670, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.162m", "score": 0.0}, {"step": 722, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 746, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 762, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.053m", "score": 0.0}, {"step": 769, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 778, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 794, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 795, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 801, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 824, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 825, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 825, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 825, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 834, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.301m", "score": 0.0}, {"step": 867, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 874, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.056m", "score": 0.0}, {"step": 886, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.058m", "score": 0.0}, {"step": 891, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 893, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/run_0.hdf5 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..866ee6855449d246fb03c32ec664a7b44a5871d7
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f2ae5059dcaa5d61cc74e0eaba082ad05cae6ff6870e50be47d69def571c8fb
+size 732476
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/run_1.hdf5 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1fd04419cee5c4faa3434ebcd9aec58649bc06d6
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b6293e0702014208d1bc75a3b8867c556c43004f984a925ef796800b4940a07
+size 747831
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/run_2.hdf5 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f0c0552e43ff31ba3543fa309fc1a1a36b87ca28
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/ReorientWhiteMugsTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1bc69c4317c934746be13fcfb1fae43699fde2dfbfbbe43b6b2ccf2057a9968
+size 728137
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_0.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ff004e04cfb67dcf9618fe13310e9b8e952a5e7b
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bbd1619d916d2f05f2b359dc2e36f4802859ef68569885a2f47185a829e8377
+size 23176040
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_0_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3306d87ab238124ed83ff841f13bed93a52442d0
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c48e878433ded8d9016f2ce90458ed5f65dd575e292b1938842632e2ee3fe43
+size 5453633
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_1.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3296e7bd9c8903c6bc01c8a06e32fab92fac40c4
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b066c981a056363299c524ff2e68ae510c5504906481edb717d5ba4a066dfe69
+size 21609921
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_1_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..18c9231fd21884b1999113a8491e7ac55020c1fe
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efc1a9371ac65de5d11978f146f484dc2dc8623b19401b5d64ed056f4de5211c
+size 5850752
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_2.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c6b44437533c7efefb4af7e23428268e372d2ed8
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f06eb9b2ee6a8f4b23555d48a57ad4fc16b8f619e406e4a53a78152bb75d650
+size 23240534
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_2_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..12aef2e3ad6e6e363fba2504e781096fa5687bbb
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b7bac685fbd5c488a4552568fe9f60469abfa87f2dfd31c9f91a07ae000dcee
+size 4906447
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/env_cfg.json b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..22f5f9f96fa7ea00476a2df5bac697f04237dd62
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:7", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/clutter_fruit_bottle_bluebin.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471951961517334, -5.8073303080163896e-05, -0.3470001220703125], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lemon_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lemon_01", "spawn": null, "init_state": {"pos": [0.42004135231769196, 0.24292358325906008, 0.0012257490307096648], "rot": [0.9846045970916748, -0.16874899526712514, -0.034167048716950296, 0.030169135954648194], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lemon_02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lemon_02", "spawn": null, "init_state": {"pos": [0.4783624110678453, 0.06863716244697649, 0.0005861949175596484], "rot": [0.989768385887146, 0.14194340769289784, -0.008274530855149887, -0.01192239279711131], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lime01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lime01", "spawn": null, "init_state": {"pos": [0.4800299106100824, -0.15183968842029988, 0.006471998989582058], "rot": [0.9476653337478638, -0.29089067142251884, 0.12936576046996942, 0.02403190608197013], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lime01_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lime01_01", "spawn": null, "init_state": {"pos": [0.37394365649020833, 0.07729133963584861, 0.006466416642069829], "rot": [0.9476335644721985, -0.2911056799881831, 0.12859947642382488, 0.026651176856777665], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "orange_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/orange_01", "spawn": null, "init_state": {"pos": [0.5467105803946302, -0.024539051577445625, 0.0013540238142013665], "rot": [0.9693353176116943, -0.04060796698326201, -0.24204914570234276, 0.012338805164520043], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "orange_02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/orange_02", "spawn": null, "init_state": {"pos": [0.44774821381366525, -0.024718308821323143, 0.0029870755970478093], "rot": [0.9742560386657716, 0.07376372951924767, -0.21295188765032888, -0.00596463551707301], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "pomegranate01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "spawn": null, "init_state": {"pos": [0.618233889148591, 0.06038472056388822, 0.0014266334474086814], "rot": [0.9938273429870605, 0.09737984038826487, -0.05288813607347244, 0.005217669969386112], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "pumpkinlarge": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "spawn": null, "init_state": {"pos": [0.605211645172, 0.2390698939561846, 0.002787627279758442], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "pumpkinsmall": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "spawn": null, "init_state": {"pos": [0.509778767631412, 0.20728765428066104, 0.0027397200465202275], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "whitepackerbottle_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "spawn": null, "init_state": {"pos": [0.42710998635089487, 0.18918211758136536, 0.0030382685363292863], "rot": [0.9999993443489075, -4.062506945318602e-07, 1.9921224614790785e-07, 0.0011451207580229664], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "avocado01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/avocado01", "spawn": null, "init_state": {"pos": [0.3237164775318006, 0.3751741051673868, 0.04620943846160508], "rot": [0.8237728476524353, -0.5130934104975109, 0.14720055420049882, -0.19095927423850437], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "crabbypenholder": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/crabbypenholder", "spawn": null, "init_state": {"pos": [0.25074413399493706, 0.3030255734920471, 0.010265939086708446], "rot": [0.9999998211860657, 1.9076973700592745e-06, -7.99542283520071e-07, 0.000598016352703504], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "milkjug_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/milkjug_a01", "spawn": null, "init_state": {"pos": [0.6447099447250366, 0.40290379524230957, 0.0029997751116752625], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "serving_bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "spawn": null, "init_state": {"pos": [0.34600949624756583, 0.39387801289558205, 0.009603579000957901], "rot": [0.9999989867210388, -7.789356750222853e-06, -1.4550870762228825e-05, 0.0014234762006126085], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "utilityjug_a03": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/utilityjug_a03", "spawn": null, "init_state": {"pos": [0.5616968274116515, 0.3863130509853362, 0.005757811823843203], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "right_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/right_bin", "spawn": null, "init_state": {"pos": [0.5060220327993279, -0.29056422266758647, 0.002997465431690216], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "red_onion": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_onion", "spawn": null, "init_state": {"pos": [0.7519021312696973, 0.18498873936468602, 0.0], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_01", "/World/envs/env_.*/scene/lemon_02", "/World/envs/env_.*/scene/lime01", "/World/envs/env_.*/scene/lime01_01", "/World/envs/env_.*/scene/orange_01", "/World/envs/env_.*/scene/orange_02", "/World/envs/env_.*/scene/pomegranate01", "/World/envs/env_.*/scene/pumpkinlarge", "/World/envs/env_.*/scene/pumpkinsmall", "/World/envs/env_.*/scene/red_onion", "/World/envs/env_.*/scene/whitepackerbottle_a01", "/World/envs/env_.*/scene/avocado01", "/World/envs/env_.*/scene/crabbypenholder", "/World/envs/env_.*/scene/milkjug_a01", "/World/envs/env_.*/scene/serving_bowl", "/World/envs/env_.*/scene/utilityjug_a03", "/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lemon_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lemon_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lime01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__lemon_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__lime01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__lime01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_onion__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_onion__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_onion__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_onion__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_onion__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_onion__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_onion__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_onion__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "avocado01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/avocado01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "avocado01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/avocado01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "avocado01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/avocado01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "avocado01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/avocado01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "avocado01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/avocado01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "avocado01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/avocado01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "crabbypenholder__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/crabbypenholder", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "crabbypenholder__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/crabbypenholder", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "crabbypenholder__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/crabbypenholder", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "crabbypenholder__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/crabbypenholder", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "crabbypenholder__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/crabbypenholder", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "milkjug_a01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/milkjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "milkjug_a01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/milkjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "milkjug_a01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/milkjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "milkjug_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/milkjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a03__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a03__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "pumpkinsmall", "container": "right_bin", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"pumpkinsmall": [["functools.partial(<function object_grabbed at 0x7fc7a13fd9e0>, object='pumpkinsmall')", 0.0], ["functools.partial(<function object_in_container at 0x7fc7a13fd760>, object='pumpkinsmall', container='right_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["size", "simple"], "_task_attributes": ["size", "simple"], "_task_name": "SmallPumpkinInBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the small pumpkin in the bin", "contact_object_list": ["lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01", "pumpkinlarge", "pumpkinsmall", "red_onion", "whitepackerbottle_a01", "avocado01", "crabbypenholder", "milkjug_a01", "serving_bowl", "utilityjug_a03", "right_bin", "table"], "_instruction_variants": {"default": "Put the small pumpkin in the bin", "vague": "Put away the small pumpkin", "specific": "Identify the smaller pumpkin of the two pumpkins on the table and place it in the bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/log_0_env0.json b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2db9bada4adad38b7ef3a48d723f8e299ef357ef
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.056m", "score": 0.0}, {"step": 98, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 123, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 170, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 216, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 226, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 228, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 244, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 264, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 265, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.061m", "score": 0.0}, {"step": 292, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 346, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 415, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 416, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 416, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 425, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 425, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 426, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 440, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 440, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 441, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 441, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 443, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 443, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 515, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 515, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 521, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 523, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 523, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 536, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 538, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 549, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 553, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 563, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 564, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 573, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 573, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 574, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 620, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 633, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 633, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 646, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 657, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 657, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 682, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 692, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 698, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 698, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 732, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 736, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 737, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 738, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 738, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 739, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 742, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 746, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 746, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 760, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 777, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 777, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 824, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 847, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 847, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 847, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 874, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 875, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 878, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 879, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 880, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 880, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 881, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 881, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 885, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 885, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 889, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 889, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 891, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 891, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 893, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 893, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 894, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 896, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 896, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 897, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 898, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 898, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/log_1_env0.json b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..de8663aed88e5e19a5c38329a2bd8520108f832d
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 65, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.103m", "score": 0.0}, {"step": 66, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'milkjug_a01'", "score": 0.0}, {"step": 68, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.108m", "score": 0.0}, {"step": 75, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.084m", "score": 0.0}, {"step": 83, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a03' nudged 0.089m", "score": 0.0}, {"step": 93, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'milkjug_a01' displaced 6.056m", "score": 0.0}, {"step": 150, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 163, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 163, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 177, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_01'", "score": 0.0}, {"step": 193, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 198, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 198, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 198, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 209, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 210, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 210, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 216, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 219, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 232, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 232, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 233, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 254, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 256, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 257, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 258, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 258, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 283, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 313, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 313, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 313, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 324, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01' nudged 0.050m", "score": 0.0}, {"step": 348, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 360, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 360, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 361, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 365, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 365, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 369, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 388, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 388, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 388, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 391, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'right_bin' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 391, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'right_bin'", "score": 0.0}, {"step": 393, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'right_bin'", "score": 0.0}, {"step": 454, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 457, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 463, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 463, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 463, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 474, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 498, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 499, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 499, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 501, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 503, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 503, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 504, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 508, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 508, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 509, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 538, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 562, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 563, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 563, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 593, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.082m", "score": 0.0}, {"step": 602, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'right_bin' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 607, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'right_bin'", "score": 0.0}, {"step": 607, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 608, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.090m", "score": 0.0}, {"step": 642, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 646, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.145m", "score": 0.0}, {"step": 697, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 706, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 706, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 706, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 754, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 759, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01' nudged 0.060m", "score": 0.0}, {"step": 873, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 881, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 881, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 882, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 882, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'right_bin' nudged 0.068m", "score": 0.0}, {"step": 898, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/log_2_env0.json b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1535d24a70fbb03f65bc62e1a20c83f591e4d3f
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.054m", "score": 0.0}, {"step": 117, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_01'", "score": 0.0}, {"step": 118, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 131, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'whitepackerbottle_a01' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 131, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 131, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 133, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 138, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'whitepackerbottle_a01' nudged 0.086m", "score": 0.0}, {"step": 195, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 226, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 274, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 338, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 338, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 345, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 347, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 347, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 375, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 375, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 379, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 386, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 386, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 410, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 441, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 444, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 445, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 445, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 470, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 498, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 512, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 512, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 538, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 561, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 567, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 567, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 567, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 568, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 569, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 569, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 617, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 622, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 622, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 623, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 624, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 624, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 624, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 625, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 626, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 704, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'whitepackerbottle_a01' nudged 0.082m", "score": 0.0}, {"step": 754, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 754, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 758, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 759, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 760, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 761, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 790, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 792, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 792, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 802, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 840, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 841, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.057m", "score": 0.0}, {"step": 844, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 849, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 857, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.060m", "score": 0.0}, {"step": 873, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 877, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 877, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 878, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 882, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01_01' nudged 0.069m", "score": 0.0}, {"step": 886, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 887, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 887, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 890, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 896, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 896, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/run_0.hdf5 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e84e98d929c630c617a4adda966a7b090bf181ce
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcdc527db4ccee0b697f4ee64aedbd5c3eeb10229696998270d765e296b02a25
+size 1315458
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/run_1.hdf5 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..bb365888ddcf16fe87ec2d17b16a5e3e6389c247
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40a7d4ca6a2c78f83fc2c8feabf3503113338906182348230639222fc522fb0e
+size 1328806
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/run_2.hdf5 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e36cf93f23b1c06da2b89b51318fbf2be8ca09e4
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/SmallPumpkinInBinTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ab89eac177b67c606d6706135800836c0aa4b65392f4f5a8a51ecba5824a31f
+size 1315734
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_0.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c8c01a112dcbfbc72158e9ab6f1cddbd55ae75e2
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04ff2098a752622df8c361c6a802403a751d076472365e8dce86ee02ea09dbb6
+size 12216251
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_0_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..58972fb672e180615cd14a10dadbb810269a805c
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c0594428a241239036af19323cef2bac20cda2f144d3e9b89be482b6582d06f
+size 1948864
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_1.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..280ae126d71c4bf782f734a6dbb1601daa37df7c
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfdff46b077a0357fcb2505f727d2b3f33b26f837cb19ab85fbb31a1ef7a8e45
+size 8717366
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_1_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..25956a2ee6de02f82735667a5937b997c0a14f7e
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41d94b61d043262b6e64464b955bfd56f74fabd1a48c50674306dc45ea02816a
+size 1920248
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_2.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cdf821bfce7d526effd3eb65c7f2f624395fd4cf
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05e068313144e641feb124d593f74dc0ea54d780251d0210ca58970bef0228c4
+size 26770641
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_2_viewport.mp4 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8224f84c030767f615f64fda2d945fdff1a24ac5
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1409a58b37c40edd903d851ee36e38603ee63ba40fcc448686d45a18f3a080f
+size 5097857
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/env_cfg.json b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..93f71cf1c6f4f5b097a50be40062c0d496ab2def
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:7", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/wire_shelf_mugs_plate_spatula.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471948981285095, -5.743423753301613e-05, -0.3469998240470886], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "wireshelving_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "spawn": null, "init_state": {"pos": [0.41964787244796753, 0.27813032269477844, 0.00300009548664093], "rot": [0.9999994039535522, -1.851806177954209e-06, 1.4014767047196113e-06, 0.0010918274345854157], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spatula_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spatula_01", "spawn": null, "init_state": {"pos": [0.34557458758354187, 0.3195316791534424, 0.1960526555776596], "rot": [0.9974027872085571, 0.001141250963763657, 4.311542631822928e-05, -0.0720164964150536], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "plate_small": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/plate_small", "spawn": null, "init_state": {"pos": [0.3285421133041382, -0.11671658605337143, 0.0028548259288072586], "rot": [0.9856335520744324, 0.0005606650072762441, 9.961156318894264e-05, 0.16889694123169696], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "fork_big": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/fork_big", "spawn": null, "init_state": {"pos": [0.3289452791213989, -0.02117539942264557, 0.013585123233497143], "rot": [0.9965218305587769, 0.07855446006194756, 0.011680336565407803, 0.025239012696203326], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "fork_small": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/fork_small", "spawn": null, "init_state": {"pos": [0.348644495010376, 0.37387433648109436, 0.19016678631305695], "rot": [0.9998441934585571, 0.016889608901442116, 0.005124753391098125, -0.00025849766757412624], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "ceramic_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "spawn": null, "init_state": {"pos": [0.6134013533592224, -0.12643824517726898, 0.002795230597257614], "rot": [0.9999955892562866, -0.001384895545501545, 0.0026189072781798383, 0.00021179463743058427], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mug", "spawn": null, "init_state": {"pos": [0.5376058220863342, -0.29392483830451965, 0.003037039190530777], "rot": [0.9999966621398926, -0.0024172569202343297, 0.0009024336205745309, 0.00013487629728620396], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "mug_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mug_01", "spawn": null, "init_state": {"pos": [0.4037923216819763, -0.14007866382598877, 0.05663011223077774], "rot": [0.6496669650077819, -0.011240714971599888, -0.005198479542477169, 0.7601180544592736], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wireshelving_a01", "/World/envs/env_.*/scene/spatula_01", "/World/envs/env_.*/scene/plate_small", "/World/envs/env_.*/scene/fork_big", "/World/envs/env_.*/scene/fork_small", "/World/envs/env_.*/scene/ceramic_mug", "/World/envs/env_.*/scene/mug", "/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__wireshelving_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wireshelving_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spatula_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__wireshelving_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wireshelving_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__spatula_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wireshelving_a01__spatula_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wireshelving_a01__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wireshelving_a01__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wireshelving_a01__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wireshelving_a01__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wireshelving_a01__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wireshelving_a01__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_01__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_01__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_01__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_01__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_01__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_01__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_small__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_small__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_small__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_outside_of_and_on_surface", "params": {"object": ["spatula_01"], "container": "wireshelving_a01", "surface": "table", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"spatula_01": [["functools.partial(<function object_grabbed at 0x7fc7a13fd9e0>, object='spatula_01')", 0.0], ["functools.partial(<function object_on_top at 0x7fc7a13fd6c0>, object='spatula_01', reference_object='table', require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": 2, "name": "pick_and_place_on_surface"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["affordance", "spatial", "moderate"], "_task_attributes": ["affordance", "spatial", "moderate"], "_task_name": "TakeSpatulaOffShelfTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Take the spatula off the shelf and put it on the table", "contact_object_list": ["table", "wireshelving_a01", "spatula_01", "plate_small", "fork_big", "fork_small", "ceramic_mug", "mug", "mug_01"], "_instruction_variants": {"default": "Take the spatula off the shelf and put it on the table", "vague": "Take the spatula off the shelf", "specific": "Reach up and remove the spatula from the shelf, then place it flat on the table surface"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3df3c0a6784ec4885f698002da0e660ed7f4ea6
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 0, "run": 0, "success": true, "final_step": 486, "events": [{"step": 74, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 105, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 138, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 178, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 226, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 442, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 458, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 472, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 479, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 479, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 480, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 486, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/log_1_env0.json b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..31f62b62677c6d36ffac2ca5bcfa8a5101dc8d81
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 0, "run": 1, "success": true, "final_step": 349, "events": [{"step": 74, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 114, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 128, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 146, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 164, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 164, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 169, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 169, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 172, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 258, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 263, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 264, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 265, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 265, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 306, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'fork_small'", "score": 0.0}, {"step": 314, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 326, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 343, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 343, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 349, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/log_2_env0.json b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee2989648dd08184c9ba40ffb75f4059450a8beb
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 226, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 258, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 298, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 348, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 382, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'fork_small'", "score": 0.0}, {"step": 386, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 386, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'fork_small' displaced 0.899m", "score": 0.0}, {"step": 392, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 393, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 459, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 490, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 522, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 546, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 578, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 602, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 628, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 628, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 633, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 634, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 634, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 645, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.067m", "score": 1.0}, {"step": 645, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}, {"step": 646, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.165m", "score": 1.0}, {"step": 647, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug_01' nudged 0.298m", "score": 1.0}, {"step": 650, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.173m", "score": 1.0}, {"step": 666, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 690, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: [])", "score": 1.0}, {"step": 691, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 693, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 1.0}, {"step": 693, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 723, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: [])", "score": 1.0}, {"step": 727, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 731, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 1.0}, {"step": 733, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 754, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 770, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 781, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 796, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula_01' nudged 0.149m", "score": 1.0}, {"step": 796, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.234m", "score": 1.0}, {"step": 797, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.274m", "score": 1.0}, {"step": 826, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 839, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'plate_small'", "score": 1.0}, {"step": 842, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 842, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'plate_small' displaced 0.722m", "score": 1.0}, {"step": 858, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 873, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 896, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.102m", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/run_0.hdf5 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0d9ec354189a9788ec2e53f0bcb840a1ed1a155b
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6eacd990e8fd21e09b8bad99b358c8e94ac9688a87fa1ed5014e9804c16d456a
+size 566207
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/run_1.hdf5 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1704d9672b4c90a695a24e19ec6236a0cfe34711
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe22817ea759d6b56464a0bb069193d0ec13a769cd6438db5a542b77a13d38e5
+size 494160
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/run_2.hdf5 b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3fe4b4a23eba34be806b02823c095fe86c74ce87
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/TakeSpatulaOffShelfTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e543d83b0c9e37aad34dfd24ed0bc561dd3a0c36cc2601f021cf19388586beb
+size 821573
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/robolab/episode_results.jsonl b/harness_robolab_exploration/embo_sol/gpu_7/robolab/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..052cdc9135bfe3c053595b246ce6c20754218284
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/robolab/episode_results.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49ec913cd36f6ae5940d2ff1e055b437540caed7946acca2ed557ba66f2980a0
+size 19179
diff --git a/harness_robolab_exploration/embo_sol/gpu_7/server.log b/harness_robolab_exploration/embo_sol/gpu_7/server.log
new file mode 100644
index 0000000000000000000000000000000000000000..72128326c9a7dacc202e2309731bac65f5c8a2dd
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/gpu_7/server.log
@@ -0,0 +1,39 @@
+[2026-10-30T16:03:41Z] GPU 7: Starting worker at SmallPumpkinInBinTask/0 (resume=false)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6.1-sol; effort: medium; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: False; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8023
+INFO:websockets.server:server listening on 127.0.0.1:8023
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 33126) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 080bde2ca4b04b2d8cbf5946775e8ad7-0 (codex/gpt-6.1-sol) ended: wall=3685.942s harness=3045.486s tokens=10387378 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=1254.0980203300714 rate_limit_wait=0 rate_limit_count=0 excluded=1254.0980203300714 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode e7da3755489e4fdebd0c726d90834990-1 (codex/gpt-6.1-sol) ended: wall=3020.332s harness=2374.725s tokens=9904079 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=1125.0842678844929 rate_limit_wait=0 rate_limit_count=0 excluded=1125.0842678844929 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 31ff092b722d4c159208b76a40b87c50-2 (codex/gpt-6.1-sol) ended: wall=2816.315s harness=2178.041s tokens=10312161 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=647.7214375957847 rate_limit_wait=0 rate_limit_count=0 excluded=647.7214375957847 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 7380023aa60b4d3d932751a1d1ef5360-0 (codex/gpt-6.1-sol) ended: wall=2390.066s harness=2109.368s tokens=10020005 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=298.2581294924021 rate_limit_wait=0 rate_limit_count=0 excluded=298.2581294924021 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode bc0eaedcab1342fbba47608e421ad401-1 (codex/gpt-6.1-sol) ended: wall=2829.058s harness=2538.866s tokens=10544552 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=221.22638914734125 rate_limit_wait=0 rate_limit_count=0 excluded=221.22638914734125 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode ff23ce0f55ab4f2ebe7fcd51343141e9-2 (codex/gpt-6.1-sol) ended: wall=1965.134s harness=1682.363s tokens=9670749 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=14.492110379040241 rate_limit_wait=0 rate_limit_count=0 excluded=14.492110379040241 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 5ee18345893e4933a18b39904481ee04-0 (codex/gpt-6.1-sol) ended: wall=1317.904s harness=1153.543s tokens=4961088 usage_complete=False decisions=61 executed_steps=486 steps_complete=True network_wait=60.75491613149643 rate_limit_wait=0 rate_limit_count=0 excluded=60.75491613149643 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 8d8d4464ce754ce89c79e23514d66796-1 (codex/gpt-6.1-sol) ended: wall=722.225s harness=602.753s tokens=3518863 usage_complete=True decisions=44 executed_steps=349 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 3131665854a94b15a5bf60cbccdb42bd-2 (codex/gpt-6.1-sol) ended: wall=2203.865s harness=1897.978s tokens=10103389 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=147.80859430134296 rate_limit_wait=0 rate_limit_count=0 excluded=147.80859430134296 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode fa7441ea303f4c08b990e83cc4f9918a-0 (codex/gpt-6.1-sol) ended: wall=2360.739s harness=2123.596s tokens=9915473 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 7cb83fe9fdc14f4ba1ddd66ba7217441-1 (codex/gpt-6.1-sol) ended: wall=1078.005s harness=940.090s tokens=4767872 usage_complete=False decisions=65 executed_steps=513 steps_complete=True network_wait=14.339604809880257 rate_limit_wait=0 rate_limit_count=0 excluded=14.339604809880257 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 2f20f6fe65a240cfa6ecf436548bb447-2 (codex/gpt-6.1-sol) ended: wall=2024.209s harness=1790.827s tokens=10100583 usage_complete=True decisions=113 executed_steps=900 steps_complete=True network_wait=289.1823640912771 rate_limit_wait=0 rate_limit_count=0 excluded=289.1823640912771 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode fc1c13f0bce1463ba1853a3a1c7b2e59-0 (codex/gpt-6.1-sol) ended: wall=263.987s harness=221.219s tokens=1756653 usage_complete=True decisions=24 executed_steps=185 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode e60a0d17125647469badbc8f0898e54a-1 (codex/gpt-6.1-sol) ended: wall=155.763s harness=132.512s tokens=990306 usage_complete=True decisions=13 executed_steps=99 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode df1c32989fd5489f8297b76fb017eb0f-2 (codex/gpt-6.1-sol) ended: wall=771.886s harness=673.163s tokens=4398805 usage_complete=True decisions=57 executed_steps=450 steps_complete=True network_wait=18.59444211423397 rate_limit_wait=0 rate_limit_count=0 excluded=18.59444211423397 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_sol/gpu_7/harness/20261030T160344.643591Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 33126) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_sol/progress.log b/harness_robolab_exploration/embo_sol/progress.log
new file mode 100644
index 0000000000000000000000000000000000000000..120e4f9bed54ed1660da4a1941942b57a86fc483
--- /dev/null
+++ b/harness_robolab_exploration/embo_sol/progress.log
@@ -0,0 +1,63 @@
+[Batch] Committed trajectories only; means exclude interrupted retries. Corrected times require complete network and rate-limit coverage; raw times include waiting. Both exclude wrap-up; tokens require complete usage.
+[Batch] Initial | Tasks 0/20 | Episodes 0/60 | Success N/A | Mean Harness N/A | Mean Wall N/A | Mean Tokens N/A | Mean Raw Harness N/A | Mean Raw Wall N/A
+[Batch] GPU 6 finished MarkerInMugTask/0: FAILURE | Tasks 0/20 | Episodes 1/60 | Success 0.00% (0/1) | Mean Harness 1497.855s | Mean Wall 1841.135s | Mean Tokens N/A (0/1 complete) | Mean Raw Harness 2290.176s | Mean Raw Wall 2633.457s
+[Batch] GPU 5 finished FruitsOnionToPlateTask/0: FAILURE | Tasks 0/20 | Episodes 2/60 | Success 0.00% (0/2) | Mean Harness 2076.847s | Mean Wall 2542.968s | Mean Tokens N/A (0/2 complete) | Mean Raw Harness 2992.336s | Mean Raw Wall 3458.457s
+[Batch] GPU 6 finished MarkerInMugTask/1: FAILURE | Tasks 0/20 | Episodes 3/60 | Success 0.00% (0/3) | Mean Harness 1962.990s | Mean Wall 2390.401s | Mean Tokens N/A (0/3 complete) | Mean Raw Harness 2615.007s | Mean Raw Wall 3042.418s
+[Batch] GPU 7 finished SmallPumpkinInBinTask/0: FAILURE | Tasks 0/20 | Episodes 4/60 | Success 0.00% (0/4) | Mean Harness 2233.614s | Mean Wall 2714.286s | Mean Tokens N/A (0/4 complete) | Mean Raw Harness 3036.151s | Mean Raw Wall 3516.823s
+[Batch] GPU 4 finished PlasticBottlesInSquarePailTask/0: FAILURE | Tasks 0/20 | Episodes 5/60 | Success 0.00% (0/5) | Mean Harness 2425.985s | Mean Wall 2997.738s | Mean Tokens N/A (0/5 complete) | Mean Raw Harness 3344.228s | Mean Raw Wall 3915.981s
+[Batch] GPU 5 finished FruitsOnionToPlateTask/1: FAILURE | Tasks 0/20 | Episodes 6/60 | Success 0.00% (0/6) | Mean Harness 2232.612s | Mean Wall 2806.266s | Mean Tokens N/A (0/6 complete) | Mean Raw Harness 3084.302s | Mean Raw Wall 3657.957s
+[Batch] GPU 6 finished MarkerInMugTask/2: FAILURE | Tasks 1/20 | Episodes 7/60 | Success 0.00% (0/7) | Mean Harness 2112.253s | Mean Wall 2652.245s | Mean Tokens 6,165,127.0 (1/7 complete) | Mean Raw Harness 2924.654s | Mean Raw Wall 3464.646s
+[Batch] GPU 4 finished PlasticBottlesInSquarePailTask/1: SUCCESS | Tasks 1/20 | Episodes 8/60 | Success 12.50% (1/8) | Mean Harness 2019.012s | Mean Wall 2588.519s | Mean Tokens 6,165,127.0 (1/8 complete) | Mean Raw Harness 2775.640s | Mean Raw Wall 3345.147s
+[Batch] GPU 7 finished SmallPumpkinInBinTask/1: FAILURE | Tasks 1/20 | Episodes 9/60 | Success 11.11% (1/9) | Mean Harness 2058.536s | Mean Wall 2636.498s | Mean Tokens 6,165,127.0 (1/9 complete) | Mean Raw Harness 2856.103s | Mean Raw Wall 3434.066s
+[Batch] GPU 5 finished FruitsOnionToPlateTask/2: FAILURE | Tasks 2/20 | Episodes 10/60 | Success 10.00% (1/10) | Mean Harness 2141.039s | Mean Wall 2721.411s | Mean Tokens 6,165,127.0 (1/10 complete) | Mean Raw Harness 2914.747s | Mean Raw Wall 3495.119s
+[Batch] GPU 6 finished SpoonInMugTask/0: FAILURE | Tasks 2/20 | Episodes 11/60 | Success 9.09% (1/11) | Mean Harness 2155.050s | Mean Wall 2726.427s | Mean Tokens 6,165,127.0 (1/11 complete) | Mean Raw Harness 2957.167s | Mean Raw Wall 3528.544s
+[Batch] GPU 4 finished PlasticBottlesInSquarePailTask/2: FAILURE | Tasks 3/20 | Episodes 12/60 | Success 8.33% (1/12) | Mean Harness 2114.819s | Mean Wall 2715.647s | Mean Tokens 6,165,127.0 (1/12 complete) | Mean Raw Harness 2888.162s | Mean Raw Wall 3488.991s
+[Batch] GPU 7 finished SmallPumpkinInBinTask/2: FAILURE | Tasks 4/20 | Episodes 13/60 | Success 7.69% (1/13) | Mean Harness 2119.682s | Mean Wall 2723.391s | Mean Tokens 6,165,127.0 (1/13 complete) | Mean Raw Harness 2883.362s | Mean Raw Wall 3487.071s
+[Batch] GPU 6 finished SpoonInMugTask/1: FAILURE | Tasks 4/20 | Episodes 14/60 | Success 7.14% (1/14) | Mean Harness 2110.702s | Mean Wall 2703.923s | Mean Tokens 7,891,323.5 (2/14 complete) | Mean Raw Harness 2833.216s | Mean Raw Wall 3426.437s
+[Batch] GPU 4 finished OneBottleInSquarePailTask/0: FAILURE | Tasks 4/20 | Episodes 15/60 | Success 6.67% (1/15) | Mean Harness 2101.016s | Mean Wall 2675.333s | Mean Tokens 7,891,323.5 (2/15 complete) | Mean Raw Harness 2798.366s | Mean Raw Wall 3372.684s
+[Batch] GPU 5 finished BlockStackingSpecifiedOrderTask/0: SUCCESS | Tasks 4/20 | Episodes 16/60 | Success 12.50% (2/16) | Mean Harness 2109.786s | Mean Wall 2664.996s | Mean Tokens 7,891,323.5 (2/16 complete) | Mean Raw Harness 2803.048s | Mean Raw Wall 3358.258s
+[Batch] GPU 7 finished ReorientWhiteMugsTask/0: FAILURE | Tasks 4/20 | Episodes 17/60 | Success 11.76% (2/17) | Mean Harness 2109.761s | Mean Wall 2648.823s | Mean Tokens 7,891,323.5 (2/17 complete) | Mean Raw Harness 2779.788s | Mean Raw Wall 3318.850s
+[Batch] GPU 4 finished OneBottleInSquarePailTask/1: FAILURE | Tasks 4/20 | Episodes 18/60 | Success 11.11% (2/18) | Mean Harness 2115.446s | Mean Wall 2641.500s | Mean Tokens 7,891,323.5 (2/18 complete) | Mean Raw Harness 2758.490s | Mean Raw Wall 3284.544s
+[Batch] GPU 6 finished SpoonInMugTask/2: FAILURE | Tasks 5/20 | Episodes 19/60 | Success 10.53% (2/19) | Mean Harness 2134.217s | Mean Wall 2656.938s | Mean Tokens 7,891,323.5 (2/19 complete) | Mean Raw Harness 2756.637s | Mean Raw Wall 3279.357s
+[Batch] GPU 6 finished ClampInRightBinTask/0: FAILURE | Tasks 5/20 | Episodes 20/60 | Success 10.00% (2/20) | Mean Harness 2074.457s | Mean Wall 2583.700s | Mean Tokens 7,052,772.3 (3/20 complete) | Mean Raw Harness 2667.908s | Mean Raw Wall 3177.151s
+[Batch] GPU 7 finished ReorientWhiteMugsTask/1: FAILURE | Tasks 5/20 | Episodes 21/60 | Success 9.52% (2/21) | Mean Harness 2096.572s | Mean Wall 2595.384s | Mean Tokens 7,052,772.3 (3/21 complete) | Mean Raw Harness 2672.298s | Mean Raw Wall 3171.110s
+[Batch] GPU 5 finished BlockStackingSpecifiedOrderTask/1: FAILURE | Tasks 5/20 | Episodes 22/60 | Success 9.09% (2/22) | Mean Harness 2180.575s | Mean Wall 2671.755s | Mean Tokens 7,052,772.3 (3/22 complete) | Mean Raw Harness 2756.986s | Mean Raw Wall 3248.165s
+[Batch] GPU 4 finished OneBottleInSquarePailTask/2: FAILURE | Tasks 6/20 | Episodes 23/60 | Success 8.70% (2/23) | Mean Harness 2176.610s | Mean Wall 2659.748s | Mean Tokens 7,052,772.3 (3/23 complete) | Mean Raw Harness 2732.569s | Mean Raw Wall 3215.708s
+[Batch] GPU 5 finished BlockStackingSpecifiedOrderTask/2: FAILURE | Tasks 7/20 | Episodes 24/60 | Success 8.33% (2/24) | Mean Harness 2131.831s | Mean Wall 2608.060s | Mean Tokens 6,760,036.5 (4/24 complete) | Mean Raw Harness 2665.090s | Mean Raw Wall 3141.319s
+[Batch] GPU 7 finished ReorientWhiteMugsTask/2: FAILURE | Tasks 8/20 | Episodes 25/60 | Success 8.00% (2/25) | Mean Harness 2113.852s | Mean Wall 2582.343s | Mean Tokens 6,760,036.5 (4/25 complete) | Mean Raw Harness 2626.361s | Mean Raw Wall 3094.851s
+[Batch] GPU 6 finished ClampInRightBinTask/1: FAILURE | Tasks 8/20 | Episodes 26/60 | Success 7.69% (2/26) | Mean Harness 2112.152s | Mean Wall 2572.533s | Mean Tokens 6,760,036.5 (4/26 complete) | Mean Raw Harness 2605.375s | Mean Raw Wall 3065.755s
+[Batch] GPU 5 finished ReorientRedMugTask/0: SUCCESS | Tasks 8/20 | Episodes 27/60 | Success 11.11% (3/27) | Mean Harness 2051.687s | Mean Wall 2498.638s | Mean Tokens 5,959,792.0 (5/27 complete) | Mean Raw Harness 2526.642s | Mean Raw Wall 2973.593s
+[Batch] GPU 4 finished BananasInBinThreeTotalTask/0: FAILURE | Tasks 8/20 | Episodes 28/60 | Success 10.71% (3/28) | Mean Harness 2039.443s | Mean Wall 2479.813s | Mean Tokens 6,617,108.8 (6/28 complete) | Mean Raw Harness 2500.320s | Mean Raw Wall 2940.690s
+[Batch] GPU 6 finished ClampInRightBinTask/2: SUCCESS | Tasks 9/20 | Episodes 29/60 | Success 13.79% (4/29) | Mean Harness 1993.822s | Mean Wall 2422.887s | Mean Tokens 6,617,108.8 (6/29 complete) | Mean Raw Harness 2438.807s | Mean Raw Wall 2867.871s
+[Batch] GPU 7 finished TakeSpatulaOffShelfTask/0: SUCCESS | Tasks 9/20 | Episodes 30/60 | Success 16.67% (5/30) | Mean Harness 1965.813s | Mean Wall 2386.054s | Mean Tokens 6,617,108.8 (6/30 complete) | Mean Raw Harness 2397.990s | Mean Raw Wall 2818.231s
+[Batch] GPU 6 finished FoodPacking1BoxesTask/0: SUCCESS | Tasks 9/20 | Episodes 31/60 | Success 19.35% (6/31) | Mean Harness 1912.885s | Mean Wall 2321.532s | Mean Tokens 5,984,419.6 (7/31 complete) | Mean Raw Harness 2331.120s | Mean Raw Wall 2739.768s
+[Batch] GPU 4 finished BananasInBinThreeTotalTask/1: SUCCESS | Tasks 9/20 | Episodes 32/60 | Success 21.88% (7/32) | Mean Harness 1888.074s | Mean Wall 2289.303s | Mean Tokens 5,940,970.1 (8/32 complete) | Mean Raw Harness 2295.140s | Mean Raw Wall 2696.370s
+[Batch] GPU 7 finished TakeSpatulaOffShelfTask/1: SUCCESS | Tasks 9/20 | Episodes 33/60 | Success 24.24% (8/33) | Mean Harness 1849.124s | Mean Wall 2241.816s | Mean Tokens 5,671,847.1 (9/33 complete) | Mean Raw Harness 2243.855s | Mean Raw Wall 2636.547s
+[Batch] GPU 6 finished FoodPacking1BoxesTask/1: FAILURE | Tasks 9/20 | Episodes 34/60 | Success 23.53% (8/34) | Mean Harness 1823.566s | Mean Wall 2211.166s | Mean Tokens 5,672,345.0 (10/34 complete) | Mean Raw Harness 2208.536s | Mean Raw Wall 2596.136s
+[Batch] GPU 4 finished BananasInBinThreeTotalTask/2: SUCCESS | Tasks 10/20 | Episodes 35/60 | Success 25.71% (9/35) | Mean Harness 1787.115s | Mean Wall 2167.240s | Mean Tokens 5,522,467.5 (11/35 complete) | Mean Raw Harness 2163.275s | Mean Raw Wall 2543.399s
+[Batch] GPU 5 finished ReorientRedMugTask/1: FAILURE | Tasks 10/20 | Episodes 36/60 | Success 25.00% (9/36) | Mean Harness 1797.106s | Mean Wall 2174.654s | Mean Tokens 5,522,467.5 (11/36 complete) | Mean Raw Harness 2166.205s | Mean Raw Wall 2543.753s
+[Batch] GPU 5 finished ReorientRedMugTask/2: SUCCESS | Tasks 11/20 | Episodes 37/60 | Success 27.03% (10/37) | Mean Harness 1752.914s | Mean Wall 2121.482s | Mean Tokens 5,176,108.3 (12/37 complete) | Mean Raw Harness 2112.038s | Mean Raw Wall 2480.607s
+[Batch] GPU 4 finished BowlStackingRightOnLeftTask/0: FAILURE | Tasks 11/20 | Episodes 38/60 | Success 26.32% (10/38) | Mean Harness 1718.827s | Mean Wall 2079.441s | Mean Tokens 4,990,879.3 (13/38 complete) | Mean Raw Harness 2068.501s | Mean Raw Wall 2429.115s
+[Batch] GPU 4 finished BowlStackingRightOnLeftTask/1: SUCCESS | Tasks 11/20 | Episodes 39/60 | Success 28.21% (11/39) | Mean Harness 1681.186s | Mean Wall 2033.528s | Mean Tokens 4,742,954.9 (14/39 complete) | Mean Raw Harness 2022.407s | Mean Raw Wall 2374.750s
+[Batch] GPU 6 finished FoodPacking1BoxesTask/2: FAILURE | Tasks 12/20 | Episodes 40/60 | Success 27.50% (11/40) | Mean Harness 1663.766s | Mean Wall 2012.723s | Mean Tokens 4,742,954.9 (14/40 complete) | Mean Raw Harness 1997.504s | Mean Raw Wall 2346.462s
+[Batch] GPU 4 finished BowlStackingRightOnLeftTask/2: SUCCESS | Tasks 13/20 | Episodes 41/60 | Success 29.27% (12/41) | Mean Harness 1634.311s | Mean Wall 1976.322s | Mean Tokens 4,605,331.9 (15/41 complete) | Mean Raw Harness 1960.264s | Mean Raw Wall 2302.275s
+[Batch] GPU 5 finished BananaThenRubiksCubeTask/0: SUCCESS | Tasks 13/20 | Episodes 42/60 | Success 30.95% (13/42) | Mean Harness 1616.561s | Mean Wall 1953.189s | Mean Tokens 4,605,331.9 (15/42 complete) | Mean Raw Harness 1935.594s | Mean Raw Wall 2272.222s
+[Batch] GPU 7 finished TakeSpatulaOffShelfTask/2: FAILURE | Tasks 14/20 | Episodes 43/60 | Success 30.23% (13/43) | Mean Harness 1623.106s | Mean Wall 1959.019s | Mean Tokens 4,605,331.9 (15/43 complete) | Mean Raw Harness 1938.156s | Mean Raw Wall 2274.070s
+[Batch] GPU 6 finished RubiksCubeThenBananaTask/0: FAILURE | Tasks 14/20 | Episodes 44/60 | Success 29.55% (13/44) | Mean Harness 1633.408s | Mean Wall 1966.482s | Mean Tokens 4,935,368.5 (16/44 complete) | Mean Raw Harness 1942.982s | Mean Raw Wall 2276.056s
+[Batch] GPU 5 finished BananaThenRubiksCubeTask/1: FAILURE | Tasks 14/20 | Episodes 45/60 | Success 28.89% (13/45) | Mean Harness 1644.311s | Mean Wall 1974.605s | Mean Tokens 4,935,368.5 (16/45 complete) | Mean Raw Harness 1947.923s | Mean Raw Wall 2278.216s
+[Batch] GPU 7 finished RedItemsInBinTask/0: FAILURE | Tasks 14/20 | Episodes 46/60 | Success 28.26% (13/46) | Mean Harness 1654.730s | Mean Wall 1982.999s | Mean Tokens 4,935,368.5 (16/46 complete) | Mean Raw Harness 1951.742s | Mean Raw Wall 2280.010s
+[Batch] GPU 6 finished RubiksCubeThenBananaTask/1: SUCCESS | Tasks 14/20 | Episodes 47/60 | Success 29.79% (14/47) | Mean Harness 1645.071s | Mean Wall 1969.648s | Mean Tokens 4,935,368.5 (16/47 complete) | Mean Raw Harness 1936.473s | Mean Raw Wall 2261.050s
+[Batch] GPU 7 finished RedItemsInBinTask/1: SUCCESS | Tasks 14/20 | Episodes 48/60 | Success 31.25% (15/48) | Mean Harness 1630.384s | Mean Wall 1951.072s | Mean Tokens 4,935,368.5 (16/48 complete) | Mean Raw Harness 1916.014s | Mean Raw Wall 2236.702s
+[Batch] GPU 5 finished BananaThenRubiksCubeTask/2: SUCCESS | Tasks 15/20 | Episodes 49/60 | Success 32.65% (16/49) | Mean Harness 1625.699s | Mean Wall 1943.517s | Mean Tokens 4,935,368.5 (16/49 complete) | Mean Raw Harness 1907.608s | Mean Raw Wall 2225.426s
+[Batch] GPU 5 finished FoodPacking1CansTask/0: SUCCESS | Tasks 15/20 | Episodes 50/60 | Success 34.00% (17/50) | Mean Harness 1596.683s | Mean Wall 1908.925s | Mean Tokens 4,733,462.5 (17/50 complete) | Mean Raw Harness 1872.954s | Mean Raw Wall 2185.196s
+[Batch] GPU 5 finished FoodPacking1CansTask/1: SUCCESS | Tasks 15/20 | Episodes 51/60 | Success 35.29% (18/51) | Mean Harness 1570.166s | Mean Wall 1877.231s | Mean Tokens 4,531,308.2 (18/51 complete) | Mean Raw Harness 1841.020s | Mean Raw Wall 2148.085s
+[Batch] GPU 5 finished FoodPacking1CansTask/2: SUCCESS | Tasks 16/20 | Episodes 52/60 | Success 36.54% (19/52) | Mean Harness 1549.573s | Mean Wall 1852.199s | Mean Tokens 4,531,308.2 (18/52 complete) | Mean Raw Harness 1816.513s | Mean Raw Wall 2119.139s
+[Batch] GPU 6 finished RubiksCubeThenBananaTask/2: SUCCESS | Tasks 17/20 | Episodes 53/60 | Success 37.74% (20/53) | Mean Harness 1551.299s | Mean Wall 1851.571s | Mean Tokens 4,531,308.2 (18/53 complete) | Mean Raw Harness 1814.887s | Mean Raw Wall 2115.158s
+[Batch] GPU 6 finished BananaInBowlTask/0: SUCCESS | Tasks 17/20 | Episodes 54/60 | Success 38.89% (21/54) | Mean Harness 1530.923s | Mean Wall 1826.829s | Mean Tokens 4,434,194.5 (19/54 complete) | Mean Raw Harness 1790.553s | Mean Raw Wall 2086.459s
+[Batch] GPU 7 finished RedItemsInBinTask/2: FAILURE | Tasks 18/20 | Episodes 55/60 | Success 38.18% (21/55) | Mean Harness 1535.649s | Mean Wall 1830.418s | Mean Tokens 4,717,514.0 (20/55 complete) | Mean Raw Harness 1795.816s | Mean Raw Wall 2090.585s
+[Batch] GPU 7 finished MustardInLeftBinTask/0: SUCCESS | Tasks 18/20 | Episodes 56/60 | Success 39.29% (22/56) | Mean Harness 1512.177s | Mean Wall 1802.446s | Mean Tokens 4,576,520.6 (21/56 complete) | Mean Raw Harness 1767.698s | Mean Raw Wall 2057.967s
+[Batch] GPU 7 finished MustardInLeftBinTask/1: SUCCESS | Tasks 18/20 | Episodes 57/60 | Success 40.35% (23/57) | Mean Harness 1487.972s | Mean Wall 1773.556s | Mean Tokens 4,413,510.8 (22/57 complete) | Mean Raw Harness 1739.011s | Mean Raw Wall 2024.595s
+[Batch] GPU 6 finished BananaInBowlTask/1: SUCCESS | Tasks 18/20 | Episodes 58/60 | Success 41.38% (24/58) | Mean Harness 1472.792s | Mean Wall 1754.900s | Mean Tokens 4,379,143.1 (23/58 complete) | Mean Raw Harness 1719.682s | Mean Raw Wall 2001.790s
+[Batch] GPU 7 finished MustardInLeftBinTask/2: FAILURE | Tasks 19/20 | Episodes 59/60 | Success 40.68% (24/59) | Mean Harness 1459.239s | Mean Wall 1738.239s | Mean Tokens 4,379,962.3 (24/59 complete) | Mean Raw Harness 1702.260s | Mean Raw Wall 1981.259s
+[Batch] GPU 6 finished BananaInBowlTask/2: FAILURE | Tasks 20/20 | Episodes 60/60 | Success 40.00% (24/60) | Mean Harness 1454.081s | Mean Wall 1731.119s | Mean Tokens 4,379,962.3 (24/60 complete) | Mean Raw Harness 1694.442s | Mean Raw Wall 1971.481s
+[Batch] Final | Tasks 20/20 | Episodes 60/60 | Success 40.00% (24/60) | Mean Harness 1454.081s | Mean Wall 1731.119s | Mean Tokens 4,379,962.3 (24/60 complete) | Mean Raw Harness 1694.442s | Mean Raw Wall 1971.481s
diff --git a/harness_robolab_exploration/embo_xhigh/assignments.tsv b/harness_robolab_exploration/embo_xhigh/assignments.tsv
new file mode 100644
index 0000000000000000000000000000000000000000..808479ecb005ef21714e0ac240d748f32003bcf6
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/assignments.tsv
@@ -0,0 +1,5 @@
+gpu	port	estimated_seconds	tasks
+4	8020	14395.854	PlasticBottlesInSquarePailTask OneBottleInSquarePailTask BananasInBinThreeTotalTask BowlStackingRightOnLeftTask
+5	8021	13334.856	FruitsOnionToPlateTask BlockStackingSpecifiedOrderTask ReorientRedMugTask BananaThenRubiksCubeTask FoodPacking1CansTask
+6	8022	14549.234	MarkerInMugTask SpoonInMugTask ClampInRightBinTask FoodPacking1BoxesTask RubiksCubeThenBananaTask BananaInBowlTask
+7	8023	13272.163	SmallPumpkinInBinTask ReorientWhiteMugsTask TakeSpatulaOffShelfTask RedItemsInBinTask MustardInLeftBinTask
diff --git a/harness_robolab_exploration/embo_xhigh/batch_manifest.json b/harness_robolab_exploration/embo_xhigh/batch_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..b25a5178c85e463404eeebb9fb2d2586fd957168
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/batch_manifest.json
@@ -0,0 +1,38 @@
+{
+  "generations": [
+    {
+      "gpus": [
+        4,
+        5,
+        6,
+        7
+      ],
+      "path": "."
+    }
+  ],
+  "runs": 3,
+  "schema_version": 1,
+  "task_costs": {
+    "BananaInBowlTask": 425.86899999999997,
+    "BananaThenRubiksCubeTask": 719.5473000000001,
+    "BananasInBinThreeTotalTask": 589.033,
+    "BlockStackingSpecifiedOrderTask": 905.3386,
+    "BowlStackingRightOnLeftTask": 451.9177,
+    "ClampInRightBinTask": 888.4855,
+    "FoodPacking1BoxesTask": 721.0428,
+    "FoodPacking1CansTask": 467.5319,
+    "FruitsOnionToPlateTask": 1483.3265,
+    "MarkerInMugTask": 1356.3095,
+    "MustardInLeftBinTask": 503.56759999999997,
+    "OneBottleInSquarePailTask": 783.6646,
+    "PlasticBottlesInSquarePailTask": 2974.0027,
+    "RedItemsInBinTask": 766.2022,
+    "ReorientRedMugTask": 869.2076999999999,
+    "ReorientWhiteMugsTask": 1090.1975,
+    "RubiksCubeThenBananaTask": 522.5474,
+    "SmallPumpkinInBinTask": 1174.1926,
+    "SpoonInMugTask": 935.4904,
+    "TakeSpatulaOffShelfTask": 889.8943
+  },
+  "task_set": "sub"
+}
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/client.log b/harness_robolab_exploration/embo_xhigh/gpu_4/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..cab780a19e03675de68d5487d878090703a5af5b
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/client.log
@@ -0,0 +1,817 @@
+[2026-10-29T16:55:03Z] GPU 4: Starting worker at PlasticBottlesInSquarePailTask/0 (resume=false)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:4
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261029_165509.log
+2026-10-29T16:55:09Z [14ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-10-29T16:55:14Z [4,326ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:14Z [4,326ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:14Z [4,434ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-10-29T16:55:17Z [8,192ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:17Z [8,192ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:17Z [8,193ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 707641
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-10-29T16:55:26Z [17,019ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-10-29T16:55:26Z [17,019ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 875.66   4.13   2.44   1.85   4.20   4.40   5.97   3.76 
+     1   2.75 918.41  16.47  15.65   9.01   6.22   5.32   7.98 
+     2  15.63   8.47 896.44  14.53  11.88  16.29  17.05  16.61 
+     3  15.58  13.65  16.76 895.93  17.90   8.68   8.21  11.59 
+     4  20.13   2.49   5.36  19.16 923.58  19.30   5.95  12.78 
+     5  12.37  11.30   3.05   9.67  21.50 922.92  19.01   5.54 
+     6  16.72  18.66  13.90   7.90  15.55  22.36 938.44  22.22 
+     7  19.82  21.08  21.48   5.51  20.69  15.86  20.79 922.48 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.50  18.14  34.87 119.43 1891.26  13.98  11.51  11.36 
+     1  16.40   1.38  31.78  12.08 586.53  11.89  13.94  11.66 
+     2 132.55  11.52   1.45 857.67  16.27  20.84  22.82  37.21 
+     3 397.80  84.57  12.71   1.37  23.83  13.33  12.00  15.90 
+     4 421.46 1073.48 705.29 712.80   1.49 439.40 313.63 335.58 
+     5  15.19  14.97  14.16  85.03  14.57   1.49  92.75  14.41 
+     6  18.99  19.17  19.01  18.77 128.98  16.25   1.41  25.61 
+     7  43.27  19.89  82.22 159.05 145.06  32.42 124.68   1.40 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.70   8.14   8.32   8.16   7.48   7.21   7.23   7.04 
+     1   8.13   2.49   7.97   7.91   7.35   7.09   7.09   6.91 
+     2   8.19   8.04   2.58   8.25   8.25   7.94   7.93   8.24 
+     3   8.86   8.87   8.14   2.49   7.48   7.23   7.35   7.11 
+     4   7.87   7.93   7.78   7.85   2.62   7.08   7.19   7.16 
+     5   7.77   7.55   7.59   7.57   7.01   2.29   6.99   6.75 
+     6   7.73   7.39   7.54   7.54   7.35   6.79   2.34   6.89 
+     7   8.53   8.24   8.46   8.44   7.04   6.69   7.02   2.37 
+2026-10-29T16:55:33Z [23,984ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 1.8 GB/s.
+2026-10-29T16:55:33Z [23,984ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 1891.3 us.
+2026-10-29T16:55:33Z [23,984ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-10-29T16:55:35Z [26,154ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:35Z [26,154ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:36Z [26,295ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:36Z [26,295ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:36Z [26,303ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:36Z [26,303ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:36Z [26,406ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:36Z [26,406ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:36Z [26,411ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:36Z [26,411ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:36Z [26,416ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:36Z [26,416ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:37Z [27,661ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-10-29T16:55:42Z [32,940ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-10-29T16:55:55Z [46,196ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-10-29T16:55:57Z [47,742ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-10-29T16:56:16Z [66,701ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-10-29T16:56:16Z [66,705ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-10-29T16:56:17Z [67,370ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-10-29T16:56:22Z [73,116ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-29T16:56:22Z [73,118ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-29T16:56:22Z [73,121ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-29T16:56:22Z [73,144ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-10-29T16:56:22Z [73,186ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-29T16:56:22Z [73,187ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 4 task(s): ['PlasticBottlesInSquarePailTask', 'OneBottleInSquarePailTask', 'BananasInBinThreeTotalTask', 'BowlStackingRightOnLeftTask']
+2026-10-29T16:56:39Z [89,299ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x559437740dc0>)
+
+2026-10-29T16:56:39Z [89,300ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x559437740dc0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: PlasticBottlesInSquarePailTask, OneBottleInSquarePailTask, BananasInBinThreeTotalTask, BowlStackingRightOnLeftTask
+  Environments   : PlasticBottlesInSquarePailTask, OneBottleInSquarePailTask, BananasInBinThreeTotalTask, BowlStackingRightOnLeftTask
+  Num Tasks      : 4
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/robolab
+══════════════════════════════════════════════════════════════
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-29T16:56:43Z [94,005ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:4
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.651483 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-29T16:56:49Z [99,921ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T16:56:49Z [99,921ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T16:56:49Z [100,237ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T16:56:49Z [100,237ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T16:56:50Z [100,340ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T16:56:50Z [100,420ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-29T16:56:50Z [100,753ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-29T16:56:50Z [100,778ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-29T16:56:55Z [105,855ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((55))' not available in the MDL representation.
+2026-10-29T16:56:55Z [105,855ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((55))' not available in the MDL representation.
+2026-10-29T16:56:55Z [105,857ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((56))' not available in the MDL representation.
+2026-10-29T16:56:55Z [105,857ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((56))' not available in the MDL representation.
+2026-10-29T16:56:56Z [106,771ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation.
+2026-10-29T16:56:56Z [106,772ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation.
+2026-10-29T16:56:56Z [106,824ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-10-29T16:56:56Z [106,824ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-10-29T16:56:56Z [107,053ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((107))' not available in the MDL representation.
+2026-10-29T16:56:56Z [107,054ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((107))' not available in the MDL representation.
+2026-10-29T16:56:56Z [107,056ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((108))' not available in the MDL representation.
+2026-10-29T16:56:56Z [107,056ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((108))' not available in the MDL representation.
+2026-10-29T16:56:56Z [107,070ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-10-29T16:56:56Z [107,070ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-10-29T16:56:56Z [107,073ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-10-29T16:56:56Z [107,073ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-10-29T16:56:56Z [107,077ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((114))' not available in the MDL representation.
+2026-10-29T16:56:56Z [107,077ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((114))' not available in the MDL representation.
+2026-10-29T16:56:56Z [107,086ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-10-29T16:56:56Z [107,087ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-10-29T16:56:56Z [107,206ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((148))' not available in the MDL representation.
+2026-10-29T16:56:56Z [107,206ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((148))' not available in the MDL representation.
+2026-10-29T16:56:56Z [107,218ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((151))' not available in the MDL representation.
+2026-10-29T16:56:56Z [107,218ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((151))' not available in the MDL representation.
+2026-10-29T16:56:57Z [107,274ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((174))' not available in the MDL representation.
+2026-10-29T16:56:57Z [107,274ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((174))' not available in the MDL representation.
+2026-10-29T16:56:57Z [107,306ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((189))' not available in the MDL representation.
+2026-10-29T16:56:57Z [107,306ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((189))' not available in the MDL representation.
+2026-10-29T16:56:57Z [107,392ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((199))' not available in the MDL representation.
+2026-10-29T16:56:57Z [107,392ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((199))' not available in the MDL representation.
+2026-10-29T16:56:58Z [108,825ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((227))' not available in the MDL representation.
+2026-10-29T16:56:58Z [108,825ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((227))' not available in the MDL representation.
+2026-10-29T16:56:58Z [108,896ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((232))' not available in the MDL representation.
+2026-10-29T16:56:58Z [108,896ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((232))' not available in the MDL representation.
+2026-10-29T16:56:58Z [108,900ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((234))' not available in the MDL representation.
+2026-10-29T16:56:58Z [108,901ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((234))' not available in the MDL representation.
+2026-10-29T16:57:01Z [111,556ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-10-29T16:57:01Z [111,947ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation.
+2026-10-29T16:57:01Z [111,948ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation.
+2026-10-29T16:57:01Z [111,950ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((107))' not available in the MDL representation.
+2026-10-29T16:57:01Z [111,950ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((107))' not available in the MDL representation.
+2026-10-29T16:57:01Z [111,951ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-10-29T16:57:01Z [111,951ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-10-29T16:57:01Z [111,953ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((151))' not available in the MDL representation.
+2026-10-29T16:57:01Z [111,954ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((151))' not available in the MDL representation.
+2026-10-29T16:57:01Z [111,956ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((199))' not available in the MDL representation.
+2026-10-29T16:57:01Z [111,957ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((199))' not available in the MDL representation.
+2026-10-29T16:57:01Z [111,959ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((227))' not available in the MDL representation.
+2026-10-29T16:57:01Z [111,959ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((227))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 17.333307 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : PlasticBottlesInSquarePailTask                │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put all the small plastic bottles in the square pail │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : PlasticBottlesInSquarePailTaskSceneEnvCfg     │
+│  Attributes  : semantics, sorting, size, complex             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running PlasticBottlesInSquarePailTask_0: 'Put all the small plastic bottles in the square pail' (run 0, 1 envs)
+
  0%|          | 0/2700 [00:00<?, ?it/s]
  0%|          | 1/2700 [00:26<20:11:31, 26.93s/it]
  0%|          | 2/2700 [00:27<8:27:23, 11.28s/it] 
  0%|          | 3/2700 [00:27<4:42:05,  6.28s/it]
  0%|          | 4/2700 [00:27<2:56:10,  3.92s/it]
  0%|          | 5/2700 [00:28<1:57:25,  2.61s/it]
  0%|          | 6/2700 [00:28<1:22:03,  1.83s/it]
  0%|          | 7/2700 [00:28<59:41,  1.33s/it]  
  0%|          | 8/2700 [00:29<45:10,  1.01s/it]
  0%|          | 9/2700 [00:42<3:43:29,  4.98s/it]
  0%|          | 10/2700 [00:43<2:38:43,  3.54s/it]
  0%|          | 11/2700 [00:43<1:54:15,  2.55s/it]
  0%|          | 12/2700 [00:43<1:23:37,  1.87s/it]
  0%|          | 13/2700 [00:44<1:02:37,  1.40s/it]
  1%|          | 14/2700 [00:44<47:50,  1.07s/it]  
  1%|          | 15/2700 [00:44<37:35,  1.19it/s]
  1%|          | 16/2700 [00:44<30:21,  1.47it/s]
  1%|          | 17/2700 [00:55<2:42:28,  3.63s/it]
  1%|          | 18/2700 [00:55<1:57:43,  2.63s/it]
  1%|          | 19/2700 [00:56<1:26:36,  1.94s/it]
  1%|          | 20/2700 [00:56<1:05:00,  1.46s/it]
  1%|          | 21/2700 [00:56<50:02,  1.12s/it]  
  1%|          | 22/2700 [00:57<39:34,  1.13it/s]
  1%|          | 23/2700 [00:57<32:27,  1.37it/s]
  1%|          | 24/2700 [00:57<27:31,  1.62it/s]
  1%|          | 25/2700 [01:12<3:40:58,  4.96s/it]
  1%|          | 26/2700 [01:13<2:39:39,  3.58s/it]
  1%|          | 27/2700 [01:13<1:56:54,  2.62s/it]
  1%|          | 28/2700 [01:14<1:26:37,  1.95s/it]
  1%|          | 29/2700 [01:14<1:05:17,  1.47s/it]2026-10-29T16:58:18Z [188,302ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+
  1%|          | 30/2700 [01:14<50:28,  1.13s/it]  
  1%|          | 31/2700 [01:15<40:04,  1.11it/s]
  1%|          | 32/2700 [01:15<32:48,  1.36it/s]
  1%|          | 33/2700 [01:53<8:52:13, 11.97s/it]
  1%|▏         | 34/2700 [01:54<6:16:57,  8.48s/it]
  1%|▏         | 35/2700 [01:54<4:28:18,  6.04s/it]
  1%|▏         | 36/2700 [01:54<3:12:27,  4.33s/it]
  1%|▏         | 37/2700 [01:55<2:19:22,  3.14s/it]
  1%|▏         | 38/2700 [01:55<1:42:02,  2.30s/it]
  1%|▏         | 39/2700 [01:55<1:15:54,  1.71s/it]
  1%|▏         | 40/2700 [01:56<57:32,  1.30s/it]  
  2%|▏         | 41/2700 [01:56<49:51,  1.13s/it]
  2%|▏         | 42/2700 [01:57<39:28,  1.12it/s]
  2%|▏         | 43/2700 [01:57<32:04,  1.38it/s]
  2%|▏         | 44/2700 [01:57<26:56,  1.64it/s]
  2%|▏         | 45/2700 [01:58<23:24,  1.89it/s]
  2%|▏         | 46/2700 [01:58<20:51,  2.12it/s]
  2%|▏         | 47/2700 [01:58<19:06,  2.31it/s]
  2%|▏         | 48/2700 [01:59<17:53,  2.47it/s]
  2%|▏         | 49/2700 [01:59<20:37,  2.14it/s]
  2%|▏         | 50/2700 [02:00<18:53,  2.34it/s]
  2%|▏         | 51/2700 [02:00<17:43,  2.49it/s]
  2%|▏         | 52/2700 [02:00<16:49,  2.62it/s]
  2%|▏         | 53/2700 [02:01<16:10,  2.73it/s]
  2%|▏         | 54/2700 [02:01<15:50,  2.78it/s]
  2%|▏         | 55/2700 [02:01<15:36,  2.83it/s]
  2%|▏         | 56/2700 [02:02<15:27,  2.85it/s]
  2%|▏         | 57/2700 [02:08<1:32:47,  2.11s/it]
  2%|▏         | 58/2700 [02:08<1:09:39,  1.58s/it]
  2%|▏         | 59/2700 [02:09<53:28,  1.21s/it]  
  2%|▏         | 60/2700 [02:09<42:11,  1.04it/s]
  2%|▏         | 61/2700 [02:09<34:13,  1.28it/s]
  2%|▏         | 62/2700 [02:10<28:32,  1.54it/s]
  2%|▏         | 63/2700 [02:10<24:29,  1.79it/s]
  2%|▏         | 64/2700 [02:10<21:31,  2.04it/s]
  2%|▏         | 65/2700 [02:19<2:04:05,  2.83s/it]
  2%|▏         | 66/2700 [02:19<1:31:32,  2.09s/it]
  2%|▏         | 67/2700 [02:19<1:08:36,  1.56s/it]
  3%|▎         | 68/2700 [02:20<52:39,  1.20s/it]  
  3%|▎         | 69/2700 [02:20<41:37,  1.05it/s]
  3%|▎         | 70/2700 [02:20<33:37,  1.30it/s]
  3%|▎         | 71/2700 [02:21<28:01,  1.56it/s]
  3%|▎         | 72/2700 [02:21<24:06,  1.82it/s]
  3%|▎         | 73/2700 [02:22<25:10,  1.74it/s]
  3%|▎         | 74/2700 [02:22<21:59,  1.99it/s]
  3%|▎         | 75/2700 [02:22<19:49,  2.21it/s]
  3%|▎         | 76/2700 [02:23<18:22,  2.38it/s]
  3%|▎         | 77/2700 [02:23<17:22,  2.52it/s]
  3%|▎         | 78/2700 [02:23<16:34,  2.64it/s]
  3%|▎         | 79/2700 [02:24<16:04,  2.72it/s]
  3%|▎         | 80/2700 [02:24<15:37,  2.80it/s]
  3%|▎         | 81/2700 [02:25<18:33,  2.35it/s]
  3%|▎         | 82/2700 [02:25<17:17,  2.52it/s]
  3%|▎         | 83/2700 [02:25<16:29,  2.64it/s]
  3%|▎         | 84/2700 [02:26<15:54,  2.74it/s]
  3%|▎         | 85/2700 [02:26<15:34,  2.80it/s]
  3%|▎         | 86/2700 [02:26<15:19,  2.84it/s]
  3%|▎         | 87/2700 [02:27<15:12,  2.86it/s]
  3%|▎         | 88/2700 [02:27<15:04,  2.89it/s]
  3%|▎         | 89/2700 [02:40<2:56:39,  4.06s/it]
  3%|▎         | 90/2700 [02:40<2:08:00,  2.94s/it]
  3%|▎         | 91/2700 [02:40<1:33:52,  2.16s/it]
  3%|▎         | 92/2700 [02:41<1:10:04,  1.61s/it]
  3%|▎         | 93/2700 [02:41<53:21,  1.23s/it]  
  3%|▎         | 94/2700 [02:41<41:36,  1.04it/s]
  4%|▎         | 95/2700 [02:42<33:21,  1.30it/s]
  4%|▎         | 96/2700 [02:42<27:33,  1.57it/s]
  4%|▎         | 97/2700 [02:43<26:58,  1.61it/s]
  4%|▎         | 98/2700 [02:43<22:41,  1.91it/s]
  4%|▎         | 99/2700 [02:43<20:02,  2.16it/s]
  4%|▎         | 100/2700 [02:44<18:04,  2.40it/s]
  4%|▎         | 101/2700 [02:44<16:55,  2.56it/s]
  4%|▍         | 102/2700 [02:44<16:00,  2.71it/s]
  4%|▍         | 103/2700 [02:45<15:24,  2.81it/s]
  4%|▍         | 104/2700 [02:45<14:59,  2.89it/s]
  4%|▍         | 105/2700 [02:53<1:54:06,  2.64s/it]
  4%|▍         | 106/2700 [02:53<1:24:16,  1.95s/it]
  4%|▍         | 107/2700 [02:53<1:03:12,  1.46s/it]
  4%|▍         | 108/2700 [02:54<48:30,  1.12s/it]  
  4%|▍         | 109/2700 [02:54<38:06,  1.13it/s]
  4%|▍         | 110/2700 [02:54<30:54,  1.40it/s]
  4%|▍         | 111/2700 [02:55<25:49,  1.67it/s]
  4%|▍         | 112/2700 [02:55<22:13,  1.94it/s]
  4%|▍         | 113/2700 [02:56<23:10,  1.86it/s]
  4%|▍         | 114/2700 [02:56<20:27,  2.11it/s]
  4%|▍         | 115/2700 [02:56<18:34,  2.32it/s]
  4%|▍         | 116/2700 [02:57<17:16,  2.49it/s]
  4%|▍         | 117/2700 [02:57<16:20,  2.63it/s]
  4%|▍         | 118/2700 [02:57<15:39,  2.75it/s]
  4%|▍         | 119/2700 [02:58<15:13,  2.83it/s]
  4%|▍         | 120/2700 [02:58<14:49,  2.90it/s]
  4%|▍         | 121/2700 [02:59<17:08,  2.51it/s]
  5%|▍         | 122/2700 [02:59<16:10,  2.66it/s]
  5%|▍         | 123/2700 [02:59<15:34,  2.76it/s]
  5%|▍         | 124/2700 [03:00<15:09,  2.83it/s]
  5%|▍         | 125/2700 [03:00<14:48,  2.90it/s]
  5%|▍         | 126/2700 [03:00<14:33,  2.95it/s]
  5%|▍         | 127/2700 [03:00<14:24,  2.98it/s]
  5%|▍         | 128/2700 [03:01<14:18,  2.99it/s]
  5%|▍         | 129/2700 [03:18<3:51:14,  5.40s/it]
  5%|▍         | 130/2700 [03:18<2:45:59,  3.88s/it]
  5%|▍         | 131/2700 [03:19<2:00:20,  2.81s/it]
  5%|▍         | 132/2700 [03:19<1:28:23,  2.07s/it]
  5%|▍         | 133/2700 [03:19<1:06:02,  1.54s/it]
  5%|▍         | 134/2700 [03:20<50:21,  1.18s/it]  
  5%|▌         | 135/2700 [03:20<39:24,  1.08it/s]
  5%|▌         | 136/2700 [03:20<31:27,  1.36it/s]
  5%|▌         | 137/2700 [03:21<30:35,  1.40it/s]
  5%|▌         | 138/2700 [03:21<25:21,  1.68it/s]
  5%|▌         | 139/2700 [03:22<21:43,  1.97it/s]
  5%|▌         | 140/2700 [03:22<19:13,  2.22it/s]
  5%|▌         | 141/2700 [03:22<17:24,  2.45it/s]
  5%|▌         | 142/2700 [03:23<16:08,  2.64it/s]
  5%|▌         | 143/2700 [03:23<15:17,  2.79it/s]
  5%|▌         | 144/2700 [03:23<14:44,  2.89it/s]
  5%|▌         | 145/2700 [03:24<16:28,  2.58it/s]
  5%|▌         | 146/2700 [03:24<15:29,  2.75it/s]
  5%|▌         | 147/2700 [03:24<14:46,  2.88it/s]
  5%|▌         | 148/2700 [03:25<14:17,  2.98it/s]
  6%|▌         | 149/2700 [03:25<13:54,  3.06it/s]
  6%|▌         | 150/2700 [03:25<13:47,  3.08it/s]
  6%|▌         | 151/2700 [03:25<13:37,  3.12it/s]
  6%|▌         | 152/2700 [03:26<13:26,  3.16it/s]
  6%|▌         | 153/2700 [03:49<5:01:39,  7.11s/it]
  6%|▌         | 154/2700 [03:49<3:35:03,  5.07s/it]
  6%|▌         | 155/2700 [03:49<2:34:27,  3.64s/it]
  6%|▌         | 156/2700 [03:50<1:52:03,  2.64s/it]
  6%|▌         | 157/2700 [03:50<1:22:19,  1.94s/it]
  6%|▌         | 158/2700 [03:50<1:01:35,  1.45s/it]
  6%|▌         | 159/2700 [03:51<47:04,  1.11s/it]  
  6%|▌         | 160/2700 [03:51<36:56,  1.15it/s]
  6%|▌         | 161/2700 [03:51<31:44,  1.33it/s]
  6%|▌         | 162/2700 [03:52<26:11,  1.62it/s]
  6%|▌         | 163/2700 [03:52<22:18,  1.90it/s]
  6%|▌         | 164/2700 [03:52<19:34,  2.16it/s]
  6%|▌         | 165/2700 [03:53<17:41,  2.39it/s]
  6%|▌         | 166/2700 [03:53<16:22,  2.58it/s]
  6%|▌         | 167/2700 [03:53<15:29,  2.73it/s]
  6%|▌         | 168/2700 [03:54<14:48,  2.85it/s]
  6%|▋         | 169/2700 [04:08<3:16:42,  4.66s/it]
  6%|▋         | 170/2700 [04:09<2:21:34,  3.36s/it]
  6%|▋         | 171/2700 [04:09<1:43:01,  2.44s/it]
  6%|▋         | 172/2700 [04:09<1:16:02,  1.80s/it]
  6%|▋         | 173/2700 [04:10<57:08,  1.36s/it]  
  6%|▋         | 174/2700 [04:10<43:53,  1.04s/it]
  6%|▋         | 175/2700 [04:10<34:38,  1.22it/s]
  7%|▋         | 176/2700 [04:11<28:12,  1.49it/s]
  7%|▋         | 177/2700 [04:21<2:33:16,  3.64s/it]
  7%|▋         | 178/2700 [04:21<1:51:21,  2.65s/it]
  7%|▋         | 179/2700 [04:22<1:21:59,  1.95s/it]
  7%|▋         | 180/2700 [04:22<1:01:27,  1.46s/it]
  7%|▋         | 181/2700 [04:22<46:59,  1.12s/it]  
  7%|▋         | 182/2700 [04:23<36:50,  1.14it/s]
  7%|▋         | 183/2700 [04:23<29:43,  1.41it/s]
  7%|▋         | 184/2700 [04:23<24:45,  1.69it/s]
  7%|▋         | 185/2700 [04:24<31:09,  1.35it/s]
  7%|▋         | 186/2700 [04:25<25:45,  1.63it/s]
  7%|▋         | 187/2700 [04:25<21:57,  1.91it/s]
  7%|▋         | 188/2700 [04:25<19:19,  2.17it/s]
  7%|▋         | 189/2700 [04:26<17:29,  2.39it/s]
  7%|▋         | 190/2700 [04:26<16:29,  2.54it/s]
  7%|▋         | 191/2700 [04:26<15:51,  2.64it/s]
  7%|▋         | 192/2700 [04:27<15:17,  2.73it/s]
  7%|▋         | 193/2700 [04:42<3:27:43,  4.97s/it]
  7%|▋         | 194/2700 [04:43<2:29:19,  3.58s/it]
  7%|▋         | 195/2700 [04:43<1:48:24,  2.60s/it]
  7%|▋         | 196/2700 [04:43<1:19:49,  1.91s/it]
  7%|▋         | 197/2700 [04:44<59:46,  1.43s/it]  
  7%|▋         | 198/2700 [04:44<45:43,  1.10s/it]
  7%|▋         | 199/2700 [04:44<35:57,  1.16it/s]
  7%|▋         | 200/2700 [04:45<29:18,  1.42it/s]
  7%|▋         | 201/2700 [04:54<2:11:25,  3.16s/it]
  7%|▋         | 202/2700 [04:54<1:35:49,  2.30s/it]
  8%|▊         | 203/2700 [04:54<1:10:55,  1.70s/it]
  8%|▊         | 204/2700 [04:54<53:30,  1.29s/it]  
  8%|▊         | 205/2700 [04:55<41:19,  1.01it/s]
  8%|▊         | 206/2700 [04:55<32:47,  1.27it/s]
  8%|▊         | 207/2700 [04:55<26:50,  1.55it/s]
  8%|▊         | 208/2700 [04:56<22:53,  1.81it/s]
  8%|▊         | 209/2700 [05:05<2:11:12,  3.16s/it]
  8%|▊         | 210/2700 [05:05<1:35:44,  2.31s/it]
  8%|▊         | 211/2700 [05:06<1:10:57,  1.71s/it]
  8%|▊         | 212/2700 [05:06<53:38,  1.29s/it]  
  8%|▊         | 213/2700 [05:06<41:26,  1.00it/s]
  8%|▊         | 214/2700 [05:07<33:01,  1.25it/s]
  8%|▊         | 215/2700 [05:07<26:59,  1.53it/s]
  8%|▊         | 216/2700 [05:07<22:53,  1.81it/s]
  8%|▊         | 217/2700 [05:08<28:29,  1.45it/s]
  8%|▊         | 218/2700 [05:09<23:56,  1.73it/s]
  8%|▊         | 219/2700 [05:09<20:41,  2.00it/s]
  8%|▊         | 220/2700 [05:09<18:23,  2.25it/s]
  8%|▊         | 221/2700 [05:09<16:54,  2.44it/s]
  8%|▊         | 222/2700 [05:10<15:57,  2.59it/s]
  8%|▊         | 223/2700 [05:10<15:10,  2.72it/s]
  8%|▊         | 224/2700 [05:10<14:53,  2.77it/s]
  8%|▊         | 225/2700 [05:15<1:11:37,  1.74s/it]
  8%|▊         | 226/2700 [05:16<54:09,  1.31s/it]  
  8%|▊         | 227/2700 [05:16<41:53,  1.02s/it]
  8%|▊         | 228/2700 [05:16<33:19,  1.24it/s]
  8%|▊         | 229/2700 [05:17<27:17,  1.51it/s]
  9%|▊         | 230/2700 [05:17<23:05,  1.78it/s]
  9%|▊         | 231/2700 [05:17<20:09,  2.04it/s]
  9%|▊         | 232/2700 [05:18<18:06,  2.27it/s]
  9%|▊         | 233/2700 [05:18<18:11,  2.26it/s]
  9%|▊         | 234/2700 [05:18<16:43,  2.46it/s]
  9%|▊         | 235/2700 [05:19<15:48,  2.60it/s]
  9%|▊         | 236/2700 [05:19<15:06,  2.72it/s]
  9%|▉         | 237/2700 [05:19<14:38,  2.80it/s]
  9%|▉         | 238/2700 [05:20<14:16,  2.87it/s]
  9%|▉         | 239/2700 [05:20<14:00,  2.93it/s]
  9%|▉         | 240/2700 [05:20<13:49,  2.97it/s]
  9%|▉         | 241/2700 [05:32<2:27:05,  3.59s/it]
  9%|▉         | 242/2700 [05:32<1:46:55,  2.61s/it]
  9%|▉         | 243/2700 [05:32<1:19:03,  1.93s/it]
  9%|▉         | 244/2700 [05:33<59:32,  1.45s/it]  
  9%|▉         | 245/2700 [05:33<45:45,  1.12s/it]
  9%|▉         | 246/2700 [05:33<36:07,  1.13it/s]
  9%|▉         | 247/2700 [05:34<29:26,  1.39it/s]
  9%|▉         | 248/2700 [05:34<24:42,  1.65it/s]
  9%|▉         | 249/2700 [06:00<5:42:20,  8.38s/it]
  9%|▉         | 250/2700 [06:01<4:03:39,  5.97s/it]
  9%|▉         | 251/2700 [06:01<2:54:31,  4.28s/it]
  9%|▉         | 252/2700 [06:01<2:06:08,  3.09s/it]
  9%|▉         | 253/2700 [06:02<1:32:20,  2.26s/it]
  9%|▉         | 254/2700 [06:02<1:08:39,  1.68s/it]
  9%|▉         | 255/2700 [06:02<52:04,  1.28s/it]  
  9%|▉         | 256/2700 [06:03<40:28,  1.01it/s]
 10%|▉         | 257/2700 [06:03<33:46,  1.21it/s]
 10%|▉         | 258/2700 [06:04<27:42,  1.47it/s]
 10%|▉         | 259/2700 [06:04<23:33,  1.73it/s]
 10%|▉         | 260/2700 [06:04<20:34,  1.98it/s]
 10%|▉         | 261/2700 [06:05<18:38,  2.18it/s]
 10%|▉         | 262/2700 [06:05<17:10,  2.37it/s]
 10%|▉         | 263/2700 [06:05<16:12,  2.51it/s]
 10%|▉         | 264/2700 [06:06<15:27,  2.63it/s]
 10%|▉         | 265/2700 [06:16<2:22:32,  3.51s/it]
 10%|▉         | 266/2700 [06:17<1:43:38,  2.55s/it]
 10%|▉         | 267/2700 [06:17<1:16:23,  1.88s/it]
 10%|▉         | 268/2700 [06:17<57:27,  1.42s/it]  
 10%|▉         | 269/2700 [06:18<44:25,  1.10s/it]
 10%|█         | 270/2700 [06:18<35:13,  1.15it/s]
 10%|█         | 271/2700 [06:18<28:52,  1.40it/s]
 10%|█         | 272/2700 [06:19<24:13,  1.67it/s]
 10%|█         | 273/2700 [06:29<2:19:06,  3.44s/it]
 10%|█         | 274/2700 [06:29<1:41:23,  2.51s/it]
 10%|█         | 275/2700 [06:30<1:14:57,  1.85s/it]
 10%|█         | 276/2700 [06:30<56:20,  1.39s/it]  
 10%|█         | 277/2700 [06:30<43:18,  1.07s/it]
 10%|█         | 278/2700 [06:30<34:12,  1.18it/s]
 10%|█         | 279/2700 [06:31<27:48,  1.45it/s]
 10%|█         | 280/2700 [06:31<23:21,  1.73it/s]
 10%|█         | 281/2700 [06:32<25:05,  1.61it/s]
 10%|█         | 282/2700 [06:32<21:35,  1.87it/s]
 10%|█         | 283/2700 [06:33<19:05,  2.11it/s]
 11%|█         | 284/2700 [06:33<17:16,  2.33it/s]
 11%|█         | 285/2700 [06:33<15:50,  2.54it/s]
 11%|█         | 286/2700 [06:33<14:56,  2.69it/s]
 11%|█         | 287/2700 [06:34<14:40,  2.74it/s]
 11%|█         | 288/2700 [06:34<14:12,  2.83it/s]
 11%|█         | 289/2700 [06:48<3:01:16,  4.51s/it]
 11%|█         | 290/2700 [06:49<2:10:55,  3.26s/it]
 11%|█         | 291/2700 [06:49<1:35:39,  2.38s/it]
 11%|█         | 292/2700 [06:49<1:10:58,  1.77s/it]
 11%|█         | 293/2700 [06:50<53:46,  1.34s/it]  
 11%|█         | 294/2700 [06:50<41:37,  1.04s/it]
 11%|█         | 295/2700 [06:50<33:08,  1.21it/s]
 11%|█         | 296/2700 [06:51<27:07,  1.48it/s]
 11%|█         | 297/2700 [06:51<25:05,  1.60it/s]
 11%|█         | 298/2700 [06:52<21:05,  1.90it/s]
 11%|█         | 299/2700 [06:52<18:22,  2.18it/s]
 11%|█         | 300/2700 [06:52<16:29,  2.43it/s]
 11%|█         | 301/2700 [06:52<15:10,  2.64it/s]
 11%|█         | 302/2700 [06:53<14:23,  2.78it/s]
 11%|█         | 303/2700 [06:53<13:39,  2.93it/s]
 11%|█▏        | 304/2700 [06:53<13:08,  3.04it/s]
 11%|█▏        | 305/2700 [06:54<13:51,  2.88it/s]
 11%|█▏        | 306/2700 [06:54<13:14,  3.02it/s]
 11%|█▏        | 307/2700 [06:54<12:54,  3.09it/s]
 11%|█▏        | 308/2700 [06:55<12:34,  3.17it/s]
 11%|█▏        | 309/2700 [06:55<12:26,  3.20it/s]
 11%|█▏        | 310/2700 [06:55<12:24,  3.21it/s]
 12%|█▏        | 311/2700 [06:56<12:16,  3.24it/s]
 12%|█▏        | 312/2700 [06:56<12:16,  3.24it/s]
 12%|█▏        | 313/2700 [07:02<1:27:39,  2.20s/it]
 12%|█▏        | 314/2700 [07:03<1:05:04,  1.64s/it]
 12%|█▏        | 315/2700 [07:03<49:29,  1.25s/it]  
 12%|█▏        | 316/2700 [07:03<38:30,  1.03it/s]
 12%|█▏        | 317/2700 [07:04<30:54,  1.28it/s]
 12%|█▏        | 318/2700 [07:04<25:41,  1.55it/s]
 12%|█▏        | 319/2700 [07:04<21:56,  1.81it/s]
 12%|█▏        | 320/2700 [07:05<19:16,  2.06it/s]
 12%|█▏        | 321/2700 [07:05<21:01,  1.89it/s]
 12%|█▏        | 322/2700 [07:06<18:36,  2.13it/s]
 12%|█▏        | 323/2700 [07:06<16:57,  2.34it/s]
 12%|█▏        | 324/2700 [07:06<15:39,  2.53it/s]
 12%|█▏        | 325/2700 [07:07<14:31,  2.72it/s]
 12%|█▏        | 326/2700 [07:07<13:49,  2.86it/s]
 12%|█▏        | 327/2700 [07:07<13:37,  2.90it/s]
 12%|█▏        | 328/2700 [07:08<13:28,  2.93it/s]
 12%|█▏        | 329/2700 [07:21<2:45:08,  4.18s/it]
 12%|█▏        | 330/2700 [07:21<1:59:27,  3.02s/it]
 12%|█▏        | 331/2700 [07:21<1:27:34,  2.22s/it]
 12%|█▏        | 332/2700 [07:22<1:05:14,  1.65s/it]
 12%|█▏        | 333/2700 [07:22<49:15,  1.25s/it]  
 12%|█▏        | 334/2700 [07:22<38:00,  1.04it/s]
 12%|█▏        | 335/2700 [07:23<30:08,  1.31it/s]
 12%|█▏        | 336/2700 [07:23<24:44,  1.59it/s]
 12%|█▏        | 337/2700 [07:23<22:08,  1.78it/s]
 13%|█▎        | 338/2700 [07:24<19:05,  2.06it/s]
 13%|█▎        | 339/2700 [07:24<17:05,  2.30it/s]
 13%|█▎        | 340/2700 [07:24<15:38,  2.52it/s]
 13%|█▎        | 341/2700 [07:25<14:43,  2.67it/s]
 13%|█▎        | 342/2700 [07:25<14:05,  2.79it/s]
 13%|█▎        | 343/2700 [07:25<13:32,  2.90it/s]
 13%|█▎        | 344/2700 [07:26<13:10,  2.98it/s]
 13%|█▎        | 345/2700 [07:26<15:40,  2.50it/s]
 13%|█▎        | 346/2700 [07:26<14:38,  2.68it/s]
 13%|█▎        | 347/2700 [07:27<13:59,  2.80it/s]
 13%|█▎        | 348/2700 [07:27<13:31,  2.90it/s]
 13%|█▎        | 349/2700 [07:27<13:06,  2.99it/s]
 13%|█▎        | 350/2700 [07:28<12:42,  3.08it/s]
 13%|█▎        | 351/2700 [07:28<12:35,  3.11it/s]
 13%|█▎        | 352/2700 [07:28<12:33,  3.12it/s]
 13%|█▎        | 353/2700 [07:41<2:34:15,  3.94s/it]
 13%|█▎        | 354/2700 [07:41<1:51:30,  2.85s/it]
 13%|█▎        | 355/2700 [07:41<1:21:37,  2.09s/it]
 13%|█▎        | 356/2700 [07:42<1:00:38,  1.55s/it]
 13%|█▎        | 357/2700 [07:42<45:59,  1.18s/it]  
 13%|█▎        | 358/2700 [07:42<35:45,  1.09it/s]
 13%|█▎        | 359/2700 [07:43<28:34,  1.37it/s]
 13%|█▎        | 360/2700 [07:43<23:30,  1.66it/s]
 13%|█▎        | 361/2700 [07:44<27:18,  1.43it/s]
 13%|█▎        | 362/2700 [07:44<22:46,  1.71it/s]
 13%|█▎        | 363/2700 [07:44<19:28,  2.00it/s]
 13%|█▎        | 364/2700 [07:45<17:10,  2.27it/s]
 14%|█▎        | 365/2700 [07:45<15:32,  2.50it/s]
 14%|█▎        | 366/2700 [07:45<14:26,  2.69it/s]
 14%|█▎        | 367/2700 [07:46<13:38,  2.85it/s]
 14%|█▎        | 368/2700 [07:46<13:05,  2.97it/s]
 14%|█▎        | 369/2700 [08:04<3:41:58,  5.71s/it]
 14%|█▎        | 370/2700 [08:05<2:38:58,  4.09s/it]
 14%|█▎        | 371/2700 [08:05<1:55:05,  2.97s/it]
 14%|█▍        | 372/2700 [08:05<1:24:22,  2.17s/it]
 14%|█▍        | 373/2700 [08:06<1:02:58,  1.62s/it]
 14%|█▍        | 374/2700 [08:06<47:49,  1.23s/it]  
 14%|█▍        | 375/2700 [08:06<37:14,  1.04it/s]
 14%|█▍        | 376/2700 [08:06<29:47,  1.30it/s]
 14%|█▍        | 377/2700 [08:07<27:31,  1.41it/s]
 14%|█▍        | 378/2700 [08:07<23:07,  1.67it/s]
 14%|█▍        | 379/2700 [08:08<19:55,  1.94it/s]
 14%|█▍        | 380/2700 [08:08<17:57,  2.15it/s]
 14%|█▍        | 381/2700 [08:08<16:31,  2.34it/s]
 14%|█▍        | 382/2700 [08:09<15:18,  2.53it/s]
 14%|█▍        | 383/2700 [08:09<14:32,  2.65it/s]
 14%|█▍        | 384/2700 [08:09<14:33,  2.65it/s]
 14%|█▍        | 385/2700 [08:17<1:34:09,  2.44s/it]
 14%|█▍        | 386/2700 [08:17<1:09:36,  1.80s/it]
 14%|█▍        | 387/2700 [08:17<52:25,  1.36s/it]  
 14%|█▍        | 388/2700 [08:18<40:28,  1.05s/it]
 14%|█▍        | 389/2700 [08:18<32:04,  1.20it/s]
 14%|█▍        | 390/2700 [08:18<26:08,  1.47it/s]
 14%|█▍        | 391/2700 [08:19<22:03,  1.74it/s]
 15%|█▍        | 392/2700 [08:19<19:17,  1.99it/s]
 15%|█▍        | 393/2700 [08:20<21:33,  1.78it/s]
 15%|█▍        | 394/2700 [08:20<19:00,  2.02it/s]
 15%|█▍        | 395/2700 [08:20<17:08,  2.24it/s]
 15%|█▍        | 396/2700 [08:21<15:37,  2.46it/s]
 15%|█▍        | 397/2700 [08:21<14:36,  2.63it/s]
 15%|█▍        | 398/2700 [08:21<13:46,  2.79it/s]
 15%|█▍        | 399/2700 [08:22<13:13,  2.90it/s]
 15%|█▍        | 400/2700 [08:22<13:04,  2.93it/s]
 15%|█▍        | 401/2700 [08:29<1:32:55,  2.43s/it]
 15%|█▍        | 402/2700 [08:30<1:08:59,  1.80s/it]
 15%|█▍        | 403/2700 [08:30<52:03,  1.36s/it]  
 15%|█▍        | 404/2700 [08:30<40:17,  1.05s/it]
 15%|█▌        | 405/2700 [08:31<32:09,  1.19it/s]
 15%|█▌        | 406/2700 [08:31<26:32,  1.44it/s]
 15%|█▌        | 407/2700 [08:31<22:30,  1.70it/s]
 15%|█▌        | 408/2700 [08:32<19:51,  1.92it/s]
 15%|█▌        | 409/2700 [08:41<2:03:30,  3.23s/it]
 15%|█▌        | 410/2700 [08:42<1:30:34,  2.37s/it]
 15%|█▌        | 411/2700 [08:42<1:07:22,  1.77s/it]
 15%|█▌        | 412/2700 [08:42<51:04,  1.34s/it]  
 15%|█▌        | 413/2700 [08:43<39:39,  1.04s/it]
 15%|█▌        | 414/2700 [08:43<31:46,  1.20it/s]
 15%|█▌        | 415/2700 [08:43<26:19,  1.45it/s]
 15%|█▌        | 416/2700 [08:44<22:16,  1.71it/s]
 15%|█▌        | 417/2700 [08:50<1:23:21,  2.19s/it]
 15%|█▌        | 418/2700 [08:50<1:02:16,  1.64s/it]
 16%|█▌        | 419/2700 [08:50<47:25,  1.25s/it]  
 16%|█▌        | 420/2700 [08:51<36:57,  1.03it/s]
 16%|█▌        | 421/2700 [08:51<29:41,  1.28it/s]
 16%|█▌        | 422/2700 [08:51<24:34,  1.54it/s]
 16%|█▌        | 423/2700 [08:52<20:57,  1.81it/s]
 16%|█▌        | 424/2700 [08:52<18:22,  2.06it/s]
 16%|█▌        | 425/2700 [09:01<1:53:58,  3.01s/it]
 16%|█▌        | 426/2700 [09:01<1:23:30,  2.20s/it]
 16%|█▌        | 427/2700 [09:01<1:01:53,  1.63s/it]
 16%|█▌        | 428/2700 [09:02<46:44,  1.23s/it]  
 16%|█▌        | 429/2700 [09:02<36:08,  1.05it/s]
 16%|█▌        | 430/2700 [09:02<28:45,  1.32it/s]
 16%|█▌        | 431/2700 [09:03<23:39,  1.60it/s]
 16%|█▌        | 432/2700 [09:03<20:15,  1.87it/s]
 16%|█▌        | 433/2700 [09:03<19:42,  1.92it/s]
 16%|█▌        | 434/2700 [09:04<17:23,  2.17it/s]
 16%|█▌        | 435/2700 [09:04<15:40,  2.41it/s]
 16%|█▌        | 436/2700 [09:04<14:28,  2.61it/s]
 16%|█▌        | 437/2700 [09:05<13:31,  2.79it/s]
 16%|█▌        | 438/2700 [09:05<12:58,  2.91it/s]
 16%|█▋        | 439/2700 [09:05<12:46,  2.95it/s]
 16%|█▋        | 440/2700 [09:06<12:25,  3.03it/s]
 16%|█▋        | 441/2700 [09:06<14:40,  2.56it/s]
 16%|█▋        | 442/2700 [09:07<13:43,  2.74it/s]
 16%|█▋        | 443/2700 [09:07<13:04,  2.88it/s]
 16%|█▋        | 444/2700 [09:07<12:34,  2.99it/s]
 16%|█▋        | 445/2700 [09:07<12:15,  3.07it/s]
 17%|█▋        | 446/2700 [09:08<12:01,  3.12it/s]
 17%|█▋        | 447/2700 [09:08<12:04,  3.11it/s]
 17%|█▋        | 448/2700 [09:08<11:52,  3.16it/s]
 17%|█▋        | 449/2700 [09:29<3:57:34,  6.33s/it]
 17%|█▋        | 450/2700 [09:29<2:49:56,  4.53s/it]
 17%|█▋        | 451/2700 [09:29<2:02:19,  3.26s/it]
 17%|█▋        | 452/2700 [09:30<1:28:56,  2.37s/it]
 17%|█▋        | 453/2700 [09:30<1:05:49,  1.76s/it]
 17%|█▋        | 454/2700 [09:30<49:47,  1.33s/it]  
 17%|█▋        | 455/2700 [09:31<38:18,  1.02s/it]
 17%|█▋        | 456/2700 [09:31<30:08,  1.24it/s]
 17%|█▋        | 457/2700 [09:34<54:00,  1.44s/it]
 17%|█▋        | 458/2700 [09:34<41:09,  1.10s/it]
 17%|█▋        | 459/2700 [09:34<32:05,  1.16it/s]
 17%|█▋        | 460/2700 [09:35<25:48,  1.45it/s]
 17%|█▋        | 461/2700 [09:35<21:25,  1.74it/s]
 17%|█▋        | 462/2700 [09:35<18:18,  2.04it/s]
 17%|█▋        | 463/2700 [09:36<16:13,  2.30it/s]
 17%|█▋        | 464/2700 [09:36<14:45,  2.53it/s]
 17%|█▋        | 465/2700 [09:45<1:54:54,  3.08s/it]
 17%|█▋        | 466/2700 [09:46<1:23:51,  2.25s/it]
 17%|█▋        | 467/2700 [09:46<1:02:09,  1.67s/it]
 17%|█▋        | 468/2700 [09:46<46:56,  1.26s/it]  
 17%|█▋        | 469/2700 [09:47<36:12,  1.03it/s]
 17%|█▋        | 470/2700 [09:47<28:57,  1.28it/s]
 17%|█▋        | 471/2700 [09:47<23:37,  1.57it/s]
 17%|█▋        | 472/2700 [09:47<20:04,  1.85it/s]
 18%|█▊        | 473/2700 [09:48<18:32,  2.00it/s]
 18%|█▊        | 474/2700 [09:48<16:26,  2.26it/s]
 18%|█▊        | 475/2700 [09:49<14:55,  2.49it/s]
 18%|█▊        | 476/2700 [09:49<13:51,  2.68it/s]
 18%|█▊        | 477/2700 [09:49<13:06,  2.83it/s]
 18%|█▊        | 478/2700 [09:49<12:31,  2.96it/s]
 18%|█▊        | 479/2700 [09:50<12:05,  3.06it/s]
 18%|█▊        | 480/2700 [09:50<11:45,  3.15it/s]
 18%|█▊        | 481/2700 [09:51<13:45,  2.69it/s]
 18%|█▊        | 482/2700 [09:51<13:07,  2.82it/s]
 18%|█▊        | 483/2700 [09:51<12:39,  2.92it/s]
 18%|█▊        | 484/2700 [09:51<12:18,  3.00it/s]
 18%|█▊        | 485/2700 [09:52<12:23,  2.98it/s]
 18%|█▊        | 486/2700 [09:52<12:01,  3.07it/s]
 18%|█▊        | 487/2700 [09:52<11:53,  3.10it/s]
 18%|█▊        | 488/2700 [09:53<11:41,  3.15it/s]
 18%|█▊        | 489/2700 [10:05<2:28:16,  4.02s/it]
 18%|█▊        | 490/2700 [10:06<1:47:21,  2.91s/it]
 18%|█▊        | 491/2700 [10:06<1:18:39,  2.14s/it]
 18%|█▊        | 492/2700 [10:06<58:25,  1.59s/it]  
 18%|█▊        | 493/2700 [10:07<44:09,  1.20s/it]
 18%|█▊        | 494/2700 [10:07<34:14,  1.07it/s]
 18%|█▊        | 495/2700 [10:07<27:31,  1.34it/s]
 18%|█▊        | 496/2700 [10:08<22:47,  1.61it/s]
 18%|█▊        | 497/2700 [10:14<1:30:45,  2.47s/it]
 18%|█▊        | 498/2700 [10:15<1:06:56,  1.82s/it]
 18%|█▊        | 499/2700 [10:15<50:21,  1.37s/it]  
 19%|█▊        | 500/2700 [10:16<43:56,  1.20s/it]
 19%|█▊        | 501/2700 [10:16<34:31,  1.06it/s]
 19%|█▊        | 502/2700 [10:17<27:55,  1.31it/s]
 19%|█▊        | 503/2700 [10:17<23:18,  1.57it/s]
 19%|█▊        | 504/2700 [10:17<20:06,  1.82it/s]
 19%|█▊        | 505/2700 [10:18<19:40,  1.86it/s]
 19%|█▊        | 506/2700 [10:18<17:37,  2.07it/s]
 19%|█▉        | 507/2700 [10:18<16:13,  2.25it/s]
 19%|█▉        | 508/2700 [10:19<15:06,  2.42it/s]
 19%|█▉        | 509/2700 [10:19<14:07,  2.58it/s]
 19%|█▉        | 510/2700 [10:19<13:38,  2.68it/s]
 19%|█▉        | 511/2700 [10:20<13:06,  2.78it/s]
 19%|█▉        | 512/2700 [10:20<12:47,  2.85it/s]
 19%|█▉        | 513/2700 [10:36<3:02:20,  5.00s/it]
 19%|█▉        | 514/2700 [10:36<2:11:09,  3.60s/it]
 19%|█▉        | 515/2700 [10:37<1:35:23,  2.62s/it]
 19%|█▉        | 516/2700 [10:37<1:10:22,  1.93s/it]
 19%|█▉        | 517/2700 [10:37<53:05,  1.46s/it]  
 19%|█▉        | 518/2700 [10:38<40:54,  1.12s/it]
 19%|█▉        | 519/2700 [10:38<32:24,  1.12it/s]
 19%|█▉        | 520/2700 [10:38<26:26,  1.37it/s]
 19%|█▉        | 521/2700 [10:39<25:31,  1.42it/s]
 19%|█▉        | 522/2700 [10:39<21:26,  1.69it/s]
 19%|█▉        | 523/2700 [10:40<18:35,  1.95it/s]
 19%|█▉        | 524/2700 [10:40<16:36,  2.18it/s]
 19%|█▉        | 525/2700 [10:40<15:17,  2.37it/s]
 19%|█▉        | 526/2700 [10:41<14:17,  2.53it/s]
 20%|█▉        | 527/2700 [10:41<13:36,  2.66it/s]
 20%|█▉        | 528/2700 [10:41<13:10,  2.75it/s]
 20%|█▉        | 529/2700 [10:56<2:50:48,  4.72s/it]
 20%|█▉        | 530/2700 [10:57<2:03:00,  3.40s/it]
 20%|█▉        | 531/2700 [10:57<1:29:21,  2.47s/it]
 20%|█▉        | 532/2700 [10:57<1:05:47,  1.82s/it]
 20%|█▉        | 533/2700 [10:57<49:19,  1.37s/it]  
 20%|█▉        | 534/2700 [10:58<37:45,  1.05s/it]
 20%|█▉        | 535/2700 [10:58<29:41,  1.22it/s]
 20%|█▉        | 536/2700 [10:58<24:06,  1.50it/s]
 20%|█▉        | 537/2700 [10:59<22:50,  1.58it/s]
 20%|█▉        | 538/2700 [10:59<19:14,  1.87it/s]
 20%|█▉        | 539/2700 [10:59<16:47,  2.14it/s]
 20%|██        | 540/2700 [11:00<15:09,  2.38it/s]
 20%|██        | 541/2700 [11:00<13:57,  2.58it/s]
 20%|██        | 542/2700 [11:00<13:02,  2.76it/s]
 20%|██        | 543/2700 [11:01<12:31,  2.87it/s]
 20%|██        | 544/2700 [11:01<12:04,  2.98it/s]
 20%|██        | 545/2700 [11:10<1:46:07,  2.95s/it]
 20%|██        | 546/2700 [11:10<1:17:34,  2.16s/it]
 20%|██        | 547/2700 [11:11<57:32,  1.60s/it]  
 20%|██        | 548/2700 [11:11<43:31,  1.21s/it]
 20%|██        | 549/2700 [11:11<33:44,  1.06it/s]
 20%|██        | 550/2700 [11:12<26:52,  1.33it/s]
 20%|██        | 551/2700 [11:12<22:04,  1.62it/s]
 20%|██        | 552/2700 [11:12<18:41,  1.91it/s]
 20%|██        | 553/2700 [11:13<26:15,  1.36it/s]
 21%|██        | 554/2700 [11:14<21:40,  1.65it/s]
 21%|██        | 555/2700 [11:14<18:26,  1.94it/s]
 21%|██        | 556/2700 [11:14<16:09,  2.21it/s]
 21%|██        | 557/2700 [11:15<14:33,  2.45it/s]
 21%|██        | 558/2700 [11:15<13:28,  2.65it/s]
 21%|██        | 559/2700 [11:15<12:40,  2.81it/s]
 21%|██        | 560/2700 [11:16<12:07,  2.94it/s]
 21%|██        | 561/2700 [11:29<2:36:25,  4.39s/it]
 21%|██        | 562/2700 [11:30<1:52:38,  3.16s/it]
 21%|██        | 563/2700 [11:30<1:22:02,  2.30s/it]
 21%|██        | 564/2700 [11:30<1:00:38,  1.70s/it]
 21%|██        | 565/2700 [11:31<45:37,  1.28s/it]  
 21%|██        | 566/2700 [11:31<35:05,  1.01it/s]
 21%|██        | 567/2700 [11:31<27:44,  1.28it/s]
 21%|██        | 568/2700 [11:32<22:37,  1.57it/s]
 21%|██        | 569/2700 [11:32<20:15,  1.75it/s]
 21%|██        | 570/2700 [11:32<17:29,  2.03it/s]
 21%|██        | 571/2700 [11:33<15:27,  2.29it/s]
 21%|██        | 572/2700 [11:33<14:02,  2.53it/s]
 21%|██        | 573/2700 [11:33<13:09,  2.69it/s]
 21%|██▏       | 574/2700 [11:34<12:53,  2.75it/s]
 21%|██▏       | 575/2700 [11:34<12:35,  2.81it/s]
 21%|██▏       | 576/2700 [11:34<12:13,  2.89it/s]
 21%|██▏       | 577/2700 [11:43<1:47:11,  3.03s/it]
 21%|██▏       | 578/2700 [11:44<1:18:17,  2.21s/it]
 21%|██▏       | 579/2700 [11:44<58:00,  1.64s/it]  
 21%|██▏       | 580/2700 [11:44<43:46,  1.24s/it]
 22%|██▏       | 581/2700 [11:45<33:52,  1.04it/s]
 22%|██▏       | 582/2700 [11:45<26:54,  1.31it/s]
 22%|██▏       | 583/2700 [11:45<22:03,  1.60it/s]
 22%|██▏       | 584/2700 [11:46<18:38,  1.89it/s]
 22%|██▏       | 585/2700 [11:46<17:24,  2.02it/s]
 22%|██▏       | 586/2700 [11:46<15:25,  2.28it/s]
 22%|██▏       | 587/2700 [11:47<14:03,  2.51it/s]
 22%|██▏       | 588/2700 [11:47<13:04,  2.69it/s]
 22%|██▏       | 589/2700 [11:47<12:25,  2.83it/s]
 22%|██▏       | 590/2700 [11:48<11:59,  2.93it/s]
 22%|██▏       | 591/2700 [11:48<11:36,  3.03it/s]
 22%|██▏       | 592/2700 [11:48<11:18,  3.10it/s]
 22%|██▏       | 593/2700 [12:10<3:54:36,  6.68s/it]
 22%|██▏       | 594/2700 [12:10<2:47:26,  4.77s/it]
 22%|██▏       | 595/2700 [12:10<2:00:20,  3.43s/it]
 22%|██▏       | 596/2700 [12:11<1:27:21,  2.49s/it]
 22%|██▏       | 597/2700 [12:11<1:04:20,  1.84s/it]
 22%|██▏       | 598/2700 [12:11<48:14,  1.38s/it]  
 22%|██▏       | 599/2700 [12:12<37:01,  1.06s/it]
 22%|██▏       | 600/2700 [12:12<29:06,  1.20it/s]
 22%|██▏       | 601/2700 [12:13<33:33,  1.04it/s]
 22%|██▏       | 602/2700 [12:13<26:38,  1.31it/s]
 22%|██▏       | 603/2700 [12:14<21:45,  1.61it/s]
 22%|██▏       | 604/2700 [12:14<18:21,  1.90it/s]
 22%|██▏       | 605/2700 [12:14<16:06,  2.17it/s]
 22%|██▏       | 606/2700 [12:15<14:29,  2.41it/s]
 22%|██▏       | 607/2700 [12:15<13:25,  2.60it/s]
 23%|██▎       | 608/2700 [12:15<12:34,  2.77it/s]
 23%|██▎       | 609/2700 [12:17<24:36,  1.42it/s]
 23%|██▎       | 610/2700 [12:17<20:21,  1.71it/s]
 23%|██▎       | 611/2700 [12:17<17:29,  1.99it/s]
 23%|██▎       | 612/2700 [12:18<15:25,  2.26it/s]
 23%|██▎       | 613/2700 [12:18<13:59,  2.48it/s]
 23%|██▎       | 614/2700 [12:18<12:58,  2.68it/s]
 23%|██▎       | 615/2700 [12:19<12:18,  2.82it/s]
 23%|██▎       | 616/2700 [12:19<11:49,  2.94it/s]
 23%|██▎       | 617/2700 [12:43<4:16:28,  7.39s/it]
 23%|██▎       | 618/2700 [12:43<3:02:36,  5.26s/it]
 23%|██▎       | 619/2700 [12:43<2:10:57,  3.78s/it]
 23%|██▎       | 620/2700 [12:44<1:34:46,  2.73s/it]
 23%|██▎       | 621/2700 [12:44<1:09:33,  2.01s/it]
 23%|██▎       | 622/2700 [12:44<51:50,  1.50s/it]  
 23%|██▎       | 623/2700 [12:45<39:23,  1.14s/it]
 23%|██▎       | 624/2700 [12:45<30:43,  1.13it/s]
 23%|██▎       | 625/2700 [12:45<26:02,  1.33it/s]
 23%|██▎       | 626/2700 [12:46<21:26,  1.61it/s]
 23%|██▎       | 627/2700 [12:46<18:08,  1.90it/s]
 23%|██▎       | 628/2700 [12:46<15:48,  2.18it/s]
 23%|██▎       | 629/2700 [12:47<14:16,  2.42it/s]
 23%|██▎       | 630/2700 [12:47<13:07,  2.63it/s]
 23%|██▎       | 631/2700 [12:47<12:19,  2.80it/s]
 23%|██▎       | 632/2700 [12:47<11:45,  2.93it/s]
 23%|██▎       | 633/2700 [12:48<13:04,  2.63it/s]
 23%|██▎       | 634/2700 [12:48<12:16,  2.81it/s]
 24%|██▎       | 635/2700 [12:48<11:40,  2.95it/s]
 24%|██▎       | 636/2700 [12:49<11:16,  3.05it/s]
 24%|██▎       | 637/2700 [12:49<11:02,  3.11it/s]
 24%|██▎       | 638/2700 [12:49<10:52,  3.16it/s]
 24%|██▎       | 639/2700 [12:50<10:47,  3.18it/s]
 24%|██▎       | 640/2700 [12:50<10:44,  3.20it/s]
 24%|██▎       | 641/2700 [13:02<2:15:39,  3.95s/it]
 24%|██▍       | 642/2700 [13:03<1:38:09,  2.86s/it]
 24%|██▍       | 643/2700 [13:03<1:11:51,  2.10s/it]
 24%|██▍       | 644/2700 [13:03<53:26,  1.56s/it]  
 24%|██▍       | 645/2700 [13:04<40:31,  1.18s/it]
 24%|██▍       | 646/2700 [13:04<31:30,  1.09it/s]
 24%|██▍       | 647/2700 [13:04<25:08,  1.36it/s]
 24%|██▍       | 648/2700 [13:05<20:59,  1.63it/s]
 24%|██▍       | 649/2700 [13:05<19:09,  1.78it/s]
 24%|██▍       | 650/2700 [13:05<16:35,  2.06it/s]
 24%|██▍       | 651/2700 [13:06<14:45,  2.31it/s]
 24%|██▍       | 652/2700 [13:06<13:29,  2.53it/s]
 24%|██▍       | 653/2700 [13:06<12:32,  2.72it/s]
 24%|██▍       | 654/2700 [13:07<12:02,  2.83it/s]
 24%|██▍       | 655/2700 [13:07<11:37,  2.93it/s]
 24%|██▍       | 656/2700 [13:07<11:14,  3.03it/s]
 24%|██▍       | 657/2700 [13:08<12:45,  2.67it/s]
 24%|██▍       | 658/2700 [13:08<12:04,  2.82it/s]
 24%|██▍       | 659/2700 [13:08<11:37,  2.93it/s]
 24%|██▍       | 660/2700 [13:09<11:16,  3.02it/s]
 24%|██▍       | 661/2700 [13:09<11:00,  3.08it/s]
 25%|██▍       | 662/2700 [13:09<10:52,  3.12it/s]
 25%|██▍       | 663/2700 [13:10<10:44,  3.16it/s]
 25%|██▍       | 664/2700 [13:10<10:41,  3.18it/s]
 25%|██▍       | 665/2700 [13:17<1:22:06,  2.42s/it]
 25%|██▍       | 666/2700 [13:18<1:00:57,  1.80s/it]
 25%|██▍       | 667/2700 [13:18<46:05,  1.36s/it]  
 25%|██▍       | 668/2700 [13:18<35:37,  1.05s/it]
 25%|██▍       | 669/2700 [13:19<28:17,  1.20it/s]
 25%|██▍       | 670/2700 [13:19<23:07,  1.46it/s]
 25%|██▍       | 671/2700 [13:19<19:30,  1.73it/s]
 25%|██▍       | 672/2700 [13:20<17:02,  1.98it/s]
 25%|██▍       | 673/2700 [13:21<21:41,  1.56it/s]
 25%|██▍       | 674/2700 [13:21<18:34,  1.82it/s]
 25%|██▌       | 675/2700 [13:21<16:22,  2.06it/s]
 25%|██▌       | 676/2700 [13:22<14:48,  2.28it/s]
 25%|██▌       | 677/2700 [13:22<13:43,  2.46it/s]
 25%|██▌       | 678/2700 [13:22<12:59,  2.59it/s]
 25%|██▌       | 679/2700 [13:23<12:29,  2.70it/s]
 25%|██▌       | 680/2700 [13:23<12:06,  2.78it/s]
 25%|██▌       | 681/2700 [13:30<1:16:21,  2.27s/it]
 25%|██▌       | 682/2700 [13:30<56:51,  1.69s/it]  
 25%|██▌       | 683/2700 [13:30<43:16,  1.29s/it]
 25%|██▌       | 684/2700 [13:31<33:42,  1.00s/it]
 25%|██▌       | 685/2700 [13:31<27:02,  1.24it/s]
 25%|██▌       | 686/2700 [13:31<22:09,  1.52it/s]
 25%|██▌       | 687/2700 [13:32<18:35,  1.81it/s]
 25%|██▌       | 688/2700 [13:32<16:02,  2.09it/s]
 26%|██▌       | 689/2700 [13:42<1:57:04,  3.49s/it]
 26%|██▌       | 690/2700 [13:43<1:24:59,  2.54s/it]
 26%|██▌       | 691/2700 [13:43<1:02:31,  1.87s/it]
 26%|██▌       | 692/2700 [13:43<47:05,  1.41s/it]  
 26%|██▌       | 693/2700 [13:44<36:01,  1.08s/it]
 26%|██▌       | 694/2700 [13:44<28:14,  1.18it/s]
 26%|██▌       | 695/2700 [13:44<22:49,  1.46it/s]
 26%|██▌       | 696/2700 [13:45<18:58,  1.76it/s]
 26%|██▌       | 697/2700 [13:54<1:49:15,  3.27s/it]
 26%|██▌       | 698/2700 [13:54<1:19:27,  2.38s/it]
 26%|██▌       | 699/2700 [13:55<58:34,  1.76s/it]  
 26%|██▌       | 700/2700 [13:55<43:59,  1.32s/it]
 26%|██▌       | 701/2700 [13:55<33:47,  1.01s/it]
 26%|██▌       | 702/2700 [13:56<26:39,  1.25it/s]
 26%|██▌       | 703/2700 [13:56<21:55,  1.52it/s]
 26%|██▌       | 704/2700 [13:56<18:36,  1.79it/s]
 26%|██▌       | 705/2700 [13:57<18:24,  1.81it/s]
 26%|██▌       | 706/2700 [13:57<16:05,  2.07it/s]
 26%|██▌       | 707/2700 [13:58<14:36,  2.27it/s]
 26%|██▌       | 708/2700 [13:58<13:28,  2.46it/s]
 26%|██▋       | 709/2700 [13:58<12:39,  2.62it/s]
 26%|██▋       | 710/2700 [13:59<12:18,  2.70it/s]
 26%|██▋       | 711/2700 [13:59<11:57,  2.77it/s]
 26%|██▋       | 712/2700 [13:59<11:48,  2.81it/s]
 26%|██▋       | 713/2700 [14:00<15:04,  2.20it/s]
 26%|██▋       | 714/2700 [14:00<13:51,  2.39it/s]
 26%|██▋       | 715/2700 [14:01<13:04,  2.53it/s]
 27%|██▋       | 716/2700 [14:01<12:27,  2.65it/s]
 27%|██▋       | 717/2700 [14:01<11:58,  2.76it/s]
 27%|██▋       | 718/2700 [14:02<11:48,  2.80it/s]
 27%|██▋       | 719/2700 [14:02<11:38,  2.84it/s]
 27%|██▋       | 720/2700 [14:02<11:30,  2.87it/s]
 27%|██▋       | 721/2700 [14:10<1:23:29,  2.53s/it]
 27%|██▋       | 722/2700 [14:10<1:01:42,  1.87s/it]
 27%|██▋       | 723/2700 [14:11<46:30,  1.41s/it]  
 27%|██▋       | 724/2700 [14:11<35:50,  1.09s/it]
 27%|██▋       | 725/2700 [14:11<28:21,  1.16it/s]
 27%|██▋       | 726/2700 [14:12<23:04,  1.43it/s]
 27%|██▋       | 727/2700 [14:12<19:23,  1.70it/s]
 27%|██▋       | 728/2700 [14:12<16:51,  1.95it/s]
 27%|██▋       | 729/2700 [14:13<18:34,  1.77it/s]
 27%|██▋       | 730/2700 [14:13<16:13,  2.02it/s]
 27%|██▋       | 731/2700 [14:14<14:36,  2.25it/s]
 27%|██▋       | 732/2700 [14:14<13:30,  2.43it/s]
 27%|██▋       | 733/2700 [14:14<12:39,  2.59it/s]
 27%|██▋       | 734/2700 [14:15<12:05,  2.71it/s]
 27%|██▋       | 735/2700 [14:15<11:40,  2.80it/s]
 27%|██▋       | 736/2700 [14:15<11:25,  2.86it/s]
 27%|██▋       | 737/2700 [14:27<2:06:04,  3.85s/it]
 27%|██▋       | 738/2700 [14:28<1:31:28,  2.80s/it]
 27%|██▋       | 739/2700 [14:28<1:07:14,  2.06s/it]
 27%|██▋       | 740/2700 [14:28<50:17,  1.54s/it]  
 27%|██▋       | 741/2700 [14:29<38:23,  1.18s/it]
 27%|██▋       | 742/2700 [14:29<30:03,  1.09it/s]
 28%|██▊       | 743/2700 [14:29<24:15,  1.34it/s]
 28%|██▊       | 744/2700 [14:30<20:13,  1.61it/s]
 28%|██▊       | 745/2700 [14:30<18:19,  1.78it/s]
 28%|██▊       | 746/2700 [14:30<15:59,  2.04it/s]
 28%|██▊       | 747/2700 [14:31<14:27,  2.25it/s]
 28%|██▊       | 748/2700 [14:31<13:29,  2.41it/s]
 28%|██▊       | 749/2700 [14:31<12:53,  2.52it/s]
 28%|██▊       | 750/2700 [14:32<12:24,  2.62it/s]
 28%|██▊       | 751/2700 [14:32<12:04,  2.69it/s]
 28%|██▊       | 752/2700 [14:32<11:39,  2.79it/s]
 28%|██▊       | 753/2700 [14:40<1:24:21,  2.60s/it]
 28%|██▊       | 754/2700 [14:41<1:02:22,  1.92s/it]
 28%|██▊       | 755/2700 [14:41<46:56,  1.45s/it]  
 28%|██▊       | 756/2700 [14:41<36:04,  1.11s/it]
 28%|██▊       | 757/2700 [14:42<28:32,  1.13it/s]
 28%|██▊       | 758/2700 [14:42<23:12,  1.39it/s]
 28%|██▊       | 759/2700 [14:42<19:29,  1.66it/s]
 28%|██▊       | 760/2700 [14:43<16:56,  1.91it/s]
 28%|██▊       | 761/2700 [15:01<3:10:37,  5.90s/it]
 28%|██▊       | 762/2700 [15:01<2:16:20,  4.22s/it]
 28%|██▊       | 763/2700 [15:02<1:38:21,  3.05s/it]
 28%|██▊       | 764/2700 [15:02<1:11:46,  2.22s/it]
 28%|██▊       | 765/2700 [15:02<53:07,  1.65s/it]  
 28%|██▊       | 766/2700 [15:03<40:10,  1.25s/it]
 28%|██▊       | 767/2700 [15:03<31:03,  1.04it/s]
 28%|██▊       | 768/2700 [15:03<24:40,  1.31it/s]
 28%|██▊       | 769/2700 [15:04<22:36,  1.42it/s]
 29%|██▊       | 770/2700 [15:04<18:42,  1.72it/s]
 29%|██▊       | 771/2700 [15:04<15:57,  2.01it/s]
 29%|██▊       | 772/2700 [15:05<14:03,  2.29it/s]
 29%|██▊       | 773/2700 [15:05<12:53,  2.49it/s]
 29%|██▊       | 774/2700 [15:05<11:58,  2.68it/s]
 29%|██▊       | 775/2700 [15:06<11:18,  2.84it/s]
 29%|██▊       | 776/2700 [15:06<10:58,  2.92it/s]
 29%|██▉       | 777/2700 [15:14<1:24:19,  2.63s/it]
 29%|██▉       | 778/2700 [15:14<1:02:04,  1.94s/it]
 29%|██▉       | 779/2700 [15:14<46:28,  1.45s/it]  
 29%|██▉       | 780/2700 [15:15<35:28,  1.11s/it]
 29%|██▉       | 781/2700 [15:15<27:44,  1.15it/s]
 29%|██▉       | 782/2700 [15:15<22:15,  1.44it/s]
 29%|██▉       | 783/2700 [15:16<18:28,  1.73it/s]
 29%|██▉       | 784/2700 [15:16<15:47,  2.02it/s]
 29%|██▉       | 785/2700 [15:17<16:50,  1.90it/s]
 29%|██▉       | 786/2700 [15:17<14:39,  2.18it/s]
 29%|██▉       | 787/2700 [15:17<13:07,  2.43it/s]
 29%|██▉       | 788/2700 [15:17<12:05,  2.63it/s]
 29%|██▉       | 789/2700 [15:18<11:19,  2.81it/s]
 29%|██▉       | 790/2700 [15:18<10:46,  2.95it/s]
 29%|██▉       | 791/2700 [15:18<10:24,  3.05it/s]
 29%|██▉       | 792/2700 [15:19<10:10,  3.13it/s]
 29%|██▉       | 793/2700 [15:29<1:47:34,  3.38s/it]
 29%|██▉       | 794/2700 [15:30<1:18:21,  2.47s/it]
 29%|██▉       | 795/2700 [15:30<57:59,  1.83s/it]  
 29%|██▉       | 796/2700 [15:30<43:42,  1.38s/it]
 30%|██▉       | 797/2700 [15:31<33:44,  1.06s/it]
 30%|██▉       | 798/2700 [15:31<26:42,  1.19it/s]
 30%|██▉       | 799/2700 [15:31<21:49,  1.45it/s]
 30%|██▉       | 800/2700 [15:32<18:23,  1.72it/s]
 30%|██▉       | 801/2700 [15:32<17:56,  1.76it/s]
 30%|██▉       | 802/2700 [15:32<15:39,  2.02it/s]
 30%|██▉       | 803/2700 [15:33<13:59,  2.26it/s]
 30%|██▉       | 804/2700 [15:33<12:54,  2.45it/s]
 30%|██▉       | 805/2700 [15:33<12:10,  2.59it/s]
 30%|██▉       | 806/2700 [15:34<11:37,  2.71it/s]
 30%|██▉       | 807/2700 [15:34<11:22,  2.78it/s]
 30%|██▉       | 808/2700 [15:34<11:04,  2.85it/s]
 30%|██▉       | 809/2700 [15:43<1:27:32,  2.78s/it]
 30%|███       | 810/2700 [15:43<1:04:36,  2.05s/it]
 30%|███       | 811/2700 [15:43<48:22,  1.54s/it]  
 30%|███       | 812/2700 [15:44<36:46,  1.17s/it]
 30%|███       | 813/2700 [15:44<28:45,  1.09it/s]
 30%|███       | 814/2700 [15:44<23:06,  1.36it/s]
 30%|███       | 815/2700 [15:45<19:01,  1.65it/s]
 30%|███       | 816/2700 [15:45<16:08,  1.94it/s]
 30%|███       | 817/2700 [16:47<9:58:17, 19.06s/it]
 30%|███       | 818/2700 [16:48<7:01:32, 13.44s/it]
 30%|███       | 819/2700 [16:48<4:57:46,  9.50s/it]
 30%|███       | 820/2700 [16:48<3:31:07,  6.74s/it]
 30%|███       | 821/2700 [16:49<2:30:40,  4.81s/it]
 30%|███       | 822/2700 [16:49<1:48:17,  3.46s/it]
 30%|███       | 823/2700 [16:49<1:18:39,  2.51s/it]
 31%|███       | 824/2700 [16:50<57:57,  1.85s/it]  
 31%|███       | 825/2700 [16:50<47:17,  1.51s/it]
 31%|███       | 826/2700 [16:51<35:58,  1.15s/it]
 31%|███       | 827/2700 [16:51<28:01,  1.11it/s]
 31%|███       | 828/2700 [16:51<22:28,  1.39it/s]
 31%|███       | 829/2700 [16:51<18:36,  1.68it/s]
 31%|███       | 830/2700 [16:52<15:57,  1.95it/s]
 31%|███       | 831/2700 [16:52<14:00,  2.22it/s]
 31%|███       | 832/2700 [16:52<12:40,  2.46it/s]
 31%|███       | 833/2700 [16:53<18:39,  1.67it/s]
 31%|███       | 834/2700 [16:54<15:52,  1.96it/s]
 31%|███       | 835/2700 [16:54<13:55,  2.23it/s]
 31%|███       | 836/2700 [16:54<12:34,  2.47it/s]
 31%|███       | 837/2700 [16:55<11:40,  2.66it/s]
 31%|███       | 838/2700 [16:55<10:54,  2.84it/s]
 31%|███       | 839/2700 [16:55<10:28,  2.96it/s]
 31%|███       | 840/2700 [16:56<10:06,  3.07it/s]
 31%|███       | 841/2700 [17:07<1:55:14,  3.72s/it]
 31%|███       | 842/2700 [17:08<1:23:29,  2.70s/it]
 31%|███       | 843/2700 [17:08<1:01:15,  1.98s/it]
 31%|███▏      | 844/2700 [17:08<45:39,  1.48s/it]  
 31%|███▏      | 845/2700 [17:08<34:52,  1.13s/it]
 31%|███▏      | 846/2700 [17:09<27:15,  1.13it/s]
 31%|███▏      | 847/2700 [17:09<21:54,  1.41it/s]
 31%|███▏      | 848/2700 [17:09<18:06,  1.71it/s]
 31%|███▏      | 849/2700 [17:10<16:18,  1.89it/s]
 31%|███▏      | 850/2700 [17:10<14:13,  2.17it/s]
 32%|███▏      | 851/2700 [17:10<12:45,  2.42it/s]
 32%|███▏      | 852/2700 [17:11<11:43,  2.63it/s]
 32%|███▏      | 853/2700 [17:11<10:58,  2.81it/s]
 32%|███▏      | 854/2700 [17:11<10:31,  2.93it/s]
 32%|███▏      | 855/2700 [17:12<10:11,  3.02it/s]
 32%|███▏      | 856/2700 [17:12<09:56,  3.09it/s]
 32%|███▏      | 857/2700 [17:43<4:53:10,  9.54s/it]
 32%|███▏      | 858/2700 [17:43<3:27:59,  6.78s/it]
 32%|███▏      | 859/2700 [17:44<2:28:21,  4.84s/it]
 32%|███▏      | 860/2700 [17:44<1:46:38,  3.48s/it]
 32%|███▏      | 861/2700 [17:44<1:17:30,  2.53s/it]
 32%|███▏      | 862/2700 [17:44<57:03,  1.86s/it]  
 32%|███▏      | 863/2700 [17:45<42:47,  1.40s/it]
 32%|███▏      | 864/2700 [17:45<32:44,  1.07s/it]
 32%|███▏      | 865/2700 [17:46<26:53,  1.14it/s]
 32%|███▏      | 866/2700 [17:46<21:36,  1.41it/s]
 32%|███▏      | 867/2700 [17:46<17:57,  1.70it/s]
 32%|███▏      | 868/2700 [17:46<15:26,  1.98it/s]
 32%|███▏      | 869/2700 [17:47<13:39,  2.23it/s]
 32%|███▏      | 870/2700 [17:47<12:21,  2.47it/s]
 32%|███▏      | 871/2700 [17:47<11:27,  2.66it/s]
 32%|███▏      | 872/2700 [17:48<10:49,  2.82it/s]
 32%|███▏      | 873/2700 [17:48<11:13,  2.71it/s]
 32%|███▏      | 874/2700 [17:48<10:39,  2.85it/s]
 32%|███▏      | 875/2700 [17:49<10:24,  2.92it/s]
 32%|███▏      | 876/2700 [17:49<10:12,  2.98it/s]
 32%|███▏      | 877/2700 [17:49<09:56,  3.05it/s]
 33%|███▎      | 878/2700 [17:50<09:46,  3.11it/s]
 33%|███▎      | 879/2700 [17:50<09:45,  3.11it/s]
 33%|███▎      | 880/2700 [17:50<09:46,  3.11it/s]
 33%|███▎      | 881/2700 [18:15<3:51:10,  7.63s/it]
 33%|███▎      | 882/2700 [18:15<2:44:29,  5.43s/it]
 33%|███▎      | 883/2700 [18:16<1:57:49,  3.89s/it]
 33%|███▎      | 884/2700 [18:16<1:25:14,  2.82s/it]
 33%|███▎      | 885/2700 [18:16<1:02:28,  2.07s/it]
 33%|███▎      | 886/2700 [18:17<46:33,  1.54s/it]  
 33%|███▎      | 887/2700 [18:17<35:33,  1.18s/it]
 33%|███▎      | 888/2700 [18:17<27:39,  1.09it/s]
 33%|███▎      | 889/2700 [18:18<24:21,  1.24it/s]
 33%|███▎      | 890/2700 [18:18<19:50,  1.52it/s]
 33%|███▎      | 891/2700 [18:18<16:39,  1.81it/s]
 33%|███▎      | 892/2700 [18:19<14:24,  2.09it/s]
 33%|███▎      | 893/2700 [18:19<12:55,  2.33it/s]
 33%|███▎      | 894/2700 [18:19<11:50,  2.54it/s]
 33%|███▎      | 895/2700 [18:20<11:08,  2.70it/s]
 33%|███▎      | 896/2700 [18:20<10:38,  2.82it/s]
 33%|███▎      | 897/2700 [18:34<2:16:42,  4.55s/it]
 33%|███▎      | 898/2700 [18:35<1:38:33,  3.28s/it]
 33%|███▎      | 899/2700 [18:35<1:11:47,  2.39s/it]
 33%|███▎      | 900/2700 [18:35<53:03,  1.77s/it]  
 33%|███▎      | 901/2700 [18:36<39:54,  1.33s/it]
 33%|███▎      | 902/2700 [18:36<30:45,  1.03s/it]
 33%|███▎      | 903/2700 [18:36<24:27,  1.22it/s]
 33%|███▎      | 904/2700 [18:36<20:14,  1.48it/s]
 34%|███▎      | 905/2700 [18:38<23:19,  1.28it/s]
 34%|███▎      | 906/2700 [18:38<19:27,  1.54it/s]
 34%|███▎      | 907/2700 [18:38<16:41,  1.79it/s]
 34%|███▎      | 908/2700 [18:39<14:46,  2.02it/s]
 34%|███▎      | 909/2700 [18:39<13:28,  2.21it/s]
 34%|███▎      | 910/2700 [18:39<12:31,  2.38it/s]
 34%|███▎      | 911/2700 [18:40<11:48,  2.52it/s]
 34%|███▍      | 912/2700 [18:40<11:32,  2.58it/s]
 34%|███▍      | 913/2700 [18:49<1:27:02,  2.92s/it]
 34%|███▍      | 914/2700 [18:49<1:03:54,  2.15s/it]
 34%|███▍      | 915/2700 [18:49<47:36,  1.60s/it]  
 34%|███▍      | 916/2700 [18:50<36:24,  1.22s/it]
 34%|███▍      | 917/2700 [18:50<28:26,  1.04it/s]
 34%|███▍      | 918/2700 [18:50<22:53,  1.30it/s]
 34%|███▍      | 919/2700 [18:51<19:00,  1.56it/s]
 34%|███▍      | 920/2700 [18:51<16:15,  1.83it/s]
 34%|███▍      | 921/2700 [18:52<15:54,  1.86it/s]
 34%|███▍      | 922/2700 [18:52<14:08,  2.10it/s]
 34%|███▍      | 923/2700 [18:52<12:51,  2.30it/s]
 34%|███▍      | 924/2700 [18:53<12:00,  2.46it/s]
 34%|███▍      | 925/2700 [18:53<11:23,  2.60it/s]
 34%|███▍      | 926/2700 [18:53<10:57,  2.70it/s]
 34%|███▍      | 927/2700 [18:54<10:39,  2.77it/s]
 34%|███▍      | 928/2700 [18:54<10:24,  2.84it/s]
 34%|███▍      | 929/2700 [19:14<3:02:41,  6.19s/it]
 34%|███▍      | 930/2700 [19:14<2:10:42,  4.43s/it]
 34%|███▍      | 931/2700 [19:14<1:34:17,  3.20s/it]
 35%|███▍      | 932/2700 [19:15<1:08:35,  2.33s/it]
 35%|███▍      | 933/2700 [19:15<50:37,  1.72s/it]  
 35%|███▍      | 934/2700 [19:15<38:03,  1.29s/it]
 35%|███▍      | 935/2700 [19:16<29:15,  1.01it/s]
 35%|███▍      | 936/2700 [19:16<23:11,  1.27it/s]
 35%|███▍      | 937/2700 [19:17<21:28,  1.37it/s]
 35%|███▍      | 938/2700 [19:17<17:43,  1.66it/s]
 35%|███▍      | 939/2700 [19:17<15:05,  1.94it/s]
 35%|███▍      | 940/2700 [19:17<13:14,  2.22it/s]
 35%|███▍      | 941/2700 [19:18<11:56,  2.45it/s]
 35%|███▍      | 942/2700 [19:18<11:01,  2.66it/s]
 35%|███▍      | 943/2700 [19:18<10:22,  2.82it/s]
 35%|███▍      | 944/2700 [19:19<09:53,  2.96it/s]
 35%|███▌      | 945/2700 [19:29<1:36:24,  3.30s/it]
 35%|███▌      | 946/2700 [19:29<1:10:19,  2.41s/it]
 35%|███▌      | 947/2700 [19:30<52:06,  1.78s/it]  
 35%|███▌      | 948/2700 [19:30<39:32,  1.35s/it]
 35%|███▌      | 949/2700 [19:30<30:42,  1.05s/it]
 35%|███▌      | 950/2700 [19:31<24:28,  1.19it/s]
 35%|███▌      | 951/2700 [19:31<20:02,  1.45it/s]
 35%|███▌      | 952/2700 [19:31<16:56,  1.72it/s]
 35%|███▌      | 953/2700 [19:32<18:10,  1.60it/s]
 35%|███▌      | 954/2700 [19:32<15:35,  1.87it/s]
 35%|███▌      | 955/2700 [19:33<13:46,  2.11it/s]
 35%|███▌      | 956/2700 [19:33<12:32,  2.32it/s]
 35%|███▌      | 957/2700 [19:33<11:45,  2.47it/s]
 35%|███▌      | 958/2700 [19:34<11:06,  2.61it/s]
 36%|███▌      | 959/2700 [19:34<10:43,  2.71it/s]
 36%|███▌      | 960/2700 [19:34<10:26,  2.78it/s]
 36%|███▌      | 961/2700 [19:35<12:26,  2.33it/s]
 36%|███▌      | 962/2700 [19:35<11:34,  2.50it/s]
 36%|███▌      | 963/2700 [19:36<11:02,  2.62it/s]
 36%|███▌      | 964/2700 [19:36<10:37,  2.72it/s]
 36%|███▌      | 965/2700 [19:36<10:23,  2.78it/s]
 36%|███▌      | 966/2700 [19:37<10:16,  2.81it/s]
 36%|███▌      | 967/2700 [19:37<10:09,  2.85it/s]
 36%|███▌      | 968/2700 [19:37<10:08,  2.85it/s]
 36%|███▌      | 969/2700 [20:03<3:50:52,  8.00s/it]
 36%|███▌      | 970/2700 [20:03<2:44:12,  5.70s/it]
 36%|███▌      | 971/2700 [20:04<1:57:31,  4.08s/it]
 36%|███▌      | 972/2700 [20:04<1:24:48,  2.94s/it]
 36%|███▌      | 973/2700 [20:04<1:01:54,  2.15s/it]
 36%|███▌      | 974/2700 [20:05<45:53,  1.60s/it]  
 36%|███▌      | 975/2700 [20:05<34:39,  1.21s/it]
 36%|███▌      | 976/2700 [20:05<26:49,  1.07it/s]
 36%|███▌      | 977/2700 [20:06<22:32,  1.27it/s]
 36%|███▌      | 978/2700 [20:06<18:19,  1.57it/s]
 36%|███▋      | 979/2700 [20:06<15:23,  1.86it/s]
 36%|███▋      | 980/2700 [20:07<13:20,  2.15it/s]
 36%|███▋      | 981/2700 [20:07<11:53,  2.41it/s]
 36%|███▋      | 982/2700 [20:07<11:01,  2.60it/s]
 36%|███▋      | 983/2700 [20:08<10:31,  2.72it/s]
 36%|███▋      | 984/2700 [20:08<09:58,  2.87it/s]
 36%|███▋      | 985/2700 [20:09<13:19,  2.15it/s]
 37%|███▋      | 986/2700 [20:09<11:55,  2.40it/s]
 37%|███▋      | 987/2700 [20:09<11:00,  2.59it/s]
 37%|███▋      | 988/2700 [20:10<10:31,  2.71it/s]
 37%|███▋      | 989/2700 [20:10<10:00,  2.85it/s]
 37%|███▋      | 990/2700 [20:10<09:38,  2.96it/s]
 37%|███▋      | 991/2700 [20:10<09:23,  3.03it/s]
 37%|███▋      | 992/2700 [20:11<09:11,  3.10it/s]
 37%|███▋      | 993/2700 [20:36<3:41:31,  7.79s/it]
 37%|███▋      | 994/2700 [20:36<2:37:39,  5.54s/it]
 37%|███▋      | 995/2700 [20:37<1:52:52,  3.97s/it]
 37%|███▋      | 996/2700 [20:37<1:21:31,  2.87s/it]
 37%|███▋      | 997/2700 [20:37<59:35,  2.10s/it]  
 37%|███▋      | 998/2700 [20:37<44:16,  1.56s/it]
 37%|███▋      | 999/2700 [20:38<33:30,  1.18s/it]
 37%|███▋      | 1000/2700 [20:39<29:38,  1.05s/it]
 37%|███▋      | 1001/2700 [20:39<26:00,  1.09it/s]
 37%|███▋      | 1002/2700 [20:39<20:49,  1.36it/s]
 37%|███▋      | 1003/2700 [20:40<17:07,  1.65it/s]
 37%|███▋      | 1004/2700 [20:40<14:34,  1.94it/s]
 37%|███▋      | 1005/2700 [20:40<12:47,  2.21it/s]
 37%|███▋      | 1006/2700 [20:41<11:33,  2.44it/s]
 37%|███▋      | 1007/2700 [20:41<10:41,  2.64it/s]
 37%|███▋      | 1008/2700 [20:41<10:04,  2.80it/s]
 37%|███▋      | 1009/2700 [20:42<11:25,  2.47it/s]
 37%|███▋      | 1010/2700 [20:42<10:39,  2.64it/s]
 37%|███▋      | 1011/2700 [20:42<10:05,  2.79it/s]
 37%|███▋      | 1012/2700 [20:43<09:42,  2.90it/s]
 38%|███▊      | 1013/2700 [20:43<09:27,  2.97it/s]
 38%|███▊      | 1014/2700 [20:43<09:13,  3.05it/s]
 38%|███▊      | 1015/2700 [20:44<09:05,  3.09it/s]
 38%|███▊      | 1016/2700 [20:44<08:58,  3.13it/s]
 38%|███▊      | 1017/2700 [20:55<1:36:26,  3.44s/it]
 38%|███▊      | 1018/2700 [20:55<1:10:02,  2.50s/it]
 38%|███▊      | 1019/2700 [20:55<51:31,  1.84s/it]  
 38%|███▊      | 1020/2700 [20:56<38:36,  1.38s/it]
 38%|███▊      | 1021/2700 [20:56<29:32,  1.06s/it]
 38%|███▊      | 1022/2700 [20:56<23:12,  1.21it/s]
 38%|███▊      | 1023/2700 [20:57<18:46,  1.49it/s]
 38%|███▊      | 1024/2700 [20:57<15:44,  1.77it/s]
 38%|███▊      | 1025/2700 [20:58<24:13,  1.15it/s]
 38%|███▊      | 1026/2700 [20:59<19:29,  1.43it/s]
 38%|███▊      | 1027/2700 [20:59<16:12,  1.72it/s]
 38%|███▊      | 1028/2700 [20:59<13:51,  2.01it/s]
 38%|███▊      | 1029/2700 [21:00<12:13,  2.28it/s]
 38%|███▊      | 1030/2700 [21:00<11:05,  2.51it/s]
 38%|███▊      | 1031/2700 [21:00<10:19,  2.69it/s]
 38%|███▊      | 1032/2700 [21:01<09:44,  2.85it/s]
 38%|███▊      | 1033/2700 [21:01<13:53,  2.00it/s]
 38%|███▊      | 1034/2700 [21:02<12:13,  2.27it/s]
 38%|███▊      | 1035/2700 [21:02<11:04,  2.51it/s]
 38%|███▊      | 1036/2700 [21:02<10:14,  2.71it/s]
 38%|███▊      | 1037/2700 [21:03<09:40,  2.87it/s]
 38%|███▊      | 1038/2700 [21:03<09:19,  2.97it/s]
 38%|███▊      | 1039/2700 [21:03<09:00,  3.08it/s]
 39%|███▊      | 1040/2700 [21:04<08:47,  3.15it/s]
 39%|███▊      | 1041/2700 [21:04<09:31,  2.90it/s]
 39%|███▊      | 1042/2700 [21:04<09:07,  3.03it/s]
 39%|███▊      | 1043/2700 [21:05<08:52,  3.11it/s]
 39%|███▊      | 1044/2700 [21:05<08:42,  3.17it/s]
 39%|███▊      | 1045/2700 [21:05<08:39,  3.19it/s]
 39%|███▊      | 1046/2700 [21:05<08:34,  3.21it/s]
 39%|███▉      | 1047/2700 [21:06<08:34,  3.21it/s]
 39%|███▉      | 1048/2700 [21:06<08:42,  3.16it/s]
 39%|███▉      | 1049/2700 [21:14<1:08:00,  2.47s/it]
 39%|███▉      | 1050/2700 [21:14<50:05,  1.82s/it]  
 39%|███▉      | 1051/2700 [21:14<37:33,  1.37s/it]
 39%|███▉      | 1052/2700 [21:14<28:51,  1.05s/it]
 39%|███▉      | 1053/2700 [21:15<22:40,  1.21it/s]
 39%|███▉      | 1054/2700 [21:15<18:23,  1.49it/s]
 39%|███▉      | 1055/2700 [21:15<15:21,  1.79it/s]
 39%|███▉      | 1056/2700 [21:16<13:16,  2.06it/s]
 39%|███▉      | 1057/2700 [21:16<13:12,  2.07it/s]
 39%|███▉      | 1058/2700 [21:16<11:41,  2.34it/s]
 39%|███▉      | 1059/2700 [21:17<10:48,  2.53it/s]
 39%|███▉      | 1060/2700 [21:17<10:03,  2.72it/s]
 39%|███▉      | 1061/2700 [21:17<09:30,  2.87it/s]
 39%|███▉      | 1062/2700 [21:18<09:10,  2.97it/s]
 39%|███▉      | 1063/2700 [21:18<09:00,  3.03it/s]
 39%|███▉      | 1064/2700 [21:18<08:50,  3.08it/s]
 39%|███▉      | 1065/2700 [21:23<47:51,  1.76s/it]
 39%|███▉      | 1066/2700 [21:24<36:00,  1.32s/it]
 40%|███▉      | 1067/2700 [21:24<27:49,  1.02s/it]
 40%|███▉      | 1068/2700 [21:24<22:03,  1.23it/s]
 40%|███▉      | 1069/2700 [21:25<17:54,  1.52it/s]
 40%|███▉      | 1070/2700 [21:25<15:00,  1.81it/s]
 40%|███▉      | 1071/2700 [21:25<12:58,  2.09it/s]
 40%|███▉      | 1072/2700 [21:26<11:31,  2.35it/s]
 40%|███▉      | 1073/2700 [21:26<11:21,  2.39it/s]
 40%|███▉      | 1074/2700 [21:26<10:24,  2.60it/s]
 40%|███▉      | 1075/2700 [21:27<09:44,  2.78it/s]
 40%|███▉      | 1076/2700 [21:27<09:20,  2.90it/s]
 40%|███▉      | 1077/2700 [21:27<08:59,  3.01it/s]
 40%|███▉      | 1078/2700 [21:28<08:47,  3.08it/s]
 40%|███▉      | 1079/2700 [21:28<08:34,  3.15it/s]
 40%|████      | 1080/2700 [21:28<08:27,  3.19it/s]
 40%|████      | 1081/2700 [21:41<1:46:41,  3.95s/it]
 40%|████      | 1082/2700 [21:41<1:17:04,  2.86s/it]
 40%|████      | 1083/2700 [21:41<56:22,  2.09s/it]  
 40%|████      | 1084/2700 [21:41<41:54,  1.56s/it]
 40%|████      | 1085/2700 [21:42<31:45,  1.18s/it]
 40%|████      | 1086/2700 [21:42<24:40,  1.09it/s]
 40%|████      | 1087/2700 [21:42<19:44,  1.36it/s]
 40%|████      | 1088/2700 [21:43<16:17,  1.65it/s]
 40%|████      | 1089/2700 [21:43<17:04,  1.57it/s]
 40%|████      | 1090/2700 [21:44<14:50,  1.81it/s]
 40%|████      | 1091/2700 [21:44<12:49,  2.09it/s]
 40%|████      | 1092/2700 [21:44<11:26,  2.34it/s]
 40%|████      | 1093/2700 [21:45<10:29,  2.55it/s]
 41%|████      | 1094/2700 [21:45<09:55,  2.70it/s]
 41%|████      | 1095/2700 [21:45<09:26,  2.84it/s]
 41%|████      | 1096/2700 [21:46<09:05,  2.94it/s]
 41%|████      | 1097/2700 [21:46<09:54,  2.70it/s]
 41%|████      | 1098/2700 [21:46<09:26,  2.83it/s]
 41%|████      | 1099/2700 [21:47<09:03,  2.94it/s]
 41%|████      | 1100/2700 [21:47<08:47,  3.03it/s]
 41%|████      | 1101/2700 [21:47<08:37,  3.09it/s]
 41%|████      | 1102/2700 [21:48<08:27,  3.15it/s]
 41%|████      | 1103/2700 [21:48<08:19,  3.20it/s]
 41%|████      | 1104/2700 [21:48<08:14,  3.23it/s]
 41%|████      | 1105/2700 [21:49<11:34,  2.30it/s]
 41%|████      | 1106/2700 [21:49<10:56,  2.43it/s]
 41%|████      | 1107/2700 [21:50<10:19,  2.57it/s]
 41%|████      | 1108/2700 [21:50<09:47,  2.71it/s]
 41%|████      | 1109/2700 [21:50<09:18,  2.85it/s]
 41%|████      | 1110/2700 [21:51<09:13,  2.87it/s]
 41%|████      | 1111/2700 [21:51<08:53,  2.98it/s]
 41%|████      | 1112/2700 [21:51<08:36,  3.08it/s]
 41%|████      | 1113/2700 [22:02<1:34:48,  3.58s/it]
 41%|████▏     | 1114/2700 [22:03<1:08:46,  2.60s/it]
 41%|████▏     | 1115/2700 [22:03<50:34,  1.91s/it]  
 41%|████▏     | 1116/2700 [22:03<37:53,  1.44s/it]
 41%|████▏     | 1117/2700 [22:04<29:08,  1.10s/it]
 41%|████▏     | 1118/2700 [22:04<23:02,  1.14it/s]
 41%|████▏     | 1119/2700 [22:04<18:50,  1.40it/s]
 41%|████▏     | 1120/2700 [22:05<15:46,  1.67it/s]
 42%|████▏     | 1121/2700 [22:14<1:27:20,  3.32s/it]
 42%|████▏     | 1122/2700 [22:15<1:03:47,  2.43s/it]
 42%|████▏     | 1123/2700 [22:15<47:12,  1.80s/it]  
 42%|████▏     | 1124/2700 [22:15<35:43,  1.36s/it]
 42%|████▏     | 1125/2700 [22:16<27:40,  1.05s/it]
 42%|████▏     | 1126/2700 [22:16<22:06,  1.19it/s]
 42%|████▏     | 1127/2700 [22:16<18:09,  1.44it/s]
 42%|████▏     | 1128/2700 [22:17<15:20,  1.71it/s]
 42%|████▏     | 1129/2700 [24:20<16:19:18, 37.40s/it]
 42%|████▏     | 1130/2700 [24:20<11:27:34, 26.28s/it]
 42%|████▏     | 1131/2700 [24:21<8:03:29, 18.49s/it] 
 42%|████▏     | 1132/2700 [24:21<5:40:46, 13.04s/it]
 42%|████▏     | 1133/2700 [24:21<4:00:49,  9.22s/it]
 42%|████▏     | 1134/2700 [24:22<2:50:58,  6.55s/it]
 42%|████▏     | 1135/2700 [24:22<2:02:05,  4.68s/it]
 42%|████▏     | 1136/2700 [24:22<1:27:55,  3.37s/it]
 42%|████▏     | 1137/2700 [24:42<3:38:25,  8.38s/it]
 42%|████▏     | 1138/2700 [24:43<2:35:13,  5.96s/it]
 42%|████▏     | 1139/2700 [24:43<1:50:54,  4.26s/it]
 42%|████▏     | 1140/2700 [24:43<1:19:58,  3.08s/it]
 42%|████▏     | 1141/2700 [24:44<58:20,  2.25s/it]  
 42%|████▏     | 1142/2700 [24:44<43:23,  1.67s/it]
 42%|████▏     | 1143/2700 [24:44<32:56,  1.27s/it]
 42%|████▏     | 1144/2700 [24:45<25:25,  1.02it/s]
 42%|████▏     | 1145/2700 [24:45<21:03,  1.23it/s]
 42%|████▏     | 1146/2700 [24:45<17:04,  1.52it/s]
 42%|████▏     | 1147/2700 [24:46<14:16,  1.81it/s]
 43%|████▎     | 1148/2700 [24:46<12:20,  2.10it/s]
 43%|████▎     | 1149/2700 [24:46<10:59,  2.35it/s]
 43%|████▎     | 1150/2700 [24:46<10:01,  2.58it/s]
 43%|████▎     | 1151/2700 [24:47<09:22,  2.75it/s]
 43%|████▎     | 1152/2700 [24:47<08:53,  2.90it/s]
 43%|████▎     | 1153/2700 [24:47<09:21,  2.76it/s]
 43%|████▎     | 1154/2700 [24:48<08:51,  2.91it/s]
 43%|████▎     | 1155/2700 [24:48<08:30,  3.02it/s]
 43%|████▎     | 1156/2700 [24:48<08:15,  3.12it/s]
 43%|████▎     | 1157/2700 [24:49<08:04,  3.18it/s]
 43%|████▎     | 1158/2700 [24:49<07:59,  3.21it/s]
 43%|████▎     | 1159/2700 [24:49<07:57,  3.23it/s]
 43%|████▎     | 1160/2700 [24:50<07:58,  3.22it/s]
 43%|████▎     | 1161/2700 [24:50<08:37,  2.97it/s]
 43%|████▎     | 1162/2700 [24:50<08:23,  3.05it/s]
 43%|████▎     | 1163/2700 [24:51<08:11,  3.13it/s]
 43%|████▎     | 1164/2700 [24:51<08:07,  3.15it/s]
 43%|████▎     | 1165/2700 [24:51<08:06,  3.15it/s]
 43%|████▎     | 1166/2700 [24:52<08:04,  3.17it/s]
 43%|████▎     | 1167/2700 [24:52<07:58,  3.20it/s]
 43%|████▎     | 1168/2700 [24:52<07:53,  3.23it/s]
 43%|████▎     | 1169/2700 [24:53<10:49,  2.36it/s]
 43%|████▎     | 1170/2700 [24:53<09:53,  2.58it/s]
 43%|████▎     | 1171/2700 [24:53<09:15,  2.75it/s]
 43%|████▎     | 1172/2700 [24:54<08:45,  2.91it/s]
 43%|████▎     | 1173/2700 [24:54<08:25,  3.02it/s]
 43%|████▎     | 1174/2700 [24:54<08:11,  3.11it/s]
 44%|████▎     | 1175/2700 [24:55<08:00,  3.17it/s]
 44%|████▎     | 1176/2700 [24:55<07:52,  3.23it/s]
 44%|████▎     | 1177/2700 [24:56<10:08,  2.50it/s]
 44%|████▎     | 1178/2700 [24:56<09:23,  2.70it/s]
 44%|████▎     | 1179/2700 [24:56<08:50,  2.87it/s]
 44%|████▎     | 1180/2700 [24:56<08:30,  2.98it/s]
 44%|████▎     | 1181/2700 [24:57<08:14,  3.07it/s]
 44%|████▍     | 1182/2700 [24:57<08:01,  3.15it/s]
 44%|████▍     | 1183/2700 [24:57<07:51,  3.22it/s]
 44%|████▍     | 1184/2700 [24:58<07:45,  3.26it/s]
 44%|████▍     | 1185/2700 [25:06<1:10:33,  2.79s/it]
 44%|████▍     | 1186/2700 [25:07<51:36,  2.05s/it]  
 44%|████▍     | 1187/2700 [25:07<38:24,  1.52s/it]
 44%|████▍     | 1188/2700 [25:07<29:08,  1.16s/it]
 44%|████▍     | 1189/2700 [25:07<22:38,  1.11it/s]
 44%|████▍     | 1190/2700 [25:08<18:08,  1.39it/s]
 44%|████▍     | 1191/2700 [25:08<14:59,  1.68it/s]
 44%|████▍     | 1192/2700 [25:08<12:47,  1.97it/s]
 44%|████▍     | 1193/2700 [25:09<12:18,  2.04it/s]
 44%|████▍     | 1194/2700 [25:09<10:55,  2.30it/s]
 44%|████▍     | 1195/2700 [25:09<09:54,  2.53it/s]
 44%|████▍     | 1196/2700 [25:10<09:11,  2.73it/s]
 44%|████▍     | 1197/2700 [25:10<08:41,  2.88it/s]
 44%|████▍     | 1198/2700 [25:10<08:23,  2.98it/s]
 44%|████▍     | 1199/2700 [25:11<08:09,  3.07it/s]
 44%|████▍     | 1200/2700 [25:11<07:59,  3.13it/s]
 44%|████▍     | 1201/2700 [25:12<09:39,  2.59it/s]
 45%|████▍     | 1202/2700 [25:12<09:06,  2.74it/s]
 45%|████▍     | 1203/2700 [25:12<08:36,  2.90it/s]
 45%|████▍     | 1204/2700 [25:12<08:14,  3.03it/s]
 45%|████▍     | 1205/2700 [25:13<08:00,  3.11it/s]
 45%|████▍     | 1206/2700 [25:13<07:57,  3.13it/s]
 45%|████▍     | 1207/2700 [25:13<07:47,  3.20it/s]
 45%|████▍     | 1208/2700 [25:14<07:42,  3.23it/s]
 45%|████▍     | 1209/2700 [25:14<09:02,  2.75it/s]
 45%|████▍     | 1210/2700 [25:14<08:41,  2.85it/s]
 45%|████▍     | 1211/2700 [25:15<08:27,  2.93it/s]
 45%|████▍     | 1212/2700 [25:15<08:10,  3.03it/s]
 45%|████▍     | 1213/2700 [25:15<07:58,  3.11it/s]
 45%|████▍     | 1214/2700 [25:16<07:56,  3.12it/s]
 45%|████▌     | 1215/2700 [25:16<07:47,  3.18it/s]
 45%|████▌     | 1216/2700 [25:16<07:40,  3.22it/s]
 45%|████▌     | 1217/2700 [25:17<13:54,  1.78it/s]
 45%|████▌     | 1218/2700 [25:18<11:57,  2.07it/s]
 45%|████▌     | 1219/2700 [25:18<10:35,  2.33it/s]
 45%|████▌     | 1220/2700 [25:18<09:37,  2.56it/s]
 45%|████▌     | 1221/2700 [25:19<08:57,  2.75it/s]
 45%|████▌     | 1222/2700 [25:19<08:28,  2.90it/s]
 45%|████▌     | 1223/2700 [25:19<08:08,  3.02it/s]
 45%|████▌     | 1224/2700 [25:20<07:53,  3.11it/s]
 45%|████▌     | 1225/2700 [25:21<14:46,  1.66it/s]
 45%|████▌     | 1226/2700 [25:21<12:35,  1.95it/s]
 45%|████▌     | 1227/2700 [25:21<11:04,  2.22it/s]
 45%|████▌     | 1228/2700 [25:22<09:59,  2.45it/s]
 46%|████▌     | 1229/2700 [25:22<09:16,  2.64it/s]
 46%|████▌     | 1230/2700 [25:22<08:53,  2.76it/s]
 46%|████▌     | 1231/2700 [25:23<08:35,  2.85it/s]
 46%|████▌     | 1232/2700 [25:23<08:22,  2.92it/s]
 46%|████▌     | 1233/2700 [25:24<14:05,  1.74it/s]
 46%|████▌     | 1234/2700 [25:24<12:15,  1.99it/s]
 46%|████▌     | 1235/2700 [25:25<10:59,  2.22it/s]
 46%|████▌     | 1236/2700 [25:25<10:08,  2.40it/s]
 46%|████▌     | 1237/2700 [25:25<09:29,  2.57it/s]
 46%|████▌     | 1238/2700 [25:26<09:02,  2.70it/s]
 46%|████▌     | 1239/2700 [25:26<08:43,  2.79it/s]
 46%|████▌     | 1240/2700 [25:26<08:35,  2.83it/s]
 46%|████▌     | 1241/2700 [25:27<09:04,  2.68it/s]
 46%|████▌     | 1242/2700 [25:27<08:41,  2.79it/s]
 46%|████▌     | 1243/2700 [25:27<08:25,  2.88it/s]
 46%|████▌     | 1244/2700 [25:28<08:13,  2.95it/s]
 46%|████▌     | 1245/2700 [25:28<08:07,  2.98it/s]
 46%|████▌     | 1246/2700 [25:28<08:04,  3.00it/s]
 46%|████▌     | 1247/2700 [25:29<08:01,  3.02it/s]
 46%|████▌     | 1248/2700 [25:29<08:03,  3.00it/s]
 46%|████▋     | 1249/2700 [25:40<1:28:03,  3.64s/it]
 46%|████▋     | 1250/2700 [25:41<1:03:52,  2.64s/it]
 46%|████▋     | 1251/2700 [25:41<46:50,  1.94s/it]  
 46%|████▋     | 1252/2700 [25:41<34:57,  1.45s/it]
 46%|████▋     | 1253/2700 [25:42<26:38,  1.10s/it]
 46%|████▋     | 1254/2700 [25:42<20:48,  1.16it/s]
 46%|████▋     | 1255/2700 [25:42<16:46,  1.44it/s]
 47%|████▋     | 1256/2700 [25:43<14:00,  1.72it/s]
 47%|████▋     | 1257/2700 [25:43<12:48,  1.88it/s]
 47%|████▋     | 1258/2700 [25:43<11:15,  2.14it/s]
 47%|████▋     | 1259/2700 [25:44<10:08,  2.37it/s]
 47%|████▋     | 1260/2700 [25:44<09:22,  2.56it/s]
 47%|████▋     | 1261/2700 [25:44<08:47,  2.73it/s]
 47%|████▋     | 1262/2700 [25:45<08:23,  2.86it/s]
 47%|████▋     | 1263/2700 [25:45<08:08,  2.94it/s]
 47%|████▋     | 1264/2700 [25:45<07:58,  3.00it/s]
 47%|████▋     | 1265/2700 [25:46<08:37,  2.78it/s]
 47%|████▋     | 1266/2700 [25:46<08:23,  2.85it/s]
 47%|████▋     | 1267/2700 [25:46<08:09,  2.92it/s]
 47%|████▋     | 1268/2700 [25:47<08:00,  2.98it/s]
 47%|████▋     | 1269/2700 [25:47<07:51,  3.04it/s]
 47%|████▋     | 1270/2700 [25:47<07:43,  3.09it/s]
 47%|████▋     | 1271/2700 [25:48<07:40,  3.10it/s]
 47%|████▋     | 1272/2700 [25:48<07:37,  3.12it/s]
 47%|████▋     | 1273/2700 [26:14<3:14:57,  8.20s/it]
 47%|████▋     | 1274/2700 [26:15<2:18:36,  5.83s/it]
 47%|████▋     | 1275/2700 [26:15<1:39:13,  4.18s/it]
 47%|████▋     | 1276/2700 [26:15<1:11:38,  3.02s/it]
 47%|████▋     | 1277/2700 [26:16<52:18,  2.21s/it]  
 47%|████▋     | 1278/2700 [26:16<38:51,  1.64s/it]
 47%|████▋     | 1279/2700 [26:16<29:26,  1.24s/it]
 47%|████▋     | 1280/2700 [26:17<22:46,  1.04it/s]
 47%|████▋     | 1281/2700 [26:43<3:19:08,  8.42s/it]
 47%|████▋     | 1282/2700 [26:43<2:21:30,  5.99s/it]
 48%|████▊     | 1283/2700 [26:43<1:41:29,  4.30s/it]
 48%|████▊     | 1284/2700 [26:43<1:13:12,  3.10s/it]
 48%|████▊     | 1285/2700 [26:44<53:24,  2.26s/it]  
 48%|████▊     | 1286/2700 [26:44<39:32,  1.68s/it]
 48%|████▊     | 1287/2700 [26:44<29:54,  1.27s/it]
 48%|████▊     | 1288/2700 [26:45<23:09,  1.02it/s]
 48%|████▊     | 1289/2700 [26:45<19:01,  1.24it/s]
 48%|████▊     | 1290/2700 [26:45<15:31,  1.51it/s]
 48%|████▊     | 1291/2700 [26:46<13:03,  1.80it/s]
 48%|████▊     | 1292/2700 [26:46<11:21,  2.07it/s]
 48%|████▊     | 1293/2700 [26:46<10:08,  2.31it/s]
 48%|████▊     | 1294/2700 [26:47<09:22,  2.50it/s]
 48%|████▊     | 1295/2700 [26:47<08:45,  2.67it/s]
 48%|████▊     | 1296/2700 [26:47<08:21,  2.80it/s]
 48%|████▊     | 1297/2700 [26:48<09:58,  2.34it/s]
 48%|████▊     | 1298/2700 [26:48<09:12,  2.54it/s]
 48%|████▊     | 1299/2700 [26:49<08:39,  2.69it/s]
 48%|████▊     | 1300/2700 [26:49<08:15,  2.83it/s]
 48%|████▊     | 1301/2700 [26:49<07:58,  2.92it/s]
 48%|████▊     | 1302/2700 [26:50<07:49,  2.98it/s]
 48%|████▊     | 1303/2700 [26:50<07:40,  3.03it/s]
 48%|████▊     | 1304/2700 [26:50<07:34,  3.07it/s]
 48%|████▊     | 1305/2700 [26:59<1:06:59,  2.88s/it]
 48%|████▊     | 1306/2700 [26:59<49:05,  2.11s/it]  
 48%|████▊     | 1307/2700 [27:00<36:32,  1.57s/it]
 48%|████▊     | 1308/2700 [27:00<27:47,  1.20s/it]
 48%|████▊     | 1309/2700 [27:00<21:40,  1.07it/s]
 49%|████▊     | 1310/2700 [27:01<17:22,  1.33it/s]
 49%|████▊     | 1311/2700 [27:01<14:23,  1.61it/s]
 49%|████▊     | 1312/2700 [27:01<12:15,  1.89it/s]
 49%|████▊     | 1313/2700 [27:02<11:28,  2.01it/s]
 49%|████▊     | 1314/2700 [27:02<10:13,  2.26it/s]
 49%|████▊     | 1315/2700 [27:02<09:18,  2.48it/s]
 49%|████▊     | 1316/2700 [27:03<08:41,  2.65it/s]
 49%|████▉     | 1317/2700 [27:03<08:12,  2.81it/s]
 49%|████▉     | 1318/2700 [27:03<07:53,  2.92it/s]
 49%|████▉     | 1319/2700 [27:04<07:40,  3.00it/s]
 49%|████▉     | 1320/2700 [27:04<07:32,  3.05it/s]
 49%|████▉     | 1321/2700 [27:13<1:05:47,  2.86s/it]
 49%|████▉     | 1322/2700 [27:13<48:10,  2.10s/it]  
 49%|████▉     | 1323/2700 [27:13<35:51,  1.56s/it]
 49%|████▉     | 1324/2700 [27:14<27:11,  1.19s/it]
 49%|████▉     | 1325/2700 [27:14<21:08,  1.08it/s]
 49%|████▉     | 1326/2700 [27:14<16:53,  1.36it/s]
 49%|████▉     | 1327/2700 [27:14<13:56,  1.64it/s]
 49%|████▉     | 1328/2700 [27:15<11:55,  1.92it/s]
 49%|████▉     | 1329/2700 [27:15<11:15,  2.03it/s]
 49%|████▉     | 1330/2700 [27:16<10:00,  2.28it/s]
 49%|████▉     | 1331/2700 [27:16<09:08,  2.50it/s]
 49%|████▉     | 1332/2700 [27:16<08:34,  2.66it/s]
 49%|████▉     | 1333/2700 [27:16<08:07,  2.81it/s]
 49%|████▉     | 1334/2700 [27:17<07:52,  2.89it/s]
 49%|████▉     | 1335/2700 [27:17<07:39,  2.97it/s]
 49%|████▉     | 1336/2700 [27:17<07:28,  3.04it/s]
 50%|████▉     | 1337/2700 [27:29<1:21:03,  3.57s/it]
 50%|████▉     | 1338/2700 [27:29<58:47,  2.59s/it]  
 50%|████▉     | 1339/2700 [27:29<43:16,  1.91s/it]
 50%|████▉     | 1340/2700 [27:29<32:22,  1.43s/it]
 50%|████▉     | 1341/2700 [27:30<24:44,  1.09s/it]
 50%|████▉     | 1342/2700 [27:30<19:23,  1.17it/s]
 50%|████▉     | 1343/2700 [27:30<15:42,  1.44it/s]
 50%|████▉     | 1344/2700 [27:31<13:04,  1.73it/s]
 50%|████▉     | 1345/2700 [27:31<12:04,  1.87it/s]
 50%|████▉     | 1346/2700 [27:31<10:33,  2.14it/s]
 50%|████▉     | 1347/2700 [27:32<09:28,  2.38it/s]
 50%|████▉     | 1348/2700 [27:32<08:42,  2.59it/s]
 50%|████▉     | 1349/2700 [27:32<08:11,  2.75it/s]
 50%|█████     | 1350/2700 [27:33<07:52,  2.86it/s]
 50%|█████     | 1351/2700 [27:33<07:43,  2.91it/s]
 50%|█████     | 1352/2700 [27:33<07:37,  2.95it/s]
 50%|█████     | 1353/2700 [27:42<1:05:22,  2.91s/it]
 50%|█████     | 1354/2700 [27:43<47:56,  2.14s/it]  
 50%|█████     | 1355/2700 [27:43<35:46,  1.60s/it]
 50%|█████     | 1356/2700 [27:43<27:20,  1.22s/it]
 50%|█████     | 1357/2700 [27:44<21:17,  1.05it/s]
 50%|█████     | 1358/2700 [27:44<17:06,  1.31it/s]
 50%|█████     | 1359/2700 [27:44<14:14,  1.57it/s]
 50%|█████     | 1360/2700 [27:45<12:12,  1.83it/s]
 50%|█████     | 1361/2700 [27:45<11:29,  1.94it/s]
 50%|█████     | 1362/2700 [27:45<10:15,  2.17it/s]
 50%|█████     | 1363/2700 [27:46<09:24,  2.37it/s]
 51%|█████     | 1364/2700 [27:46<08:48,  2.53it/s]
 51%|█████     | 1365/2700 [27:46<08:21,  2.66it/s]
 51%|█████     | 1366/2700 [27:47<08:08,  2.73it/s]
 51%|█████     | 1367/2700 [27:47<07:59,  2.78it/s]
 51%|█████     | 1368/2700 [27:47<07:51,  2.82it/s]
 51%|█████     | 1369/2700 [28:11<2:44:33,  7.42s/it]
 51%|█████     | 1370/2700 [28:12<1:57:15,  5.29s/it]
 51%|█████     | 1371/2700 [28:12<1:24:06,  3.80s/it]
 51%|█████     | 1372/2700 [28:12<1:00:56,  2.75s/it]
 51%|█████     | 1373/2700 [28:13<44:50,  2.03s/it]  
 51%|█████     | 1374/2700 [28:13<33:28,  1.51s/it]
 51%|█████     | 1375/2700 [28:13<25:29,  1.15s/it]
 51%|█████     | 1376/2700 [28:14<19:55,  1.11it/s]
 51%|█████     | 1377/2700 [28:14<16:42,  1.32it/s]
 51%|█████     | 1378/2700 [28:14<13:46,  1.60it/s]
 51%|█████     | 1379/2700 [28:15<11:43,  1.88it/s]
 51%|█████     | 1380/2700 [28:15<10:15,  2.15it/s]
 51%|█████     | 1381/2700 [28:15<09:17,  2.37it/s]
 51%|█████     | 1382/2700 [28:16<08:33,  2.57it/s]
 51%|█████     | 1383/2700 [28:16<08:04,  2.72it/s]
 51%|█████▏    | 1384/2700 [28:16<07:47,  2.82it/s]
 51%|█████▏    | 1385/2700 [28:24<58:42,  2.68s/it]
 51%|█████▏    | 1386/2700 [28:25<43:10,  1.97s/it]
 51%|█████▏    | 1387/2700 [28:25<32:17,  1.48s/it]
 51%|█████▏    | 1388/2700 [28:25<24:43,  1.13s/it]
 51%|█████▏    | 1389/2700 [28:26<19:22,  1.13it/s]
 51%|█████▏    | 1390/2700 [28:26<15:37,  1.40it/s]
 52%|█████▏    | 1391/2700 [28:26<12:59,  1.68it/s]
 52%|█████▏    | 1392/2700 [28:27<11:09,  1.95it/s]
 52%|█████▏    | 1393/2700 [28:27<10:47,  2.02it/s]
 52%|█████▏    | 1394/2700 [28:27<09:37,  2.26it/s]
 52%|█████▏    | 1395/2700 [28:28<08:47,  2.47it/s]
 52%|█████▏    | 1396/2700 [28:28<08:11,  2.65it/s]
 52%|█████▏    | 1397/2700 [28:28<07:45,  2.80it/s]
 52%|█████▏    | 1398/2700 [28:29<07:27,  2.91it/s]
 52%|█████▏    | 1399/2700 [28:29<07:13,  3.00it/s]
 52%|█████▏    | 1400/2700 [28:29<07:04,  3.06it/s]
 52%|█████▏    | 1401/2700 [28:42<1:31:09,  4.21s/it]
 52%|█████▏    | 1402/2700 [28:43<1:05:47,  3.04s/it]
 52%|█████▏    | 1403/2700 [28:43<48:06,  2.23s/it]  
 52%|█████▏    | 1404/2700 [28:43<35:39,  1.65s/it]
 52%|█████▏    | 1405/2700 [28:44<26:58,  1.25s/it]
 52%|█████▏    | 1406/2700 [28:44<20:53,  1.03it/s]
 52%|█████▏    | 1407/2700 [28:44<16:43,  1.29it/s]
 52%|█████▏    | 1408/2700 [28:45<13:49,  1.56it/s]
 52%|█████▏    | 1409/2700 [28:45<12:31,  1.72it/s]
 52%|█████▏    | 1410/2700 [28:45<11:00,  1.95it/s]
 52%|█████▏    | 1411/2700 [28:46<09:51,  2.18it/s]
 52%|█████▏    | 1412/2700 [28:46<09:02,  2.37it/s]
 52%|█████▏    | 1413/2700 [28:46<08:34,  2.50it/s]
 52%|█████▏    | 1414/2700 [28:47<08:11,  2.62it/s]
 52%|█████▏    | 1415/2700 [28:47<07:51,  2.73it/s]
 52%|█████▏    | 1416/2700 [28:47<07:36,  2.81it/s]
 52%|█████▏    | 1417/2700 [28:57<1:05:10,  3.05s/it]
 53%|█████▎    | 1418/2700 [28:57<47:44,  2.23s/it]  
 53%|█████▎    | 1419/2700 [28:58<35:37,  1.67s/it]
 53%|█████▎    | 1420/2700 [28:58<27:01,  1.27s/it]
 53%|█████▎    | 1421/2700 [28:58<21:05,  1.01it/s]
 53%|█████▎    | 1422/2700 [28:59<16:59,  1.25it/s]
 53%|█████▎    | 1423/2700 [28:59<14:09,  1.50it/s]
 53%|█████▎    | 1424/2700 [28:59<12:10,  1.75it/s]
 53%|█████▎    | 1425/2700 [29:00<11:21,  1.87it/s]
 53%|█████▎    | 1426/2700 [29:00<10:11,  2.08it/s]
 53%|█████▎    | 1427/2700 [29:00<09:17,  2.28it/s]
 53%|█████▎    | 1428/2700 [29:01<08:36,  2.46it/s]
 53%|█████▎    | 1429/2700 [29:01<08:05,  2.62it/s]
 53%|█████▎    | 1430/2700 [29:01<07:44,  2.73it/s]
 53%|█████▎    | 1431/2700 [29:02<07:29,  2.82it/s]
 53%|█████▎    | 1432/2700 [29:02<07:20,  2.88it/s]
 53%|█████▎    | 1433/2700 [29:13<1:12:52,  3.45s/it]
 53%|█████▎    | 1434/2700 [29:13<53:04,  2.52s/it]  
 53%|█████▎    | 1435/2700 [29:13<39:13,  1.86s/it]
 53%|█████▎    | 1436/2700 [29:14<29:34,  1.40s/it]
 53%|█████▎    | 1437/2700 [29:14<22:47,  1.08s/it]
 53%|█████▎    | 1438/2700 [29:14<18:02,  1.17it/s]
 53%|█████▎    | 1439/2700 [29:15<14:43,  1.43it/s]
 53%|█████▎    | 1440/2700 [29:15<12:20,  1.70it/s]
 53%|█████▎    | 1441/2700 [29:31<1:46:39,  5.08s/it]
 53%|█████▎    | 1442/2700 [29:31<1:16:40,  3.66s/it]
 53%|█████▎    | 1443/2700 [29:31<55:42,  2.66s/it]  
 53%|█████▎    | 1444/2700 [29:32<40:59,  1.96s/it]
 54%|█████▎    | 1445/2700 [29:32<30:43,  1.47s/it]
 54%|█████▎    | 1446/2700 [29:32<23:31,  1.13s/it]
 54%|█████▎    | 1447/2700 [29:33<18:31,  1.13it/s]
 54%|█████▎    | 1448/2700 [29:33<15:06,  1.38it/s]
 54%|█████▎    | 1449/2700 [29:52<2:09:37,  6.22s/it]
 54%|█████▎    | 1450/2700 [29:52<1:32:41,  4.45s/it]
 54%|█████▎    | 1451/2700 [29:53<1:06:47,  3.21s/it]
 54%|█████▍    | 1452/2700 [29:53<48:42,  2.34s/it]  
 54%|█████▍    | 1453/2700 [29:53<36:05,  1.74s/it]
 54%|█████▍    | 1454/2700 [29:54<27:11,  1.31s/it]
 54%|█████▍    | 1455/2700 [29:54<20:59,  1.01s/it]
 54%|█████▍    | 1456/2700 [29:54<16:42,  1.24it/s]
 54%|█████▍    | 1457/2700 [29:55<14:21,  1.44it/s]
 54%|█████▍    | 1458/2700 [29:55<12:06,  1.71it/s]
 54%|█████▍    | 1459/2700 [29:55<10:30,  1.97it/s]
 54%|█████▍    | 1460/2700 [29:56<09:24,  2.20it/s]
 54%|█████▍    | 1461/2700 [29:56<08:38,  2.39it/s]
 54%|█████▍    | 1462/2700 [29:56<08:03,  2.56it/s]
 54%|█████▍    | 1463/2700 [29:57<07:37,  2.70it/s]
 54%|█████▍    | 1464/2700 [29:57<07:22,  2.79it/s]
 54%|█████▍    | 1465/2700 [30:13<1:47:05,  5.20s/it]
 54%|█████▍    | 1466/2700 [30:14<1:16:56,  3.74s/it]
 54%|█████▍    | 1467/2700 [30:14<55:43,  2.71s/it]  
 54%|█████▍    | 1468/2700 [30:14<40:51,  1.99s/it]
 54%|█████▍    | 1469/2700 [30:15<30:29,  1.49s/it]
 54%|█████▍    | 1470/2700 [30:15<23:12,  1.13s/it]
 54%|█████▍    | 1471/2700 [30:15<18:10,  1.13it/s]
 55%|█████▍    | 1472/2700 [30:16<14:37,  1.40it/s]
 55%|█████▍    | 1473/2700 [30:16<14:46,  1.38it/s]
 55%|█████▍    | 1474/2700 [30:17<12:14,  1.67it/s]
 55%|█████▍    | 1475/2700 [30:17<10:27,  1.95it/s]
 55%|█████▍    | 1476/2700 [30:17<09:13,  2.21it/s]
 55%|█████▍    | 1477/2700 [30:18<08:18,  2.45it/s]
 55%|█████▍    | 1478/2700 [30:18<07:44,  2.63it/s]
 55%|█████▍    | 1479/2700 [30:18<07:19,  2.78it/s]
 55%|█████▍    | 1480/2700 [30:19<07:09,  2.84it/s]
 55%|█████▍    | 1481/2700 [30:33<1:31:17,  4.49s/it]
 55%|█████▍    | 1482/2700 [30:33<1:05:44,  3.24s/it]
 55%|█████▍    | 1483/2700 [30:33<47:49,  2.36s/it]  
 55%|█████▍    | 1484/2700 [30:34<35:17,  1.74s/it]
 55%|█████▌    | 1485/2700 [30:34<26:33,  1.31s/it]
 55%|█████▌    | 1486/2700 [30:34<20:25,  1.01s/it]
 55%|█████▌    | 1487/2700 [30:35<16:11,  1.25it/s]
 55%|█████▌    | 1488/2700 [30:35<13:19,  1.52it/s]
 55%|█████▌    | 1489/2700 [30:35<12:05,  1.67it/s]
 55%|█████▌    | 1490/2700 [30:36<10:31,  1.92it/s]
 55%|█████▌    | 1491/2700 [30:36<09:25,  2.14it/s]
 55%|█████▌    | 1492/2700 [30:36<08:38,  2.33it/s]
 55%|█████▌    | 1493/2700 [30:37<08:07,  2.48it/s]
 55%|█████▌    | 1494/2700 [30:37<07:42,  2.61it/s]
 55%|█████▌    | 1495/2700 [30:37<07:24,  2.71it/s]
 55%|█████▌    | 1496/2700 [30:38<07:13,  2.78it/s]
 55%|█████▌    | 1497/2700 [30:38<09:38,  2.08it/s]
 55%|█████▌    | 1498/2700 [30:39<08:43,  2.30it/s]
 56%|█████▌    | 1499/2700 [30:39<08:05,  2.48it/s]
 56%|█████▌    | 1500/2700 [30:40<10:04,  1.99it/s]
 56%|█████▌    | 1501/2700 [30:40<09:02,  2.21it/s]
 56%|█████▌    | 1502/2700 [30:41<08:18,  2.40it/s]
 56%|█████▌    | 1503/2700 [30:41<07:46,  2.56it/s]
 56%|█████▌    | 1504/2700 [30:41<07:26,  2.68it/s]
 56%|█████▌    | 1505/2700 [31:07<2:40:53,  8.08s/it]
 56%|█████▌    | 1506/2700 [31:08<1:54:25,  5.75s/it]
 56%|█████▌    | 1507/2700 [31:08<1:21:55,  4.12s/it]
 56%|█████▌    | 1508/2700 [31:08<59:08,  2.98s/it]  
 56%|█████▌    | 1509/2700 [31:09<43:14,  2.18s/it]
 56%|█████▌    | 1510/2700 [31:09<32:06,  1.62s/it]
 56%|█████▌    | 1511/2700 [31:09<24:20,  1.23s/it]
 56%|█████▌    | 1512/2700 [31:09<18:53,  1.05it/s]
 56%|█████▌    | 1513/2700 [31:10<15:56,  1.24it/s]
 56%|█████▌    | 1514/2700 [31:10<13:00,  1.52it/s]
 56%|█████▌    | 1515/2700 [31:11<10:58,  1.80it/s]
 56%|█████▌    | 1516/2700 [31:11<09:31,  2.07it/s]
 56%|█████▌    | 1517/2700 [31:11<08:31,  2.31it/s]
 56%|█████▌    | 1518/2700 [31:12<07:49,  2.52it/s]
 56%|█████▋    | 1519/2700 [31:12<07:19,  2.69it/s]
 56%|█████▋    | 1520/2700 [31:12<06:59,  2.81it/s]
 56%|█████▋    | 1521/2700 [31:13<07:25,  2.65it/s]
 56%|█████▋    | 1522/2700 [31:13<07:05,  2.77it/s]
 56%|█████▋    | 1523/2700 [31:13<06:49,  2.88it/s]
 56%|█████▋    | 1524/2700 [31:14<06:37,  2.96it/s]
 56%|█████▋    | 1525/2700 [31:14<06:29,  3.02it/s]
 57%|█████▋    | 1526/2700 [31:14<06:21,  3.08it/s]
 57%|█████▋    | 1527/2700 [31:14<06:18,  3.10it/s]
 57%|█████▋    | 1528/2700 [31:15<06:13,  3.14it/s]
 57%|█████▋    | 1529/2700 [31:26<1:11:00,  3.64s/it]
 57%|█████▋    | 1530/2700 [31:26<51:31,  2.64s/it]  
 57%|█████▋    | 1531/2700 [31:27<37:51,  1.94s/it]
 57%|█████▋    | 1532/2700 [31:27<28:20,  1.46s/it]
 57%|█████▋    | 1533/2700 [31:27<21:42,  1.12s/it]
 57%|█████▋    | 1534/2700 [31:28<17:00,  1.14it/s]
 57%|█████▋    | 1535/2700 [31:28<13:43,  1.41it/s]
 57%|█████▋    | 1536/2700 [31:28<11:29,  1.69it/s]
 57%|█████▋    | 1537/2700 [31:29<10:26,  1.86it/s]
 57%|█████▋    | 1538/2700 [31:29<09:10,  2.11it/s]
 57%|█████▋    | 1539/2700 [31:29<08:14,  2.35it/s]
 57%|█████▋    | 1540/2700 [31:30<07:38,  2.53it/s]
 57%|█████▋    | 1541/2700 [31:30<07:10,  2.69it/s]
 57%|█████▋    | 1542/2700 [31:30<06:54,  2.79it/s]
 57%|█████▋    | 1543/2700 [31:31<06:40,  2.89it/s]
 57%|█████▋    | 1544/2700 [31:31<06:33,  2.93it/s]
 57%|█████▋    | 1545/2700 [31:31<07:00,  2.75it/s]
 57%|█████▋    | 1546/2700 [31:32<06:44,  2.85it/s]
 57%|█████▋    | 1547/2700 [31:32<06:31,  2.94it/s]
 57%|█████▋    | 1548/2700 [31:32<06:22,  3.01it/s]
 57%|█████▋    | 1549/2700 [31:33<06:16,  3.05it/s]
 57%|█████▋    | 1550/2700 [31:33<06:12,  3.09it/s]
 57%|█████▋    | 1551/2700 [31:33<06:09,  3.11it/s]
 57%|█████▋    | 1552/2700 [31:34<06:08,  3.11it/s]
 58%|█████▊    | 1553/2700 [31:50<1:40:01,  5.23s/it]
 58%|█████▊    | 1554/2700 [31:51<1:11:48,  3.76s/it]
 58%|█████▊    | 1555/2700 [31:51<52:07,  2.73s/it]  
 58%|█████▊    | 1556/2700 [31:51<38:19,  2.01s/it]
 58%|█████▊    | 1557/2700 [31:52<28:40,  1.51s/it]
 58%|█████▊    | 1558/2700 [31:52<21:55,  1.15s/it]
 58%|█████▊    | 1559/2700 [31:52<17:12,  1.10it/s]
 58%|█████▊    | 1560/2700 [31:53<13:53,  1.37it/s]
 58%|█████▊    | 1561/2700 [31:53<12:14,  1.55it/s]
 58%|█████▊    | 1562/2700 [31:53<10:28,  1.81it/s]
 58%|█████▊    | 1563/2700 [31:54<09:16,  2.04it/s]
 58%|█████▊    | 1564/2700 [31:54<08:26,  2.24it/s]
 58%|█████▊    | 1565/2700 [31:54<07:50,  2.41it/s]
 58%|█████▊    | 1566/2700 [31:55<07:23,  2.56it/s]
 58%|█████▊    | 1567/2700 [31:55<07:03,  2.68it/s]
 58%|█████▊    | 1568/2700 [31:55<06:56,  2.72it/s]
 58%|█████▊    | 1569/2700 [33:01<6:14:33, 19.87s/it]
 58%|█████▊    | 1570/2700 [33:01<4:23:51, 14.01s/it]
 58%|█████▊    | 1571/2700 [33:02<3:06:28,  9.91s/it]
 58%|█████▊    | 1572/2700 [33:02<2:12:14,  7.03s/it]
 58%|█████▊    | 1573/2700 [33:02<1:34:15,  5.02s/it]
 58%|█████▊    | 1574/2700 [33:02<1:07:38,  3.60s/it]
 58%|█████▊    | 1575/2700 [33:03<48:58,  2.61s/it]  
 58%|█████▊    | 1576/2700 [33:03<35:57,  1.92s/it]
 58%|█████▊    | 1577/2700 [33:04<28:18,  1.51s/it]
 58%|█████▊    | 1578/2700 [33:04<21:29,  1.15s/it]
 58%|█████▊    | 1579/2700 [33:04<16:47,  1.11it/s]
 59%|█████▊    | 1580/2700 [33:05<13:29,  1.38it/s]
 59%|█████▊    | 1581/2700 [33:05<11:09,  1.67it/s]
 59%|█████▊    | 1582/2700 [33:05<09:29,  1.96it/s]
 59%|█████▊    | 1583/2700 [33:05<08:18,  2.24it/s]
 59%|█████▊    | 1584/2700 [33:06<07:28,  2.49it/s]
 59%|█████▊    | 1585/2700 [33:16<1:04:34,  3.47s/it]
 59%|█████▊    | 1586/2700 [33:17<46:54,  2.53s/it]  
 59%|█████▉    | 1587/2700 [33:17<34:41,  1.87s/it]
 59%|█████▉    | 1588/2700 [33:17<26:14,  1.42s/it]
 59%|█████▉    | 1589/2700 [33:18<20:16,  1.10s/it]
 59%|█████▉    | 1590/2700 [33:18<16:06,  1.15it/s]
 59%|█████▉    | 1591/2700 [33:18<13:14,  1.40it/s]
 59%|█████▉    | 1592/2700 [33:19<11:12,  1.65it/s]
 59%|█████▉    | 1593/2700 [33:19<10:16,  1.80it/s]
 59%|█████▉    | 1594/2700 [33:20<09:05,  2.03it/s]
 59%|█████▉    | 1595/2700 [33:20<08:17,  2.22it/s]
 59%|█████▉    | 1596/2700 [33:20<07:48,  2.36it/s]
 59%|█████▉    | 1597/2700 [33:21<07:23,  2.48it/s]
 59%|█████▉    | 1598/2700 [33:21<07:03,  2.60it/s]
 59%|█████▉    | 1599/2700 [33:21<06:50,  2.68it/s]
 59%|█████▉    | 1600/2700 [33:22<06:39,  2.75it/s]
 59%|█████▉    | 1601/2700 [33:22<07:15,  2.52it/s]
 59%|█████▉    | 1602/2700 [33:23<07:00,  2.61it/s]
 59%|█████▉    | 1603/2700 [33:23<06:46,  2.70it/s]
 59%|█████▉    | 1604/2700 [33:23<06:37,  2.76it/s]
 59%|█████▉    | 1605/2700 [33:24<06:31,  2.80it/s]
 59%|█████▉    | 1606/2700 [33:24<06:26,  2.83it/s]
 60%|█████▉    | 1607/2700 [33:24<06:21,  2.86it/s]
 60%|█████▉    | 1608/2700 [33:25<06:20,  2.87it/s]
 60%|█████▉    | 1609/2700 [33:42<1:40:45,  5.54s/it]
 60%|█████▉    | 1610/2700 [33:43<1:12:19,  3.98s/it]
 60%|█████▉    | 1611/2700 [33:43<52:27,  2.89s/it]  
 60%|█████▉    | 1612/2700 [33:43<38:33,  2.13s/it]
 60%|█████▉    | 1613/2700 [33:44<28:50,  1.59s/it]
 60%|█████▉    | 1614/2700 [33:44<22:01,  1.22s/it]
 60%|█████▉    | 1615/2700 [33:44<17:15,  1.05it/s]
 60%|█████▉    | 1616/2700 [33:45<13:54,  1.30it/s]
 60%|█████▉    | 1617/2700 [33:45<12:55,  1.40it/s]
 60%|█████▉    | 1618/2700 [33:46<10:53,  1.66it/s]
 60%|█████▉    | 1619/2700 [33:46<09:28,  1.90it/s]
 60%|██████    | 1620/2700 [33:46<08:29,  2.12it/s]
 60%|██████    | 1621/2700 [33:47<07:45,  2.32it/s]
 60%|██████    | 1622/2700 [33:47<07:16,  2.47it/s]
 60%|██████    | 1623/2700 [33:47<06:57,  2.58it/s]
 60%|██████    | 1624/2700 [33:48<06:42,  2.68it/s]
 60%|██████    | 1625/2700 [34:02<1:22:09,  4.59s/it]
 60%|██████    | 1626/2700 [34:02<59:18,  3.31s/it]  
 60%|██████    | 1627/2700 [34:03<43:19,  2.42s/it]
 60%|██████    | 1628/2700 [34:03<32:11,  1.80s/it]
 60%|██████    | 1629/2700 [34:03<24:21,  1.37s/it]
 60%|██████    | 1630/2700 [34:04<18:52,  1.06s/it]
 60%|██████    | 1631/2700 [34:04<15:04,  1.18it/s]
 60%|██████    | 1632/2700 [34:04<12:22,  1.44it/s]
 60%|██████    | 1633/2700 [34:05<11:19,  1.57it/s]
 61%|██████    | 1634/2700 [34:05<09:47,  1.82it/s]
 61%|██████    | 1635/2700 [34:06<08:40,  2.05it/s]
 61%|██████    | 1636/2700 [34:06<07:53,  2.25it/s]
 61%|██████    | 1637/2700 [34:06<07:20,  2.41it/s]
 61%|██████    | 1638/2700 [34:07<06:59,  2.53it/s]
 61%|██████    | 1639/2700 [34:07<06:44,  2.62it/s]
 61%|██████    | 1640/2700 [34:07<06:33,  2.69it/s]
 61%|██████    | 1641/2700 [34:08<08:19,  2.12it/s]
 61%|██████    | 1642/2700 [34:08<07:38,  2.31it/s]
 61%|██████    | 1643/2700 [34:09<07:16,  2.42it/s]
 61%|██████    | 1644/2700 [34:09<07:00,  2.51it/s]
 61%|██████    | 1645/2700 [34:10<06:45,  2.60it/s]
 61%|██████    | 1646/2700 [34:10<06:40,  2.63it/s]
 61%|██████    | 1647/2700 [34:10<06:31,  2.69it/s]
 61%|██████    | 1648/2700 [34:11<06:22,  2.75it/s]
 61%|██████    | 1649/2700 [34:29<1:43:07,  5.89s/it]
 61%|██████    | 1650/2700 [34:30<1:13:57,  4.23s/it]
 61%|██████    | 1651/2700 [34:30<53:31,  3.06s/it]  
 61%|██████    | 1652/2700 [34:30<39:14,  2.25s/it]
 61%|██████    | 1653/2700 [34:31<29:16,  1.68s/it]
 61%|██████▏   | 1654/2700 [34:31<22:24,  1.29s/it]
 61%|██████▏   | 1655/2700 [34:32<17:34,  1.01s/it]
 61%|██████▏   | 1656/2700 [34:32<14:04,  1.24it/s]
 61%|██████▏   | 1657/2700 [34:32<12:13,  1.42it/s]
 61%|██████▏   | 1658/2700 [34:33<10:19,  1.68it/s]
 61%|██████▏   | 1659/2700 [34:33<09:02,  1.92it/s]
 61%|██████▏   | 1660/2700 [34:33<08:08,  2.13it/s]
 62%|██████▏   | 1661/2700 [34:34<07:30,  2.31it/s]
 62%|██████▏   | 1662/2700 [34:34<07:02,  2.46it/s]
 62%|██████▏   | 1663/2700 [34:34<06:44,  2.56it/s]
 62%|██████▏   | 1664/2700 [34:35<06:34,  2.63it/s]
 62%|██████▏   | 1665/2700 [34:35<06:53,  2.50it/s]
 62%|██████▏   | 1666/2700 [34:36<06:38,  2.60it/s]
 62%|██████▏   | 1667/2700 [34:36<06:30,  2.65it/s]
 62%|██████▏   | 1668/2700 [34:36<06:20,  2.71it/s]
 62%|██████▏   | 1669/2700 [34:37<06:14,  2.75it/s]
 62%|██████▏   | 1670/2700 [34:37<06:10,  2.78it/s]
 62%|██████▏   | 1671/2700 [34:37<06:05,  2.82it/s]
 62%|██████▏   | 1672/2700 [34:38<06:03,  2.82it/s]
 62%|██████▏   | 1673/2700 [34:51<1:10:59,  4.15s/it]
 62%|██████▏   | 1674/2700 [34:51<51:25,  3.01s/it]  
 62%|██████▏   | 1675/2700 [34:51<37:43,  2.21s/it]
 62%|██████▏   | 1676/2700 [34:52<28:11,  1.65s/it]
 62%|██████▏   | 1677/2700 [34:52<21:30,  1.26s/it]
 62%|██████▏   | 1678/2700 [34:52<16:49,  1.01it/s]
 62%|██████▏   | 1679/2700 [34:53<13:31,  1.26it/s]
 62%|██████▏   | 1680/2700 [34:53<11:23,  1.49it/s]
 62%|██████▏   | 1681/2700 [34:54<10:18,  1.65it/s]
 62%|██████▏   | 1682/2700 [34:54<09:04,  1.87it/s]
 62%|██████▏   | 1683/2700 [34:54<08:09,  2.08it/s]
 62%|██████▏   | 1684/2700 [34:55<07:32,  2.24it/s]
 62%|██████▏   | 1685/2700 [34:55<07:07,  2.38it/s]
 62%|██████▏   | 1686/2700 [34:55<06:49,  2.48it/s]
 62%|██████▏   | 1687/2700 [34:56<06:37,  2.55it/s]
 63%|██████▎   | 1688/2700 [34:56<06:29,  2.60it/s]
 63%|██████▎   | 1689/2700 [35:14<1:34:28,  5.61s/it]
 63%|██████▎   | 1690/2700 [35:14<1:07:52,  4.03s/it]
 63%|██████▎   | 1691/2700 [35:15<49:19,  2.93s/it]  
 63%|██████▎   | 1692/2700 [35:15<36:16,  2.16s/it]
 63%|██████▎   | 1693/2700 [35:15<27:13,  1.62s/it]
 63%|██████▎   | 1694/2700 [35:16<20:54,  1.25s/it]
 63%|██████▎   | 1695/2700 [35:16<16:27,  1.02it/s]
 63%|██████▎   | 1696/2700 [35:16<13:15,  1.26it/s]
 63%|██████▎   | 1697/2700 [35:17<11:39,  1.43it/s]
 63%|██████▎   | 1698/2700 [35:17<10:00,  1.67it/s]
 63%|██████▎   | 1699/2700 [35:18<08:51,  1.88it/s]
 63%|██████▎   | 1700/2700 [35:18<08:02,  2.07it/s]
 63%|██████▎   | 1701/2700 [35:18<07:25,  2.24it/s]
 63%|██████▎   | 1702/2700 [35:19<07:00,  2.38it/s]
 63%|██████▎   | 1703/2700 [35:19<06:43,  2.47it/s]
 63%|██████▎   | 1704/2700 [35:19<06:28,  2.57it/s]
 63%|██████▎   | 1705/2700 [35:20<06:56,  2.39it/s]
 63%|██████▎   | 1706/2700 [35:20<06:43,  2.46it/s]
 63%|██████▎   | 1707/2700 [35:21<06:32,  2.53it/s]
 63%|██████▎   | 1708/2700 [35:21<06:27,  2.56it/s]
 63%|██████▎   | 1709/2700 [35:21<06:22,  2.59it/s]
 63%|██████▎   | 1710/2700 [35:22<06:17,  2.62it/s]
 63%|██████▎   | 1711/2700 [35:22<06:14,  2.64it/s]
 63%|██████▎   | 1712/2700 [35:23<06:16,  2.62it/s]
 63%|██████▎   | 1713/2700 [35:51<2:22:36,  8.67s/it]
 63%|██████▎   | 1714/2700 [35:51<1:41:34,  6.18s/it]
 64%|██████▎   | 1715/2700 [35:51<1:12:50,  4.44s/it]
 64%|██████▎   | 1716/2700 [35:52<52:46,  3.22s/it]  
 64%|██████▎   | 1717/2700 [35:52<38:43,  2.36s/it]
 64%|██████▎   | 1718/2700 [35:52<28:50,  1.76s/it]
 64%|██████▎   | 1719/2700 [35:53<21:52,  1.34s/it]
 64%|██████▎   | 1720/2700 [35:53<16:59,  1.04s/it]
 64%|██████▎   | 1721/2700 [35:54<14:11,  1.15it/s]
 64%|██████▍   | 1722/2700 [35:54<11:41,  1.39it/s]
 64%|██████▍   | 1723/2700 [35:54<09:53,  1.65it/s]
 64%|██████▍   | 1724/2700 [35:55<08:37,  1.88it/s]
 64%|██████▍   | 1725/2700 [35:55<07:45,  2.10it/s]
 64%|██████▍   | 1726/2700 [35:55<07:06,  2.28it/s]
 64%|██████▍   | 1727/2700 [35:56<06:42,  2.42it/s]
 64%|██████▍   | 1728/2700 [35:56<06:25,  2.52it/s]
 64%|██████▍   | 1729/2700 [35:57<06:40,  2.43it/s]
 64%|██████▍   | 1730/2700 [35:57<06:24,  2.52it/s]
 64%|██████▍   | 1731/2700 [35:57<06:10,  2.61it/s]
 64%|██████▍   | 1732/2700 [35:58<06:02,  2.67it/s]
 64%|██████▍   | 1733/2700 [35:58<05:57,  2.71it/s]
 64%|██████▍   | 1734/2700 [35:58<05:52,  2.74it/s]
 64%|██████▍   | 1735/2700 [35:59<05:53,  2.73it/s]
 64%|██████▍   | 1736/2700 [35:59<05:48,  2.77it/s]
 64%|██████▍   | 1737/2700 [36:10<54:26,  3.39s/it]
 64%|██████▍   | 1738/2700 [36:10<39:45,  2.48s/it]
 64%|██████▍   | 1739/2700 [36:10<29:27,  1.84s/it]
 64%|██████▍   | 1740/2700 [36:11<22:15,  1.39s/it]
 64%|██████▍   | 1741/2700 [36:11<17:16,  1.08s/it]
 65%|██████▍   | 1742/2700 [36:11<13:50,  1.15it/s]
 65%|██████▍   | 1743/2700 [36:12<11:20,  1.41it/s]
 65%|██████▍   | 1744/2700 [36:12<09:35,  1.66it/s]
 65%|██████▍   | 1745/2700 [36:12<08:59,  1.77it/s]
 65%|██████▍   | 1746/2700 [36:13<07:57,  2.00it/s]
 65%|██████▍   | 1747/2700 [36:13<07:13,  2.20it/s]
 65%|██████▍   | 1748/2700 [36:14<06:45,  2.35it/s]
 65%|██████▍   | 1749/2700 [36:14<06:51,  2.31it/s]
 65%|██████▍   | 1750/2700 [36:14<06:26,  2.46it/s]
 65%|██████▍   | 1751/2700 [36:15<06:09,  2.57it/s]
 65%|██████▍   | 1752/2700 [36:15<05:57,  2.65it/s]
 65%|██████▍   | 1753/2700 [36:15<06:16,  2.52it/s]
 65%|██████▍   | 1754/2700 [36:16<05:59,  2.63it/s]
 65%|██████▌   | 1755/2700 [36:16<05:48,  2.71it/s]
 65%|██████▌   | 1756/2700 [36:16<05:41,  2.77it/s]
 65%|██████▌   | 1757/2700 [36:17<05:38,  2.79it/s]
 65%|██████▌   | 1758/2700 [36:17<05:37,  2.79it/s]
 65%|██████▌   | 1759/2700 [36:18<05:35,  2.81it/s]
 65%|██████▌   | 1760/2700 [36:18<05:35,  2.80it/s]
 65%|██████▌   | 1761/2700 [36:37<1:33:53,  6.00s/it]
 65%|██████▌   | 1762/2700 [36:37<1:07:17,  4.30s/it]
 65%|██████▌   | 1763/2700 [36:38<48:45,  3.12s/it]  
 65%|██████▌   | 1764/2700 [36:38<35:45,  2.29s/it]
 65%|██████▌   | 1765/2700 [36:38<26:40,  1.71s/it]
 65%|██████▌   | 1766/2700 [36:39<20:17,  1.30s/it]
 65%|██████▌   | 1767/2700 [36:39<15:50,  1.02s/it]
 65%|██████▌   | 1768/2700 [36:40<12:41,  1.22it/s]
 66%|██████▌   | 1769/2700 [36:40<10:57,  1.42it/s]
 66%|██████▌   | 1770/2700 [36:40<09:15,  1.67it/s]
 66%|██████▌   | 1771/2700 [36:41<08:05,  1.91it/s]
 66%|██████▌   | 1772/2700 [36:41<07:16,  2.13it/s]
 66%|██████▌   | 1773/2700 [36:41<06:42,  2.30it/s]
 66%|██████▌   | 1774/2700 [36:42<06:17,  2.45it/s]
 66%|██████▌   | 1775/2700 [36:42<06:00,  2.57it/s]
 66%|██████▌   | 1776/2700 [36:42<05:47,  2.66it/s]
 66%|██████▌   | 1777/2700 [36:43<06:11,  2.49it/s]
 66%|██████▌   | 1778/2700 [36:43<05:53,  2.60it/s]
 66%|██████▌   | 1779/2700 [36:44<05:41,  2.69it/s]
 66%|██████▌   | 1780/2700 [36:44<05:32,  2.77it/s]
 66%|██████▌   | 1781/2700 [36:44<05:29,  2.79it/s]
 66%|██████▌   | 1782/2700 [36:45<05:26,  2.81it/s]
 66%|██████▌   | 1783/2700 [36:45<05:25,  2.82it/s]
 66%|██████▌   | 1784/2700 [36:45<05:23,  2.83it/s]
 66%|██████▌   | 1785/2700 [36:56<54:38,  3.58s/it]
 66%|██████▌   | 1786/2700 [36:57<39:48,  2.61s/it]
 66%|██████▌   | 1787/2700 [36:57<29:30,  1.94s/it]
 66%|██████▌   | 1788/2700 [36:58<22:16,  1.47s/it]
 66%|██████▋   | 1789/2700 [36:58<17:11,  1.13s/it]
 66%|██████▋   | 1790/2700 [36:58<13:35,  1.12it/s]
 66%|██████▋   | 1791/2700 [36:59<11:05,  1.37it/s]
 66%|██████▋   | 1792/2700 [36:59<09:20,  1.62it/s]
 66%|██████▋   | 1793/2700 [36:59<08:36,  1.76it/s]
 66%|██████▋   | 1794/2700 [37:00<07:35,  1.99it/s]
 66%|██████▋   | 1795/2700 [37:00<07:02,  2.14it/s]
 67%|██████▋   | 1796/2700 [37:00<06:29,  2.32it/s]
 67%|██████▋   | 1797/2700 [37:01<06:09,  2.45it/s]
 67%|██████▋   | 1798/2700 [37:01<06:02,  2.49it/s]
 67%|██████▋   | 1799/2700 [37:02<05:49,  2.58it/s]
 67%|██████▋   | 1800/2700 [37:02<05:38,  2.66it/s]
 67%|██████▋   | 1801/2700 [37:02<05:56,  2.52it/s]
 67%|██████▋   | 1802/2700 [37:03<05:45,  2.60it/s]
 67%|██████▋   | 1803/2700 [37:03<05:36,  2.67it/s]
 67%|██████▋   | 1804/2700 [37:03<05:29,  2.72it/s]
 67%|██████▋   | 1805/2700 [37:04<05:23,  2.76it/s]
 67%|██████▋   | 1806/2700 [37:04<05:19,  2.79it/s]
 67%|██████▋   | 1807/2700 [37:04<05:17,  2.81it/s]
 67%|██████▋   | 1808/2700 [37:05<05:14,  2.83it/s]
 67%|██████▋   | 1809/2700 [37:31<2:00:27,  8.11s/it]
 67%|██████▋   | 1810/2700 [37:31<1:25:47,  5.78s/it]
 67%|██████▋   | 1811/2700 [37:32<1:01:34,  4.16s/it]
 67%|██████▋   | 1812/2700 [37:32<44:38,  3.02s/it]  
 67%|██████▋   | 1813/2700 [37:32<32:45,  2.22s/it]
 67%|██████▋   | 1814/2700 [37:33<24:25,  1.65s/it]
 67%|██████▋   | 1815/2700 [37:33<18:39,  1.26s/it]
 67%|██████▋   | 1816/2700 [37:33<14:36,  1.01it/s]
 67%|██████▋   | 1817/2700 [37:34<12:42,  1.16it/s]
 67%|██████▋   | 1818/2700 [37:34<10:28,  1.40it/s]
 67%|██████▋   | 1819/2700 [37:35<08:52,  1.65it/s]
 67%|██████▋   | 1820/2700 [37:35<07:50,  1.87it/s]
 67%|██████▋   | 1821/2700 [37:35<07:09,  2.05it/s]
 67%|██████▋   | 1822/2700 [37:36<06:40,  2.19it/s]
 68%|██████▊   | 1823/2700 [37:36<06:20,  2.30it/s]
 68%|██████▊   | 1824/2700 [37:37<06:03,  2.41it/s]
 68%|██████▊   | 1825/2700 [37:37<07:00,  2.08it/s]
 68%|██████▊   | 1826/2700 [37:38<06:28,  2.25it/s]
 68%|██████▊   | 1827/2700 [37:38<06:09,  2.36it/s]
 68%|██████▊   | 1828/2700 [37:38<05:56,  2.45it/s]
 68%|██████▊   | 1829/2700 [37:39<05:46,  2.52it/s]
 68%|██████▊   | 1830/2700 [37:39<05:41,  2.55it/s]
 68%|██████▊   | 1831/2700 [37:39<05:34,  2.60it/s]
 68%|██████▊   | 1832/2700 [37:40<05:26,  2.66it/s]
 68%|██████▊   | 1833/2700 [37:54<1:06:56,  4.63s/it]
 68%|██████▊   | 1834/2700 [37:55<48:27,  3.36s/it]  
 68%|██████▊   | 1835/2700 [37:55<35:28,  2.46s/it]
 68%|██████▊   | 1836/2700 [37:56<26:23,  1.83s/it]
 68%|██████▊   | 1837/2700 [37:56<20:01,  1.39s/it]
 68%|██████▊   | 1838/2700 [37:56<15:34,  1.08s/it]
 68%|██████▊   | 1839/2700 [37:57<12:29,  1.15it/s]
 68%|██████▊   | 1840/2700 [37:57<10:17,  1.39it/s]
 68%|██████▊   | 1841/2700 [37:58<09:27,  1.51it/s]
 68%|██████▊   | 1842/2700 [37:58<08:09,  1.75it/s]
 68%|██████▊   | 1843/2700 [37:58<07:12,  1.98it/s]
 68%|██████▊   | 1844/2700 [37:59<06:34,  2.17it/s]
 68%|██████▊   | 1845/2700 [37:59<06:05,  2.34it/s]
 68%|██████▊   | 1846/2700 [37:59<05:46,  2.46it/s]
 68%|██████▊   | 1847/2700 [38:00<05:39,  2.51it/s]
 68%|██████▊   | 1848/2700 [38:00<05:30,  2.58it/s]
 68%|██████▊   | 1849/2700 [38:00<05:47,  2.45it/s]
 69%|██████▊   | 1850/2700 [38:01<05:34,  2.54it/s]
 69%|██████▊   | 1851/2700 [38:01<05:26,  2.60it/s]
 69%|██████▊   | 1852/2700 [38:02<05:21,  2.64it/s]
 69%|██████▊   | 1853/2700 [38:02<05:15,  2.68it/s]
 69%|██████▊   | 1854/2700 [38:02<05:10,  2.73it/s]
 69%|██████▊   | 1855/2700 [38:03<05:06,  2.76it/s]
 69%|██████▊   | 1856/2700 [38:03<05:07,  2.75it/s]
 69%|██████▉   | 1857/2700 [38:26<1:38:59,  7.05s/it]
 69%|██████▉   | 1858/2700 [38:26<1:10:43,  5.04s/it]
 69%|██████▉   | 1859/2700 [38:26<50:58,  3.64s/it]  
 69%|██████▉   | 1860/2700 [38:27<37:07,  2.65s/it]
 69%|██████▉   | 1861/2700 [38:27<27:25,  1.96s/it]
 69%|██████▉   | 1862/2700 [38:27<20:37,  1.48s/it]
 69%|██████▉   | 1863/2700 [38:28<15:53,  1.14s/it]
 69%|██████▉   | 1864/2700 [38:28<12:37,  1.10it/s]
 69%|██████▉   | 1865/2700 [38:29<10:44,  1.30it/s]
 69%|██████▉   | 1866/2700 [38:29<08:59,  1.55it/s]
 69%|██████▉   | 1867/2700 [38:29<07:51,  1.77it/s]
 69%|██████▉   | 1868/2700 [38:30<07:04,  1.96it/s]
 69%|██████▉   | 1869/2700 [38:30<06:30,  2.13it/s]
 69%|██████▉   | 1870/2700 [38:30<06:05,  2.27it/s]
 69%|██████▉   | 1871/2700 [38:31<05:45,  2.40it/s]
 69%|██████▉   | 1872/2700 [38:31<05:33,  2.48it/s]
 69%|██████▉   | 1873/2700 [38:32<05:50,  2.36it/s]
 69%|██████▉   | 1874/2700 [38:32<05:36,  2.45it/s]
 69%|██████▉   | 1875/2700 [38:32<05:25,  2.53it/s]
 69%|██████▉   | 1876/2700 [38:33<05:16,  2.60it/s]
 70%|██████▉   | 1877/2700 [38:33<05:14,  2.62it/s]
 70%|██████▉   | 1878/2700 [38:33<05:10,  2.64it/s]
 70%|██████▉   | 1879/2700 [38:34<05:16,  2.59it/s]
 70%|██████▉   | 1880/2700 [38:34<05:12,  2.62it/s]
 70%|██████▉   | 1881/2700 [39:31<3:57:27, 17.40s/it]
 70%|██████▉   | 1882/2700 [39:32<2:47:30, 12.29s/it]
 70%|██████▉   | 1883/2700 [39:32<1:58:35,  8.71s/it]
 70%|██████▉   | 1884/2700 [39:32<1:24:21,  6.20s/it]
 70%|██████▉   | 1885/2700 [39:33<1:00:25,  4.45s/it]
 70%|██████▉   | 1886/2700 [39:33<43:42,  3.22s/it]  
 70%|██████▉   | 1887/2700 [39:34<32:00,  2.36s/it]
 70%|██████▉   | 1888/2700 [39:34<23:50,  1.76s/it]
 70%|██████▉   | 1889/2700 [39:35<19:19,  1.43s/it]
 70%|███████   | 1890/2700 [39:35<14:59,  1.11s/it]
 70%|███████   | 1891/2700 [39:35<11:54,  1.13it/s]
 70%|███████   | 1892/2700 [39:36<09:47,  1.37it/s]
 70%|███████   | 1893/2700 [39:36<08:16,  1.63it/s]
 70%|███████   | 1894/2700 [39:36<07:13,  1.86it/s]
 70%|███████   | 1895/2700 [39:37<06:31,  2.06it/s]
 70%|███████   | 1896/2700 [39:37<06:01,  2.22it/s]
 70%|███████   | 1897/2700 [39:38<06:34,  2.03it/s]
 70%|███████   | 1898/2700 [39:38<06:06,  2.19it/s]
 70%|███████   | 1899/2700 [39:38<05:43,  2.33it/s]
 70%|███████   | 1900/2700 [39:39<05:26,  2.45it/s]
 70%|███████   | 1901/2700 [39:39<05:14,  2.54it/s]
 70%|███████   | 1902/2700 [39:39<05:02,  2.64it/s]
 70%|███████   | 1903/2700 [39:40<04:54,  2.71it/s]
 71%|███████   | 1904/2700 [39:40<04:49,  2.75it/s]
 71%|███████   | 1905/2700 [39:56<1:07:45,  5.11s/it]
 71%|███████   | 1906/2700 [39:57<48:50,  3.69s/it]  
 71%|███████   | 1907/2700 [39:57<35:36,  2.69s/it]
 71%|███████   | 1908/2700 [39:57<26:19,  1.99s/it]
 71%|███████   | 1909/2700 [39:58<19:49,  1.50s/it]
 71%|███████   | 1910/2700 [39:58<15:13,  1.16s/it]
 71%|███████   | 1911/2700 [39:58<12:00,  1.09it/s]
 71%|███████   | 1912/2700 [39:59<09:44,  1.35it/s]
 71%|███████   | 1913/2700 [39:59<08:43,  1.50it/s]
 71%|███████   | 1914/2700 [40:00<07:27,  1.76it/s]
 71%|███████   | 1915/2700 [40:00<06:35,  1.99it/s]
 71%|███████   | 1916/2700 [40:00<06:02,  2.16it/s]
 71%|███████   | 1917/2700 [40:01<05:34,  2.34it/s]
 71%|███████   | 1918/2700 [40:01<05:14,  2.49it/s]
 71%|███████   | 1919/2700 [40:01<05:00,  2.60it/s]
 71%|███████   | 1920/2700 [40:02<04:51,  2.68it/s]
 71%|███████   | 1921/2700 [40:03<08:01,  1.62it/s]
 71%|███████   | 1922/2700 [40:03<07:00,  1.85it/s]
 71%|███████   | 1923/2700 [40:04<06:17,  2.06it/s]
 71%|███████▏  | 1924/2700 [40:04<05:45,  2.25it/s]
 71%|███████▏  | 1925/2700 [40:04<05:22,  2.41it/s]
 71%|███████▏  | 1926/2700 [40:05<05:08,  2.51it/s]
 71%|███████▏  | 1927/2700 [40:05<04:54,  2.62it/s]
 71%|███████▏  | 1928/2700 [40:05<04:46,  2.69it/s]
 71%|███████▏  | 1929/2700 [40:39<2:14:07, 10.44s/it]
 71%|███████▏  | 1930/2700 [40:40<1:35:07,  7.41s/it]
 72%|███████▏  | 1931/2700 [40:40<1:07:50,  5.29s/it]
 72%|███████▏  | 1932/2700 [40:40<48:46,  3.81s/it]  
 72%|███████▏  | 1933/2700 [40:41<35:27,  2.77s/it]
 72%|███████▏  | 1934/2700 [40:41<26:09,  2.05s/it]
 72%|███████▏  | 1935/2700 [40:41<19:41,  1.54s/it]
 72%|███████▏  | 1936/2700 [40:42<15:09,  1.19s/it]
 72%|███████▏  | 1937/2700 [40:42<12:18,  1.03it/s]
 72%|███████▏  | 1938/2700 [40:43<09:58,  1.27it/s]
 72%|███████▏  | 1939/2700 [40:43<08:19,  1.52it/s]
 72%|███████▏  | 1940/2700 [40:43<07:08,  1.77it/s]
 72%|███████▏  | 1941/2700 [40:44<06:21,  1.99it/s]
 72%|███████▏  | 1942/2700 [40:44<05:46,  2.19it/s]
 72%|███████▏  | 1943/2700 [40:44<05:21,  2.35it/s]
 72%|███████▏  | 1944/2700 [40:45<05:03,  2.49it/s]
 72%|███████▏  | 1945/2700 [40:45<05:15,  2.40it/s]
 72%|███████▏  | 1946/2700 [40:46<05:00,  2.51it/s]
 72%|███████▏  | 1947/2700 [40:46<04:49,  2.60it/s]
 72%|███████▏  | 1948/2700 [40:46<04:42,  2.66it/s]
 72%|███████▏  | 1949/2700 [40:47<04:38,  2.70it/s]
 72%|███████▏  | 1950/2700 [40:47<04:34,  2.73it/s]
 72%|███████▏  | 1951/2700 [40:47<04:37,  2.70it/s]
 72%|███████▏  | 1952/2700 [40:48<04:31,  2.76it/s]
 72%|███████▏  | 1953/2700 [41:02<57:19,  4.60s/it]
 72%|███████▏  | 1954/2700 [41:03<41:26,  3.33s/it]
 72%|███████▏  | 1955/2700 [41:03<30:18,  2.44s/it]
 72%|███████▏  | 1956/2700 [41:03<22:31,  1.82s/it]
 72%|███████▏  | 1957/2700 [41:04<17:03,  1.38s/it]
 73%|███████▎  | 1958/2700 [41:04<13:16,  1.07s/it]
 73%|███████▎  | 1959/2700 [41:04<10:35,  1.17it/s]
 73%|███████▎  | 1960/2700 [41:05<08:44,  1.41it/s]
 73%|███████▎  | 1961/2700 [41:05<08:27,  1.46it/s]
 73%|███████▎  | 1962/2700 [41:06<07:14,  1.70it/s]
 73%|███████▎  | 1963/2700 [41:06<06:21,  1.93it/s]
 73%|███████▎  | 1964/2700 [41:06<05:46,  2.12it/s]
 73%|███████▎  | 1965/2700 [41:07<05:18,  2.31it/s]
 73%|███████▎  | 1966/2700 [41:07<05:01,  2.44it/s]
 73%|███████▎  | 1967/2700 [41:08<04:49,  2.53it/s]
 73%|███████▎  | 1968/2700 [41:08<04:41,  2.60it/s]
 73%|███████▎  | 1969/2700 [41:08<04:55,  2.48it/s]
 73%|███████▎  | 1970/2700 [41:09<04:47,  2.54it/s]
 73%|███████▎  | 1971/2700 [41:09<04:43,  2.57it/s]
 73%|███████▎  | 1972/2700 [41:09<04:41,  2.59it/s]
 73%|███████▎  | 1973/2700 [41:10<04:38,  2.61it/s]
 73%|███████▎  | 1974/2700 [41:10<04:36,  2.63it/s]
 73%|███████▎  | 1975/2700 [41:11<04:35,  2.63it/s]
 73%|███████▎  | 1976/2700 [41:11<04:31,  2.67it/s]
 73%|███████▎  | 1977/2700 [41:37<1:37:29,  8.09s/it]
 73%|███████▎  | 1978/2700 [41:37<1:09:31,  5.78s/it]
 73%|███████▎  | 1979/2700 [41:38<49:54,  4.15s/it]  
 73%|███████▎  | 1980/2700 [41:38<36:12,  3.02s/it]
 73%|███████▎  | 1981/2700 [41:39<26:43,  2.23s/it]
 73%|███████▎  | 1982/2700 [41:39<20:01,  1.67s/it]
 73%|███████▎  | 1983/2700 [41:39<15:18,  1.28s/it]
 73%|███████▎  | 1984/2700 [41:40<12:00,  1.01s/it]
 74%|███████▎  | 1985/2700 [41:40<10:09,  1.17it/s]
 74%|███████▎  | 1986/2700 [41:41<08:25,  1.41it/s]
 74%|███████▎  | 1987/2700 [41:41<07:13,  1.65it/s]
 74%|███████▎  | 1988/2700 [41:41<06:21,  1.86it/s]
 74%|███████▎  | 1989/2700 [41:42<05:47,  2.04it/s]
 74%|███████▎  | 1990/2700 [41:42<05:20,  2.21it/s]
 74%|███████▎  | 1991/2700 [41:42<05:01,  2.35it/s]
 74%|███████▍  | 1992/2700 [41:43<04:47,  2.46it/s]
 74%|███████▍  | 1993/2700 [41:43<05:00,  2.35it/s]
 74%|███████▍  | 1994/2700 [41:44<04:44,  2.48it/s]
 74%|███████▍  | 1995/2700 [41:44<04:33,  2.58it/s]
 74%|███████▍  | 1996/2700 [41:44<04:26,  2.64it/s]
 74%|███████▍  | 1997/2700 [41:45<04:20,  2.70it/s]
 74%|███████▍  | 1998/2700 [41:45<04:19,  2.70it/s]
 74%|███████▍  | 1999/2700 [41:45<04:16,  2.73it/s]
 74%|███████▍  | 2000/2700 [41:46<06:21,  1.83it/s]
 74%|███████▍  | 2001/2700 [42:12<1:34:26,  8.11s/it]
 74%|███████▍  | 2002/2700 [42:12<1:07:17,  5.78s/it]
 74%|███████▍  | 2003/2700 [42:13<48:17,  4.16s/it]  
 74%|███████▍  | 2004/2700 [42:13<34:57,  3.01s/it]
 74%|███████▍  | 2005/2700 [42:13<25:39,  2.21s/it]
 74%|███████▍  | 2006/2700 [42:14<19:13,  1.66s/it]
 74%|███████▍  | 2007/2700 [42:14<14:39,  1.27s/it]
 74%|███████▍  | 2008/2700 [42:15<11:27,  1.01it/s]
 74%|███████▍  | 2009/2700 [42:15<09:39,  1.19it/s]
 74%|███████▍  | 2010/2700 [42:15<07:53,  1.46it/s]
 74%|███████▍  | 2011/2700 [42:16<06:38,  1.73it/s]
 75%|███████▍  | 2012/2700 [42:16<05:44,  2.00it/s]
 75%|███████▍  | 2013/2700 [42:16<05:07,  2.24it/s]
 75%|███████▍  | 2014/2700 [42:17<04:42,  2.42it/s]
 75%|███████▍  | 2015/2700 [42:17<04:26,  2.57it/s]
 75%|███████▍  | 2016/2700 [42:17<04:15,  2.68it/s]
 75%|███████▍  | 2017/2700 [42:18<04:26,  2.57it/s]
 75%|███████▍  | 2018/2700 [42:18<04:14,  2.68it/s]
 75%|███████▍  | 2019/2700 [42:18<04:06,  2.77it/s]
 75%|███████▍  | 2020/2700 [42:19<03:57,  2.86it/s]
 75%|███████▍  | 2021/2700 [42:19<03:54,  2.90it/s]
 75%|███████▍  | 2022/2700 [42:19<03:51,  2.93it/s]
 75%|███████▍  | 2023/2700 [42:20<03:48,  2.97it/s]
 75%|███████▍  | 2024/2700 [42:20<03:47,  2.98it/s]
 75%|███████▌  | 2025/2700 [42:38<1:02:00,  5.51s/it]
 75%|███████▌  | 2026/2700 [42:38<44:25,  3.95s/it]  
 75%|███████▌  | 2027/2700 [42:38<32:11,  2.87s/it]
 75%|███████▌  | 2028/2700 [42:39<23:36,  2.11s/it]
 75%|███████▌  | 2029/2700 [42:39<17:37,  1.58s/it]
 75%|███████▌  | 2030/2700 [42:39<13:26,  1.20s/it]
 75%|███████▌  | 2031/2700 [42:40<10:28,  1.07it/s]
 75%|███████▌  | 2032/2700 [42:40<08:22,  1.33it/s]
 75%|███████▌  | 2033/2700 [42:41<08:16,  1.34it/s]
 75%|███████▌  | 2034/2700 [42:41<06:51,  1.62it/s]
 75%|███████▌  | 2035/2700 [42:41<05:51,  1.89it/s]
 75%|███████▌  | 2036/2700 [42:42<05:10,  2.14it/s]
 75%|███████▌  | 2037/2700 [42:42<04:41,  2.35it/s]
 75%|███████▌  | 2038/2700 [42:42<04:22,  2.52it/s]
 76%|███████▌  | 2039/2700 [42:43<04:08,  2.66it/s]
 76%|███████▌  | 2040/2700 [42:43<04:01,  2.74it/s]
 76%|███████▌  | 2041/2700 [42:44<06:01,  1.82it/s]
 76%|███████▌  | 2042/2700 [42:44<05:16,  2.08it/s]
 76%|███████▌  | 2043/2700 [42:45<04:46,  2.29it/s]
 76%|███████▌  | 2044/2700 [42:45<04:25,  2.47it/s]
 76%|███████▌  | 2045/2700 [42:45<04:11,  2.61it/s]
 76%|███████▌  | 2046/2700 [42:46<04:01,  2.71it/s]
 76%|███████▌  | 2047/2700 [42:46<03:52,  2.80it/s]
 76%|███████▌  | 2048/2700 [42:46<03:50,  2.82it/s]
 76%|███████▌  | 2049/2700 [43:06<1:07:35,  6.23s/it]
 76%|███████▌  | 2050/2700 [43:07<48:19,  4.46s/it]  
 76%|███████▌  | 2051/2700 [43:07<34:54,  3.23s/it]
 76%|███████▌  | 2052/2700 [43:07<25:34,  2.37s/it]
 76%|███████▌  | 2053/2700 [43:08<19:01,  1.76s/it]
 76%|███████▌  | 2054/2700 [43:08<14:26,  1.34s/it]
 76%|███████▌  | 2055/2700 [43:08<11:10,  1.04s/it]
 76%|███████▌  | 2056/2700 [43:09<08:51,  1.21it/s]
 76%|███████▌  | 2057/2700 [43:09<08:25,  1.27it/s]
 76%|███████▌  | 2058/2700 [43:10<06:58,  1.54it/s]
 76%|███████▋  | 2059/2700 [43:10<05:56,  1.80it/s]
 76%|███████▋  | 2060/2700 [43:10<05:15,  2.03it/s]
 76%|███████▋  | 2061/2700 [43:11<04:47,  2.22it/s]
 76%|███████▋  | 2062/2700 [43:11<04:22,  2.43it/s]
 76%|███████▋  | 2063/2700 [43:11<04:05,  2.59it/s]
 76%|███████▋  | 2064/2700 [43:12<03:59,  2.65it/s]
 76%|███████▋  | 2065/2700 [43:12<04:10,  2.53it/s]
 77%|███████▋  | 2066/2700 [43:12<03:57,  2.67it/s]
 77%|███████▋  | 2067/2700 [43:13<03:47,  2.78it/s]
 77%|███████▋  | 2068/2700 [43:13<03:43,  2.83it/s]
 77%|███████▋  | 2069/2700 [43:13<03:38,  2.89it/s]
 77%|███████▋  | 2070/2700 [43:14<03:39,  2.87it/s]
 77%|███████▋  | 2071/2700 [43:14<03:38,  2.88it/s]
 77%|███████▋  | 2072/2700 [43:14<03:38,  2.87it/s]
 77%|███████▋  | 2073/2700 [43:30<51:59,  4.98s/it]
 77%|███████▋  | 2074/2700 [43:31<37:24,  3.58s/it]
 77%|███████▋  | 2075/2700 [43:31<27:14,  2.62s/it]
 77%|███████▋  | 2076/2700 [43:31<20:05,  1.93s/it]
 77%|███████▋  | 2077/2700 [43:32<15:02,  1.45s/it]
 77%|███████▋  | 2078/2700 [43:32<11:32,  1.11s/it]
 77%|███████▋  | 2079/2700 [43:32<09:07,  1.13it/s]
 77%|███████▋  | 2080/2700 [43:33<07:27,  1.39it/s]
 77%|███████▋  | 2081/2700 [43:33<06:33,  1.57it/s]
 77%|███████▋  | 2082/2700 [43:33<05:36,  1.84it/s]
 77%|███████▋  | 2083/2700 [43:34<04:56,  2.08it/s]
 77%|███████▋  | 2084/2700 [43:34<04:31,  2.27it/s]
 77%|███████▋  | 2085/2700 [43:34<04:11,  2.44it/s]
 77%|███████▋  | 2086/2700 [43:35<03:58,  2.58it/s]
 77%|███████▋  | 2087/2700 [43:35<03:51,  2.65it/s]
 77%|███████▋  | 2088/2700 [43:35<03:48,  2.68it/s]
 77%|███████▋  | 2089/2700 [43:53<55:31,  5.45s/it]
 77%|███████▋  | 2090/2700 [43:53<39:48,  3.92s/it]
 77%|███████▋  | 2091/2700 [43:53<28:48,  2.84s/it]
 77%|███████▋  | 2092/2700 [43:54<21:07,  2.08s/it]
 78%|███████▊  | 2093/2700 [43:54<15:48,  1.56s/it]
 78%|███████▊  | 2094/2700 [43:54<12:07,  1.20s/it]
 78%|███████▊  | 2095/2700 [43:55<09:33,  1.06it/s]
 78%|███████▊  | 2096/2700 [43:55<07:44,  1.30it/s]
 78%|███████▊  | 2097/2700 [43:56<06:48,  1.48it/s]
 78%|███████▊  | 2098/2700 [43:56<05:49,  1.72it/s]
 78%|███████▊  | 2099/2700 [43:56<05:07,  1.95it/s]
 78%|███████▊  | 2100/2700 [43:57<04:37,  2.17it/s]
 78%|███████▊  | 2101/2700 [43:57<04:14,  2.35it/s]
 78%|███████▊  | 2102/2700 [43:57<03:59,  2.50it/s]
 78%|███████▊  | 2103/2700 [43:58<03:48,  2.61it/s]
 78%|███████▊  | 2104/2700 [43:58<03:42,  2.68it/s]
 78%|███████▊  | 2105/2700 [43:59<03:55,  2.53it/s]
 78%|███████▊  | 2106/2700 [43:59<03:45,  2.63it/s]
 78%|███████▊  | 2107/2700 [43:59<03:38,  2.72it/s]
 78%|███████▊  | 2108/2700 [44:00<03:33,  2.77it/s]
 78%|███████▊  | 2109/2700 [44:00<03:31,  2.79it/s]
 78%|███████▊  | 2110/2700 [44:00<03:29,  2.81it/s]
 78%|███████▊  | 2111/2700 [44:01<03:29,  2.81it/s]
 78%|███████▊  | 2112/2700 [44:01<03:29,  2.80it/s]
 78%|███████▊  | 2113/2700 [44:37<1:48:28, 11.09s/it]
 78%|███████▊  | 2114/2700 [44:37<1:16:50,  7.87s/it]
 78%|███████▊  | 2115/2700 [44:38<54:44,  5.61s/it]  
 78%|███████▊  | 2116/2700 [44:38<39:17,  4.04s/it]
 78%|███████▊  | 2117/2700 [44:38<28:28,  2.93s/it]
 78%|███████▊  | 2118/2700 [44:39<20:54,  2.16s/it]
 78%|███████▊  | 2119/2700 [44:39<15:36,  1.61s/it]
 79%|███████▊  | 2120/2700 [44:40<11:54,  1.23s/it]
 79%|███████▊  | 2121/2700 [44:40<09:35,  1.01it/s]
 79%|███████▊  | 2122/2700 [44:40<07:43,  1.25it/s]
 79%|███████▊  | 2123/2700 [44:41<06:24,  1.50it/s]
 79%|███████▊  | 2124/2700 [44:41<05:29,  1.75it/s]
 79%|███████▊  | 2125/2700 [44:41<04:50,  1.98it/s]
 79%|███████▊  | 2126/2700 [44:42<04:21,  2.19it/s]
 79%|███████▉  | 2127/2700 [44:42<04:04,  2.35it/s]
 79%|███████▉  | 2128/2700 [44:42<03:51,  2.47it/s]
 79%|███████▉  | 2129/2700 [44:43<03:59,  2.38it/s]
 79%|███████▉  | 2130/2700 [44:43<03:46,  2.51it/s]
 79%|███████▉  | 2131/2700 [44:44<03:38,  2.61it/s]
 79%|███████▉  | 2132/2700 [44:44<03:32,  2.68it/s]
 79%|███████▉  | 2133/2700 [44:44<03:29,  2.70it/s]
 79%|███████▉  | 2134/2700 [44:45<03:30,  2.69it/s]
 79%|███████▉  | 2135/2700 [44:45<03:33,  2.65it/s]
 79%|███████▉  | 2136/2700 [44:45<03:29,  2.69it/s]
 79%|███████▉  | 2137/2700 [44:57<35:47,  3.81s/it]
 79%|███████▉  | 2138/2700 [44:58<26:00,  2.78s/it]
 79%|███████▉  | 2139/2700 [44:58<19:08,  2.05s/it]
 79%|███████▉  | 2140/2700 [44:58<14:19,  1.54s/it]
 79%|███████▉  | 2141/2700 [44:59<11:01,  1.18s/it]
 79%|███████▉  | 2142/2700 [44:59<08:41,  1.07it/s]
 79%|███████▉  | 2143/2700 [44:59<07:05,  1.31it/s]
 79%|███████▉  | 2144/2700 [45:00<05:58,  1.55it/s]
 79%|███████▉  | 2145/2700 [45:00<05:27,  1.69it/s]
 79%|███████▉  | 2146/2700 [45:01<04:50,  1.91it/s]
 80%|███████▉  | 2147/2700 [45:01<04:21,  2.12it/s]
 80%|███████▉  | 2148/2700 [45:01<04:00,  2.29it/s]
 80%|███████▉  | 2149/2700 [45:02<03:46,  2.43it/s]
 80%|███████▉  | 2150/2700 [45:02<03:36,  2.54it/s]
 80%|███████▉  | 2151/2700 [45:02<03:34,  2.56it/s]
 80%|███████▉  | 2152/2700 [45:03<03:27,  2.64it/s]
 80%|███████▉  | 2153/2700 [45:03<03:43,  2.45it/s]
 80%|███████▉  | 2154/2700 [45:04<03:33,  2.55it/s]
 80%|███████▉  | 2155/2700 [45:04<03:26,  2.64it/s]
 80%|███████▉  | 2156/2700 [45:04<03:22,  2.69it/s]
 80%|███████▉  | 2157/2700 [45:05<03:20,  2.71it/s]
 80%|███████▉  | 2158/2700 [45:05<03:17,  2.75it/s]
 80%|███████▉  | 2159/2700 [45:05<03:15,  2.77it/s]
 80%|████████  | 2160/2700 [45:06<03:14,  2.78it/s]
 80%|████████  | 2161/2700 [45:18<34:20,  3.82s/it]
 80%|████████  | 2162/2700 [45:18<24:55,  2.78s/it]
 80%|████████  | 2163/2700 [45:18<18:19,  2.05s/it]
 80%|████████  | 2164/2700 [45:19<13:42,  1.53s/it]
 80%|████████  | 2165/2700 [45:19<10:30,  1.18s/it]
 80%|████████  | 2166/2700 [45:19<08:15,  1.08it/s]
 80%|████████  | 2167/2700 [45:20<06:41,  1.33it/s]
 80%|████████  | 2168/2700 [45:20<05:35,  1.59it/s]
 80%|████████  | 2169/2700 [45:20<05:04,  1.74it/s]
 80%|████████  | 2170/2700 [45:21<04:26,  1.99it/s]
 80%|████████  | 2171/2700 [45:21<04:03,  2.17it/s]
 80%|████████  | 2172/2700 [45:21<03:45,  2.34it/s]
 80%|████████  | 2173/2700 [45:22<03:31,  2.49it/s]
 81%|████████  | 2174/2700 [45:22<03:26,  2.55it/s]
 81%|████████  | 2175/2700 [45:23<03:22,  2.59it/s]
 81%|████████  | 2176/2700 [45:23<03:19,  2.63it/s]
 81%|████████  | 2177/2700 [45:43<54:45,  6.28s/it]
 81%|████████  | 2178/2700 [45:43<39:13,  4.51s/it]
 81%|████████  | 2179/2700 [45:44<28:20,  3.26s/it]
 81%|████████  | 2180/2700 [45:44<20:44,  2.39s/it]
 81%|████████  | 2181/2700 [45:44<15:27,  1.79s/it]
 81%|████████  | 2182/2700 [45:45<11:48,  1.37s/it]
 81%|████████  | 2183/2700 [45:45<09:10,  1.06s/it]
 81%|████████  | 2184/2700 [45:46<07:19,  1.18it/s]
 81%|████████  | 2185/2700 [45:46<06:30,  1.32it/s]
 81%|████████  | 2186/2700 [45:46<05:25,  1.58it/s]
 81%|████████  | 2187/2700 [45:47<04:40,  1.83it/s]
 81%|████████  | 2188/2700 [45:47<04:09,  2.05it/s]
 81%|████████  | 2189/2700 [45:47<03:48,  2.24it/s]
 81%|████████  | 2190/2700 [45:48<03:32,  2.40it/s]
 81%|████████  | 2191/2700 [45:48<03:21,  2.53it/s]
 81%|████████  | 2192/2700 [45:49<03:12,  2.64it/s]
 81%|████████  | 2193/2700 [45:49<03:26,  2.45it/s]
 81%|████████▏ | 2194/2700 [45:49<03:18,  2.54it/s]
 81%|████████▏ | 2195/2700 [45:50<03:11,  2.64it/s]
 81%|████████▏ | 2196/2700 [45:50<03:05,  2.71it/s]
 81%|████████▏ | 2197/2700 [45:50<03:02,  2.76it/s]
 81%|████████▏ | 2198/2700 [45:51<02:59,  2.79it/s]
 81%|████████▏ | 2199/2700 [45:51<02:58,  2.80it/s]
 81%|████████▏ | 2200/2700 [45:51<02:57,  2.82it/s]
 82%|████████▏ | 2201/2700 [46:32<1:42:20, 12.30s/it]
 82%|████████▏ | 2202/2700 [46:32<1:12:23,  8.72s/it]
 82%|████████▏ | 2203/2700 [46:32<51:28,  6.22s/it]  
 82%|████████▏ | 2204/2700 [46:33<36:51,  4.46s/it]
 82%|████████▏ | 2205/2700 [46:33<26:39,  3.23s/it]
 82%|████████▏ | 2206/2700 [46:33<19:31,  2.37s/it]
 82%|████████▏ | 2207/2700 [46:34<14:32,  1.77s/it]
 82%|████████▏ | 2208/2700 [46:34<11:02,  1.35s/it]
 82%|████████▏ | 2209/2700 [46:35<08:49,  1.08s/it]
 82%|████████▏ | 2210/2700 [46:35<07:12,  1.13it/s]
 82%|████████▏ | 2211/2700 [46:35<05:55,  1.38it/s]
 82%|████████▏ | 2212/2700 [46:36<05:02,  1.61it/s]
 82%|████████▏ | 2213/2700 [46:36<04:26,  1.83it/s]
 82%|████████▏ | 2214/2700 [46:37<04:02,  2.01it/s]
 82%|████████▏ | 2215/2700 [46:37<03:45,  2.15it/s]
 82%|████████▏ | 2216/2700 [46:37<03:33,  2.27it/s]
 82%|████████▏ | 2217/2700 [46:38<03:38,  2.21it/s]
 82%|████████▏ | 2218/2700 [46:38<03:28,  2.32it/s]
 82%|████████▏ | 2219/2700 [46:39<03:21,  2.38it/s]
 82%|████████▏ | 2220/2700 [46:39<03:17,  2.43it/s]
 82%|████████▏ | 2221/2700 [46:39<03:14,  2.46it/s]
 82%|████████▏ | 2222/2700 [46:40<03:11,  2.49it/s]
 82%|████████▏ | 2223/2700 [46:40<03:13,  2.47it/s]
 82%|████████▏ | 2224/2700 [46:41<03:09,  2.51it/s]
 82%|████████▏ | 2225/2700 [46:55<37:34,  4.75s/it]
 82%|████████▏ | 2226/2700 [46:56<27:11,  3.44s/it]
 82%|████████▏ | 2227/2700 [46:56<19:54,  2.53s/it]
 83%|████████▎ | 2228/2700 [46:57<14:56,  1.90s/it]
 83%|████████▎ | 2229/2700 [46:57<11:19,  1.44s/it]
 83%|████████▎ | 2230/2700 [46:57<08:46,  1.12s/it]
 83%|████████▎ | 2231/2700 [46:58<07:00,  1.11it/s]
 83%|████████▎ | 2232/2700 [46:58<05:45,  1.35it/s]
 83%|████████▎ | 2233/2700 [46:59<05:14,  1.48it/s]
 83%|████████▎ | 2234/2700 [46:59<04:31,  1.72it/s]
 83%|████████▎ | 2235/2700 [46:59<04:00,  1.93it/s]
 83%|████████▎ | 2236/2700 [47:00<03:39,  2.11it/s]
 83%|████████▎ | 2237/2700 [47:00<03:24,  2.26it/s]
 83%|████████▎ | 2238/2700 [47:01<03:13,  2.38it/s]
 83%|████████▎ | 2239/2700 [47:01<03:06,  2.47it/s]
 83%|████████▎ | 2240/2700 [47:01<02:59,  2.56it/s]
 83%|████████▎ | 2241/2700 [47:18<40:06,  5.24s/it]
 83%|████████▎ | 2242/2700 [47:18<28:53,  3.79s/it]
 83%|████████▎ | 2243/2700 [47:19<21:02,  2.76s/it]
 83%|████████▎ | 2244/2700 [47:19<15:31,  2.04s/it]
 83%|████████▎ | 2245/2700 [47:19<11:40,  1.54s/it]
 83%|████████▎ | 2246/2700 [47:20<08:56,  1.18s/it]
 83%|████████▎ | 2247/2700 [47:20<07:01,  1.07it/s]
 83%|████████▎ | 2248/2700 [47:20<05:43,  1.32it/s]
 83%|████████▎ | 2249/2700 [47:41<50:25,  6.71s/it]
 83%|████████▎ | 2250/2700 [47:41<36:04,  4.81s/it]
 83%|████████▎ | 2251/2700 [47:42<26:02,  3.48s/it]
 83%|████████▎ | 2252/2700 [47:42<18:59,  2.54s/it]
 83%|████████▎ | 2253/2700 [47:42<14:04,  1.89s/it]
 83%|████████▎ | 2254/2700 [47:43<10:38,  1.43s/it]
 84%|████████▎ | 2255/2700 [47:43<08:14,  1.11s/it]
 84%|████████▎ | 2256/2700 [47:43<06:30,  1.14it/s]
 84%|████████▎ | 2257/2700 [47:44<05:41,  1.30it/s]
 84%|████████▎ | 2258/2700 [47:44<04:41,  1.57it/s]
 84%|████████▎ | 2259/2700 [47:45<03:59,  1.84it/s]
 84%|████████▎ | 2260/2700 [47:45<03:28,  2.11it/s]
 84%|████████▎ | 2261/2700 [47:45<03:06,  2.35it/s]
 84%|████████▍ | 2262/2700 [47:46<02:51,  2.56it/s]
 84%|████████▍ | 2263/2700 [47:46<02:41,  2.71it/s]
 84%|████████▍ | 2264/2700 [47:46<02:35,  2.80it/s]
 84%|████████▍ | 2265/2700 [47:47<02:47,  2.59it/s]
 84%|████████▍ | 2266/2700 [47:47<02:39,  2.73it/s]
 84%|████████▍ | 2267/2700 [47:47<02:32,  2.85it/s]
 84%|████████▍ | 2268/2700 [47:48<02:27,  2.92it/s]
 84%|████████▍ | 2269/2700 [47:48<02:25,  2.95it/s]
 84%|████████▍ | 2270/2700 [47:48<02:24,  2.98it/s]
 84%|████████▍ | 2271/2700 [47:49<02:21,  3.03it/s]
 84%|████████▍ | 2272/2700 [47:49<02:20,  3.05it/s]
 84%|████████▍ | 2273/2700 [48:17<1:00:59,  8.57s/it]
 84%|████████▍ | 2274/2700 [48:17<43:16,  6.09s/it]  
 84%|████████▍ | 2275/2700 [48:17<30:54,  4.36s/it]
 84%|████████▍ | 2276/2700 [48:18<22:15,  3.15s/it]
 84%|████████▍ | 2277/2700 [48:18<16:16,  2.31s/it]
 84%|████████▍ | 2278/2700 [48:18<12:06,  1.72s/it]
 84%|████████▍ | 2279/2700 [48:19<09:09,  1.30s/it]
 84%|████████▍ | 2280/2700 [48:19<07:04,  1.01s/it]
 84%|████████▍ | 2281/2700 [48:20<05:52,  1.19it/s]
 85%|████████▍ | 2282/2700 [48:20<04:46,  1.46it/s]
 85%|████████▍ | 2283/2700 [48:20<04:00,  1.74it/s]
 85%|████████▍ | 2284/2700 [48:20<03:28,  2.00it/s]
 85%|████████▍ | 2285/2700 [48:21<03:05,  2.24it/s]
 85%|████████▍ | 2286/2700 [48:21<02:50,  2.43it/s]
 85%|████████▍ | 2287/2700 [48:21<02:37,  2.62it/s]
 85%|████████▍ | 2288/2700 [48:22<02:29,  2.75it/s]
 85%|████████▍ | 2289/2700 [48:22<02:41,  2.55it/s]
 85%|████████▍ | 2290/2700 [48:23<02:33,  2.67it/s]
 85%|████████▍ | 2291/2700 [48:23<02:29,  2.74it/s]
 85%|████████▍ | 2292/2700 [48:23<02:24,  2.82it/s]
 85%|████████▍ | 2293/2700 [48:24<02:22,  2.85it/s]
 85%|████████▍ | 2294/2700 [48:24<02:20,  2.90it/s]
 85%|████████▌ | 2295/2700 [48:24<02:19,  2.91it/s]
 85%|████████▌ | 2296/2700 [48:25<02:18,  2.91it/s]
 85%|████████▌ | 2297/2700 [48:39<31:13,  4.65s/it]
 85%|████████▌ | 2298/2700 [48:40<22:29,  3.36s/it]
 85%|████████▌ | 2299/2700 [48:40<16:24,  2.45s/it]
 85%|████████▌ | 2300/2700 [48:40<12:08,  1.82s/it]
 85%|████████▌ | 2301/2700 [48:41<09:10,  1.38s/it]
 85%|████████▌ | 2302/2700 [48:41<07:05,  1.07s/it]
 85%|████████▌ | 2303/2700 [48:41<05:39,  1.17it/s]
 85%|████████▌ | 2304/2700 [48:42<04:37,  1.43it/s]
 85%|████████▌ | 2305/2700 [48:42<04:04,  1.61it/s]
 85%|████████▌ | 2306/2700 [48:42<03:30,  1.87it/s]
 85%|████████▌ | 2307/2700 [48:43<03:08,  2.08it/s]
 85%|████████▌ | 2308/2700 [48:43<02:50,  2.29it/s]
 86%|████████▌ | 2309/2700 [48:44<02:40,  2.43it/s]
 86%|████████▌ | 2310/2700 [48:44<02:31,  2.58it/s]
 86%|████████▌ | 2311/2700 [48:44<02:25,  2.68it/s]
 86%|████████▌ | 2312/2700 [48:45<02:20,  2.76it/s]
 86%|████████▌ | 2313/2700 [48:45<02:28,  2.61it/s]
 86%|████████▌ | 2314/2700 [48:45<02:20,  2.75it/s]
 86%|████████▌ | 2315/2700 [48:46<02:15,  2.85it/s]
 86%|████████▌ | 2316/2700 [48:46<02:13,  2.87it/s]
 86%|████████▌ | 2317/2700 [48:46<02:12,  2.89it/s]
 86%|████████▌ | 2318/2700 [48:47<02:10,  2.93it/s]
 86%|████████▌ | 2319/2700 [48:47<02:09,  2.93it/s]
 86%|████████▌ | 2320/2700 [48:47<02:07,  2.97it/s]
 86%|████████▌ | 2321/2700 [49:49<1:58:59, 18.84s/it]
 86%|████████▌ | 2322/2700 [49:50<1:23:45, 13.30s/it]
 86%|████████▌ | 2323/2700 [49:50<59:06,  9.41s/it]  
 86%|████████▌ | 2324/2700 [49:50<41:53,  6.68s/it]
 86%|████████▌ | 2325/2700 [49:51<29:55,  4.79s/it]
 86%|████████▌ | 2326/2700 [49:51<21:32,  3.46s/it]
 86%|████████▌ | 2327/2700 [49:51<15:42,  2.53s/it]
 86%|████████▌ | 2328/2700 [49:52<11:36,  1.87s/it]
 86%|████████▋ | 2329/2700 [49:52<08:54,  1.44s/it]
 86%|████████▋ | 2330/2700 [49:53<06:52,  1.12s/it]
 86%|████████▋ | 2331/2700 [49:53<05:25,  1.14it/s]
 86%|████████▋ | 2332/2700 [49:53<04:23,  1.40it/s]
 86%|████████▋ | 2333/2700 [49:53<03:40,  1.67it/s]
 86%|████████▋ | 2334/2700 [49:54<03:09,  1.93it/s]
 86%|████████▋ | 2335/2700 [49:54<02:48,  2.17it/s]
 87%|████████▋ | 2336/2700 [49:54<02:34,  2.36it/s]
 87%|████████▋ | 2337/2700 [49:55<02:34,  2.35it/s]
 87%|████████▋ | 2338/2700 [49:55<02:24,  2.51it/s]
 87%|████████▋ | 2339/2700 [49:56<02:17,  2.63it/s]
 87%|████████▋ | 2340/2700 [49:56<02:12,  2.72it/s]
 87%|████████▋ | 2341/2700 [49:56<02:08,  2.79it/s]
 87%|████████▋ | 2342/2700 [49:57<02:06,  2.83it/s]
 87%|████████▋ | 2343/2700 [49:57<02:04,  2.86it/s]
 87%|████████▋ | 2344/2700 [49:57<02:04,  2.86it/s]
 87%|████████▋ | 2345/2700 [50:53<1:40:25, 16.97s/it]
 87%|████████▋ | 2346/2700 [50:53<1:10:41, 11.98s/it]
 87%|████████▋ | 2347/2700 [50:54<49:56,  8.49s/it]  
 87%|████████▋ | 2348/2700 [50:54<35:25,  6.04s/it]
 87%|████████▋ | 2349/2700 [50:54<25:18,  4.33s/it]
 87%|████████▋ | 2350/2700 [50:55<18:12,  3.12s/it]
 87%|████████▋ | 2351/2700 [50:55<13:17,  2.29s/it]
 87%|████████▋ | 2352/2700 [50:55<09:51,  1.70s/it]
 87%|████████▋ | 2353/2700 [50:56<07:37,  1.32s/it]
 87%|████████▋ | 2354/2700 [50:56<05:52,  1.02s/it]
 87%|████████▋ | 2355/2700 [50:56<04:39,  1.23it/s]
 87%|████████▋ | 2356/2700 [50:57<03:48,  1.50it/s]
 87%|████████▋ | 2357/2700 [50:57<03:12,  1.78it/s]
 87%|████████▋ | 2358/2700 [50:57<02:47,  2.05it/s]
 87%|████████▋ | 2359/2700 [50:58<02:32,  2.24it/s]
 87%|████████▋ | 2360/2700 [50:58<02:22,  2.38it/s]
 87%|████████▋ | 2361/2700 [50:59<02:26,  2.32it/s]
 87%|████████▋ | 2362/2700 [50:59<02:17,  2.45it/s]
 88%|████████▊ | 2363/2700 [50:59<02:11,  2.56it/s]
 88%|████████▊ | 2364/2700 [51:00<02:07,  2.64it/s]
 88%|████████▊ | 2365/2700 [51:00<02:04,  2.68it/s]
 88%|████████▊ | 2366/2700 [51:00<02:02,  2.74it/s]
 88%|████████▊ | 2367/2700 [51:01<01:58,  2.80it/s]
 88%|████████▊ | 2368/2700 [51:01<01:56,  2.85it/s]
 88%|████████▊ | 2369/2700 [51:17<27:50,  5.05s/it]
 88%|████████▊ | 2370/2700 [51:17<19:57,  3.63s/it]
 88%|████████▊ | 2371/2700 [51:18<14:29,  2.64s/it]
 88%|████████▊ | 2372/2700 [51:18<10:38,  1.95s/it]
 88%|████████▊ | 2373/2700 [51:18<07:58,  1.46s/it]
 88%|████████▊ | 2374/2700 [51:19<06:05,  1.12s/it]
 88%|████████▊ | 2375/2700 [51:19<04:46,  1.13it/s]
 88%|████████▊ | 2376/2700 [51:19<03:50,  1.40it/s]
 88%|████████▊ | 2377/2700 [51:20<03:21,  1.60it/s]
 88%|████████▊ | 2378/2700 [51:20<02:53,  1.85it/s]
 88%|████████▊ | 2379/2700 [51:20<02:32,  2.10it/s]
 88%|████████▊ | 2380/2700 [51:21<02:20,  2.28it/s]
 88%|████████▊ | 2381/2700 [51:21<02:09,  2.46it/s]
 88%|████████▊ | 2382/2700 [51:21<02:02,  2.60it/s]
 88%|████████▊ | 2383/2700 [51:22<01:58,  2.68it/s]
 88%|████████▊ | 2384/2700 [51:22<01:56,  2.71it/s]
 88%|████████▊ | 2385/2700 [51:23<02:05,  2.51it/s]
 88%|████████▊ | 2386/2700 [51:23<01:59,  2.63it/s]
 88%|████████▊ | 2387/2700 [51:23<01:55,  2.72it/s]
 88%|████████▊ | 2388/2700 [51:24<01:52,  2.77it/s]
 88%|████████▊ | 2389/2700 [51:24<01:51,  2.80it/s]
 89%|████████▊ | 2390/2700 [51:24<01:49,  2.82it/s]
 89%|████████▊ | 2391/2700 [51:25<01:48,  2.85it/s]
 89%|████████▊ | 2392/2700 [51:25<01:46,  2.88it/s]
 89%|████████▊ | 2393/2700 [51:38<21:42,  4.24s/it]
 89%|████████▊ | 2394/2700 [51:39<15:42,  3.08s/it]
 89%|████████▊ | 2395/2700 [51:39<11:26,  2.25s/it]
 89%|████████▊ | 2396/2700 [51:39<08:31,  1.68s/it]
 89%|████████▉ | 2397/2700 [51:40<06:27,  1.28s/it]
 89%|████████▉ | 2398/2700 [51:40<05:00,  1.00it/s]
 89%|████████▉ | 2399/2700 [51:40<03:59,  1.26it/s]
 89%|████████▉ | 2400/2700 [51:41<03:17,  1.52it/s]
 89%|████████▉ | 2401/2700 [51:41<02:57,  1.69it/s]
 89%|████████▉ | 2402/2700 [51:41<02:32,  1.95it/s]
 89%|████████▉ | 2403/2700 [51:42<02:16,  2.17it/s]
 89%|████████▉ | 2404/2700 [51:42<02:05,  2.35it/s]
 89%|████████▉ | 2405/2700 [51:42<01:56,  2.52it/s]
 89%|████████▉ | 2406/2700 [51:43<01:51,  2.63it/s]
 89%|████████▉ | 2407/2700 [51:43<01:47,  2.73it/s]
 89%|████████▉ | 2408/2700 [51:43<01:44,  2.79it/s]
 89%|████████▉ | 2409/2700 [51:57<21:15,  4.38s/it]
 89%|████████▉ | 2410/2700 [51:58<15:18,  3.17s/it]
 89%|████████▉ | 2411/2700 [51:58<11:11,  2.32s/it]
 89%|████████▉ | 2412/2700 [51:58<08:17,  1.73s/it]
 89%|████████▉ | 2413/2700 [51:59<06:15,  1.31s/it]
 89%|████████▉ | 2414/2700 [51:59<04:49,  1.01s/it]
 89%|████████▉ | 2415/2700 [51:59<03:50,  1.23it/s]
 89%|████████▉ | 2416/2700 [52:00<03:09,  1.50it/s]
 90%|████████▉ | 2417/2700 [52:00<02:47,  1.69it/s]
 90%|████████▉ | 2418/2700 [52:00<02:24,  1.95it/s]
 90%|████████▉ | 2419/2700 [52:01<02:08,  2.19it/s]
 90%|████████▉ | 2420/2700 [52:01<01:59,  2.34it/s]
 90%|████████▉ | 2421/2700 [52:01<01:51,  2.50it/s]
 90%|████████▉ | 2422/2700 [52:02<01:45,  2.64it/s]
 90%|████████▉ | 2423/2700 [52:02<01:40,  2.75it/s]
 90%|████████▉ | 2424/2700 [52:02<01:38,  2.81it/s]
 90%|████████▉ | 2425/2700 [52:22<28:44,  6.27s/it]
 90%|████████▉ | 2426/2700 [52:23<20:30,  4.49s/it]
 90%|████████▉ | 2427/2700 [52:23<14:45,  3.24s/it]
 90%|████████▉ | 2428/2700 [52:23<10:45,  2.37s/it]
 90%|████████▉ | 2429/2700 [52:24<07:58,  1.76s/it]
 90%|█████████ | 2430/2700 [52:24<05:59,  1.33s/it]
 90%|█████████ | 2431/2700 [52:24<04:37,  1.03s/it]
 90%|█████████ | 2432/2700 [52:25<03:41,  1.21it/s]
 90%|█████████ | 2433/2700 [52:25<03:09,  1.41it/s]
 90%|█████████ | 2434/2700 [52:26<02:38,  1.68it/s]
 90%|█████████ | 2435/2700 [52:26<02:17,  1.93it/s]
 90%|█████████ | 2436/2700 [52:26<02:03,  2.13it/s]
 90%|█████████ | 2437/2700 [52:27<01:52,  2.33it/s]
 90%|█████████ | 2438/2700 [52:27<01:45,  2.48it/s]
 90%|█████████ | 2439/2700 [52:27<01:39,  2.62it/s]
 90%|█████████ | 2440/2700 [52:28<01:34,  2.76it/s]
 90%|█████████ | 2441/2700 [52:48<27:23,  6.35s/it]
 90%|█████████ | 2442/2700 [52:48<19:31,  4.54s/it]
 90%|█████████ | 2443/2700 [52:49<14:01,  3.27s/it]
 91%|█████████ | 2444/2700 [52:49<10:11,  2.39s/it]
 91%|█████████ | 2445/2700 [52:49<07:31,  1.77s/it]
 91%|█████████ | 2446/2700 [52:49<05:39,  1.34s/it]
 91%|█████████ | 2447/2700 [52:50<04:21,  1.04s/it]
 91%|█████████ | 2448/2700 [52:50<03:27,  1.21it/s]
 91%|█████████ | 2449/2700 [52:51<02:57,  1.42it/s]
 91%|█████████ | 2450/2700 [52:51<02:28,  1.69it/s]
 91%|█████████ | 2451/2700 [52:51<02:08,  1.94it/s]
 91%|█████████ | 2452/2700 [52:52<01:54,  2.16it/s]
 91%|█████████ | 2453/2700 [52:52<01:45,  2.34it/s]
 91%|█████████ | 2454/2700 [52:52<01:40,  2.46it/s]
 91%|█████████ | 2455/2700 [52:53<01:37,  2.52it/s]
 91%|█████████ | 2456/2700 [52:53<01:34,  2.59it/s]
 91%|█████████ | 2457/2700 [53:27<41:56, 10.36s/it]
 91%|█████████ | 2458/2700 [53:27<29:38,  7.35s/it]
 91%|█████████ | 2459/2700 [53:27<21:03,  5.24s/it]
 91%|█████████ | 2460/2700 [53:28<15:04,  3.77s/it]
 91%|█████████ | 2461/2700 [53:28<10:54,  2.74s/it]
 91%|█████████ | 2462/2700 [53:28<08:00,  2.02s/it]
 91%|█████████ | 2463/2700 [53:29<05:57,  1.51s/it]
 91%|█████████▏| 2464/2700 [53:29<04:32,  1.15s/it]
 91%|█████████▏| 2465/2700 [53:29<03:40,  1.07it/s]
 91%|█████████▏| 2466/2700 [53:30<02:56,  1.32it/s]
 91%|█████████▏| 2467/2700 [53:30<02:25,  1.60it/s]
 91%|█████████▏| 2468/2700 [53:30<02:03,  1.87it/s]
 91%|█████████▏| 2469/2700 [53:31<01:49,  2.11it/s]
 91%|█████████▏| 2470/2700 [53:31<01:38,  2.33it/s]
 92%|█████████▏| 2471/2700 [53:31<01:31,  2.51it/s]
 92%|█████████▏| 2472/2700 [53:32<01:25,  2.68it/s]
 92%|█████████▏| 2473/2700 [53:32<01:43,  2.20it/s]
 92%|█████████▏| 2474/2700 [53:33<01:34,  2.39it/s]
 92%|█████████▏| 2475/2700 [53:33<01:27,  2.56it/s]
 92%|█████████▏| 2476/2700 [53:33<01:22,  2.70it/s]
 92%|█████████▏| 2477/2700 [53:34<01:19,  2.81it/s]
 92%|█████████▏| 2478/2700 [53:34<01:16,  2.89it/s]
 92%|█████████▏| 2479/2700 [53:34<01:14,  2.96it/s]
 92%|█████████▏| 2480/2700 [53:35<01:12,  3.02it/s]
 92%|█████████▏| 2481/2700 [53:35<01:20,  2.74it/s]
 92%|█████████▏| 2482/2700 [53:35<01:16,  2.85it/s]
 92%|█████████▏| 2483/2700 [53:36<01:14,  2.90it/s]
 92%|█████████▏| 2484/2700 [53:36<01:13,  2.96it/s]
 92%|█████████▏| 2485/2700 [53:36<01:11,  3.01it/s]
 92%|█████████▏| 2486/2700 [53:37<01:10,  3.04it/s]
 92%|█████████▏| 2487/2700 [53:37<01:09,  3.05it/s]
 92%|█████████▏| 2488/2700 [53:37<01:08,  3.09it/s]
 92%|█████████▏| 2489/2700 [53:38<01:17,  2.74it/s]
 92%|█████████▏| 2490/2700 [53:38<01:14,  2.80it/s]
 92%|█████████▏| 2491/2700 [53:38<01:12,  2.87it/s]
 92%|█████████▏| 2492/2700 [53:39<01:10,  2.94it/s]
 92%|█████████▏| 2493/2700 [53:39<01:09,  2.98it/s]
 92%|█████████▏| 2494/2700 [53:39<01:07,  3.05it/s]
 92%|█████████▏| 2495/2700 [53:40<01:06,  3.07it/s]
 92%|█████████▏| 2496/2700 [53:40<01:06,  3.05it/s]
 92%|█████████▏| 2497/2700 [53:40<01:12,  2.80it/s]
 93%|█████████▎| 2498/2700 [53:41<01:11,  2.83it/s]
 93%|█████████▎| 2499/2700 [53:41<01:11,  2.83it/s]
 93%|█████████▎| 2500/2700 [53:42<01:52,  1.79it/s]
 93%|█████████▎| 2501/2700 [53:42<01:37,  2.04it/s]
 93%|█████████▎| 2502/2700 [53:43<01:27,  2.27it/s]
 93%|█████████▎| 2503/2700 [53:43<01:19,  2.48it/s]
 93%|█████████▎| 2504/2700 [53:43<01:14,  2.64it/s]
 93%|█████████▎| 2505/2700 [53:59<15:32,  4.78s/it]
 93%|█████████▎| 2506/2700 [53:59<11:08,  3.44s/it]
 93%|█████████▎| 2507/2700 [53:59<08:03,  2.51s/it]
 93%|█████████▎| 2508/2700 [54:00<05:57,  1.86s/it]
 93%|█████████▎| 2509/2700 [54:00<04:28,  1.40s/it]
 93%|█████████▎| 2510/2700 [54:00<03:25,  1.08s/it]
 93%|█████████▎| 2511/2700 [54:01<02:42,  1.16it/s]
 93%|█████████▎| 2512/2700 [54:01<02:11,  1.43it/s]
 93%|█████████▎| 2513/2700 [54:01<01:55,  1.62it/s]
 93%|█████████▎| 2514/2700 [54:02<01:38,  1.89it/s]
 93%|█████████▎| 2515/2700 [54:02<01:26,  2.13it/s]
 93%|█████████▎| 2516/2700 [54:02<01:18,  2.34it/s]
 93%|█████████▎| 2517/2700 [54:03<01:12,  2.53it/s]
 93%|█████████▎| 2518/2700 [54:03<01:08,  2.67it/s]
 93%|█████████▎| 2519/2700 [54:03<01:04,  2.81it/s]
 93%|█████████▎| 2520/2700 [54:04<01:02,  2.90it/s]
 93%|█████████▎| 2521/2700 [54:04<01:05,  2.72it/s]
 93%|█████████▎| 2522/2700 [54:04<01:02,  2.84it/s]
 93%|█████████▎| 2523/2700 [54:05<01:00,  2.93it/s]
 93%|█████████▎| 2524/2700 [54:05<00:58,  2.99it/s]
 94%|█████████▎| 2525/2700 [54:05<00:57,  3.04it/s]
 94%|█████████▎| 2526/2700 [54:06<00:56,  3.07it/s]
 94%|█████████▎| 2527/2700 [54:06<00:55,  3.10it/s]
 94%|█████████▎| 2528/2700 [54:06<00:55,  3.13it/s]
 94%|█████████▎| 2529/2700 [54:31<22:11,  7.79s/it]
 94%|█████████▎| 2530/2700 [54:32<15:43,  5.55s/it]
 94%|█████████▎| 2531/2700 [54:32<11:13,  3.99s/it]
 94%|█████████▍| 2532/2700 [54:32<08:06,  2.89s/it]
 94%|█████████▍| 2533/2700 [54:33<05:55,  2.13s/it]
 94%|█████████▍| 2534/2700 [54:33<04:24,  1.59s/it]
 94%|█████████▍| 2535/2700 [54:33<03:20,  1.22s/it]
 94%|█████████▍| 2536/2700 [54:34<02:36,  1.05it/s]
 94%|█████████▍| 2537/2700 [54:53<17:54,  6.59s/it]
 94%|█████████▍| 2538/2700 [54:54<12:43,  4.72s/it]
 94%|█████████▍| 2539/2700 [54:54<09:07,  3.40s/it]
 94%|█████████▍| 2540/2700 [54:54<06:36,  2.48s/it]
 94%|█████████▍| 2541/2700 [54:55<04:51,  1.84s/it]
 94%|█████████▍| 2542/2700 [54:55<03:38,  1.38s/it]
 94%|█████████▍| 2543/2700 [54:55<02:47,  1.07s/it]
 94%|█████████▍| 2544/2700 [54:56<02:11,  1.18it/s]
 94%|█████████▍| 2545/2700 [54:56<01:51,  1.39it/s]
 94%|█████████▍| 2546/2700 [54:57<01:32,  1.66it/s]
 94%|█████████▍| 2547/2700 [54:57<01:19,  1.92it/s]
 94%|█████████▍| 2548/2700 [54:57<01:10,  2.16it/s]
 94%|█████████▍| 2549/2700 [54:58<01:04,  2.36it/s]
 94%|█████████▍| 2550/2700 [54:58<00:59,  2.52it/s]
 94%|█████████▍| 2551/2700 [54:58<00:55,  2.68it/s]
 95%|█████████▍| 2552/2700 [54:59<00:52,  2.80it/s]
 95%|█████████▍| 2553/2700 [55:16<13:13,  5.40s/it]
 95%|█████████▍| 2554/2700 [55:16<09:25,  3.87s/it]
 95%|█████████▍| 2555/2700 [55:16<06:47,  2.81s/it]
 95%|█████████▍| 2556/2700 [55:17<04:56,  2.06s/it]
 95%|█████████▍| 2557/2700 [55:17<03:39,  1.54s/it]
 95%|█████████▍| 2558/2700 [55:17<02:46,  1.17s/it]
 95%|█████████▍| 2559/2700 [55:18<02:09,  1.09it/s]
 95%|█████████▍| 2560/2700 [55:18<01:43,  1.35it/s]
 95%|█████████▍| 2561/2700 [55:40<16:32,  7.14s/it]
 95%|█████████▍| 2562/2700 [55:40<11:42,  5.09s/it]
 95%|█████████▍| 2563/2700 [55:41<08:21,  3.66s/it]
 95%|█████████▍| 2564/2700 [55:41<06:02,  2.66s/it]
 95%|█████████▌| 2565/2700 [55:41<04:25,  1.96s/it]
 95%|█████████▌| 2566/2700 [55:42<03:17,  1.47s/it]
 95%|█████████▌| 2567/2700 [55:42<02:30,  1.13s/it]
 95%|█████████▌| 2568/2700 [55:42<01:57,  1.12it/s]
 95%|█████████▌| 2569/2700 [55:43<01:39,  1.32it/s]
 95%|█████████▌| 2570/2700 [55:43<01:22,  1.58it/s]
 95%|█████████▌| 2571/2700 [55:43<01:09,  1.84it/s]
 95%|█████████▌| 2572/2700 [55:44<01:01,  2.08it/s]
 95%|█████████▌| 2573/2700 [55:44<00:55,  2.29it/s]
 95%|█████████▌| 2574/2700 [55:44<00:51,  2.46it/s]
 95%|█████████▌| 2575/2700 [55:45<00:47,  2.62it/s]
 95%|█████████▌| 2576/2700 [55:45<00:45,  2.74it/s]
 95%|█████████▌| 2577/2700 [55:56<07:11,  3.51s/it]
 95%|█████████▌| 2578/2700 [55:56<05:11,  2.56s/it]
 96%|█████████▌| 2579/2700 [55:57<03:48,  1.89s/it]
 96%|█████████▌| 2580/2700 [55:57<02:49,  1.42s/it]
 96%|█████████▌| 2581/2700 [55:57<02:09,  1.08s/it]
 96%|█████████▌| 2582/2700 [55:58<01:40,  1.17it/s]
 96%|█████████▌| 2583/2700 [55:58<01:20,  1.45it/s]
 96%|█████████▌| 2584/2700 [55:58<01:07,  1.73it/s]
 96%|█████████▌| 2585/2700 [55:59<01:23,  1.37it/s]
 96%|█████████▌| 2586/2700 [56:00<01:09,  1.65it/s]
 96%|█████████▌| 2587/2700 [56:00<00:58,  1.94it/s]
 96%|█████████▌| 2588/2700 [56:00<00:51,  2.18it/s]
 96%|█████████▌| 2589/2700 [56:00<00:46,  2.41it/s]
 96%|█████████▌| 2590/2700 [56:01<00:42,  2.59it/s]
 96%|█████████▌| 2591/2700 [56:01<00:39,  2.75it/s]
 96%|█████████▌| 2592/2700 [56:01<00:38,  2.80it/s]
 96%|█████████▌| 2593/2700 [56:31<16:08,  9.05s/it]
 96%|█████████▌| 2594/2700 [56:31<11:21,  6.43s/it]
 96%|█████████▌| 2595/2700 [56:31<08:02,  4.60s/it]
 96%|█████████▌| 2596/2700 [56:32<05:44,  3.31s/it]
 96%|█████████▌| 2597/2700 [56:32<04:08,  2.41s/it]
 96%|█████████▌| 2598/2700 [56:32<03:01,  1.78s/it]
 96%|█████████▋| 2599/2700 [56:33<02:15,  1.34s/it]
 96%|█████████▋| 2600/2700 [56:33<01:43,  1.03s/it]
 96%|█████████▋| 2601/2700 [56:33<01:23,  1.18it/s]
 96%|█████████▋| 2602/2700 [56:34<01:08,  1.44it/s]
 96%|█████████▋| 2603/2700 [56:34<00:56,  1.71it/s]
 96%|█████████▋| 2604/2700 [56:34<00:48,  1.97it/s]
 96%|█████████▋| 2605/2700 [56:35<00:42,  2.21it/s]
 97%|█████████▋| 2606/2700 [56:35<00:38,  2.42it/s]
 97%|█████████▋| 2607/2700 [56:35<00:35,  2.59it/s]
 97%|█████████▋| 2608/2700 [56:36<00:33,  2.74it/s]
 97%|█████████▋| 2609/2700 [56:50<06:41,  4.41s/it]
 97%|█████████▋| 2610/2700 [56:50<04:46,  3.18s/it]
 97%|█████████▋| 2611/2700 [56:50<03:26,  2.32s/it]
 97%|█████████▋| 2612/2700 [56:50<02:31,  1.72s/it]
 97%|█████████▋| 2613/2700 [56:51<01:52,  1.30s/it]
 97%|█████████▋| 2614/2700 [56:51<01:26,  1.00s/it]
 97%|█████████▋| 2615/2700 [56:51<01:07,  1.26it/s]
 97%|█████████▋| 2616/2700 [56:52<00:54,  1.54it/s]
 97%|█████████▋| 2617/2700 [56:52<00:48,  1.72it/s]
 97%|█████████▋| 2618/2700 [56:52<00:41,  1.97it/s]
 97%|█████████▋| 2619/2700 [56:53<00:36,  2.20it/s]
 97%|█████████▋| 2620/2700 [56:53<00:33,  2.40it/s]
 97%|█████████▋| 2621/2700 [56:53<00:30,  2.58it/s]
 97%|█████████▋| 2622/2700 [56:54<00:28,  2.73it/s]
 97%|█████████▋| 2623/2700 [56:54<00:27,  2.85it/s]
 97%|█████████▋| 2624/2700 [56:54<00:26,  2.88it/s]
 97%|█████████▋| 2625/2700 [57:06<04:43,  3.79s/it]
 97%|█████████▋| 2626/2700 [57:07<03:23,  2.75s/it]
 97%|█████████▋| 2627/2700 [57:07<02:27,  2.02s/it]
 97%|█████████▋| 2628/2700 [57:07<01:49,  1.52s/it]
 97%|█████████▋| 2629/2700 [57:08<01:22,  1.16s/it]
 97%|█████████▋| 2630/2700 [57:08<01:03,  1.10it/s]
 97%|█████████▋| 2631/2700 [57:08<00:51,  1.35it/s]
 97%|█████████▋| 2632/2700 [57:09<00:41,  1.62it/s]
 98%|█████████▊| 2633/2700 [57:09<00:38,  1.76it/s]
 98%|█████████▊| 2634/2700 [57:09<00:33,  1.99it/s]
 98%|█████████▊| 2635/2700 [57:10<00:28,  2.24it/s]
 98%|█████████▊| 2636/2700 [57:10<00:26,  2.43it/s]
 98%|█████████▊| 2637/2700 [57:10<00:24,  2.56it/s]
 98%|█████████▊| 2638/2700 [57:11<00:23,  2.69it/s]
 98%|█████████▊| 2639/2700 [57:11<00:22,  2.75it/s]
 98%|█████████▊| 2640/2700 [57:11<00:21,  2.82it/s]
 98%|█████████▊| 2641/2700 [57:28<05:04,  5.16s/it]
 98%|█████████▊| 2642/2700 [57:28<03:35,  3.71s/it]
 98%|█████████▊| 2643/2700 [57:28<02:33,  2.70s/it]
 98%|█████████▊| 2644/2700 [57:29<01:51,  1.99s/it]
 98%|█████████▊| 2645/2700 [57:29<01:21,  1.49s/it]
 98%|█████████▊| 2646/2700 [57:29<01:01,  1.14s/it]
 98%|█████████▊| 2647/2700 [57:30<00:47,  1.11it/s]
 98%|█████████▊| 2648/2700 [57:30<00:37,  1.37it/s]
 98%|█████████▊| 2649/2700 [57:52<05:55,  6.98s/it]
 98%|█████████▊| 2650/2700 [57:52<04:09,  4.99s/it]
 98%|█████████▊| 2651/2700 [57:52<02:56,  3.60s/it]
 98%|█████████▊| 2652/2700 [57:53<02:05,  2.62s/it]
 98%|█████████▊| 2653/2700 [57:53<01:31,  1.94s/it]
 98%|█████████▊| 2654/2700 [57:53<01:07,  1.46s/it]
 98%|█████████▊| 2655/2700 [57:54<00:50,  1.13s/it]
 98%|█████████▊| 2656/2700 [57:54<00:39,  1.12it/s]
 98%|█████████▊| 2657/2700 [58:20<05:55,  8.27s/it]
 98%|█████████▊| 2658/2700 [58:20<04:07,  5.89s/it]
 98%|█████████▊| 2659/2700 [58:20<02:53,  4.23s/it]
 99%|█████████▊| 2660/2700 [58:21<02:02,  3.06s/it]
 99%|█████████▊| 2661/2700 [58:21<01:27,  2.25s/it]
 99%|█████████▊| 2662/2700 [58:21<01:03,  1.67s/it]
 99%|█████████▊| 2663/2700 [58:22<00:46,  1.27s/it]
 99%|█████████▊| 2664/2700 [58:22<00:35,  1.01it/s]
 99%|█████████▊| 2665/2700 [58:39<03:22,  5.79s/it]
 99%|█████████▊| 2666/2700 [58:39<02:21,  4.16s/it]
 99%|█████████▉| 2667/2700 [58:40<01:39,  3.01s/it]
 99%|█████████▉| 2668/2700 [58:40<01:10,  2.20s/it]
 99%|█████████▉| 2669/2700 [58:40<00:51,  1.66s/it]
 99%|█████████▉| 2670/2700 [58:41<00:37,  1.26s/it]
 99%|█████████▉| 2671/2700 [58:41<00:28,  1.03it/s]
 99%|█████████▉| 2672/2700 [58:41<00:21,  1.28it/s]
 99%|█████████▉| 2673/2700 [58:42<00:18,  1.49it/s]
 99%|█████████▉| 2674/2700 [58:42<00:14,  1.77it/s]
 99%|█████████▉| 2675/2700 [58:42<00:12,  2.02it/s]
 99%|█████████▉| 2676/2700 [58:43<00:10,  2.27it/s]
 99%|█████████▉| 2677/2700 [58:43<00:09,  2.47it/s]
 99%|█████████▉| 2678/2700 [58:43<00:08,  2.64it/s]
 99%|█████████▉| 2679/2700 [58:44<00:07,  2.77it/s]
 99%|█████████▉| 2680/2700 [58:44<00:06,  2.88it/s]
 99%|█████████▉| 2681/2700 [58:44<00:07,  2.66it/s]
 99%|█████████▉| 2682/2700 [58:45<00:06,  2.79it/s]
 99%|█████████▉| 2683/2700 [58:45<00:05,  2.89it/s]
 99%|█████████▉| 2684/2700 [58:45<00:05,  2.96it/s]
 99%|█████████▉| 2685/2700 [58:46<00:04,  3.03it/s]
 99%|█████████▉| 2686/2700 [58:46<00:04,  3.05it/s]
100%|█████████▉| 2687/2700 [58:46<00:04,  3.09it/s]
100%|█████████▉| 2688/2700 [58:47<00:03,  3.10it/s]
100%|█████████▉| 2689/2700 [58:47<00:03,  2.86it/s]
100%|█████████▉| 2690/2700 [58:47<00:03,  2.94it/s]
100%|█████████▉| 2691/2700 [58:48<00:02,  3.00it/s]
100%|█████████▉| 2692/2700 [58:48<00:02,  3.02it/s]
100%|█████████▉| 2693/2700 [58:48<00:02,  3.06it/s]
100%|█████████▉| 2694/2700 [58:49<00:01,  3.09it/s]
100%|█████████▉| 2695/2700 [58:49<00:01,  3.09it/s]
100%|█████████▉| 2696/2700 [58:49<00:01,  3.07it/s]
100%|█████████▉| 2697/2700 [58:50<00:01,  2.82it/s]
100%|█████████▉| 2698/2700 [58:50<00:00,  2.89it/s]
100%|█████████▉| 2699/2700 [58:50<00:00,  2.97it/s]
100%|█████████▉| 2699/2700 [58:51<00:01,  1.31s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json.
+PlasticBottlesInSquarePailTask_0 complete: task_name: PlasticBottlesInSquarePailTask, run_name: PlasticBottlesInSquarePailTask_0, run: 0, env_id: 0, policy: harness, instruction: Put all the small plastic bottles in the square pail, attributes: ['semantics', 'sorting', 'size', 'complex'], success: False, episode_step: 2700, duration: 180.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -19.837822818960866, 'joint_sparc_mean': -32.64287415422865, 'ee_isj': 186699.67379384514, 'joint_isj': 4542329.991578985, 'ee_path_length': 22.431454466235717, 'joint_rmse_mean': 1.5025519772289362, 'ee_speed_max': 7.342406272888184, 'ee_speed_mean': 0.12000054121017456}, events: {'OBJECT_BUMPED': 30, 'WRONG_OBJECT_GRABBED': 13, 'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_FULLY_CLOSED': 21, 'TARGET_OBJECT_DROPPED': 16, 'GRIPPER_HIT_TABLE': 2, 'OBJECT_MOVED': 1, 'wrong_objects_grabbed': ['squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'utilityjug_a02', 'utilityjug_a02', 'utilityjug_a02', 'utilityjug_a02', 'utilityjug_a02', 'utilityjug_a02', 'utilityjug_a02']}, instruction_type: default, timing: {'policy_inference_s': 2663.863, 'policy_inference_avg_ms': 986.6, 'env_step_s': 844.261, 'env_step_avg_ms': 312.7, 'video_write_s': 21.516, 'video_write_avg_ms': 8.0, 'wall_total_s': 3529.639, 'it_per_sec': 0.76}, score: 0.0, reason: Conditions not satisfied: object_grabbed(object=whitepackerbottle_a01) (step 1/2); object_grabbed(object=whitepackerbottle_a02) (step 1/2); object_grabbed(object=whitepackerbottle_a03) (step 1/2), harness_episode_id: c796e10af20d45f198973248adb0946e-0
+[RoboLab] Running PlasticBottlesInSquarePailTask_1: 'Put all the small plastic bottles in the square pail' (run 1, 1 envs)
+
  0%|          | 0/2700 [00:00<?, ?it/s]
  0%|          | 1/2700 [00:31<23:15:04, 31.01s/it]
  0%|          | 2/2700 [00:31<9:42:41, 12.96s/it] 
  0%|          | 3/2700 [00:31<5:22:44,  7.18s/it]
  0%|          | 4/2700 [00:31<3:20:42,  4.47s/it]
  0%|          | 5/2700 [00:32<2:13:17,  2.97s/it]
  0%|          | 6/2700 [00:32<1:32:37,  2.06s/it]
  0%|          | 7/2700 [00:32<1:06:59,  1.49s/it]
  0%|          | 8/2700 [00:33<50:18,  1.12s/it]  
  0%|          | 9/2700 [00:37<1:36:20,  2.15s/it]
  0%|          | 10/2700 [00:37<1:10:45,  1.58s/it]
  0%|          | 11/2700 [00:38<53:15,  1.19s/it]  
  0%|          | 12/2700 [00:38<41:10,  1.09it/s]
  0%|          | 13/2700 [00:38<32:58,  1.36it/s]
  1%|          | 14/2700 [00:39<27:04,  1.65it/s]
  1%|          | 15/2700 [00:39<22:59,  1.95it/s]
  1%|          | 16/2700 [00:39<20:17,  2.21it/s]
  1%|          | 17/2700 [00:51<2:47:18,  3.74s/it]
  1%|          | 18/2700 [00:51<2:01:11,  2.71s/it]
  1%|          | 19/2700 [00:51<1:29:09,  2.00s/it]
  1%|          | 20/2700 [00:52<1:06:32,  1.49s/it]
  1%|          | 21/2700 [00:52<50:51,  1.14s/it]  
  1%|          | 22/2700 [00:52<39:35,  1.13it/s]
  1%|          | 23/2700 [00:53<31:53,  1.40it/s]
  1%|          | 24/2700 [00:53<26:22,  1.69it/s]
  1%|          | 25/2700 [00:59<1:36:01,  2.15s/it]
  1%|          | 26/2700 [00:59<1:11:16,  1.60s/it]
  1%|          | 27/2700 [00:59<53:57,  1.21s/it]  
  1%|          | 28/2700 [01:00<41:51,  1.06it/s]
  1%|          | 29/2700 [01:00<33:20,  1.34it/s]
  1%|          | 30/2700 [01:00<27:19,  1.63it/s]
  1%|          | 31/2700 [01:00<23:18,  1.91it/s]
  1%|          | 32/2700 [01:01<20:30,  2.17it/s]
  1%|          | 33/2700 [01:09<2:05:59,  2.83s/it]
  1%|▏         | 34/2700 [01:09<1:32:15,  2.08s/it]
  1%|▏         | 35/2700 [01:10<1:08:41,  1.55s/it]
  1%|▏         | 36/2700 [01:10<52:12,  1.18s/it]  
  1%|▏         | 37/2700 [01:10<40:39,  1.09it/s]
  1%|▏         | 38/2700 [01:11<32:57,  1.35it/s]
  1%|▏         | 39/2700 [01:11<27:34,  1.61it/s]
  1%|▏         | 40/2700 [01:11<23:57,  1.85it/s]
  2%|▏         | 41/2700 [01:16<1:12:12,  1.63s/it]
  2%|▏         | 42/2700 [01:16<55:12,  1.25s/it]  
  2%|▏         | 43/2700 [01:16<43:25,  1.02it/s]
  2%|▏         | 44/2700 [01:17<35:04,  1.26it/s]
  2%|▏         | 45/2700 [01:17<29:04,  1.52it/s]
  2%|▏         | 46/2700 [01:17<24:48,  1.78it/s]
  2%|▏         | 47/2700 [01:18<21:50,  2.02it/s]
  2%|▏         | 48/2700 [01:18<19:52,  2.22it/s]
  2%|▏         | 49/2700 [01:23<1:16:25,  1.73s/it]
  2%|▏         | 50/2700 [01:23<57:49,  1.31s/it]  
  2%|▏         | 51/2700 [01:23<44:48,  1.01s/it]
  2%|▏         | 52/2700 [01:24<35:31,  1.24it/s]
  2%|▏         | 53/2700 [01:24<28:53,  1.53it/s]
  2%|▏         | 54/2700 [01:24<24:10,  1.82it/s]
  2%|▏         | 55/2700 [01:25<21:01,  2.10it/s]
  2%|▏         | 56/2700 [01:25<18:45,  2.35it/s]
  2%|▏         | 57/2700 [01:43<4:15:34,  5.80s/it]
  2%|▏         | 58/2700 [01:44<3:03:06,  4.16s/it]
  2%|▏         | 59/2700 [01:44<2:12:25,  3.01s/it]
  2%|▏         | 60/2700 [01:44<1:36:43,  2.20s/it]
  2%|▏         | 61/2700 [01:45<1:11:59,  1.64s/it]
  2%|▏         | 62/2700 [01:45<54:46,  1.25s/it]  
  2%|▏         | 63/2700 [01:45<42:37,  1.03it/s]
  2%|▏         | 64/2700 [01:46<34:08,  1.29it/s]
  2%|▏         | 65/2700 [01:53<2:00:06,  2.73s/it]
  2%|▏         | 66/2700 [01:53<1:28:30,  2.02s/it]
  2%|▏         | 67/2700 [01:54<1:06:16,  1.51s/it]
  3%|▎         | 68/2700 [01:54<50:46,  1.16s/it]  
  3%|▎         | 69/2700 [01:54<39:41,  1.10it/s]
  3%|▎         | 70/2700 [01:54<32:01,  1.37it/s]
  3%|▎         | 71/2700 [01:55<26:35,  1.65it/s]
  3%|▎         | 72/2700 [01:55<22:47,  1.92it/s]
  3%|▎         | 73/2700 [02:24<6:39:45,  9.13s/it]
  3%|▎         | 74/2700 [02:25<4:44:04,  6.49s/it]
  3%|▎         | 75/2700 [02:25<3:23:05,  4.64s/it]
  3%|▎         | 76/2700 [02:25<2:26:29,  3.35s/it]
  3%|▎         | 77/2700 [02:26<1:46:45,  2.44s/it]
  3%|▎         | 78/2700 [02:26<1:18:57,  1.81s/it]
  3%|▎         | 79/2700 [02:26<59:28,  1.36s/it]  
  3%|▎         | 80/2700 [02:27<45:56,  1.05s/it]
  3%|▎         | 81/2700 [02:33<1:55:41,  2.65s/it]
  3%|▎         | 82/2700 [02:33<1:25:24,  1.96s/it]
  3%|▎         | 83/2700 [02:34<1:04:03,  1.47s/it]
  3%|▎         | 84/2700 [02:34<49:11,  1.13s/it]  
  3%|▎         | 85/2700 [02:34<38:48,  1.12it/s]
  3%|▎         | 86/2700 [02:35<31:31,  1.38it/s]
  3%|▎         | 87/2700 [02:35<26:47,  1.63it/s]
  3%|▎         | 88/2700 [02:35<23:23,  1.86it/s]
  3%|▎         | 89/2700 [02:44<2:07:32,  2.93s/it]
  3%|▎         | 90/2700 [02:44<1:34:19,  2.17s/it]
  3%|▎         | 91/2700 [02:45<1:10:51,  1.63s/it]
  3%|▎         | 92/2700 [02:45<54:24,  1.25s/it]  
  3%|▎         | 93/2700 [02:45<42:51,  1.01it/s]
  3%|▎         | 94/2700 [02:46<34:50,  1.25it/s]
  4%|▎         | 95/2700 [02:46<29:06,  1.49it/s]
  4%|▎         | 96/2700 [02:47<25:05,  1.73it/s]
  4%|▎         | 97/2700 [03:00<3:14:30,  4.48s/it]
  4%|▎         | 98/2700 [03:00<2:20:31,  3.24s/it]
  4%|▎         | 99/2700 [03:01<1:42:30,  2.36s/it]
  4%|▎         | 100/2700 [03:01<1:15:53,  1.75s/it]
  4%|▎         | 101/2700 [03:01<57:11,  1.32s/it]  
  4%|▍         | 102/2700 [03:02<44:13,  1.02s/it]
  4%|▍         | 103/2700 [03:02<35:03,  1.23it/s]
  4%|▍         | 104/2700 [03:02<28:36,  1.51it/s]
  4%|▍         | 105/2700 [03:08<1:27:08,  2.01s/it]
  4%|▍         | 106/2700 [03:08<1:04:58,  1.50s/it]
  4%|▍         | 107/2700 [03:08<49:23,  1.14s/it]  
  4%|▍         | 108/2700 [03:08<38:31,  1.12it/s]
  4%|▍         | 109/2700 [03:09<30:58,  1.39it/s]
  4%|▍         | 110/2700 [03:09<25:43,  1.68it/s]
  4%|▍         | 111/2700 [03:09<22:01,  1.96it/s]
  4%|▍         | 112/2700 [03:10<19:25,  2.22it/s]
  4%|▍         | 113/2700 [03:23<3:08:36,  4.37s/it]
  4%|▍         | 114/2700 [03:24<2:16:13,  3.16s/it]
  4%|▍         | 115/2700 [03:24<1:39:29,  2.31s/it]
  4%|▍         | 116/2700 [03:24<1:13:44,  1.71s/it]
  4%|▍         | 117/2700 [03:25<55:38,  1.29s/it]  
  4%|▍         | 118/2700 [03:25<43:00,  1.00it/s]
  4%|▍         | 119/2700 [03:25<34:07,  1.26it/s]
  4%|▍         | 120/2700 [03:25<28:03,  1.53it/s]
  4%|▍         | 121/2700 [03:33<2:02:51,  2.86s/it]
  5%|▍         | 122/2700 [03:34<1:30:12,  2.10s/it]
  5%|▍         | 123/2700 [03:34<1:07:44,  1.58s/it]
  5%|▍         | 124/2700 [03:35<51:47,  1.21s/it]  
  5%|▍         | 125/2700 [03:35<40:43,  1.05it/s]
  5%|▍         | 126/2700 [03:35<32:53,  1.30it/s]
  5%|▍         | 127/2700 [03:36<27:22,  1.57it/s]
  5%|▍         | 128/2700 [03:36<23:57,  1.79it/s]
  5%|▍         | 129/2700 [03:41<1:21:15,  1.90s/it]
  5%|▍         | 130/2700 [03:41<1:01:31,  1.44s/it]
  5%|▍         | 131/2700 [03:42<47:33,  1.11s/it]  
  5%|▍         | 132/2700 [03:42<37:49,  1.13it/s]
  5%|▍         | 133/2700 [03:42<30:57,  1.38it/s]
  5%|▍         | 134/2700 [03:43<26:05,  1.64it/s]
  5%|▌         | 135/2700 [03:43<22:40,  1.88it/s]
  5%|▌         | 136/2700 [03:43<20:17,  2.11it/s]
  5%|▌         | 137/2700 [03:52<2:03:01,  2.88s/it]
  5%|▌         | 138/2700 [03:52<1:30:24,  2.12s/it]
  5%|▌         | 139/2700 [03:53<1:07:14,  1.58s/it]
  5%|▌         | 140/2700 [03:53<50:55,  1.19s/it]  
  5%|▌         | 141/2700 [03:53<39:30,  1.08it/s]
  5%|▌         | 142/2700 [03:53<31:35,  1.35it/s]
  5%|▌         | 143/2700 [03:54<25:59,  1.64it/s]
  5%|▌         | 144/2700 [03:54<22:02,  1.93it/s]
  5%|▌         | 145/2700 [04:04<2:19:28,  3.28s/it]
  5%|▌         | 146/2700 [04:04<1:41:29,  2.38s/it]
  5%|▌         | 147/2700 [04:04<1:14:53,  1.76s/it]
  5%|▌         | 148/2700 [04:05<56:19,  1.32s/it]  
  6%|▌         | 149/2700 [04:05<43:20,  1.02s/it]
  6%|▌         | 150/2700 [04:05<34:14,  1.24it/s]
  6%|▌         | 151/2700 [04:06<27:51,  1.53it/s]
  6%|▌         | 152/2700 [04:06<23:23,  1.81it/s]
  6%|▌         | 153/2700 [04:29<5:05:45,  7.20s/it]
  6%|▌         | 154/2700 [04:29<3:37:51,  5.13s/it]
  6%|▌         | 155/2700 [04:29<2:36:22,  3.69s/it]
  6%|▌         | 156/2700 [04:30<1:53:15,  2.67s/it]
  6%|▌         | 157/2700 [04:30<1:23:10,  1.96s/it]
  6%|▌         | 158/2700 [04:30<1:02:11,  1.47s/it]
  6%|▌         | 159/2700 [04:30<47:29,  1.12s/it]  
  6%|▌         | 160/2700 [04:31<37:08,  1.14it/s]
  6%|▌         | 161/2700 [04:39<2:13:30,  3.16s/it]
  6%|▌         | 162/2700 [04:40<1:37:41,  2.31s/it]
  6%|▌         | 163/2700 [04:40<1:12:45,  1.72s/it]
  6%|▌         | 164/2700 [04:40<55:32,  1.31s/it]  
  6%|▌         | 165/2700 [04:41<43:27,  1.03s/it]
  6%|▌         | 166/2700 [04:41<34:54,  1.21it/s]
  6%|▌         | 167/2700 [04:41<28:58,  1.46it/s]
  6%|▌         | 168/2700 [04:42<25:04,  1.68it/s]
  6%|▋         | 169/2700 [04:47<1:18:10,  1.85s/it]
  6%|▋         | 170/2700 [04:47<59:10,  1.40s/it]  
  6%|▋         | 171/2700 [04:47<45:44,  1.09s/it]
  6%|▋         | 172/2700 [04:48<36:23,  1.16it/s]
  6%|▋         | 173/2700 [04:48<29:50,  1.41it/s]
  6%|▋         | 174/2700 [04:48<25:18,  1.66it/s]
  6%|▋         | 175/2700 [04:49<22:12,  1.90it/s]
  7%|▋         | 176/2700 [04:49<20:00,  2.10it/s]
  7%|▋         | 177/2700 [04:57<1:54:17,  2.72s/it]
  7%|▋         | 178/2700 [04:57<1:24:23,  2.01s/it]
  7%|▋         | 179/2700 [04:58<1:03:36,  1.51s/it]
  7%|▋         | 180/2700 [04:58<48:53,  1.16s/it]  
  7%|▋         | 181/2700 [04:58<38:46,  1.08it/s]
  7%|▋         | 182/2700 [04:59<31:22,  1.34it/s]
  7%|▋         | 183/2700 [04:59<26:07,  1.61it/s]
  7%|▋         | 184/2700 [04:59<22:19,  1.88it/s]
  7%|▋         | 185/2700 [05:07<1:52:03,  2.67s/it]
  7%|▋         | 186/2700 [05:07<1:22:32,  1.97s/it]
  7%|▋         | 187/2700 [05:08<1:01:49,  1.48s/it]
  7%|▋         | 188/2700 [05:08<47:22,  1.13s/it]  
  7%|▋         | 189/2700 [05:08<37:07,  1.13it/s]
  7%|▋         | 190/2700 [05:09<29:53,  1.40it/s]
  7%|▋         | 191/2700 [05:09<24:49,  1.68it/s]
  7%|▋         | 192/2700 [05:09<21:12,  1.97it/s]
  7%|▋         | 193/2700 [05:15<1:25:29,  2.05s/it]
  7%|▋         | 194/2700 [05:15<1:03:43,  1.53s/it]
  7%|▋         | 195/2700 [05:16<48:26,  1.16s/it]  
  7%|▋         | 196/2700 [05:16<37:50,  1.10it/s]
  7%|▋         | 197/2700 [05:16<30:23,  1.37it/s]
  7%|▋         | 198/2700 [05:16<25:02,  1.67it/s]
  7%|▋         | 199/2700 [05:17<21:30,  1.94it/s]
  7%|▋         | 200/2700 [05:17<19:04,  2.18it/s]
  7%|▋         | 201/2700 [05:28<2:30:42,  3.62s/it]
  7%|▋         | 202/2700 [05:28<1:49:24,  2.63s/it]
  8%|▊         | 203/2700 [05:29<1:20:35,  1.94s/it]
  8%|▊         | 204/2700 [05:29<1:00:22,  1.45s/it]
  8%|▊         | 205/2700 [05:29<46:11,  1.11s/it]  
  8%|▊         | 206/2700 [05:30<36:20,  1.14it/s]
  8%|▊         | 207/2700 [05:30<29:43,  1.40it/s]
  8%|▊         | 208/2700 [05:30<25:14,  1.64it/s]
  8%|▊         | 209/2700 [05:41<2:29:47,  3.61s/it]
  8%|▊         | 210/2700 [05:41<1:48:56,  2.63s/it]
  8%|▊         | 211/2700 [05:42<1:20:06,  1.93s/it]
  8%|▊         | 212/2700 [05:42<59:54,  1.44s/it]  
  8%|▊         | 213/2700 [05:42<45:51,  1.11s/it]
  8%|▊         | 214/2700 [05:43<36:02,  1.15it/s]
  8%|▊         | 215/2700 [05:43<29:00,  1.43it/s]
  8%|▊         | 216/2700 [05:43<24:20,  1.70it/s]
  8%|▊         | 217/2700 [05:55<2:46:40,  4.03s/it]
  8%|▊         | 218/2700 [05:56<2:00:25,  2.91s/it]
  8%|▊         | 219/2700 [05:56<1:28:05,  2.13s/it]
  8%|▊         | 220/2700 [05:56<1:05:33,  1.59s/it]
  8%|▊         | 221/2700 [05:57<49:53,  1.21s/it]  
  8%|▊         | 222/2700 [05:57<39:00,  1.06it/s]
  8%|▊         | 223/2700 [05:57<31:48,  1.30it/s]
  8%|▊         | 224/2700 [05:58<26:49,  1.54it/s]
  8%|▊         | 225/2700 [06:04<1:43:57,  2.52s/it]
  8%|▊         | 226/2700 [06:05<1:16:58,  1.87s/it]
  8%|▊         | 227/2700 [06:05<58:06,  1.41s/it]  
  8%|▊         | 228/2700 [06:05<44:52,  1.09s/it]
  8%|▊         | 229/2700 [06:06<35:42,  1.15it/s]
  9%|▊         | 230/2700 [06:06<29:25,  1.40it/s]
  9%|▊         | 231/2700 [06:07<25:01,  1.64it/s]
  9%|▊         | 232/2700 [06:07<22:14,  1.85it/s]
  9%|▊         | 233/2700 [06:24<3:42:51,  5.42s/it]
  9%|▊         | 234/2700 [06:24<2:40:02,  3.89s/it]
  9%|▊         | 235/2700 [06:24<1:56:08,  2.83s/it]
  9%|▊         | 236/2700 [06:25<1:25:27,  2.08s/it]
  9%|▉         | 237/2700 [06:25<1:03:51,  1.56s/it]
  9%|▉         | 238/2700 [06:25<48:38,  1.19s/it]  
  9%|▉         | 239/2700 [06:26<38:08,  1.08it/s]
  9%|▉         | 240/2700 [06:26<30:50,  1.33it/s]
  9%|▉         | 241/2700 [06:38<2:49:58,  4.15s/it]
  9%|▉         | 242/2700 [06:38<2:02:59,  3.00s/it]
  9%|▉         | 243/2700 [06:39<1:30:00,  2.20s/it]
  9%|▉         | 244/2700 [06:39<1:06:54,  1.63s/it]
  9%|▉         | 245/2700 [06:39<50:42,  1.24s/it]  
  9%|▉         | 246/2700 [06:40<39:26,  1.04it/s]
  9%|▉         | 247/2700 [06:40<31:39,  1.29it/s]
  9%|▉         | 248/2700 [06:40<26:12,  1.56it/s]
  9%|▉         | 249/2700 [06:47<1:39:03,  2.43s/it]
  9%|▉         | 250/2700 [06:47<1:13:15,  1.79s/it]
  9%|▉         | 251/2700 [06:48<55:24,  1.36s/it]  
  9%|▉         | 252/2700 [06:48<42:46,  1.05s/it]
  9%|▉         | 253/2700 [06:48<34:04,  1.20it/s]
  9%|▉         | 254/2700 [06:49<27:57,  1.46it/s]
  9%|▉         | 255/2700 [06:49<23:32,  1.73it/s]
  9%|▉         | 256/2700 [06:49<20:28,  1.99it/s]
 10%|▉         | 257/2700 [07:09<4:19:16,  6.37s/it]
 10%|▉         | 258/2700 [07:10<3:05:54,  4.57s/it]
 10%|▉         | 259/2700 [07:10<2:14:15,  3.30s/it]
 10%|▉         | 260/2700 [07:10<1:37:53,  2.41s/it]
 10%|▉         | 261/2700 [07:11<1:12:30,  1.78s/it]
 10%|▉         | 262/2700 [07:11<54:45,  1.35s/it]  
 10%|▉         | 263/2700 [07:11<42:20,  1.04s/it]
 10%|▉         | 264/2700 [07:12<33:49,  1.20it/s]
 10%|▉         | 265/2700 [07:19<1:55:38,  2.85s/it]
 10%|▉         | 266/2700 [07:20<1:25:01,  2.10s/it]
 10%|▉         | 267/2700 [07:20<1:03:26,  1.56s/it]
 10%|▉         | 268/2700 [07:20<48:20,  1.19s/it]  
 10%|▉         | 269/2700 [07:21<37:44,  1.07it/s]
 10%|█         | 270/2700 [07:21<30:12,  1.34it/s]
 10%|█         | 271/2700 [07:21<25:01,  1.62it/s]
 10%|█         | 272/2700 [07:22<21:25,  1.89it/s]
 10%|█         | 273/2700 [07:29<1:44:54,  2.59s/it]
 10%|█         | 274/2700 [07:29<1:17:31,  1.92s/it]
 10%|█         | 275/2700 [07:30<58:17,  1.44s/it]  
 10%|█         | 276/2700 [07:30<44:44,  1.11s/it]
 10%|█         | 277/2700 [07:30<35:14,  1.15it/s]
 10%|█         | 278/2700 [07:31<28:27,  1.42it/s]
 10%|█         | 279/2700 [07:31<23:45,  1.70it/s]
 10%|█         | 280/2700 [07:31<20:24,  1.98it/s]
 10%|█         | 281/2700 [07:39<1:50:07,  2.73s/it]
 10%|█         | 282/2700 [07:39<1:20:59,  2.01s/it]
 10%|█         | 283/2700 [07:40<1:00:33,  1.50s/it]
 11%|█         | 284/2700 [07:40<46:15,  1.15s/it]  
 11%|█         | 285/2700 [07:40<36:09,  1.11it/s]
 11%|█         | 286/2700 [07:41<29:02,  1.39it/s]
 11%|█         | 287/2700 [07:41<24:13,  1.66it/s]
 11%|█         | 288/2700 [07:41<20:45,  1.94it/s]
 11%|█         | 289/2700 [07:47<1:26:08,  2.14s/it]
 11%|█         | 290/2700 [07:48<1:04:17,  1.60s/it]
 11%|█         | 291/2700 [07:48<48:58,  1.22s/it]  
 11%|█         | 292/2700 [07:48<38:22,  1.05it/s]
 11%|█         | 293/2700 [07:49<31:01,  1.29it/s]
 11%|█         | 294/2700 [07:49<25:37,  1.56it/s]
 11%|█         | 295/2700 [07:49<21:55,  1.83it/s]
 11%|█         | 296/2700 [07:50<19:19,  2.07it/s]
 11%|█         | 297/2700 [07:56<1:29:51,  2.24s/it]
 11%|█         | 298/2700 [07:56<1:06:56,  1.67s/it]
 11%|█         | 299/2700 [07:57<50:55,  1.27s/it]  
 11%|█         | 300/2700 [07:57<39:53,  1.00it/s]
 11%|█         | 301/2700 [07:57<32:12,  1.24it/s]
 11%|█         | 302/2700 [07:58<26:43,  1.50it/s]
 11%|█         | 303/2700 [07:58<22:49,  1.75it/s]
 11%|█▏        | 304/2700 [07:58<20:07,  1.99it/s]
 11%|█▏        | 305/2700 [08:09<2:17:21,  3.44s/it]
 11%|█▏        | 306/2700 [08:09<1:40:18,  2.51s/it]
 11%|█▏        | 307/2700 [08:09<1:14:17,  1.86s/it]
 11%|█▏        | 308/2700 [08:10<56:02,  1.41s/it]  
 11%|█▏        | 309/2700 [08:10<43:17,  1.09s/it]
 11%|█▏        | 310/2700 [08:10<34:15,  1.16it/s]
 12%|█▏        | 311/2700 [08:11<28:05,  1.42it/s]
 12%|█▏        | 312/2700 [08:11<23:42,  1.68it/s]
 12%|█▏        | 313/2700 [08:20<2:07:24,  3.20s/it]
 12%|█▏        | 314/2700 [08:21<1:33:09,  2.34s/it]
 12%|█▏        | 315/2700 [08:21<1:09:12,  1.74s/it]
 12%|█▏        | 316/2700 [08:21<52:31,  1.32s/it]  
 12%|█▏        | 317/2700 [08:22<40:48,  1.03s/it]
 12%|█▏        | 318/2700 [08:22<32:36,  1.22it/s]
 12%|█▏        | 319/2700 [08:22<26:53,  1.48it/s]
 12%|█▏        | 320/2700 [08:23<23:03,  1.72it/s]
 12%|█▏        | 321/2700 [08:31<1:54:55,  2.90s/it]
 12%|█▏        | 322/2700 [08:31<1:24:32,  2.13s/it]
 12%|█▏        | 323/2700 [08:32<1:03:22,  1.60s/it]
 12%|█▏        | 324/2700 [08:32<48:17,  1.22s/it]  
 12%|█▏        | 325/2700 [08:32<37:41,  1.05it/s]
 12%|█▏        | 326/2700 [08:33<30:36,  1.29it/s]
 12%|█▏        | 327/2700 [08:33<25:21,  1.56it/s]
 12%|█▏        | 328/2700 [08:34<21:43,  1.82it/s]
 12%|█▏        | 329/2700 [08:41<1:39:31,  2.52s/it]
 12%|█▏        | 330/2700 [08:41<1:13:29,  1.86s/it]
 12%|█▏        | 331/2700 [08:41<55:20,  1.40s/it]  
 12%|█▏        | 332/2700 [08:42<42:35,  1.08s/it]
 12%|█▏        | 333/2700 [08:42<33:37,  1.17it/s]
 12%|█▏        | 334/2700 [08:42<27:23,  1.44it/s]
 12%|█▏        | 335/2700 [08:43<23:13,  1.70it/s]
 12%|█▏        | 336/2700 [08:43<20:09,  1.95it/s]
 12%|█▏        | 337/2700 [08:55<2:36:46,  3.98s/it]
 13%|█▎        | 338/2700 [08:55<1:53:49,  2.89s/it]
 13%|█▎        | 339/2700 [08:56<1:23:52,  2.13s/it]
 13%|█▎        | 340/2700 [08:56<1:02:46,  1.60s/it]
 13%|█▎        | 341/2700 [08:56<48:02,  1.22s/it]  
 13%|█▎        | 342/2700 [08:57<37:44,  1.04it/s]
 13%|█▎        | 343/2700 [08:57<30:21,  1.29it/s]
 13%|█▎        | 344/2700 [08:57<25:10,  1.56it/s]
 13%|█▎        | 345/2700 [09:23<5:23:37,  8.25s/it]
 13%|█▎        | 346/2700 [09:24<3:50:11,  5.87s/it]
 13%|█▎        | 347/2700 [09:24<2:44:58,  4.21s/it]
 13%|█▎        | 348/2700 [09:24<1:59:25,  3.05s/it]
 13%|█▎        | 349/2700 [09:25<1:27:25,  2.23s/it]
 13%|█▎        | 350/2700 [09:25<1:04:59,  1.66s/it]
 13%|█▎        | 351/2700 [09:25<49:21,  1.26s/it]  
 13%|█▎        | 352/2700 [09:26<38:23,  1.02it/s]
 13%|█▎        | 353/2700 [09:33<1:56:13,  2.97s/it]
 13%|█▎        | 354/2700 [09:34<1:25:05,  2.18s/it]
 13%|█▎        | 355/2700 [09:34<1:03:22,  1.62s/it]
 13%|█▎        | 356/2700 [09:34<48:08,  1.23s/it]  
 13%|█▎        | 357/2700 [09:35<37:28,  1.04it/s]
 13%|█▎        | 358/2700 [09:35<30:03,  1.30it/s]
 13%|█▎        | 359/2700 [09:35<24:53,  1.57it/s]
 13%|█▎        | 360/2700 [09:36<21:16,  1.83it/s]
 13%|█▎        | 361/2700 [09:43<1:44:48,  2.69s/it]
 13%|█▎        | 362/2700 [09:44<1:17:06,  1.98s/it]
 13%|█▎        | 363/2700 [09:44<57:51,  1.49s/it]  
 13%|█▎        | 364/2700 [09:44<44:10,  1.13s/it]
 14%|█▎        | 365/2700 [09:45<34:43,  1.12it/s]
 14%|█▎        | 366/2700 [09:45<28:00,  1.39it/s]
 14%|█▎        | 367/2700 [09:45<23:18,  1.67it/s]
 14%|█▎        | 368/2700 [09:46<20:10,  1.93it/s]
 14%|█▎        | 369/2700 [09:59<2:53:49,  4.47s/it]
 14%|█▎        | 370/2700 [10:00<2:05:47,  3.24s/it]
 14%|█▎        | 371/2700 [10:00<1:32:07,  2.37s/it]
 14%|█▍        | 372/2700 [10:00<1:08:30,  1.77s/it]
 14%|█▍        | 373/2700 [10:01<51:53,  1.34s/it]  
 14%|█▍        | 374/2700 [10:01<40:12,  1.04s/it]
 14%|█▍        | 375/2700 [10:01<31:56,  1.21it/s]
 14%|█▍        | 376/2700 [10:02<26:20,  1.47it/s]
 14%|█▍        | 377/2700 [10:09<1:41:25,  2.62s/it]
 14%|█▍        | 378/2700 [10:09<1:15:12,  1.94s/it]
 14%|█▍        | 379/2700 [10:10<56:49,  1.47s/it]  
 14%|█▍        | 380/2700 [10:10<43:46,  1.13s/it]
 14%|█▍        | 381/2700 [10:10<35:04,  1.10it/s]
 14%|█▍        | 382/2700 [10:11<28:37,  1.35it/s]
 14%|█▍        | 383/2700 [10:11<24:03,  1.60it/s]
 14%|█▍        | 384/2700 [10:11<21:00,  1.84it/s]
 14%|█▍        | 385/2700 [10:19<1:42:34,  2.66s/it]
 14%|█▍        | 386/2700 [10:19<1:16:01,  1.97s/it]
 14%|█▍        | 387/2700 [10:20<57:08,  1.48s/it]  
 14%|█▍        | 388/2700 [10:20<43:50,  1.14s/it]
 14%|█▍        | 389/2700 [10:20<34:20,  1.12it/s]
 14%|█▍        | 390/2700 [10:21<27:42,  1.39it/s]
 14%|█▍        | 391/2700 [10:21<23:02,  1.67it/s]
 15%|█▍        | 392/2700 [10:21<19:48,  1.94it/s]
 15%|█▍        | 393/2700 [10:33<2:25:47,  3.79s/it]
 15%|█▍        | 394/2700 [10:33<1:45:48,  2.75s/it]
 15%|█▍        | 395/2700 [10:33<1:17:54,  2.03s/it]
 15%|█▍        | 396/2700 [10:34<58:17,  1.52s/it]  
 15%|█▍        | 397/2700 [10:34<44:28,  1.16s/it]
 15%|█▍        | 398/2700 [10:34<35:03,  1.09it/s]
 15%|█▍        | 399/2700 [10:35<28:39,  1.34it/s]
 15%|█▍        | 400/2700 [10:35<24:27,  1.57it/s]
 15%|█▍        | 401/2700 [10:49<3:02:17,  4.76s/it]
 15%|█▍        | 402/2700 [10:50<2:11:58,  3.45s/it]
 15%|█▍        | 403/2700 [10:50<1:35:53,  2.50s/it]
 15%|█▍        | 404/2700 [10:51<1:11:00,  1.86s/it]
 15%|█▌        | 405/2700 [10:51<53:26,  1.40s/it]  
 15%|█▌        | 406/2700 [10:51<41:08,  1.08s/it]
 15%|█▌        | 407/2700 [10:51<32:33,  1.17it/s]
 15%|█▌        | 408/2700 [10:52<26:41,  1.43it/s]
 15%|█▌        | 409/2700 [11:07<3:07:03,  4.90s/it]
 15%|█▌        | 410/2700 [11:07<2:14:30,  3.52s/it]
 15%|█▌        | 411/2700 [11:07<1:37:44,  2.56s/it]
 15%|█▌        | 412/2700 [11:07<1:11:58,  1.89s/it]
 15%|█▌        | 413/2700 [11:08<53:57,  1.42s/it]  
 15%|█▌        | 414/2700 [11:08<41:22,  1.09s/it]
 15%|█▌        | 415/2700 [11:08<32:31,  1.17it/s]
 15%|█▌        | 416/2700 [11:09<26:29,  1.44it/s]
 15%|█▌        | 417/2700 [11:19<2:11:04,  3.44s/it]
 15%|█▌        | 418/2700 [11:19<1:35:18,  2.51s/it]
 16%|█▌        | 419/2700 [11:19<1:10:23,  1.85s/it]
 16%|█▌        | 420/2700 [11:20<52:57,  1.39s/it]  
 16%|█▌        | 421/2700 [11:20<40:40,  1.07s/it]
 16%|█▌        | 422/2700 [11:20<32:20,  1.17it/s]
 16%|█▌        | 423/2700 [11:21<26:31,  1.43it/s]
 16%|█▌        | 424/2700 [11:21<22:19,  1.70it/s]
 16%|█▌        | 425/2700 [11:32<2:22:14,  3.75s/it]
 16%|█▌        | 426/2700 [11:32<1:43:28,  2.73s/it]
 16%|█▌        | 427/2700 [11:33<1:16:11,  2.01s/it]
 16%|█▌        | 428/2700 [11:33<57:11,  1.51s/it]  
 16%|█▌        | 429/2700 [11:33<43:48,  1.16s/it]
 16%|█▌        | 430/2700 [11:34<34:24,  1.10it/s]
 16%|█▌        | 431/2700 [11:34<27:42,  1.36it/s]
 16%|█▌        | 432/2700 [11:34<23:05,  1.64it/s]
 16%|█▌        | 433/2700 [11:44<2:04:43,  3.30s/it]
 16%|█▌        | 434/2700 [11:44<1:30:53,  2.41s/it]
 16%|█▌        | 435/2700 [11:45<1:07:09,  1.78s/it]
 16%|█▌        | 436/2700 [11:45<50:36,  1.34s/it]  
 16%|█▌        | 437/2700 [11:45<38:59,  1.03s/it]
 16%|█▌        | 438/2700 [11:46<30:49,  1.22it/s]
 16%|█▋        | 439/2700 [11:46<25:07,  1.50it/s]
 16%|█▋        | 440/2700 [11:46<21:09,  1.78it/s]
 16%|█▋        | 441/2700 [11:54<1:46:39,  2.83s/it]
 16%|█▋        | 442/2700 [11:55<1:18:16,  2.08s/it]
 16%|█▋        | 443/2700 [11:55<58:28,  1.55s/it]  
 16%|█▋        | 444/2700 [11:55<44:31,  1.18s/it]
 16%|█▋        | 445/2700 [11:56<35:02,  1.07it/s]
 17%|█▋        | 446/2700 [11:56<28:07,  1.34it/s]
 17%|█▋        | 447/2700 [11:56<23:15,  1.61it/s]
 17%|█▋        | 448/2700 [11:57<19:52,  1.89it/s]
 17%|█▋        | 449/2700 [12:21<4:46:33,  7.64s/it]
 17%|█▋        | 450/2700 [12:21<3:24:04,  5.44s/it]
 17%|█▋        | 451/2700 [12:21<2:26:26,  3.91s/it]
 17%|█▋        | 452/2700 [12:22<1:46:00,  2.83s/it]
 17%|█▋        | 453/2700 [12:22<1:17:41,  2.07s/it]
 17%|█▋        | 454/2700 [12:22<57:50,  1.55s/it]  
 17%|█▋        | 455/2700 [12:23<43:59,  1.18s/it]
 17%|█▋        | 456/2700 [12:23<34:19,  1.09it/s]
 17%|█▋        | 457/2700 [12:31<1:50:25,  2.95s/it]
 17%|█▋        | 458/2700 [12:31<1:21:10,  2.17s/it]
 17%|█▋        | 459/2700 [12:31<1:00:32,  1.62s/it]
 17%|█▋        | 460/2700 [12:32<46:05,  1.23s/it]  
 17%|█▋        | 461/2700 [12:32<35:55,  1.04it/s]
 17%|█▋        | 462/2700 [12:32<28:54,  1.29it/s]
 17%|█▋        | 463/2700 [12:33<23:59,  1.55it/s]
 17%|█▋        | 464/2700 [12:33<20:33,  1.81it/s]
 17%|█▋        | 465/2700 [12:41<1:39:53,  2.68s/it]
 17%|█▋        | 466/2700 [12:41<1:13:40,  1.98s/it]
 17%|█▋        | 467/2700 [12:41<55:10,  1.48s/it]  
 17%|█▋        | 468/2700 [12:42<42:12,  1.13s/it]
 17%|█▋        | 469/2700 [12:42<33:12,  1.12it/s]
 17%|█▋        | 470/2700 [12:42<26:53,  1.38it/s]
 17%|█▋        | 471/2700 [12:43<22:28,  1.65it/s]
 17%|█▋        | 472/2700 [12:43<19:37,  1.89it/s]
 18%|█▊        | 473/2700 [12:52<1:48:42,  2.93s/it]
 18%|█▊        | 474/2700 [12:52<1:19:46,  2.15s/it]
 18%|█▊        | 475/2700 [12:52<59:21,  1.60s/it]  
 18%|█▊        | 476/2700 [12:53<45:09,  1.22s/it]
 18%|█▊        | 477/2700 [12:53<35:08,  1.05it/s]
 18%|█▊        | 478/2700 [12:53<28:06,  1.32it/s]
 18%|█▊        | 479/2700 [12:54<23:19,  1.59it/s]
 18%|█▊        | 480/2700 [12:54<19:56,  1.86it/s]
 18%|█▊        | 481/2700 [13:11<3:21:24,  5.45s/it]
 18%|█▊        | 482/2700 [13:11<2:24:27,  3.91s/it]
 18%|█▊        | 483/2700 [13:11<1:44:37,  2.83s/it]
 18%|█▊        | 484/2700 [13:12<1:16:40,  2.08s/it]
 18%|█▊        | 485/2700 [13:12<57:06,  1.55s/it]  
 18%|█▊        | 486/2700 [13:12<43:27,  1.18s/it]
 18%|█▊        | 487/2700 [13:13<33:57,  1.09it/s]
 18%|█▊        | 488/2700 [13:13<27:15,  1.35it/s]
 18%|█▊        | 489/2700 [13:22<1:56:19,  3.16s/it]
 18%|█▊        | 490/2700 [13:22<1:24:52,  2.30s/it]
 18%|█▊        | 491/2700 [13:22<1:02:53,  1.71s/it]
 18%|█▊        | 492/2700 [13:23<47:33,  1.29s/it]  
 18%|█▊        | 493/2700 [13:23<36:52,  1.00s/it]
 18%|█▊        | 494/2700 [13:23<29:24,  1.25it/s]
 18%|█▊        | 495/2700 [13:24<24:03,  1.53it/s]
 18%|█▊        | 496/2700 [13:24<20:21,  1.80it/s]
 18%|█▊        | 497/2700 [13:33<1:53:48,  3.10s/it]
 18%|█▊        | 498/2700 [13:33<1:23:20,  2.27s/it]
 18%|█▊        | 499/2700 [13:34<1:01:55,  1.69s/it]
 19%|█▊        | 500/2700 [13:35<52:41,  1.44s/it]  
 19%|█▊        | 501/2700 [13:35<40:31,  1.11s/it]
 19%|█▊        | 502/2700 [13:35<31:54,  1.15it/s]
 19%|█▊        | 503/2700 [13:36<26:06,  1.40it/s]
 19%|█▊        | 504/2700 [13:36<22:07,  1.65it/s]
 19%|█▊        | 505/2700 [13:47<2:12:15,  3.62s/it]
 19%|█▊        | 506/2700 [13:47<1:36:35,  2.64s/it]
 19%|█▉        | 507/2700 [13:47<1:11:47,  1.96s/it]
 19%|█▉        | 508/2700 [13:48<54:27,  1.49s/it]  
 19%|█▉        | 509/2700 [13:48<42:17,  1.16s/it]
 19%|█▉        | 510/2700 [13:48<33:37,  1.09it/s]
 19%|█▉        | 511/2700 [13:49<27:42,  1.32it/s]
 19%|█▉        | 512/2700 [13:49<23:36,  1.54it/s]
 19%|█▉        | 513/2700 [14:01<2:26:26,  4.02s/it]
 19%|█▉        | 514/2700 [14:01<1:46:25,  2.92s/it]
 19%|█▉        | 515/2700 [14:02<1:18:31,  2.16s/it]
 19%|█▉        | 516/2700 [14:02<58:45,  1.61s/it]  
 19%|█▉        | 517/2700 [14:03<44:52,  1.23s/it]
 19%|█▉        | 518/2700 [14:03<35:19,  1.03it/s]
 19%|█▉        | 519/2700 [14:03<28:39,  1.27it/s]
 19%|█▉        | 520/2700 [14:04<24:00,  1.51it/s]
 19%|█▉        | 521/2700 [14:13<1:55:53,  3.19s/it]
 19%|█▉        | 522/2700 [14:13<1:24:56,  2.34s/it]
 19%|█▉        | 523/2700 [14:13<1:03:24,  1.75s/it]
 19%|█▉        | 524/2700 [14:14<48:15,  1.33s/it]  
 19%|█▉        | 525/2700 [14:14<37:39,  1.04s/it]
 19%|█▉        | 526/2700 [14:14<30:02,  1.21it/s]
 20%|█▉        | 527/2700 [14:15<24:42,  1.47it/s]
 20%|█▉        | 528/2700 [14:15<20:50,  1.74it/s]
 20%|█▉        | 529/2700 [14:25<2:05:42,  3.47s/it]
 20%|█▉        | 530/2700 [14:26<1:31:28,  2.53s/it]
 20%|█▉        | 531/2700 [14:26<1:07:31,  1.87s/it]
 20%|█▉        | 532/2700 [14:26<50:50,  1.41s/it]  
 20%|█▉        | 533/2700 [14:27<39:16,  1.09s/it]
 20%|█▉        | 534/2700 [14:27<31:02,  1.16it/s]
 20%|█▉        | 535/2700 [14:27<25:20,  1.42it/s]
 20%|█▉        | 536/2700 [14:28<21:21,  1.69it/s]
 20%|█▉        | 537/2700 [14:35<1:36:23,  2.67s/it]
 20%|█▉        | 538/2700 [14:36<1:11:03,  1.97s/it]
 20%|█▉        | 539/2700 [14:36<53:23,  1.48s/it]  
 20%|██        | 540/2700 [14:36<41:05,  1.14s/it]
 20%|██        | 541/2700 [14:37<32:25,  1.11it/s]
 20%|██        | 542/2700 [14:37<26:16,  1.37it/s]
 20%|██        | 543/2700 [14:37<22:03,  1.63it/s]
 20%|██        | 544/2700 [14:38<19:11,  1.87it/s]
 20%|██        | 545/2700 [14:47<1:53:39,  3.16s/it]
 20%|██        | 546/2700 [14:47<1:23:25,  2.32s/it]
 20%|██        | 547/2700 [14:48<1:02:03,  1.73s/it]
 20%|██        | 548/2700 [14:48<47:13,  1.32s/it]  
 20%|██        | 549/2700 [14:48<36:52,  1.03s/it]
 20%|██        | 550/2700 [14:49<29:38,  1.21it/s]
 20%|██        | 551/2700 [14:49<24:35,  1.46it/s]
 20%|██        | 552/2700 [14:49<20:55,  1.71it/s]
 20%|██        | 553/2700 [14:59<1:55:26,  3.23s/it]
 21%|██        | 554/2700 [14:59<1:24:41,  2.37s/it]
 21%|██        | 555/2700 [14:59<1:03:07,  1.77s/it]
 21%|██        | 556/2700 [15:00<47:56,  1.34s/it]  
 21%|██        | 557/2700 [15:00<37:11,  1.04s/it]
 21%|██        | 558/2700 [15:01<29:55,  1.19it/s]
 21%|██        | 559/2700 [15:01<24:51,  1.44it/s]
 21%|██        | 560/2700 [15:01<21:15,  1.68it/s]
 21%|██        | 561/2700 [15:24<4:19:36,  7.28s/it]
 21%|██        | 562/2700 [15:25<3:05:27,  5.20s/it]
 21%|██        | 563/2700 [15:25<2:13:29,  3.75s/it]
 21%|██        | 564/2700 [15:25<1:36:59,  2.72s/it]
 21%|██        | 565/2700 [15:26<1:11:23,  2.01s/it]
 21%|██        | 566/2700 [15:26<53:25,  1.50s/it]  
 21%|██        | 567/2700 [15:26<40:51,  1.15s/it]
 21%|██        | 568/2700 [15:27<32:00,  1.11it/s]
 21%|██        | 569/2700 [15:38<2:29:40,  4.21s/it]
 21%|██        | 570/2700 [15:39<1:48:24,  3.05s/it]
 21%|██        | 571/2700 [15:39<1:19:22,  2.24s/it]
 21%|██        | 572/2700 [15:39<59:11,  1.67s/it]  
 21%|██        | 573/2700 [15:40<44:56,  1.27s/it]
 21%|██▏       | 574/2700 [15:40<35:05,  1.01it/s]
 21%|██▏       | 575/2700 [15:40<28:15,  1.25it/s]
 21%|██▏       | 576/2700 [15:41<23:19,  1.52it/s]
 21%|██▏       | 577/2700 [15:54<2:31:18,  4.28s/it]
 21%|██▏       | 578/2700 [15:54<1:49:30,  3.10s/it]
 21%|██▏       | 579/2700 [15:54<1:20:15,  2.27s/it]
 21%|██▏       | 580/2700 [15:55<59:51,  1.69s/it]  
 22%|██▏       | 581/2700 [15:55<45:40,  1.29s/it]
 22%|██▏       | 582/2700 [15:55<35:43,  1.01s/it]
 22%|██▏       | 583/2700 [15:56<28:44,  1.23it/s]
 22%|██▏       | 584/2700 [15:56<23:49,  1.48it/s]
 22%|██▏       | 585/2700 [16:07<2:16:26,  3.87s/it]
 22%|██▏       | 586/2700 [16:08<1:39:19,  2.82s/it]
 22%|██▏       | 587/2700 [16:08<1:13:12,  2.08s/it]
 22%|██▏       | 588/2700 [16:08<54:55,  1.56s/it]  
 22%|██▏       | 589/2700 [16:09<42:11,  1.20s/it]
 22%|██▏       | 590/2700 [16:09<32:58,  1.07it/s]
 22%|██▏       | 591/2700 [16:09<26:41,  1.32it/s]
 22%|██▏       | 592/2700 [16:10<22:11,  1.58it/s]
 22%|██▏       | 593/2700 [16:21<2:18:47,  3.95s/it]
 22%|██▏       | 594/2700 [16:22<1:40:37,  2.87s/it]
 22%|██▏       | 595/2700 [16:22<1:13:49,  2.10s/it]
 22%|██▏       | 596/2700 [16:22<55:07,  1.57s/it]  
 22%|██▏       | 597/2700 [16:23<42:05,  1.20s/it]
 22%|██▏       | 598/2700 [16:23<32:52,  1.07it/s]
 22%|██▏       | 599/2700 [16:23<26:33,  1.32it/s]
 22%|██▏       | 600/2700 [16:24<22:05,  1.58it/s]
 22%|██▏       | 601/2700 [16:36<2:19:04,  3.98s/it]
 22%|██▏       | 602/2700 [16:36<1:41:06,  2.89s/it]
 22%|██▏       | 603/2700 [16:36<1:14:36,  2.13s/it]
 22%|██▏       | 604/2700 [16:37<55:55,  1.60s/it]  
 22%|██▏       | 605/2700 [16:37<42:59,  1.23s/it]
 22%|██▏       | 606/2700 [16:37<33:50,  1.03it/s]
 22%|██▏       | 607/2700 [16:38<27:21,  1.27it/s]
 23%|██▎       | 608/2700 [16:38<22:49,  1.53it/s]
 23%|██▎       | 609/2700 [17:08<5:24:01,  9.30s/it]
 23%|██▎       | 610/2700 [17:08<3:50:24,  6.61s/it]
 23%|██▎       | 611/2700 [17:08<2:44:46,  4.73s/it]
 23%|██▎       | 612/2700 [17:09<1:58:56,  3.42s/it]
 23%|██▎       | 613/2700 [17:09<1:26:59,  2.50s/it]
 23%|██▎       | 614/2700 [17:09<1:04:26,  1.85s/it]
 23%|██▎       | 615/2700 [17:10<48:38,  1.40s/it]  
 23%|██▎       | 616/2700 [17:10<37:39,  1.08s/it]
 23%|██▎       | 617/2700 [17:22<2:34:39,  4.45s/it]
 23%|██▎       | 618/2700 [17:23<1:52:20,  3.24s/it]
 23%|██▎       | 619/2700 [17:23<1:22:02,  2.37s/it]
 23%|██▎       | 620/2700 [17:23<1:00:46,  1.75s/it]
 23%|██▎       | 621/2700 [17:24<45:59,  1.33s/it]  
 23%|██▎       | 622/2700 [17:24<35:39,  1.03s/it]
 23%|██▎       | 623/2700 [17:24<28:19,  1.22it/s]
 23%|██▎       | 624/2700 [17:25<23:22,  1.48it/s]
 23%|██▎       | 625/2700 [17:34<1:55:09,  3.33s/it]
 23%|██▎       | 626/2700 [17:35<1:24:08,  2.43s/it]
 23%|██▎       | 627/2700 [17:35<1:02:16,  1.80s/it]
 23%|██▎       | 628/2700 [17:35<46:55,  1.36s/it]  
 23%|██▎       | 629/2700 [17:36<36:11,  1.05s/it]
 23%|██▎       | 630/2700 [17:36<28:58,  1.19it/s]
 23%|██▎       | 631/2700 [17:36<23:43,  1.45it/s]
 23%|██▎       | 632/2700 [17:37<19:54,  1.73it/s]
 23%|██▎       | 633/2700 [17:46<1:47:02,  3.11s/it]
 23%|██▎       | 634/2700 [17:46<1:18:20,  2.28s/it]
 24%|██▎       | 635/2700 [17:46<58:13,  1.69s/it]  
 24%|██▎       | 636/2700 [17:47<44:10,  1.28s/it]
 24%|██▎       | 637/2700 [17:47<34:22,  1.00it/s]
 24%|██▎       | 638/2700 [17:47<27:27,  1.25it/s]
 24%|██▎       | 639/2700 [17:48<22:33,  1.52it/s]
 24%|██▎       | 640/2700 [17:48<19:07,  1.80it/s]
 24%|██▎       | 641/2700 [17:56<1:41:30,  2.96s/it]
 24%|██▍       | 642/2700 [17:57<1:14:24,  2.17s/it]
 24%|██▍       | 643/2700 [17:57<55:27,  1.62s/it]  
 24%|██▍       | 644/2700 [17:57<42:11,  1.23s/it]
 24%|██▍       | 645/2700 [17:58<32:49,  1.04it/s]
 24%|██▍       | 646/2700 [17:58<26:22,  1.30it/s]
 24%|██▍       | 647/2700 [17:58<21:46,  1.57it/s]
 24%|██▍       | 648/2700 [17:59<18:40,  1.83it/s]
 24%|██▍       | 649/2700 [18:09<1:55:23,  3.38s/it]
 24%|██▍       | 650/2700 [18:09<1:24:06,  2.46s/it]
 24%|██▍       | 651/2700 [18:09<1:02:13,  1.82s/it]
 24%|██▍       | 652/2700 [18:10<46:54,  1.37s/it]  
 24%|██▍       | 653/2700 [18:10<36:12,  1.06s/it]
 24%|██▍       | 654/2700 [18:10<28:37,  1.19it/s]
 24%|██▍       | 655/2700 [18:11<23:21,  1.46it/s]
 24%|██▍       | 656/2700 [18:11<19:44,  1.73it/s]
 24%|██▍       | 657/2700 [18:20<1:48:22,  3.18s/it]
 24%|██▍       | 658/2700 [18:21<1:19:25,  2.33s/it]
 24%|██▍       | 659/2700 [18:21<59:16,  1.74s/it]  
 24%|██▍       | 660/2700 [18:21<45:06,  1.33s/it]
 24%|██▍       | 661/2700 [18:22<35:13,  1.04s/it]
 25%|██▍       | 662/2700 [18:22<28:12,  1.20it/s]
 25%|██▍       | 663/2700 [18:22<23:28,  1.45it/s]
 25%|██▍       | 664/2700 [18:23<20:00,  1.70it/s]
 25%|██▍       | 665/2700 [18:32<1:51:46,  3.30s/it]
 25%|██▍       | 666/2700 [18:33<1:21:53,  2.42s/it]
 25%|██▍       | 667/2700 [18:33<1:00:59,  1.80s/it]
 25%|██▍       | 668/2700 [18:33<46:23,  1.37s/it]  
 25%|██▍       | 669/2700 [18:34<36:05,  1.07s/it]
 25%|██▍       | 670/2700 [18:34<28:56,  1.17it/s]
 25%|██▍       | 671/2700 [18:35<23:53,  1.42it/s]
 25%|██▍       | 672/2700 [18:35<20:24,  1.66it/s]
 25%|██▍       | 673/2700 [18:43<1:40:19,  2.97s/it]
 25%|██▍       | 674/2700 [18:44<1:13:51,  2.19s/it]
 25%|██▌       | 675/2700 [18:44<55:25,  1.64s/it]  
 25%|██▌       | 676/2700 [18:44<42:26,  1.26s/it]
 25%|██▌       | 677/2700 [18:45<33:23,  1.01it/s]
 25%|██▌       | 678/2700 [18:45<26:54,  1.25it/s]
 25%|██▌       | 679/2700 [18:46<22:27,  1.50it/s]
 25%|██▌       | 680/2700 [18:46<19:15,  1.75it/s]
 25%|██▌       | 681/2700 [18:56<1:53:27,  3.37s/it]
 25%|██▌       | 682/2700 [18:56<1:22:50,  2.46s/it]
 25%|██▌       | 683/2700 [18:57<1:01:35,  1.83s/it]
 25%|██▌       | 684/2700 [18:57<46:34,  1.39s/it]  
 25%|██▌       | 685/2700 [18:57<36:11,  1.08s/it]
 25%|██▌       | 686/2700 [18:58<29:01,  1.16it/s]
 25%|██▌       | 687/2700 [18:58<23:55,  1.40it/s]
 25%|██▌       | 688/2700 [18:58<20:14,  1.66it/s]
 26%|██▌       | 689/2700 [19:10<2:11:08,  3.91s/it]
 26%|██▌       | 690/2700 [19:10<1:35:30,  2.85s/it]
 26%|██▌       | 691/2700 [19:11<1:10:23,  2.10s/it]
 26%|██▌       | 692/2700 [19:11<52:48,  1.58s/it]  
 26%|██▌       | 693/2700 [19:11<40:32,  1.21s/it]
 26%|██▌       | 694/2700 [19:12<31:55,  1.05it/s]
 26%|██▌       | 695/2700 [19:12<25:47,  1.30it/s]
 26%|██▌       | 696/2700 [19:12<21:32,  1.55it/s]
 26%|██▌       | 697/2700 [19:29<2:57:47,  5.33s/it]
 26%|██▌       | 698/2700 [19:29<2:07:53,  3.83s/it]
 26%|██▌       | 699/2700 [19:29<1:33:05,  2.79s/it]
 26%|██▌       | 700/2700 [19:30<1:08:45,  2.06s/it]
 26%|██▌       | 701/2700 [19:30<51:38,  1.55s/it]  
 26%|██▌       | 702/2700 [19:30<39:40,  1.19s/it]
 26%|██▌       | 703/2700 [19:31<31:14,  1.07it/s]
 26%|██▌       | 704/2700 [19:31<25:24,  1.31it/s]
 26%|██▌       | 705/2700 [19:54<4:03:44,  7.33s/it]
 26%|██▌       | 706/2700 [19:54<2:53:58,  5.23s/it]
 26%|██▌       | 707/2700 [19:54<2:05:06,  3.77s/it]
 26%|██▌       | 708/2700 [19:55<1:30:51,  2.74s/it]
 26%|██▋       | 709/2700 [19:55<1:06:56,  2.02s/it]
 26%|██▋       | 710/2700 [19:56<50:15,  1.52s/it]  
 26%|██▋       | 711/2700 [19:56<38:34,  1.16s/it]
 26%|██▋       | 712/2700 [19:56<30:28,  1.09it/s]
 26%|██▋       | 713/2700 [20:13<3:04:54,  5.58s/it]
 26%|██▋       | 714/2700 [20:13<2:12:39,  4.01s/it]
 26%|██▋       | 715/2700 [20:13<1:36:12,  2.91s/it]
 27%|██▋       | 716/2700 [20:14<1:10:36,  2.14s/it]
 27%|██▋       | 717/2700 [20:14<52:39,  1.59s/it]  
 27%|██▋       | 718/2700 [20:14<40:09,  1.22s/it]
 27%|██▋       | 719/2700 [20:15<31:21,  1.05it/s]
 27%|██▋       | 720/2700 [20:15<25:11,  1.31it/s]
 27%|██▋       | 721/2700 [20:27<2:19:02,  4.22s/it]
 27%|██▋       | 722/2700 [20:28<1:40:37,  3.05s/it]
 27%|██▋       | 723/2700 [20:28<1:13:46,  2.24s/it]
 27%|██▋       | 724/2700 [20:28<54:44,  1.66s/it]  
 27%|██▋       | 725/2700 [20:29<41:25,  1.26s/it]
 27%|██▋       | 726/2700 [20:29<32:17,  1.02it/s]
 27%|██▋       | 727/2700 [20:29<25:49,  1.27it/s]
 27%|██▋       | 728/2700 [20:30<21:21,  1.54it/s]
 27%|██▋       | 729/2700 [20:52<3:58:31,  7.26s/it]
 27%|██▋       | 730/2700 [20:53<2:50:05,  5.18s/it]
 27%|██▋       | 731/2700 [20:53<2:02:13,  3.72s/it]
 27%|██▋       | 732/2700 [20:53<1:28:36,  2.70s/it]
 27%|██▋       | 733/2700 [20:54<1:05:06,  1.99s/it]
 27%|██▋       | 734/2700 [20:54<48:43,  1.49s/it]  
 27%|██▋       | 735/2700 [20:54<37:13,  1.14s/it]
 27%|██▋       | 736/2700 [20:55<29:14,  1.12it/s]
 27%|██▋       | 737/2700 [21:05<2:03:37,  3.78s/it]
 27%|██▋       | 738/2700 [21:05<1:29:47,  2.75s/it]
 27%|██▋       | 739/2700 [21:06<1:06:03,  2.02s/it]
 27%|██▋       | 740/2700 [21:06<49:25,  1.51s/it]  
 27%|██▋       | 741/2700 [21:06<37:50,  1.16s/it]
 27%|██▋       | 742/2700 [21:07<29:47,  1.10it/s]
 28%|██▊       | 743/2700 [21:07<24:08,  1.35it/s]
 28%|██▊       | 744/2700 [21:07<20:15,  1.61it/s]
 28%|██▊       | 745/2700 [21:30<3:52:35,  7.14s/it]
 28%|██▊       | 746/2700 [21:30<2:46:10,  5.10s/it]
 28%|██▊       | 747/2700 [21:30<1:59:45,  3.68s/it]
 28%|██▊       | 748/2700 [21:31<1:27:18,  2.68s/it]
 28%|██▊       | 749/2700 [21:31<1:04:33,  1.99s/it]
 28%|██▊       | 750/2700 [21:32<48:39,  1.50s/it]  
 28%|██▊       | 751/2700 [21:32<37:28,  1.15s/it]
 28%|██▊       | 752/2700 [21:32<29:43,  1.09it/s]
 28%|██▊       | 753/2700 [21:41<1:44:12,  3.21s/it]
 28%|██▊       | 754/2700 [21:41<1:16:21,  2.35s/it]
 28%|██▊       | 755/2700 [21:41<56:48,  1.75s/it]  
 28%|██▊       | 756/2700 [21:42<43:06,  1.33s/it]
 28%|██▊       | 757/2700 [21:42<33:31,  1.03s/it]
 28%|██▊       | 758/2700 [21:43<26:41,  1.21it/s]
 28%|██▊       | 759/2700 [21:43<21:50,  1.48it/s]
 28%|██▊       | 760/2700 [21:43<18:26,  1.75it/s]
 28%|██▊       | 761/2700 [21:55<2:10:52,  4.05s/it]
 28%|██▊       | 762/2700 [21:56<1:34:47,  2.93s/it]
 28%|██▊       | 763/2700 [21:56<1:09:31,  2.15s/it]
 28%|██▊       | 764/2700 [21:56<51:43,  1.60s/it]  
 28%|██▊       | 765/2700 [21:57<39:28,  1.22s/it]
 28%|██▊       | 766/2700 [21:57<30:55,  1.04it/s]
 28%|██▊       | 767/2700 [21:57<25:18,  1.27it/s]
 28%|██▊       | 768/2700 [21:58<21:02,  1.53it/s]
 28%|██▊       | 769/2700 [22:22<4:05:39,  7.63s/it]
 29%|██▊       | 770/2700 [22:22<2:55:15,  5.45s/it]
 29%|██▊       | 771/2700 [22:22<2:05:57,  3.92s/it]
 29%|██▊       | 772/2700 [22:23<1:31:29,  2.85s/it]
 29%|██▊       | 773/2700 [22:23<1:07:19,  2.10s/it]
 29%|██▊       | 774/2700 [22:23<50:31,  1.57s/it]  
 29%|██▊       | 775/2700 [22:24<38:39,  1.21s/it]
 29%|██▊       | 776/2700 [22:24<30:20,  1.06it/s]
 29%|██▉       | 777/2700 [22:33<1:47:36,  3.36s/it]
 29%|██▉       | 778/2700 [22:33<1:18:42,  2.46s/it]
 29%|██▉       | 779/2700 [22:34<58:28,  1.83s/it]  
 29%|██▉       | 780/2700 [22:34<44:14,  1.38s/it]
 29%|██▉       | 781/2700 [22:34<34:24,  1.08s/it]
 29%|██▉       | 782/2700 [22:35<27:32,  1.16it/s]
 29%|██▉       | 783/2700 [22:35<22:47,  1.40it/s]
 29%|██▉       | 784/2700 [22:36<19:19,  1.65it/s]
 29%|██▉       | 785/2700 [22:46<1:49:08,  3.42s/it]
 29%|██▉       | 786/2700 [22:46<1:19:48,  2.50s/it]
 29%|██▉       | 787/2700 [22:46<59:16,  1.86s/it]  
 29%|██▉       | 788/2700 [22:47<44:51,  1.41s/it]
 29%|██▉       | 789/2700 [22:47<34:46,  1.09s/it]
 29%|██▉       | 790/2700 [22:47<27:36,  1.15it/s]
 29%|██▉       | 791/2700 [22:48<22:34,  1.41it/s]
 29%|██▉       | 792/2700 [22:48<19:04,  1.67it/s]
 29%|██▉       | 793/2700 [22:59<1:59:21,  3.76s/it]
 29%|██▉       | 794/2700 [22:59<1:26:53,  2.74s/it]
 29%|██▉       | 795/2700 [23:00<1:04:13,  2.02s/it]
 29%|██▉       | 796/2700 [23:00<48:20,  1.52s/it]  
 30%|██▉       | 797/2700 [23:01<37:18,  1.18s/it]
 30%|██▉       | 798/2700 [23:01<29:35,  1.07it/s]
 30%|██▉       | 799/2700 [23:01<24:20,  1.30it/s]
 30%|██▉       | 800/2700 [23:02<20:22,  1.55it/s]
 30%|██▉       | 801/2700 [23:12<1:47:48,  3.41s/it]
 30%|██▉       | 802/2700 [23:12<1:18:50,  2.49s/it]
 30%|██▉       | 803/2700 [23:12<58:33,  1.85s/it]  
 30%|██▉       | 804/2700 [23:13<44:21,  1.40s/it]
 30%|██▉       | 805/2700 [23:13<34:26,  1.09s/it]
 30%|██▉       | 806/2700 [23:13<27:35,  1.14it/s]
 30%|██▉       | 807/2700 [23:14<22:49,  1.38it/s]
 30%|██▉       | 808/2700 [23:14<19:27,  1.62it/s]
 30%|██▉       | 809/2700 [23:28<2:21:55,  4.50s/it]
 30%|███       | 810/2700 [23:28<1:42:50,  3.26s/it]
 30%|███       | 811/2700 [23:28<1:15:26,  2.40s/it]
 30%|███       | 812/2700 [23:29<56:21,  1.79s/it]  
 30%|███       | 813/2700 [23:29<42:48,  1.36s/it]
 30%|███       | 814/2700 [23:29<33:10,  1.06s/it]
 30%|███       | 815/2700 [23:30<26:28,  1.19it/s]
 30%|███       | 816/2700 [23:30<21:48,  1.44it/s]
 30%|███       | 817/2700 [23:42<2:03:51,  3.95s/it]
 30%|███       | 818/2700 [23:42<1:30:00,  2.87s/it]
 30%|███       | 819/2700 [23:42<1:06:15,  2.11s/it]
 30%|███       | 820/2700 [23:43<49:56,  1.59s/it]  
 30%|███       | 821/2700 [23:43<38:15,  1.22s/it]
 30%|███       | 822/2700 [23:43<30:09,  1.04it/s]
 30%|███       | 823/2700 [23:44<24:33,  1.27it/s]
 31%|███       | 824/2700 [23:44<20:35,  1.52it/s]
 31%|███       | 825/2700 [23:57<2:11:21,  4.20s/it]
 31%|███       | 826/2700 [23:57<1:35:20,  3.05s/it]
 31%|███       | 827/2700 [23:57<1:10:05,  2.25s/it]
 31%|███       | 828/2700 [23:58<52:31,  1.68s/it]  
 31%|███       | 829/2700 [23:58<40:15,  1.29s/it]
 31%|███       | 830/2700 [23:59<31:29,  1.01s/it]
 31%|███       | 830/2700 [23:59<54:03,  1.73s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json.
+PlasticBottlesInSquarePailTask_1 complete: task_name: PlasticBottlesInSquarePailTask, run_name: PlasticBottlesInSquarePailTask_1, run: 1, env_id: 0, policy: harness, instruction: Put all the small plastic bottles in the square pail, attributes: ['semantics', 'sorting', 'size', 'complex'], success: True, episode_step: 831, duration: 55.4, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.906816550062226, 'joint_sparc_mean': -14.924062058454126, 'ee_isj': 7195.918366818788, 'joint_isj': 606717.9169281212, 'ee_path_length': 7.962488573468215, 'joint_rmse_mean': 1.4633086736686582, 'ee_speed_max': 0.901253879070282, 'ee_speed_mean': 0.13549552857875824}, events: {'GRIPPER_FULLY_CLOSED': 10, 'GRIPPER_HIT_TABLE': 4, 'TARGET_OBJECT_DROPPED': 11, 'GRIPPER_HIT_OBJECT': 1}, instruction_type: default, timing: {'policy_inference_s': 1167.22, 'policy_inference_avg_ms': 1404.6, 'env_step_s': 264.107, 'env_step_avg_ms': 317.8, 'video_write_s': 7.594, 'video_write_avg_ms': 9.1, 'wall_total_s': 1438.921, 'it_per_sec': 0.58}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 49407f7987064b9980f04e6eaa7632c0-1
+[RoboLab] Running PlasticBottlesInSquarePailTask_2: 'Put all the small plastic bottles in the square pail' (run 2, 1 envs)
+
  0%|          | 0/2700 [00:00<?, ?it/s]
  0%|          | 1/2700 [00:45<33:45:48, 45.03s/it]
  0%|          | 2/2700 [00:45<14:02:26, 18.73s/it]
  0%|          | 3/2700 [00:45<7:44:06, 10.32s/it] 
  0%|          | 4/2700 [00:45<4:46:29,  6.38s/it]
  0%|          | 5/2700 [00:46<3:08:30,  4.20s/it]
  0%|          | 6/2700 [00:46<2:09:31,  2.88s/it]
  0%|          | 7/2700 [00:47<1:32:10,  2.05s/it]
  0%|          | 8/2700 [00:47<1:07:32,  1.51s/it]
  0%|          | 9/2700 [01:08<5:43:48,  7.67s/it]
  0%|          | 10/2700 [01:08<4:02:05,  5.40s/it]
  0%|          | 11/2700 [01:09<2:52:18,  3.84s/it]
  0%|          | 12/2700 [01:09<2:04:13,  2.77s/it]
  0%|          | 13/2700 [01:09<1:30:46,  2.03s/it]
  1%|          | 14/2700 [01:10<1:07:27,  1.51s/it]
  1%|          | 15/2700 [01:10<51:16,  1.15s/it]  
  1%|          | 16/2700 [01:10<39:59,  1.12it/s]
  1%|          | 17/2700 [01:21<2:54:06,  3.89s/it]
  1%|          | 18/2700 [01:21<2:06:30,  2.83s/it]
  1%|          | 19/2700 [01:22<1:33:17,  2.09s/it]
  1%|          | 20/2700 [01:22<1:10:01,  1.57s/it]
  1%|          | 21/2700 [01:23<53:40,  1.20s/it]  
  1%|          | 22/2700 [01:23<42:20,  1.05it/s]
  1%|          | 23/2700 [01:23<34:19,  1.30it/s]
  1%|          | 24/2700 [01:24<28:35,  1.56it/s]
  1%|          | 25/2700 [01:32<2:13:42,  3.00s/it]
  1%|          | 26/2700 [01:32<1:38:26,  2.21s/it]
  1%|          | 27/2700 [01:33<1:13:35,  1.65s/it]
  1%|          | 28/2700 [01:33<56:17,  1.26s/it]  
  1%|          | 29/2700 [01:34<44:01,  1.01it/s]
  1%|          | 30/2700 [01:34<35:25,  1.26it/s]
  1%|          | 31/2700 [01:34<29:24,  1.51it/s]
  1%|          | 32/2700 [01:35<25:12,  1.76it/s]
  1%|          | 33/2700 [01:43<2:05:57,  2.83s/it]
  1%|▏         | 34/2700 [01:43<1:33:02,  2.09s/it]
  1%|▏         | 35/2700 [01:43<1:09:47,  1.57s/it]
  1%|▏         | 36/2700 [01:44<53:33,  1.21s/it]  
  1%|▏         | 37/2700 [01:44<42:20,  1.05it/s]
  1%|▏         | 38/2700 [01:44<34:26,  1.29it/s]
  1%|▏         | 39/2700 [01:45<28:46,  1.54it/s]
  1%|▏         | 40/2700 [01:45<25:01,  1.77it/s]
  2%|▏         | 41/2700 [01:54<2:20:32,  3.17s/it]
  2%|▏         | 42/2700 [01:55<1:42:56,  2.32s/it]
  2%|▏         | 43/2700 [01:55<1:16:35,  1.73s/it]
  2%|▏         | 44/2700 [01:55<58:09,  1.31s/it]  
  2%|▏         | 45/2700 [01:56<45:18,  1.02s/it]
  2%|▏         | 46/2700 [01:56<36:17,  1.22it/s]
  2%|▏         | 47/2700 [01:57<29:53,  1.48it/s]
  2%|▏         | 48/2700 [01:57<25:16,  1.75it/s]
  2%|▏         | 49/2700 [02:20<5:21:30,  7.28s/it]
  2%|▏         | 50/2700 [02:20<3:49:13,  5.19s/it]
  2%|▏         | 51/2700 [02:20<2:44:52,  3.73s/it]
  2%|▏         | 52/2700 [02:21<1:59:47,  2.71s/it]
  2%|▏         | 53/2700 [02:21<1:28:04,  2.00s/it]
  2%|▏         | 54/2700 [02:21<1:05:55,  1.50s/it]
  2%|▏         | 55/2700 [02:22<50:28,  1.15s/it]  
  2%|▏         | 56/2700 [02:22<39:50,  1.11it/s]
  2%|▏         | 57/2700 [02:35<3:20:42,  4.56s/it]
  2%|▏         | 58/2700 [02:35<2:24:36,  3.28s/it]
  2%|▏         | 59/2700 [02:36<1:45:29,  2.40s/it]
  2%|▏         | 60/2700 [02:36<1:17:58,  1.77s/it]
  2%|▏         | 61/2700 [02:36<58:49,  1.34s/it]  
  2%|▏         | 62/2700 [02:37<45:20,  1.03s/it]
  2%|▏         | 63/2700 [02:37<35:58,  1.22it/s]
  2%|▏         | 64/2700 [02:37<29:22,  1.50it/s]
  2%|▏         | 65/2700 [02:52<3:29:26,  4.77s/it]
  2%|▏         | 66/2700 [02:52<2:30:48,  3.44s/it]
  2%|▏         | 67/2700 [02:52<1:49:46,  2.50s/it]
  3%|▎         | 68/2700 [02:53<1:20:51,  1.84s/it]
  3%|▎         | 69/2700 [02:53<1:00:49,  1.39s/it]
  3%|▎         | 70/2700 [02:53<46:54,  1.07s/it]  
  3%|▎         | 71/2700 [02:54<36:55,  1.19it/s]
  3%|▎         | 72/2700 [02:54<29:56,  1.46it/s]
  3%|▎         | 73/2700 [03:32<8:45:59, 12.01s/it]
  3%|▎         | 74/2700 [03:33<6:12:12,  8.50s/it]
  3%|▎         | 75/2700 [03:33<4:24:53,  6.05s/it]
  3%|▎         | 76/2700 [03:33<3:10:08,  4.35s/it]
  3%|▎         | 77/2700 [03:34<2:17:20,  3.14s/it]
  3%|▎         | 78/2700 [03:34<1:40:17,  2.30s/it]
  3%|▎         | 79/2700 [03:34<1:14:21,  1.70s/it]
  3%|▎         | 80/2700 [03:35<56:37,  1.30s/it]  
  3%|▎         | 81/2700 [03:45<2:54:10,  3.99s/it]
  3%|▎         | 82/2700 [03:45<2:06:16,  2.89s/it]
  3%|▎         | 83/2700 [03:46<1:32:44,  2.13s/it]
  3%|▎         | 84/2700 [03:46<1:09:21,  1.59s/it]
  3%|▎         | 85/2700 [03:46<52:54,  1.21s/it]  
  3%|▎         | 86/2700 [03:47<41:01,  1.06it/s]
  3%|▎         | 87/2700 [03:47<32:42,  1.33it/s]
  3%|▎         | 88/2700 [03:47<27:09,  1.60it/s]
  3%|▎         | 89/2700 [03:54<1:39:46,  2.29s/it]
  3%|▎         | 90/2700 [03:54<1:13:55,  1.70s/it]
  3%|▎         | 91/2700 [03:54<56:05,  1.29s/it]  
  3%|▎         | 92/2700 [03:54<43:25,  1.00it/s]
  3%|▎         | 93/2700 [03:55<34:36,  1.26it/s]
  3%|▎         | 94/2700 [03:55<28:26,  1.53it/s]
  4%|▎         | 95/2700 [03:55<24:06,  1.80it/s]
  4%|▎         | 96/2700 [03:56<20:50,  2.08it/s]
  4%|▎         | 97/2700 [04:12<3:51:35,  5.34s/it]
  4%|▎         | 98/2700 [04:13<2:46:05,  3.83s/it]
  4%|▎         | 99/2700 [04:13<2:00:22,  2.78s/it]
  4%|▎         | 100/2700 [04:13<1:28:18,  2.04s/it]
  4%|▎         | 101/2700 [04:14<1:05:55,  1.52s/it]
  4%|▍         | 102/2700 [04:14<50:11,  1.16s/it]  
  4%|▍         | 103/2700 [04:14<39:23,  1.10it/s]
  4%|▍         | 104/2700 [04:15<32:17,  1.34it/s]
  4%|▍         | 105/2700 [04:53<8:43:06, 12.09s/it]
  4%|▍         | 106/2700 [04:54<6:10:29,  8.57s/it]
  4%|▍         | 107/2700 [04:54<4:23:41,  6.10s/it]
  4%|▍         | 108/2700 [04:54<3:08:52,  4.37s/it]
  4%|▍         | 109/2700 [04:55<2:16:38,  3.16s/it]
  4%|▍         | 110/2700 [04:55<1:39:59,  2.32s/it]
  4%|▍         | 111/2700 [04:55<1:14:24,  1.72s/it]
  4%|▍         | 112/2700 [04:56<56:30,  1.31s/it]  
  4%|▍         | 113/2700 [05:21<6:01:31,  8.38s/it]
  4%|▍         | 114/2700 [05:21<4:17:26,  5.97s/it]
  4%|▍         | 115/2700 [05:21<3:04:40,  4.29s/it]
  4%|▍         | 116/2700 [05:22<2:13:36,  3.10s/it]
  4%|▍         | 117/2700 [05:22<1:37:57,  2.28s/it]
  4%|▍         | 118/2700 [05:22<1:12:55,  1.69s/it]
  4%|▍         | 119/2700 [05:23<55:17,  1.29s/it]  
  4%|▍         | 120/2700 [05:23<43:03,  1.00s/it]
  4%|▍         | 121/2700 [05:57<7:50:41, 10.95s/it]
  5%|▍         | 122/2700 [05:57<5:33:29,  7.76s/it]
  5%|▍         | 123/2700 [05:58<3:57:19,  5.53s/it]
  5%|▍         | 124/2700 [05:58<2:50:23,  3.97s/it]
  5%|▍         | 125/2700 [05:58<2:03:23,  2.88s/it]
  5%|▍         | 126/2700 [05:59<1:30:25,  2.11s/it]
  5%|▍         | 127/2700 [05:59<1:07:20,  1.57s/it]
  5%|▍         | 128/2700 [05:59<51:11,  1.19s/it]  
  5%|▍         | 129/2700 [06:14<3:45:43,  5.27s/it]
  5%|▍         | 130/2700 [06:14<2:42:14,  3.79s/it]
  5%|▍         | 131/2700 [06:15<1:57:30,  2.74s/it]
  5%|▍         | 132/2700 [06:15<1:26:11,  2.01s/it]
  5%|▍         | 133/2700 [06:15<1:04:23,  1.50s/it]
  5%|▍         | 134/2700 [06:16<48:57,  1.14s/it]  
  5%|▌         | 135/2700 [06:16<38:12,  1.12it/s]
  5%|▌         | 136/2700 [06:16<30:45,  1.39it/s]
  5%|▌         | 137/2700 [06:28<2:54:06,  4.08s/it]
  5%|▌         | 138/2700 [06:29<2:05:48,  2.95s/it]
  5%|▌         | 139/2700 [06:29<1:32:04,  2.16s/it]
  5%|▌         | 140/2700 [06:29<1:08:22,  1.60s/it]
  5%|▌         | 141/2700 [06:29<51:52,  1.22s/it]  
  5%|▌         | 142/2700 [06:30<40:15,  1.06it/s]
  5%|▌         | 143/2700 [06:30<32:06,  1.33it/s]
  5%|▌         | 144/2700 [06:30<26:26,  1.61it/s]
  5%|▌         | 145/2700 [06:38<1:53:02,  2.65s/it]
  5%|▌         | 146/2700 [06:38<1:23:06,  1.95s/it]
  5%|▌         | 147/2700 [06:38<1:02:25,  1.47s/it]
  5%|▌         | 148/2700 [06:39<47:48,  1.12s/it]  
  6%|▌         | 149/2700 [06:39<37:23,  1.14it/s]
  6%|▌         | 150/2700 [06:39<30:12,  1.41it/s]
  6%|▌         | 151/2700 [06:40<25:06,  1.69it/s]
  6%|▌         | 152/2700 [06:40<21:36,  1.97it/s]
  6%|▌         | 153/2700 [06:48<1:52:10,  2.64s/it]
  6%|▌         | 154/2700 [06:48<1:22:25,  1.94s/it]
  6%|▌         | 155/2700 [06:48<1:01:39,  1.45s/it]
  6%|▌         | 156/2700 [06:49<47:18,  1.12s/it]  
  6%|▌         | 157/2700 [06:49<37:17,  1.14it/s]
  6%|▌         | 158/2700 [06:49<30:16,  1.40it/s]
  6%|▌         | 159/2700 [06:50<25:23,  1.67it/s]
  6%|▌         | 160/2700 [06:50<21:49,  1.94it/s]
  6%|▌         | 161/2700 [07:14<5:21:35,  7.60s/it]
  6%|▌         | 162/2700 [07:14<3:49:15,  5.42s/it]
  6%|▌         | 163/2700 [07:15<2:44:37,  3.89s/it]
  6%|▌         | 164/2700 [07:15<1:59:20,  2.82s/it]
  6%|▌         | 165/2700 [07:15<1:27:23,  2.07s/it]
  6%|▌         | 166/2700 [07:16<1:05:01,  1.54s/it]
  6%|▌         | 167/2700 [07:16<49:30,  1.17s/it]  
  6%|▌         | 168/2700 [07:16<38:37,  1.09it/s]
  6%|▋         | 169/2700 [07:23<1:54:36,  2.72s/it]
  6%|▋         | 170/2700 [07:24<1:24:13,  2.00s/it]
  6%|▋         | 171/2700 [07:24<1:02:55,  1.49s/it]
  6%|▋         | 172/2700 [07:24<48:05,  1.14s/it]  
  6%|▋         | 173/2700 [07:24<37:41,  1.12it/s]
  6%|▋         | 174/2700 [07:25<30:23,  1.39it/s]
  6%|▋         | 175/2700 [07:25<25:11,  1.67it/s]
  7%|▋         | 176/2700 [07:25<21:39,  1.94it/s]
  7%|▋         | 177/2700 [07:41<3:33:46,  5.08s/it]
  7%|▋         | 178/2700 [07:41<2:33:37,  3.65s/it]
  7%|▋         | 179/2700 [07:42<1:51:28,  2.65s/it]
  7%|▋         | 180/2700 [07:42<1:22:00,  1.95s/it]
  7%|▋         | 181/2700 [07:42<1:01:24,  1.46s/it]
  7%|▋         | 182/2700 [07:43<46:56,  1.12s/it]  
  7%|▋         | 183/2700 [07:43<36:46,  1.14it/s]
  7%|▋         | 184/2700 [07:43<30:08,  1.39it/s]
  7%|▋         | 185/2700 [07:50<1:46:35,  2.54s/it]
  7%|▋         | 186/2700 [07:51<1:19:06,  1.89s/it]
  7%|▋         | 187/2700 [07:51<1:00:08,  1.44s/it]
  7%|▋         | 188/2700 [07:51<46:39,  1.11s/it]  
  7%|▋         | 189/2700 [07:52<37:04,  1.13it/s]
  7%|▋         | 190/2700 [07:52<30:17,  1.38it/s]
  7%|▋         | 191/2700 [07:52<25:33,  1.64it/s]
  7%|▋         | 192/2700 [07:53<22:25,  1.86it/s]
  7%|▋         | 193/2700 [08:01<1:58:25,  2.83s/it]
  7%|▋         | 194/2700 [08:01<1:27:34,  2.10s/it]
  7%|▋         | 195/2700 [08:02<1:05:50,  1.58s/it]
  7%|▋         | 196/2700 [08:02<50:50,  1.22s/it]  
  7%|▋         | 197/2700 [08:02<40:16,  1.04it/s]
  7%|▋         | 198/2700 [08:03<32:40,  1.28it/s]
  7%|▋         | 199/2700 [08:03<27:25,  1.52it/s]
  7%|▋         | 200/2700 [08:04<23:39,  1.76it/s]
  7%|▋         | 201/2700 [08:09<1:31:00,  2.19s/it]
  7%|▋         | 202/2700 [08:10<1:08:18,  1.64s/it]
  8%|▊         | 203/2700 [08:10<52:10,  1.25s/it]  
  8%|▊         | 204/2700 [08:11<40:40,  1.02it/s]
  8%|▊         | 205/2700 [08:11<32:08,  1.29it/s]
  8%|▊         | 206/2700 [08:11<26:19,  1.58it/s]
  8%|▊         | 207/2700 [08:11<22:19,  1.86it/s]
  8%|▊         | 208/2700 [08:12<19:30,  2.13it/s]
  8%|▊         | 209/2700 [08:36<5:18:05,  7.66s/it]
  8%|▊         | 210/2700 [08:36<3:46:29,  5.46s/it]
  8%|▊         | 211/2700 [08:37<2:42:36,  3.92s/it]
  8%|▊         | 212/2700 [08:37<1:57:53,  2.84s/it]
  8%|▊         | 213/2700 [08:37<1:26:33,  2.09s/it]
  8%|▊         | 214/2700 [08:38<1:04:30,  1.56s/it]
  8%|▊         | 215/2700 [08:38<49:04,  1.18s/it]  
  8%|▊         | 216/2700 [08:38<38:11,  1.08it/s]
  8%|▊         | 217/2700 [09:23<9:44:23, 14.12s/it]
  8%|▊         | 218/2700 [09:24<6:52:52,  9.98s/it]
  8%|▊         | 219/2700 [09:24<4:52:49,  7.08s/it]
  8%|▊         | 220/2700 [09:24<3:28:47,  5.05s/it]
  8%|▊         | 221/2700 [09:25<2:29:51,  3.63s/it]
  8%|▊         | 222/2700 [09:25<1:48:41,  2.63s/it]
  8%|▊         | 223/2700 [09:25<1:19:56,  1.94s/it]
  8%|▊         | 224/2700 [09:26<59:46,  1.45s/it]  
  8%|▊         | 225/2700 [09:41<3:50:14,  5.58s/it]
  8%|▊         | 226/2700 [09:41<2:44:58,  4.00s/it]
  8%|▊         | 227/2700 [09:41<1:59:18,  2.89s/it]
  8%|▊         | 228/2700 [09:42<1:27:18,  2.12s/it]
  8%|▊         | 229/2700 [09:42<1:04:55,  1.58s/it]
  9%|▊         | 230/2700 [09:42<49:21,  1.20s/it]  
  9%|▊         | 231/2700 [09:43<38:32,  1.07it/s]
  9%|▊         | 232/2700 [09:43<30:52,  1.33it/s]
  9%|▊         | 233/2700 [09:56<2:59:49,  4.37s/it]
  9%|▊         | 234/2700 [09:56<2:09:35,  3.15s/it]
  9%|▊         | 235/2700 [09:56<1:34:28,  2.30s/it]
  9%|▊         | 236/2700 [09:57<1:10:06,  1.71s/it]
  9%|▉         | 237/2700 [09:57<53:19,  1.30s/it]  
  9%|▉         | 238/2700 [09:57<41:27,  1.01s/it]
  9%|▉         | 239/2700 [09:58<33:04,  1.24it/s]
  9%|▉         | 240/2700 [09:58<27:11,  1.51it/s]
  9%|▉         | 241/2700 [10:03<1:24:39,  2.07s/it]
  9%|▉         | 242/2700 [10:04<1:03:18,  1.55s/it]
  9%|▉         | 243/2700 [10:04<48:19,  1.18s/it]  
  9%|▉         | 244/2700 [10:04<37:49,  1.08it/s]
  9%|▉         | 245/2700 [10:05<30:20,  1.35it/s]
  9%|▉         | 246/2700 [10:05<25:13,  1.62it/s]
  9%|▉         | 247/2700 [10:05<21:39,  1.89it/s]
  9%|▉         | 248/2700 [10:06<19:12,  2.13it/s]
  9%|▉         | 249/2700 [10:21<3:17:35,  4.84s/it]
  9%|▉         | 250/2700 [10:21<2:22:22,  3.49s/it]
  9%|▉         | 251/2700 [10:21<1:43:29,  2.54s/it]
  9%|▉         | 252/2700 [10:22<1:16:26,  1.87s/it]
  9%|▉         | 253/2700 [10:22<57:23,  1.41s/it]  
  9%|▉         | 254/2700 [10:22<44:09,  1.08s/it]
  9%|▉         | 255/2700 [10:23<34:52,  1.17it/s]
  9%|▉         | 256/2700 [10:23<28:35,  1.42it/s]
 10%|▉         | 257/2700 [10:31<1:52:36,  2.77s/it]
 10%|▉         | 258/2700 [10:31<1:22:51,  2.04s/it]
 10%|▉         | 259/2700 [10:31<1:02:05,  1.53s/it]
 10%|▉         | 260/2700 [10:32<47:38,  1.17s/it]  
 10%|▉         | 261/2700 [10:32<37:23,  1.09it/s]
 10%|▉         | 262/2700 [10:32<30:10,  1.35it/s]
 10%|▉         | 263/2700 [10:33<25:02,  1.62it/s]
 10%|▉         | 264/2700 [10:33<21:33,  1.88it/s]
 10%|▉         | 265/2700 [10:42<2:04:30,  3.07s/it]
 10%|▉         | 266/2700 [10:42<1:31:08,  2.25s/it]
 10%|▉         | 267/2700 [10:43<1:07:50,  1.67s/it]
 10%|▉         | 268/2700 [10:43<51:43,  1.28s/it]  
 10%|▉         | 269/2700 [10:43<40:28,  1.00it/s]
 10%|█         | 270/2700 [10:44<32:48,  1.23it/s]
 10%|█         | 271/2700 [10:44<27:21,  1.48it/s]
 10%|█         | 272/2700 [10:44<23:33,  1.72it/s]
 10%|█         | 273/2700 [11:00<3:29:15,  5.17s/it]
 10%|█         | 274/2700 [11:01<2:30:46,  3.73s/it]
 10%|█         | 275/2700 [11:01<1:49:57,  2.72s/it]
 10%|█         | 276/2700 [11:01<1:21:19,  2.01s/it]
 10%|█         | 277/2700 [11:02<1:01:11,  1.52s/it]
 10%|█         | 278/2700 [11:02<47:06,  1.17s/it]  
 10%|█         | 279/2700 [11:02<37:14,  1.08it/s]
 10%|█         | 280/2700 [11:03<30:15,  1.33it/s]
 10%|█         | 281/2700 [11:11<2:01:56,  3.02s/it]
 10%|█         | 282/2700 [11:11<1:29:40,  2.23s/it]
 10%|█         | 283/2700 [11:12<1:07:14,  1.67s/it]
 11%|█         | 284/2700 [11:12<52:08,  1.29s/it]  
 11%|█         | 285/2700 [11:13<40:53,  1.02s/it]
 11%|█         | 286/2700 [11:13<32:56,  1.22it/s]
 11%|█         | 287/2700 [11:13<27:45,  1.45it/s]
 11%|█         | 288/2700 [11:14<23:53,  1.68it/s]
 11%|█         | 289/2700 [11:32<3:52:27,  5.78s/it]
 11%|█         | 290/2700 [11:32<2:47:02,  4.16s/it]
 11%|█         | 291/2700 [11:32<2:01:06,  3.02s/it]
 11%|█         | 292/2700 [11:33<1:28:57,  2.22s/it]
 11%|█         | 293/2700 [11:33<1:06:32,  1.66s/it]
 11%|█         | 294/2700 [11:33<50:51,  1.27s/it]  
 11%|█         | 295/2700 [11:34<39:51,  1.01it/s]
 11%|█         | 296/2700 [11:34<32:09,  1.25it/s]
 11%|█         | 297/2700 [12:08<7:12:52, 10.81s/it]
 11%|█         | 298/2700 [12:09<5:07:11,  7.67s/it]
 11%|█         | 299/2700 [12:09<3:39:18,  5.48s/it]
 11%|█         | 300/2700 [12:09<2:37:45,  3.94s/it]
 11%|█         | 301/2700 [12:10<1:54:36,  2.87s/it]
 11%|█         | 302/2700 [12:10<1:24:23,  2.11s/it]
 11%|█         | 303/2700 [12:10<1:03:16,  1.58s/it]
 11%|█▏        | 304/2700 [12:11<48:24,  1.21s/it]  
 11%|█▏        | 305/2700 [12:20<2:23:30,  3.60s/it]
 11%|█▏        | 306/2700 [12:20<1:44:41,  2.62s/it]
 11%|█▏        | 307/2700 [12:21<1:17:31,  1.94s/it]
 11%|█▏        | 308/2700 [12:21<58:34,  1.47s/it]  
 11%|█▏        | 309/2700 [12:21<45:03,  1.13s/it]
 11%|█▏        | 310/2700 [12:22<35:58,  1.11it/s]
 12%|█▏        | 311/2700 [12:22<29:40,  1.34it/s]
 12%|█▏        | 312/2700 [12:22<25:01,  1.59it/s]
 12%|█▏        | 313/2700 [12:31<1:56:13,  2.92s/it]
 12%|█▏        | 314/2700 [12:31<1:25:36,  2.15s/it]
 12%|█▏        | 315/2700 [12:31<1:04:13,  1.62s/it]
 12%|█▏        | 316/2700 [12:32<49:14,  1.24s/it]  
 12%|█▏        | 317/2700 [12:32<38:39,  1.03it/s]
 12%|█▏        | 318/2700 [12:33<31:24,  1.26it/s]
 12%|█▏        | 319/2700 [12:33<26:17,  1.51it/s]
 12%|█▏        | 320/2700 [12:33<22:38,  1.75it/s]
 12%|█▏        | 321/2700 [12:49<3:18:32,  5.01s/it]
 12%|█▏        | 322/2700 [12:49<2:23:28,  3.62s/it]
 12%|█▏        | 323/2700 [12:49<1:44:57,  2.65s/it]
 12%|█▏        | 324/2700 [12:50<1:17:51,  1.97s/it]
 12%|█▏        | 325/2700 [12:50<58:59,  1.49s/it]  
 12%|█▏        | 326/2700 [12:50<45:35,  1.15s/it]
 12%|█▏        | 327/2700 [12:51<36:21,  1.09it/s]
 12%|█▏        | 328/2700 [12:51<29:58,  1.32it/s]
 12%|█▏        | 329/2700 [13:09<3:52:11,  5.88s/it]
 12%|█▏        | 330/2700 [13:09<2:46:49,  4.22s/it]
 12%|█▏        | 331/2700 [13:10<2:00:55,  3.06s/it]
 12%|█▏        | 332/2700 [13:10<1:28:49,  2.25s/it]
 12%|█▏        | 333/2700 [13:10<1:06:25,  1.68s/it]
 12%|█▏        | 334/2700 [13:11<50:40,  1.29s/it]  
 12%|█▏        | 335/2700 [13:11<39:40,  1.01s/it]
 12%|█▏        | 336/2700 [13:12<31:59,  1.23it/s]
 12%|█▏        | 337/2700 [13:22<2:22:40,  3.62s/it]
 13%|█▎        | 338/2700 [13:22<1:43:59,  2.64s/it]
 13%|█▎        | 339/2700 [13:22<1:16:57,  1.96s/it]
 13%|█▎        | 340/2700 [13:23<58:02,  1.48s/it]  
 13%|█▎        | 341/2700 [13:23<44:43,  1.14s/it]
 13%|█▎        | 342/2700 [13:24<35:27,  1.11it/s]
 13%|█▎        | 343/2700 [13:24<28:56,  1.36it/s]
 13%|█▎        | 344/2700 [13:24<24:20,  1.61it/s]
 13%|█▎        | 345/2700 [14:13<9:53:06, 15.11s/it]
 13%|█▎        | 346/2700 [14:13<6:59:12, 10.69s/it]
 13%|█▎        | 347/2700 [14:14<4:57:35,  7.59s/it]
 13%|█▎        | 348/2700 [14:14<3:32:27,  5.42s/it]
 13%|█▎        | 349/2700 [14:15<2:32:48,  3.90s/it]
 13%|█▎        | 350/2700 [14:15<1:51:02,  2.84s/it]
 13%|█▎        | 351/2700 [14:15<1:21:49,  2.09s/it]
 13%|█▎        | 352/2700 [14:16<1:01:19,  1.57s/it]
 13%|█▎        | 353/2700 [14:25<2:36:32,  4.00s/it]
 13%|█▎        | 354/2700 [14:26<1:53:45,  2.91s/it]
 13%|█▎        | 355/2700 [14:26<1:23:41,  2.14s/it]
 13%|█▎        | 356/2700 [14:26<1:02:42,  1.60s/it]
 13%|█▎        | 357/2700 [14:27<47:59,  1.23s/it]  
 13%|█▎        | 358/2700 [14:27<37:43,  1.03it/s]
 13%|█▎        | 359/2700 [14:27<30:33,  1.28it/s]
 13%|█▎        | 360/2700 [14:28<25:26,  1.53it/s]
 13%|█▎        | 361/2700 [14:39<2:24:30,  3.71s/it]
 13%|█▎        | 362/2700 [14:39<1:45:20,  2.70s/it]
 13%|█▎        | 363/2700 [14:39<1:18:00,  2.00s/it]
 13%|█▎        | 364/2700 [14:40<58:45,  1.51s/it]  
 14%|█▎        | 365/2700 [14:40<45:21,  1.17s/it]
 14%|█▎        | 366/2700 [14:40<35:52,  1.08it/s]
 14%|█▎        | 367/2700 [14:41<29:16,  1.33it/s]
 14%|█▎        | 368/2700 [14:41<24:39,  1.58it/s]
 14%|█▎        | 369/2700 [15:01<4:13:57,  6.54s/it]
 14%|█▎        | 370/2700 [15:02<3:01:52,  4.68s/it]
 14%|█▎        | 371/2700 [15:02<2:11:38,  3.39s/it]
 14%|█▍        | 372/2700 [15:03<1:36:30,  2.49s/it]
 14%|█▍        | 373/2700 [15:03<1:11:46,  1.85s/it]
 14%|█▍        | 374/2700 [15:03<54:26,  1.40s/it]  
 14%|█▍        | 375/2700 [15:04<42:21,  1.09s/it]
 14%|█▍        | 376/2700 [15:04<33:49,  1.14it/s]
 14%|█▍        | 377/2700 [15:14<2:22:22,  3.68s/it]
 14%|█▍        | 378/2700 [15:15<1:43:41,  2.68s/it]
 14%|█▍        | 379/2700 [15:15<1:16:29,  1.98s/it]
 14%|█▍        | 380/2700 [15:15<57:38,  1.49s/it]  
 14%|█▍        | 381/2700 [15:16<44:19,  1.15s/it]
 14%|█▍        | 382/2700 [15:16<35:07,  1.10it/s]
 14%|█▍        | 383/2700 [15:16<28:39,  1.35it/s]
 14%|█▍        | 384/2700 [15:17<24:04,  1.60it/s]
 14%|█▍        | 385/2700 [15:27<2:20:59,  3.65s/it]
 14%|█▍        | 386/2700 [15:28<1:42:52,  2.67s/it]
 14%|█▍        | 387/2700 [15:28<1:16:07,  1.97s/it]
 14%|█▍        | 388/2700 [15:28<57:24,  1.49s/it]  
 14%|█▍        | 389/2700 [15:29<44:17,  1.15s/it]
 14%|█▍        | 390/2700 [15:29<35:05,  1.10it/s]
 14%|█▍        | 391/2700 [15:30<28:45,  1.34it/s]
 15%|█▍        | 392/2700 [15:30<24:19,  1.58it/s]
 15%|█▍        | 393/2700 [15:37<1:40:18,  2.61s/it]
 15%|█▍        | 394/2700 [15:37<1:14:16,  1.93s/it]
 15%|█▍        | 395/2700 [15:38<56:10,  1.46s/it]  
 15%|█▍        | 396/2700 [15:38<43:21,  1.13s/it]
 15%|█▍        | 397/2700 [15:39<34:23,  1.12it/s]
 15%|█▍        | 398/2700 [15:39<28:06,  1.36it/s]
 15%|█▍        | 399/2700 [15:39<23:42,  1.62it/s]
 15%|█▍        | 400/2700 [15:40<20:53,  1.84it/s]
 15%|█▍        | 401/2700 [15:48<1:46:21,  2.78s/it]
 15%|█▍        | 402/2700 [15:48<1:18:38,  2.05s/it]
 15%|█▍        | 403/2700 [15:48<59:12,  1.55s/it]  
 15%|█▍        | 404/2700 [15:49<45:31,  1.19s/it]
 15%|█▌        | 405/2700 [15:49<36:03,  1.06it/s]
 15%|█▌        | 406/2700 [15:49<29:21,  1.30it/s]
 15%|█▌        | 407/2700 [15:50<24:39,  1.55it/s]
 15%|█▌        | 408/2700 [15:50<21:28,  1.78it/s]
 15%|█▌        | 409/2700 [15:59<1:59:55,  3.14s/it]
 15%|█▌        | 410/2700 [16:00<1:28:01,  2.31s/it]
 15%|█▌        | 411/2700 [16:00<1:05:39,  1.72s/it]
 15%|█▌        | 412/2700 [16:00<49:59,  1.31s/it]  
 15%|█▌        | 413/2700 [16:01<39:05,  1.03s/it]
 15%|█▌        | 414/2700 [16:01<31:27,  1.21it/s]
 15%|█▌        | 415/2700 [16:01<26:13,  1.45it/s]
 15%|█▌        | 416/2700 [16:02<22:28,  1.69it/s]
 15%|█▌        | 417/2700 [16:15<2:42:49,  4.28s/it]
 15%|█▌        | 418/2700 [16:15<1:58:00,  3.10s/it]
 16%|█▌        | 419/2700 [16:15<1:26:35,  2.28s/it]
 16%|█▌        | 420/2700 [16:16<1:04:35,  1.70s/it]
 16%|█▌        | 421/2700 [16:16<49:17,  1.30s/it]  
 16%|█▌        | 422/2700 [16:16<38:25,  1.01s/it]
 16%|█▌        | 423/2700 [16:17<30:57,  1.23it/s]
 16%|█▌        | 424/2700 [16:17<25:48,  1.47it/s]
 16%|█▌        | 425/2700 [16:32<3:01:23,  4.78s/it]
 16%|█▌        | 426/2700 [16:32<2:11:10,  3.46s/it]
 16%|█▌        | 427/2700 [16:32<1:35:52,  2.53s/it]
 16%|█▌        | 428/2700 [16:33<1:11:11,  1.88s/it]
 16%|█▌        | 429/2700 [16:33<53:57,  1.43s/it]  
 16%|█▌        | 430/2700 [16:33<41:56,  1.11s/it]
 16%|█▌        | 431/2700 [16:34<33:25,  1.13it/s]
 16%|█▌        | 432/2700 [16:34<27:40,  1.37it/s]
 16%|█▌        | 433/2700 [16:45<2:23:25,  3.80s/it]
 16%|█▌        | 434/2700 [16:45<1:44:24,  2.76s/it]
 16%|█▌        | 435/2700 [16:46<1:17:11,  2.04s/it]
 16%|█▌        | 436/2700 [16:46<58:02,  1.54s/it]  
 16%|█▌        | 437/2700 [16:47<44:33,  1.18s/it]
 16%|█▌        | 438/2700 [16:47<35:11,  1.07it/s]
 16%|█▋        | 439/2700 [16:47<28:53,  1.30it/s]
 16%|█▋        | 440/2700 [16:48<24:19,  1.55it/s]
 16%|█▋        | 441/2700 [16:57<2:07:13,  3.38s/it]
 16%|█▋        | 442/2700 [16:58<1:33:05,  2.47s/it]
 16%|█▋        | 443/2700 [16:58<1:09:12,  1.84s/it]
 16%|█▋        | 444/2700 [16:58<52:31,  1.40s/it]  
 16%|█▋        | 445/2700 [16:59<40:54,  1.09s/it]
 17%|█▋        | 446/2700 [16:59<32:43,  1.15it/s]
 17%|█▋        | 447/2700 [17:00<26:56,  1.39it/s]
 17%|█▋        | 448/2700 [17:00<22:55,  1.64it/s]
 17%|█▋        | 449/2700 [17:08<1:45:24,  2.81s/it]
 17%|█▋        | 450/2700 [17:08<1:17:46,  2.07s/it]
 17%|█▋        | 451/2700 [17:09<58:26,  1.56s/it]  
 17%|█▋        | 452/2700 [17:09<45:00,  1.20s/it]
 17%|█▋        | 453/2700 [17:09<35:25,  1.06it/s]
 17%|█▋        | 454/2700 [17:10<28:37,  1.31it/s]
 17%|█▋        | 455/2700 [17:10<23:56,  1.56it/s]
 17%|█▋        | 456/2700 [17:10<20:36,  1.81it/s]
 17%|█▋        | 457/2700 [17:29<3:38:56,  5.86s/it]
 17%|█▋        | 458/2700 [17:29<2:37:21,  4.21s/it]
 17%|█▋        | 459/2700 [17:29<1:54:10,  3.06s/it]
 17%|█▋        | 460/2700 [17:30<1:23:54,  2.25s/it]
 17%|█▋        | 461/2700 [17:30<1:02:44,  1.68s/it]
 17%|█▋        | 462/2700 [17:30<48:04,  1.29s/it]  
 17%|█▋        | 463/2700 [17:31<37:36,  1.01s/it]
 17%|█▋        | 464/2700 [17:31<30:24,  1.23it/s]
 17%|█▋        | 465/2700 [17:39<1:48:58,  2.93s/it]
 17%|█▋        | 466/2700 [17:39<1:20:10,  2.15s/it]
 17%|█▋        | 467/2700 [17:40<1:00:07,  1.62s/it]
 17%|█▋        | 468/2700 [17:40<46:13,  1.24s/it]  
 17%|█▋        | 469/2700 [17:40<36:18,  1.02it/s]
 17%|█▋        | 470/2700 [17:41<29:29,  1.26it/s]
 17%|█▋        | 471/2700 [17:41<24:38,  1.51it/s]
 17%|█▋        | 472/2700 [17:41<21:15,  1.75it/s]
 18%|█▊        | 473/2700 [17:50<1:48:58,  2.94s/it]
 18%|█▊        | 474/2700 [17:50<1:20:18,  2.16s/it]
 18%|█▊        | 475/2700 [17:51<1:00:29,  1.63s/it]
 18%|█▊        | 476/2700 [17:51<46:23,  1.25s/it]  
 18%|█▊        | 477/2700 [17:51<36:39,  1.01it/s]
 18%|█▊        | 478/2700 [17:52<29:37,  1.25it/s]
 18%|█▊        | 479/2700 [17:52<24:46,  1.49it/s]
 18%|█▊        | 480/2700 [17:52<21:17,  1.74it/s]
 18%|█▊        | 481/2700 [18:03<2:13:56,  3.62s/it]
 18%|█▊        | 482/2700 [18:04<1:37:41,  2.64s/it]
 18%|█▊        | 483/2700 [18:04<1:12:15,  1.96s/it]
 18%|█▊        | 484/2700 [18:04<54:33,  1.48s/it]  
 18%|█▊        | 485/2700 [18:05<42:05,  1.14s/it]
 18%|█▊        | 486/2700 [18:05<33:30,  1.10it/s]
 18%|█▊        | 487/2700 [18:05<27:26,  1.34it/s]
 18%|█▊        | 488/2700 [18:06<23:19,  1.58it/s]
 18%|█▊        | 489/2700 [18:31<4:52:00,  7.92s/it]
 18%|█▊        | 490/2700 [18:31<3:28:33,  5.66s/it]
 18%|█▊        | 491/2700 [18:31<2:29:50,  4.07s/it]
 18%|█▊        | 492/2700 [18:32<1:48:56,  2.96s/it]
 18%|█▊        | 493/2700 [18:32<1:20:06,  2.18s/it]
 18%|█▊        | 494/2700 [18:33<1:00:04,  1.63s/it]
 18%|█▊        | 495/2700 [18:33<45:54,  1.25s/it]  
 18%|█▊        | 496/2700 [18:33<36:19,  1.01it/s]
 18%|█▊        | 497/2700 [18:56<4:36:35,  7.53s/it]
 18%|█▊        | 498/2700 [18:56<3:17:48,  5.39s/it]
 18%|█▊        | 499/2700 [18:57<2:22:40,  3.89s/it]
 19%|█▊        | 500/2700 [18:58<1:49:09,  2.98s/it]
 19%|█▊        | 501/2700 [18:58<1:20:21,  2.19s/it]
 19%|█▊        | 502/2700 [18:58<1:00:14,  1.64s/it]
 19%|█▊        | 503/2700 [18:59<46:08,  1.26s/it]  
 19%|█▊        | 504/2700 [18:59<36:31,  1.00it/s]
 19%|█▊        | 505/2700 [19:07<1:55:49,  3.17s/it]
 19%|█▊        | 506/2700 [19:08<1:25:21,  2.33s/it]
 19%|█▉        | 507/2700 [19:08<1:03:50,  1.75s/it]
 19%|█▉        | 508/2700 [19:09<48:48,  1.34s/it]  
 19%|█▉        | 509/2700 [19:09<38:06,  1.04s/it]
 19%|█▉        | 510/2700 [19:09<30:32,  1.19it/s]
 19%|█▉        | 511/2700 [19:10<25:13,  1.45it/s]
 19%|█▉        | 512/2700 [19:10<21:32,  1.69it/s]
 19%|█▉        | 513/2700 [19:20<2:07:51,  3.51s/it]
 19%|█▉        | 514/2700 [19:21<1:33:18,  2.56s/it]
 19%|█▉        | 515/2700 [19:21<1:08:56,  1.89s/it]
 19%|█▉        | 516/2700 [19:21<52:15,  1.44s/it]  
 19%|█▉        | 517/2700 [19:22<40:33,  1.11s/it]
 19%|█▉        | 518/2700 [19:22<32:19,  1.13it/s]
 19%|█▉        | 519/2700 [19:22<26:29,  1.37it/s]
 19%|█▉        | 520/2700 [19:23<22:24,  1.62it/s]
 19%|█▉        | 521/2700 [19:33<2:08:48,  3.55s/it]
 19%|█▉        | 522/2700 [19:33<1:33:50,  2.58s/it]
 19%|█▉        | 523/2700 [19:34<1:09:30,  1.92s/it]
 19%|█▉        | 524/2700 [19:34<52:27,  1.45s/it]  
 19%|█▉        | 525/2700 [19:35<40:30,  1.12s/it]
 19%|█▉        | 526/2700 [19:35<32:10,  1.13it/s]
 20%|█▉        | 527/2700 [19:35<26:12,  1.38it/s]
 20%|█▉        | 528/2700 [19:36<21:59,  1.65it/s]
 20%|█▉        | 529/2700 [19:56<3:58:47,  6.60s/it]
 20%|█▉        | 530/2700 [19:56<2:50:47,  4.72s/it]
 20%|█▉        | 531/2700 [19:57<2:03:10,  3.41s/it]
 20%|█▉        | 532/2700 [19:57<1:29:47,  2.48s/it]
 20%|█▉        | 533/2700 [19:57<1:06:25,  1.84s/it]
 20%|█▉        | 534/2700 [19:58<50:02,  1.39s/it]  
 20%|█▉        | 535/2700 [19:58<38:35,  1.07s/it]
 20%|█▉        | 536/2700 [19:58<30:32,  1.18it/s]
 20%|█▉        | 537/2700 [20:19<4:06:57,  6.85s/it]
 20%|█▉        | 538/2700 [20:20<2:56:20,  4.89s/it]
 20%|█▉        | 539/2700 [20:20<2:06:54,  3.52s/it]
 20%|██        | 540/2700 [20:20<1:32:26,  2.57s/it]
 20%|██        | 541/2700 [20:21<1:08:18,  1.90s/it]
 20%|██        | 542/2700 [20:21<51:31,  1.43s/it]  
 20%|██        | 543/2700 [20:21<39:46,  1.11s/it]
 20%|██        | 544/2700 [20:22<31:21,  1.15it/s]
 20%|██        | 545/2700 [20:32<2:16:16,  3.79s/it]
 20%|██        | 546/2700 [20:33<1:38:52,  2.75s/it]
 20%|██        | 547/2700 [20:33<1:12:48,  2.03s/it]
 20%|██        | 548/2700 [20:33<54:28,  1.52s/it]  
 20%|██        | 549/2700 [20:34<41:37,  1.16s/it]
 20%|██        | 550/2700 [20:34<32:44,  1.09it/s]
 20%|██        | 551/2700 [20:34<26:31,  1.35it/s]
 20%|██        | 552/2700 [20:35<22:09,  1.62it/s]
 20%|██        | 553/2700 [20:45<2:03:46,  3.46s/it]
 21%|██        | 554/2700 [20:45<1:30:21,  2.53s/it]
 21%|██        | 555/2700 [20:45<1:06:51,  1.87s/it]
 21%|██        | 556/2700 [20:46<50:20,  1.41s/it]  
 21%|██        | 557/2700 [20:46<38:53,  1.09s/it]
 21%|██        | 558/2700 [20:46<30:51,  1.16it/s]
 21%|██        | 559/2700 [20:47<25:06,  1.42it/s]
 21%|██        | 560/2700 [20:47<21:13,  1.68it/s]
 21%|██        | 561/2700 [21:04<3:20:57,  5.64s/it]
 21%|██        | 562/2700 [21:05<2:24:12,  4.05s/it]
 21%|██        | 563/2700 [21:05<1:44:36,  2.94s/it]
 21%|██        | 564/2700 [21:06<1:16:51,  2.16s/it]
 21%|██        | 565/2700 [21:06<57:27,  1.61s/it]  
 21%|██        | 566/2700 [21:06<43:50,  1.23s/it]
 21%|██        | 567/2700 [21:07<34:12,  1.04it/s]
 21%|██        | 568/2700 [21:07<27:33,  1.29it/s]
 21%|██        | 569/2700 [21:17<2:06:58,  3.57s/it]
 21%|██        | 570/2700 [21:17<1:32:28,  2.60s/it]
 21%|██        | 571/2700 [21:18<1:08:38,  1.93s/it]
 21%|██        | 572/2700 [21:18<51:43,  1.46s/it]  
 21%|██        | 573/2700 [21:18<39:39,  1.12s/it]
 21%|██▏       | 574/2700 [21:19<31:20,  1.13it/s]
 21%|██▏       | 575/2700 [21:19<25:34,  1.38it/s]
 21%|██▏       | 576/2700 [21:19<21:31,  1.64it/s]
 21%|██▏       | 577/2700 [21:29<1:59:16,  3.37s/it]
 21%|██▏       | 578/2700 [21:30<1:27:12,  2.47s/it]
 21%|██▏       | 579/2700 [21:30<1:04:35,  1.83s/it]
 21%|██▏       | 580/2700 [21:30<48:43,  1.38s/it]  
 22%|██▏       | 581/2700 [21:31<37:32,  1.06s/it]
 22%|██▏       | 582/2700 [21:31<29:48,  1.18it/s]
 22%|██▏       | 583/2700 [21:31<24:22,  1.45it/s]
 22%|██▏       | 584/2700 [21:32<20:31,  1.72it/s]
 22%|██▏       | 585/2700 [21:52<3:51:47,  6.58s/it]
 22%|██▏       | 586/2700 [21:52<2:45:43,  4.70s/it]
 22%|██▏       | 587/2700 [21:53<1:59:29,  3.39s/it]
 22%|██▏       | 588/2700 [21:53<1:27:11,  2.48s/it]
 22%|██▏       | 589/2700 [21:53<1:04:29,  1.83s/it]
 22%|██▏       | 590/2700 [21:54<48:34,  1.38s/it]  
 22%|██▏       | 591/2700 [21:54<37:25,  1.06s/it]
 22%|██▏       | 592/2700 [21:54<29:41,  1.18it/s]
 22%|██▏       | 593/2700 [22:03<1:55:06,  3.28s/it]
 22%|██▏       | 594/2700 [22:04<1:24:04,  2.40s/it]
 22%|██▏       | 595/2700 [22:04<1:02:12,  1.77s/it]
 22%|██▏       | 596/2700 [22:04<47:02,  1.34s/it]  
 22%|██▏       | 597/2700 [22:05<36:20,  1.04s/it]
 22%|██▏       | 598/2700 [22:05<28:46,  1.22it/s]
 22%|██▏       | 599/2700 [22:05<23:30,  1.49it/s]
 22%|██▏       | 600/2700 [22:06<19:50,  1.76it/s]
 22%|██▏       | 601/2700 [22:16<2:05:46,  3.60s/it]
 22%|██▏       | 602/2700 [22:17<1:31:37,  2.62s/it]
 22%|██▏       | 603/2700 [22:17<1:07:49,  1.94s/it]
 22%|██▏       | 604/2700 [22:17<50:53,  1.46s/it]  
 22%|██▏       | 605/2700 [22:18<39:05,  1.12s/it]
 22%|██▏       | 606/2700 [22:18<30:56,  1.13it/s]
 22%|██▏       | 607/2700 [22:18<25:06,  1.39it/s]
 23%|██▎       | 608/2700 [22:19<21:07,  1.65it/s]
 23%|██▎       | 609/2700 [22:29<2:06:17,  3.62s/it]
 23%|██▎       | 610/2700 [22:30<1:31:59,  2.64s/it]
 23%|██▎       | 611/2700 [22:30<1:07:57,  1.95s/it]
 23%|██▎       | 612/2700 [22:30<51:06,  1.47s/it]  
 23%|██▎       | 613/2700 [22:31<39:08,  1.13s/it]
 23%|██▎       | 614/2700 [22:31<30:51,  1.13it/s]
 23%|██▎       | 615/2700 [22:31<25:00,  1.39it/s]
 23%|██▎       | 616/2700 [22:32<20:51,  1.67it/s]
 23%|██▎       | 617/2700 [23:01<5:15:58,  9.10s/it]
 23%|██▎       | 618/2700 [23:01<3:44:39,  6.47s/it]
 23%|██▎       | 619/2700 [23:01<2:40:41,  4.63s/it]
 23%|██▎       | 620/2700 [23:02<1:56:04,  3.35s/it]
 23%|██▎       | 621/2700 [23:02<1:24:38,  2.44s/it]
 23%|██▎       | 622/2700 [23:02<1:02:37,  1.81s/it]
 23%|██▎       | 623/2700 [23:03<47:14,  1.36s/it]  
 23%|██▎       | 624/2700 [23:03<36:30,  1.06s/it]
 23%|██▎       | 625/2700 [23:19<3:15:58,  5.67s/it]
 23%|██▎       | 626/2700 [23:20<2:20:29,  4.06s/it]
 23%|██▎       | 627/2700 [23:20<1:41:48,  2.95s/it]
 23%|██▎       | 628/2700 [23:20<1:14:41,  2.16s/it]
 23%|██▎       | 629/2700 [23:21<55:47,  1.62s/it]  
 23%|██▎       | 630/2700 [23:21<42:42,  1.24s/it]
 23%|██▎       | 631/2700 [23:21<33:37,  1.03it/s]
 23%|██▎       | 632/2700 [23:22<27:12,  1.27it/s]
 23%|██▎       | 633/2700 [23:35<2:35:49,  4.52s/it]
 23%|██▎       | 634/2700 [23:35<1:52:44,  3.27s/it]
 24%|██▎       | 635/2700 [23:36<1:22:26,  2.40s/it]
 24%|██▎       | 636/2700 [23:36<1:01:17,  1.78s/it]
 24%|██▎       | 637/2700 [23:36<46:25,  1.35s/it]  
 24%|██▎       | 638/2700 [23:37<36:10,  1.05s/it]
 24%|██▎       | 639/2700 [23:37<28:56,  1.19it/s]
 24%|██▎       | 640/2700 [23:38<23:49,  1.44it/s]
 24%|██▎       | 641/2700 [23:47<1:56:41,  3.40s/it]
 24%|██▍       | 642/2700 [23:48<1:25:11,  2.48s/it]
 24%|██▍       | 643/2700 [23:48<1:03:05,  1.84s/it]
 24%|██▍       | 644/2700 [23:48<47:35,  1.39s/it]  
 24%|██▍       | 645/2700 [23:49<36:48,  1.07s/it]
 24%|██▍       | 646/2700 [23:49<29:08,  1.17it/s]
 24%|██▍       | 647/2700 [23:49<23:44,  1.44it/s]
 24%|██▍       | 648/2700 [23:50<20:03,  1.70it/s]
 24%|██▍       | 649/2700 [24:03<2:31:10,  4.42s/it]
 24%|██▍       | 650/2700 [24:03<1:49:13,  3.20s/it]
 24%|██▍       | 651/2700 [24:04<1:19:47,  2.34s/it]
 24%|██▍       | 652/2700 [24:04<59:17,  1.74s/it]  
 24%|██▍       | 653/2700 [24:04<44:47,  1.31s/it]
 24%|██▍       | 654/2700 [24:05<34:35,  1.01s/it]
 24%|██▍       | 655/2700 [24:05<27:36,  1.23it/s]
 24%|██▍       | 656/2700 [24:05<22:35,  1.51it/s]
 24%|██▍       | 657/2700 [24:16<2:07:35,  3.75s/it]
 24%|██▍       | 658/2700 [24:17<1:32:43,  2.72s/it]
 24%|██▍       | 659/2700 [24:17<1:08:15,  2.01s/it]
 24%|██▍       | 660/2700 [24:17<51:10,  1.50s/it]  
 24%|██▍       | 661/2700 [24:18<39:16,  1.16s/it]
 25%|██▍       | 662/2700 [24:18<30:57,  1.10it/s]
 25%|██▍       | 663/2700 [24:18<25:02,  1.36it/s]
 25%|██▍       | 664/2700 [24:19<20:55,  1.62it/s]
 25%|██▍       | 665/2700 [24:28<1:49:44,  3.24s/it]
 25%|██▍       | 666/2700 [24:28<1:20:09,  2.36s/it]
 25%|██▍       | 667/2700 [24:29<59:31,  1.76s/it]  
 25%|██▍       | 668/2700 [24:29<45:07,  1.33s/it]
 25%|██▍       | 669/2700 [24:29<35:08,  1.04s/it]
 25%|██▍       | 670/2700 [24:30<28:17,  1.20it/s]
 25%|██▍       | 671/2700 [24:30<23:20,  1.45it/s]
 25%|██▍       | 672/2700 [24:30<19:54,  1.70it/s]
 25%|██▍       | 673/2700 [24:41<2:06:32,  3.75s/it]
 25%|██▍       | 674/2700 [24:42<1:32:08,  2.73s/it]
 25%|██▌       | 675/2700 [24:42<1:08:01,  2.02s/it]
 25%|██▌       | 676/2700 [24:43<51:06,  1.52s/it]  
 25%|██▌       | 677/2700 [24:43<39:18,  1.17s/it]
 25%|██▌       | 678/2700 [24:43<31:10,  1.08it/s]
 25%|██▌       | 679/2700 [24:44<25:26,  1.32it/s]
 25%|██▌       | 680/2700 [24:44<21:23,  1.57it/s]
 25%|██▌       | 681/2700 [24:54<1:58:57,  3.54s/it]
 25%|██▌       | 682/2700 [24:55<1:26:51,  2.58s/it]
 25%|██▌       | 683/2700 [24:55<1:04:16,  1.91s/it]
 25%|██▌       | 684/2700 [24:55<48:17,  1.44s/it]  
 25%|██▌       | 685/2700 [24:56<37:08,  1.11s/it]
 25%|██▌       | 686/2700 [24:56<29:27,  1.14it/s]
 25%|██▌       | 687/2700 [24:56<23:57,  1.40it/s]
 25%|██▌       | 688/2700 [24:57<20:05,  1.67it/s]
 26%|██▌       | 689/2700 [25:52<9:34:01, 17.13s/it]
 26%|██▌       | 690/2700 [25:53<6:44:56, 12.09s/it]
 26%|██▌       | 691/2700 [25:53<4:46:40,  8.56s/it]
 26%|██▌       | 692/2700 [25:53<3:23:51,  6.09s/it]
 26%|██▌       | 693/2700 [25:54<2:25:56,  4.36s/it]
 26%|██▌       | 694/2700 [25:54<1:45:29,  3.16s/it]
 26%|██▌       | 695/2700 [25:54<1:17:07,  2.31s/it]
 26%|██▌       | 696/2700 [25:55<57:16,  1.72s/it]  
 26%|██▌       | 697/2700 [26:04<2:18:11,  4.14s/it]
 26%|██▌       | 698/2700 [26:05<1:39:56,  3.00s/it]
 26%|██▌       | 699/2700 [26:05<1:13:13,  2.20s/it]
 26%|██▌       | 700/2700 [26:05<54:30,  1.64s/it]  
 26%|██▌       | 701/2700 [26:06<41:23,  1.24s/it]
 26%|██▌       | 702/2700 [26:06<32:11,  1.03it/s]
 26%|██▌       | 703/2700 [26:06<25:41,  1.30it/s]
 26%|██▌       | 704/2700 [26:07<21:12,  1.57it/s]
 26%|██▌       | 705/2700 [26:19<2:14:47,  4.05s/it]
 26%|██▌       | 706/2700 [26:19<1:37:52,  2.95s/it]
 26%|██▌       | 707/2700 [26:19<1:11:52,  2.16s/it]
 26%|██▌       | 708/2700 [26:20<53:33,  1.61s/it]  
 26%|██▋       | 709/2700 [26:20<40:47,  1.23s/it]
 26%|██▋       | 710/2700 [26:20<31:54,  1.04it/s]
 26%|██▋       | 711/2700 [26:21<25:37,  1.29it/s]
 26%|██▋       | 712/2700 [26:21<21:14,  1.56it/s]
 26%|██▋       | 713/2700 [26:37<2:49:32,  5.12s/it]
 26%|██▋       | 714/2700 [26:37<2:01:59,  3.69s/it]
 26%|██▋       | 715/2700 [26:37<1:28:54,  2.69s/it]
 27%|██▋       | 716/2700 [26:38<1:05:44,  1.99s/it]
 27%|██▋       | 717/2700 [26:38<49:28,  1.50s/it]  
 27%|██▋       | 718/2700 [26:38<38:09,  1.16s/it]
 27%|██▋       | 719/2700 [26:39<30:05,  1.10it/s]
 27%|██▋       | 720/2700 [26:39<24:26,  1.35it/s]
 27%|██▋       | 721/2700 [26:49<1:51:05,  3.37s/it]
 27%|██▋       | 722/2700 [26:49<1:20:55,  2.45s/it]
 27%|██▋       | 723/2700 [26:49<59:48,  1.82s/it]  
 27%|██▋       | 724/2700 [26:50<45:03,  1.37s/it]
 27%|██▋       | 725/2700 [26:50<34:43,  1.05s/it]
 27%|██▋       | 726/2700 [26:50<27:30,  1.20it/s]
 27%|██▋       | 727/2700 [26:51<22:38,  1.45it/s]
 27%|██▋       | 728/2700 [26:51<19:18,  1.70it/s]
 27%|██▋       | 729/2700 [27:19<4:50:48,  8.85s/it]
 27%|██▋       | 730/2700 [27:19<3:26:42,  6.30s/it]
 27%|██▋       | 731/2700 [27:20<2:28:05,  4.51s/it]
 27%|██▋       | 732/2700 [27:20<1:46:55,  3.26s/it]
 27%|██▋       | 733/2700 [27:20<1:18:06,  2.38s/it]
 27%|██▋       | 734/2700 [27:21<57:54,  1.77s/it]  
 27%|██▋       | 735/2700 [27:21<43:45,  1.34s/it]
 27%|██▋       | 736/2700 [27:21<33:50,  1.03s/it]
 27%|██▋       | 737/2700 [27:30<1:51:58,  3.42s/it]
 27%|██▋       | 738/2700 [27:31<1:21:38,  2.50s/it]
 27%|██▋       | 739/2700 [27:31<1:00:19,  1.85s/it]
 27%|██▋       | 740/2700 [27:31<45:27,  1.39s/it]  
 27%|██▋       | 741/2700 [27:32<35:02,  1.07s/it]
 27%|██▋       | 742/2700 [27:32<27:41,  1.18it/s]
 28%|██▊       | 743/2700 [27:32<22:35,  1.44it/s]
 28%|██▊       | 744/2700 [27:33<18:56,  1.72it/s]
 28%|██▊       | 745/2700 [27:43<1:51:27,  3.42s/it]
 28%|██▊       | 746/2700 [27:43<1:21:17,  2.50s/it]
 28%|██▊       | 747/2700 [27:43<1:00:12,  1.85s/it]
 28%|██▊       | 748/2700 [27:44<45:26,  1.40s/it]  
 28%|██▊       | 749/2700 [27:44<35:13,  1.08s/it]
 28%|██▊       | 750/2700 [27:44<28:16,  1.15it/s]
 28%|██▊       | 751/2700 [27:45<23:04,  1.41it/s]
 28%|██▊       | 752/2700 [27:45<19:34,  1.66it/s]
 28%|██▊       | 753/2700 [27:56<1:58:44,  3.66s/it]
 28%|██▊       | 754/2700 [27:56<1:26:14,  2.66s/it]
 28%|██▊       | 755/2700 [27:57<1:03:35,  1.96s/it]
 28%|██▊       | 756/2700 [27:57<47:46,  1.47s/it]  
 28%|██▊       | 757/2700 [27:57<36:40,  1.13s/it]
 28%|██▊       | 758/2700 [27:58<28:54,  1.12it/s]
 28%|██▊       | 759/2700 [27:58<23:29,  1.38it/s]
 28%|██▊       | 760/2700 [27:58<19:35,  1.65it/s]
 28%|██▊       | 761/2700 [28:11<2:20:20,  4.34s/it]
 28%|██▊       | 762/2700 [28:12<1:41:23,  3.14s/it]
 28%|██▊       | 763/2700 [28:12<1:14:07,  2.30s/it]
 28%|██▊       | 764/2700 [28:12<55:03,  1.71s/it]  
 28%|██▊       | 765/2700 [28:13<41:45,  1.30s/it]
 28%|██▊       | 766/2700 [28:13<32:24,  1.01s/it]
 28%|██▊       | 767/2700 [28:13<25:54,  1.24it/s]
 28%|██▊       | 768/2700 [28:14<21:23,  1.51it/s]
 28%|██▊       | 769/2700 [28:25<2:07:37,  3.97s/it]
 29%|██▊       | 770/2700 [28:26<1:32:31,  2.88s/it]
 29%|██▊       | 771/2700 [28:26<1:07:50,  2.11s/it]
 29%|██▊       | 772/2700 [28:26<50:40,  1.58s/it]  
 29%|██▊       | 773/2700 [28:27<38:39,  1.20s/it]
 29%|██▊       | 774/2700 [28:27<30:21,  1.06it/s]
 29%|██▊       | 775/2700 [28:27<24:24,  1.31it/s]
 29%|██▊       | 776/2700 [28:28<20:13,  1.59it/s]
 29%|██▉       | 777/2700 [28:50<3:48:21,  7.13s/it]
 29%|██▉       | 778/2700 [28:50<2:42:51,  5.08s/it]
 29%|██▉       | 779/2700 [28:51<1:57:04,  3.66s/it]
 29%|██▉       | 780/2700 [28:51<1:25:03,  2.66s/it]
 29%|██▉       | 781/2700 [28:51<1:02:47,  1.96s/it]
 29%|██▉       | 782/2700 [28:52<47:07,  1.47s/it]  
 29%|██▉       | 783/2700 [28:52<36:09,  1.13s/it]
 29%|██▉       | 784/2700 [28:52<28:28,  1.12it/s]
 29%|██▉       | 785/2700 [29:02<1:55:48,  3.63s/it]
 29%|██▉       | 786/2700 [29:03<1:24:16,  2.64s/it]
 29%|██▉       | 787/2700 [29:03<1:02:11,  1.95s/it]
 29%|██▉       | 788/2700 [29:03<46:39,  1.46s/it]  
 29%|██▉       | 789/2700 [29:04<35:47,  1.12s/it]
 29%|██▉       | 790/2700 [29:04<28:11,  1.13it/s]
 29%|██▉       | 791/2700 [29:04<22:55,  1.39it/s]
 29%|██▉       | 792/2700 [29:05<19:13,  1.65it/s]
 29%|██▉       | 793/2700 [29:17<2:09:43,  4.08s/it]
 29%|██▉       | 794/2700 [29:17<1:33:56,  2.96s/it]
 29%|██▉       | 795/2700 [29:17<1:08:55,  2.17s/it]
 29%|██▉       | 796/2700 [29:18<51:25,  1.62s/it]  
 30%|██▉       | 797/2700 [29:18<39:08,  1.23s/it]
 30%|██▉       | 798/2700 [29:18<30:31,  1.04it/s]
 30%|██▉       | 799/2700 [29:19<24:24,  1.30it/s]
 30%|██▉       | 800/2700 [29:19<20:14,  1.56it/s]
 30%|██▉       | 801/2700 [29:31<2:06:27,  4.00s/it]
 30%|██▉       | 802/2700 [29:31<1:31:42,  2.90s/it]
 30%|██▉       | 803/2700 [29:32<1:07:23,  2.13s/it]
 30%|██▉       | 804/2700 [29:32<50:18,  1.59s/it]  
 30%|██▉       | 805/2700 [29:32<38:32,  1.22s/it]
 30%|██▉       | 806/2700 [29:33<30:00,  1.05it/s]
 30%|██▉       | 807/2700 [29:33<24:10,  1.31it/s]
 30%|██▉       | 808/2700 [29:33<20:09,  1.56it/s]
 30%|██▉       | 809/2700 [29:44<1:57:18,  3.72s/it]
 30%|███       | 810/2700 [29:45<1:25:19,  2.71s/it]
 30%|███       | 811/2700 [29:45<1:03:05,  2.00s/it]
 30%|███       | 812/2700 [29:45<47:33,  1.51s/it]  
 30%|███       | 813/2700 [29:46<36:39,  1.17s/it]
 30%|███       | 814/2700 [29:46<28:53,  1.09it/s]
 30%|███       | 815/2700 [29:46<23:28,  1.34it/s]
 30%|███       | 816/2700 [29:47<19:48,  1.59it/s]
 30%|███       | 817/2700 [29:57<1:46:08,  3.38s/it]
 30%|███       | 818/2700 [29:57<1:17:33,  2.47s/it]
 30%|███       | 819/2700 [29:57<57:21,  1.83s/it]  
 30%|███       | 820/2700 [29:58<43:15,  1.38s/it]
 30%|███       | 821/2700 [29:58<33:25,  1.07s/it]
 30%|███       | 822/2700 [29:58<26:40,  1.17it/s]
 30%|███       | 823/2700 [29:59<21:49,  1.43it/s]
 31%|███       | 824/2700 [29:59<18:25,  1.70it/s]
 31%|███       | 825/2700 [30:17<3:01:21,  5.80s/it]
 31%|███       | 826/2700 [30:17<2:09:55,  4.16s/it]
 31%|███       | 827/2700 [30:18<1:33:58,  3.01s/it]
 31%|███       | 828/2700 [30:18<1:08:52,  2.21s/it]
 31%|███       | 829/2700 [30:18<51:25,  1.65s/it]  
 31%|███       | 830/2700 [30:19<39:10,  1.26s/it]
 31%|███       | 831/2700 [30:19<30:28,  1.02it/s]
 31%|███       | 832/2700 [30:19<24:25,  1.28it/s]
 31%|███       | 833/2700 [30:31<2:06:16,  4.06s/it]
 31%|███       | 834/2700 [30:31<1:31:31,  2.94s/it]
 31%|███       | 835/2700 [30:32<1:07:12,  2.16s/it]
 31%|███       | 836/2700 [30:32<50:14,  1.62s/it]  
 31%|███       | 837/2700 [30:32<38:30,  1.24s/it]
 31%|███       | 838/2700 [30:33<30:10,  1.03it/s]
 31%|███       | 839/2700 [30:33<24:20,  1.27it/s]
 31%|███       | 840/2700 [30:33<20:17,  1.53it/s]
 31%|███       | 841/2700 [30:44<1:53:15,  3.66s/it]
 31%|███       | 842/2700 [30:44<1:22:37,  2.67s/it]
 31%|███       | 843/2700 [30:45<1:01:17,  1.98s/it]
 31%|███▏      | 844/2700 [30:45<46:14,  1.49s/it]  
 31%|███▏      | 845/2700 [30:45<35:52,  1.16s/it]
 31%|███▏      | 846/2700 [30:46<28:28,  1.09it/s]
 31%|███▏      | 847/2700 [30:46<23:06,  1.34it/s]
 31%|███▏      | 848/2700 [30:47<19:26,  1.59it/s]
 31%|███▏      | 849/2700 [30:58<1:55:18,  3.74s/it]
 31%|███▏      | 850/2700 [30:58<1:23:54,  2.72s/it]
 32%|███▏      | 851/2700 [30:58<1:01:54,  2.01s/it]
 32%|███▏      | 852/2700 [30:59<46:19,  1.50s/it]  
 32%|███▏      | 853/2700 [30:59<35:25,  1.15s/it]
 32%|███▏      | 854/2700 [30:59<27:49,  1.11it/s]
 32%|███▏      | 855/2700 [31:00<22:31,  1.36it/s]
 32%|███▏      | 856/2700 [31:00<18:44,  1.64it/s]
 32%|███▏      | 857/2700 [31:17<2:49:18,  5.51s/it]
 32%|███▏      | 858/2700 [31:17<2:01:30,  3.96s/it]
 32%|███▏      | 859/2700 [31:17<1:28:04,  2.87s/it]
 32%|███▏      | 860/2700 [31:18<1:04:41,  2.11s/it]
 32%|███▏      | 861/2700 [31:18<48:17,  1.58s/it]  
 32%|███▏      | 862/2700 [31:18<36:47,  1.20s/it]
 32%|███▏      | 863/2700 [31:19<28:47,  1.06it/s]
 32%|███▏      | 864/2700 [31:19<23:10,  1.32it/s]
 32%|███▏      | 865/2700 [31:31<2:03:33,  4.04s/it]
 32%|███▏      | 866/2700 [31:31<1:29:26,  2.93s/it]
 32%|███▏      | 867/2700 [31:31<1:05:36,  2.15s/it]
 32%|███▏      | 868/2700 [31:32<48:47,  1.60s/it]  
 32%|███▏      | 869/2700 [31:32<37:12,  1.22s/it]
 32%|███▏      | 870/2700 [31:32<29:04,  1.05it/s]
 32%|███▏      | 871/2700 [31:33<23:22,  1.30it/s]
 32%|███▏      | 872/2700 [31:33<19:21,  1.57it/s]
 32%|███▏      | 873/2700 [31:43<1:43:05,  3.39s/it]
 32%|███▏      | 874/2700 [31:43<1:15:09,  2.47s/it]
 32%|███▏      | 875/2700 [31:44<55:41,  1.83s/it]  
 32%|███▏      | 876/2700 [31:44<42:07,  1.39s/it]
 32%|███▏      | 877/2700 [31:44<32:26,  1.07s/it]
 33%|███▎      | 878/2700 [31:45<25:39,  1.18it/s]
 33%|███▎      | 879/2700 [31:45<20:56,  1.45it/s]
 33%|███▎      | 880/2700 [31:45<17:36,  1.72it/s]
 33%|███▎      | 881/2700 [31:56<1:50:06,  3.63s/it]
 33%|███▎      | 882/2700 [31:56<1:20:09,  2.65s/it]
 33%|███▎      | 883/2700 [31:57<59:10,  1.95s/it]  
 33%|███▎      | 884/2700 [31:57<44:36,  1.47s/it]
 33%|███▎      | 885/2700 [31:57<34:20,  1.13s/it]
 33%|███▎      | 886/2700 [31:58<27:05,  1.12it/s]
 33%|███▎      | 887/2700 [31:58<22:04,  1.37it/s]
 33%|███▎      | 888/2700 [31:58<18:33,  1.63it/s]
 33%|███▎      | 889/2700 [32:10<2:02:05,  4.05s/it]
 33%|███▎      | 890/2700 [32:11<1:28:37,  2.94s/it]
 33%|███▎      | 891/2700 [32:11<1:05:07,  2.16s/it]
 33%|███▎      | 892/2700 [32:11<48:32,  1.61s/it]  
 33%|███▎      | 893/2700 [32:12<36:57,  1.23s/it]
 33%|███▎      | 894/2700 [32:12<28:48,  1.04it/s]
 33%|███▎      | 895/2700 [32:12<23:08,  1.30it/s]
 33%|███▎      | 896/2700 [32:13<19:19,  1.56it/s]
 33%|███▎      | 897/2700 [32:32<3:04:54,  6.15s/it]
 33%|███▎      | 898/2700 [32:32<2:12:29,  4.41s/it]
 33%|███▎      | 899/2700 [32:33<1:35:42,  3.19s/it]
 33%|███▎      | 900/2700 [32:33<1:09:54,  2.33s/it]
 33%|███▎      | 901/2700 [32:33<51:58,  1.73s/it]  
 33%|███▎      | 902/2700 [32:34<39:20,  1.31s/it]
 33%|███▎      | 903/2700 [32:34<30:31,  1.02s/it]
 33%|███▎      | 904/2700 [32:34<24:16,  1.23it/s]
 34%|███▎      | 905/2700 [32:45<1:53:04,  3.78s/it]
 34%|███▎      | 906/2700 [32:45<1:22:24,  2.76s/it]
 34%|███▎      | 907/2700 [32:46<1:00:47,  2.03s/it]
 34%|███▎      | 908/2700 [32:46<45:29,  1.52s/it]  
 34%|███▎      | 909/2700 [32:46<34:53,  1.17s/it]
 34%|███▎      | 910/2700 [32:47<27:29,  1.09it/s]
 34%|███▎      | 911/2700 [32:47<22:15,  1.34it/s]
 34%|███▍      | 912/2700 [32:47<18:43,  1.59it/s]
 34%|███▍      | 913/2700 [32:59<1:58:58,  3.99s/it]
 34%|███▍      | 914/2700 [33:00<1:26:33,  2.91s/it]
 34%|███▍      | 915/2700 [33:00<1:03:41,  2.14s/it]
 34%|███▍      | 916/2700 [33:00<47:49,  1.61s/it]  
 34%|███▍      | 917/2700 [33:01<36:47,  1.24s/it]
 34%|███▍      | 918/2700 [33:01<29:00,  1.02it/s]
 34%|███▍      | 919/2700 [33:01<23:34,  1.26it/s]
 34%|███▍      | 920/2700 [33:02<19:49,  1.50it/s]
 34%|███▍      | 921/2700 [33:14<2:02:05,  4.12s/it]
 34%|███▍      | 922/2700 [33:14<1:28:26,  2.98s/it]
 34%|███▍      | 923/2700 [33:15<1:04:48,  2.19s/it]
 34%|███▍      | 924/2700 [33:15<48:17,  1.63s/it]  
 34%|███▍      | 925/2700 [33:15<36:48,  1.24s/it]
 34%|███▍      | 926/2700 [33:16<28:44,  1.03it/s]
 34%|███▍      | 927/2700 [33:16<23:03,  1.28it/s]
 34%|███▍      | 928/2700 [33:16<19:00,  1.55it/s]
 34%|███▍      | 929/2700 [33:41<3:48:49,  7.75s/it]
 34%|███▍      | 930/2700 [33:41<2:43:03,  5.53s/it]
 34%|███▍      | 931/2700 [33:41<1:57:20,  3.98s/it]
 35%|███▍      | 932/2700 [33:42<1:25:09,  2.89s/it]
 35%|███▍      | 933/2700 [33:42<1:02:47,  2.13s/it]
 35%|███▍      | 934/2700 [33:42<47:06,  1.60s/it]  
 35%|███▍      | 935/2700 [33:43<35:59,  1.22s/it]
 35%|███▍      | 936/2700 [33:43<28:24,  1.04it/s]
 35%|███▍      | 937/2700 [33:56<2:13:04,  4.53s/it]
 35%|███▍      | 938/2700 [33:56<1:35:58,  3.27s/it]
 35%|███▍      | 939/2700 [33:57<1:10:07,  2.39s/it]
 35%|███▍      | 940/2700 [33:57<52:03,  1.77s/it]  
 35%|███▍      | 941/2700 [33:57<39:28,  1.35s/it]
 35%|███▍      | 942/2700 [33:58<30:37,  1.05s/it]
 35%|███▍      | 943/2700 [33:58<24:28,  1.20it/s]
 35%|███▍      | 944/2700 [33:58<20:14,  1.45it/s]
 35%|███▌      | 945/2700 [34:28<4:34:35,  9.39s/it]
 35%|███▌      | 946/2700 [34:28<3:15:22,  6.68s/it]
 35%|███▌      | 947/2700 [34:29<2:19:43,  4.78s/it]
 35%|███▌      | 948/2700 [34:29<1:40:41,  3.45s/it]
 35%|███▌      | 949/2700 [34:29<1:13:27,  2.52s/it]
 35%|███▌      | 950/2700 [34:30<54:16,  1.86s/it]  
 35%|███▌      | 951/2700 [34:30<40:58,  1.41s/it]
 35%|███▌      | 952/2700 [34:30<31:42,  1.09s/it]
 35%|███▌      | 953/2700 [34:52<3:33:31,  7.33s/it]
 35%|███▌      | 954/2700 [34:53<2:32:26,  5.24s/it]
 35%|███▌      | 955/2700 [34:53<1:49:37,  3.77s/it]
 35%|███▌      | 956/2700 [34:53<1:19:47,  2.75s/it]
 35%|███▌      | 957/2700 [34:54<58:42,  2.02s/it]  
 35%|███▌      | 958/2700 [34:54<44:07,  1.52s/it]
 36%|███▌      | 959/2700 [34:54<33:54,  1.17s/it]
 36%|███▌      | 960/2700 [34:55<26:51,  1.08it/s]
 36%|███▌      | 961/2700 [35:30<5:25:59, 11.25s/it]
 36%|███▌      | 962/2700 [35:30<3:51:08,  7.98s/it]
 36%|███▌      | 963/2700 [35:31<2:44:42,  5.69s/it]
 36%|███▌      | 964/2700 [35:31<1:58:23,  4.09s/it]
 36%|███▌      | 965/2700 [35:31<1:25:52,  2.97s/it]
 36%|███▌      | 966/2700 [35:32<1:03:11,  2.19s/it]
 36%|███▌      | 967/2700 [35:32<47:17,  1.64s/it]  
 36%|███▌      | 968/2700 [35:33<36:15,  1.26s/it]
 36%|███▌      | 969/2700 [35:55<3:35:29,  7.47s/it]
 36%|███▌      | 970/2700 [35:55<2:33:55,  5.34s/it]
 36%|███▌      | 971/2700 [35:55<1:50:40,  3.84s/it]
 36%|███▌      | 972/2700 [35:56<1:20:18,  2.79s/it]
 36%|███▌      | 973/2700 [35:56<58:58,  2.05s/it]  
 36%|███▌      | 974/2700 [35:56<44:03,  1.53s/it]
 36%|███▌      | 975/2700 [35:57<33:39,  1.17s/it]
 36%|███▌      | 976/2700 [35:57<26:20,  1.09it/s]
 36%|███▌      | 977/2700 [36:09<2:06:05,  4.39s/it]
 36%|███▌      | 978/2700 [36:10<1:31:04,  3.17s/it]
 36%|███▋      | 979/2700 [36:10<1:06:28,  2.32s/it]
 36%|███▋      | 980/2700 [36:10<49:20,  1.72s/it]  
 36%|███▋      | 981/2700 [36:11<37:22,  1.30s/it]
 36%|███▋      | 982/2700 [36:11<28:59,  1.01s/it]
 36%|███▋      | 983/2700 [36:11<23:10,  1.23it/s]
 36%|███▋      | 984/2700 [36:12<19:02,  1.50it/s]
 36%|███▋      | 985/2700 [36:22<1:45:47,  3.70s/it]
 37%|███▋      | 986/2700 [36:23<1:16:49,  2.69s/it]
 37%|███▋      | 987/2700 [36:23<56:33,  1.98s/it]  
 37%|███▋      | 988/2700 [36:23<42:18,  1.48s/it]
 37%|███▋      | 989/2700 [36:24<32:24,  1.14s/it]
 37%|███▋      | 990/2700 [36:24<25:28,  1.12it/s]
 37%|███▋      | 991/2700 [36:24<20:35,  1.38it/s]
 37%|███▋      | 992/2700 [36:25<17:15,  1.65it/s]
 37%|███▋      | 993/2700 [36:57<4:50:47, 10.22s/it]
 37%|███▋      | 994/2700 [36:58<3:26:12,  7.25s/it]
 37%|███▋      | 995/2700 [36:58<2:27:06,  5.18s/it]
 37%|███▋      | 996/2700 [36:58<1:45:57,  3.73s/it]
 37%|███▋      | 997/2700 [36:59<1:17:02,  2.71s/it]
 37%|███▋      | 998/2700 [36:59<56:45,  2.00s/it]  
 37%|███▋      | 999/2700 [36:59<42:34,  1.50s/it]
 37%|███▋      | 1000/2700 [37:00<36:50,  1.30s/it]
 37%|███▋      | 1001/2700 [37:30<4:39:25,  9.87s/it]
 37%|███▋      | 1002/2700 [37:30<3:18:22,  7.01s/it]
 37%|███▋      | 1003/2700 [37:31<2:21:36,  5.01s/it]
 37%|███▋      | 1004/2700 [37:31<1:41:50,  3.60s/it]
 37%|███▋      | 1005/2700 [37:31<1:14:04,  2.62s/it]
 37%|███▋      | 1006/2700 [37:32<54:36,  1.93s/it]  
 37%|███▋      | 1007/2700 [37:32<41:01,  1.45s/it]
 37%|███▋      | 1008/2700 [37:32<31:28,  1.12s/it]
 37%|███▋      | 1009/2700 [37:46<2:13:03,  4.72s/it]
 37%|███▋      | 1010/2700 [37:46<1:35:50,  3.40s/it]
 37%|███▋      | 1011/2700 [37:46<1:09:52,  2.48s/it]
 37%|███▋      | 1012/2700 [37:47<51:41,  1.84s/it]  
 38%|███▊      | 1013/2700 [37:47<38:58,  1.39s/it]
 38%|███▊      | 1014/2700 [37:47<30:01,  1.07s/it]
 38%|███▊      | 1015/2700 [37:48<23:48,  1.18it/s]
 38%|███▊      | 1016/2700 [37:48<19:29,  1.44it/s]
 38%|███▊      | 1017/2700 [37:59<1:49:08,  3.89s/it]
 38%|███▊      | 1018/2700 [38:00<1:19:13,  2.83s/it]
 38%|███▊      | 1019/2700 [38:00<58:13,  2.08s/it]  
 38%|███▊      | 1020/2700 [38:00<43:32,  1.56s/it]
 38%|███▊      | 1021/2700 [38:01<33:17,  1.19s/it]
 38%|███▊      | 1022/2700 [38:01<26:06,  1.07it/s]
 38%|███▊      | 1023/2700 [38:01<21:08,  1.32it/s]
 38%|███▊      | 1024/2700 [38:02<17:53,  1.56it/s]
 38%|███▊      | 1025/2700 [38:14<1:56:02,  4.16s/it]
 38%|███▊      | 1026/2700 [38:14<1:23:54,  3.01s/it]
 38%|███▊      | 1027/2700 [38:15<1:01:30,  2.21s/it]
 38%|███▊      | 1028/2700 [38:15<45:48,  1.64s/it]  
 38%|███▊      | 1029/2700 [38:15<34:50,  1.25s/it]
 38%|███▊      | 1030/2700 [38:16<27:03,  1.03it/s]
 38%|███▊      | 1031/2700 [38:16<21:40,  1.28it/s]
 38%|███▊      | 1032/2700 [38:16<18:04,  1.54it/s]
 38%|███▊      | 1033/2700 [38:30<2:06:45,  4.56s/it]
 38%|███▊      | 1034/2700 [38:30<1:31:40,  3.30s/it]
 38%|███▊      | 1035/2700 [38:31<1:07:07,  2.42s/it]
 38%|███▊      | 1036/2700 [38:31<49:59,  1.80s/it]  
 38%|███▊      | 1037/2700 [38:32<38:00,  1.37s/it]
 38%|███▊      | 1038/2700 [38:32<29:36,  1.07s/it]
 38%|███▊      | 1039/2700 [38:32<23:44,  1.17it/s]
 39%|███▊      | 1040/2700 [38:33<19:30,  1.42it/s]
 39%|███▊      | 1041/2700 [38:55<3:18:01,  7.16s/it]
 39%|███▊      | 1042/2700 [38:55<2:21:27,  5.12s/it]
 39%|███▊      | 1043/2700 [38:56<1:42:06,  3.70s/it]
 39%|███▊      | 1044/2700 [38:56<1:14:12,  2.69s/it]
 39%|███▊      | 1045/2700 [38:56<54:39,  1.98s/it]  
 39%|███▊      | 1046/2700 [38:57<41:01,  1.49s/it]
 39%|███▉      | 1047/2700 [38:57<31:27,  1.14s/it]
 39%|███▉      | 1048/2700 [38:57<24:47,  1.11it/s]
 39%|███▉      | 1049/2700 [39:11<2:14:49,  4.90s/it]
 39%|███▉      | 1050/2700 [39:12<1:37:04,  3.53s/it]
 39%|███▉      | 1051/2700 [39:12<1:10:38,  2.57s/it]
 39%|███▉      | 1052/2700 [39:12<52:12,  1.90s/it]  
 39%|███▉      | 1053/2700 [39:13<39:15,  1.43s/it]
 39%|███▉      | 1054/2700 [39:13<30:14,  1.10s/it]
 39%|███▉      | 1055/2700 [39:13<23:57,  1.14it/s]
 39%|███▉      | 1056/2700 [39:14<19:27,  1.41it/s]
 39%|███▉      | 1057/2700 [39:31<2:36:58,  5.73s/it]
 39%|███▉      | 1058/2700 [39:32<1:52:29,  4.11s/it]
 39%|███▉      | 1059/2700 [39:32<1:21:23,  2.98s/it]
 39%|███▉      | 1060/2700 [39:32<59:32,  2.18s/it]  
 39%|███▉      | 1061/2700 [39:33<44:31,  1.63s/it]
 39%|███▉      | 1062/2700 [39:33<34:22,  1.26s/it]
 39%|███▉      | 1063/2700 [39:33<26:45,  1.02it/s]
 39%|███▉      | 1064/2700 [39:34<21:28,  1.27it/s]
 39%|███▉      | 1065/2700 [39:49<2:20:04,  5.14s/it]
 39%|███▉      | 1066/2700 [39:49<1:40:40,  3.70s/it]
 40%|███▉      | 1067/2700 [39:50<1:13:10,  2.69s/it]
 40%|███▉      | 1068/2700 [39:50<53:53,  1.98s/it]  
 40%|███▉      | 1069/2700 [39:50<40:21,  1.48s/it]
 40%|███▉      | 1070/2700 [39:51<31:04,  1.14s/it]
 40%|███▉      | 1071/2700 [39:51<24:29,  1.11it/s]
 40%|███▉      | 1072/2700 [39:51<19:52,  1.37it/s]
 40%|███▉      | 1073/2700 [40:05<2:08:35,  4.74s/it]
 40%|███▉      | 1074/2700 [40:06<1:32:37,  3.42s/it]
 40%|███▉      | 1075/2700 [40:06<1:07:30,  2.49s/it]
 40%|███▉      | 1076/2700 [40:06<49:56,  1.84s/it]  
 40%|███▉      | 1077/2700 [40:07<37:36,  1.39s/it]
 40%|███▉      | 1078/2700 [40:07<29:05,  1.08s/it]
 40%|███▉      | 1079/2700 [40:07<23:11,  1.16it/s]
 40%|████      | 1080/2700 [40:08<19:02,  1.42it/s]
 40%|████      | 1081/2700 [40:19<1:44:04,  3.86s/it]
 40%|████      | 1082/2700 [40:19<1:15:36,  2.80s/it]
 40%|████      | 1083/2700 [40:20<55:37,  2.06s/it]  
 40%|████      | 1084/2700 [40:20<41:48,  1.55s/it]
 40%|████      | 1085/2700 [40:20<32:07,  1.19s/it]
 40%|████      | 1086/2700 [40:21<25:15,  1.07it/s]
 40%|████      | 1087/2700 [40:21<20:30,  1.31it/s]
 40%|████      | 1088/2700 [40:21<17:14,  1.56it/s]
 40%|████      | 1089/2700 [40:46<3:29:25,  7.80s/it]
 40%|████      | 1090/2700 [40:46<2:29:25,  5.57s/it]
 40%|████      | 1091/2700 [40:47<1:47:26,  4.01s/it]
 40%|████      | 1092/2700 [40:47<1:18:01,  2.91s/it]
 40%|████      | 1093/2700 [40:47<57:34,  2.15s/it]  
 41%|████      | 1094/2700 [40:48<43:08,  1.61s/it]
 41%|████      | 1095/2700 [40:48<33:05,  1.24s/it]
 41%|████      | 1096/2700 [40:48<26:00,  1.03it/s]
 41%|████      | 1097/2700 [41:03<2:15:35,  5.08s/it]
 41%|████      | 1098/2700 [41:03<1:37:44,  3.66s/it]
 41%|████      | 1099/2700 [41:04<1:11:11,  2.67s/it]
 41%|████      | 1100/2700 [41:04<52:39,  1.97s/it]  
 41%|████      | 1101/2700 [41:04<39:36,  1.49s/it]
 41%|████      | 1102/2700 [41:05<30:28,  1.14s/it]
 41%|████      | 1103/2700 [41:05<24:09,  1.10it/s]
 41%|████      | 1104/2700 [41:06<19:45,  1.35it/s]
 41%|████      | 1105/2700 [41:19<2:03:27,  4.64s/it]
 41%|████      | 1106/2700 [41:20<1:29:18,  3.36s/it]
 41%|████      | 1107/2700 [41:20<1:05:23,  2.46s/it]
 41%|████      | 1108/2700 [41:20<48:37,  1.83s/it]  
 41%|████      | 1109/2700 [41:21<36:51,  1.39s/it]
 41%|████      | 1110/2700 [41:21<28:36,  1.08s/it]
 41%|████      | 1111/2700 [41:21<22:52,  1.16it/s]
 41%|████      | 1112/2700 [41:22<18:49,  1.41it/s]
 41%|████      | 1113/2700 [41:38<2:21:53,  5.36s/it]
 41%|████▏     | 1114/2700 [41:38<1:42:12,  3.87s/it]
 41%|████▏     | 1115/2700 [41:39<1:14:29,  2.82s/it]
 41%|████▏     | 1116/2700 [41:39<55:02,  2.08s/it]  
 41%|████▏     | 1117/2700 [41:40<41:36,  1.58s/it]
 41%|████▏     | 1118/2700 [41:40<32:00,  1.21s/it]
 41%|████▏     | 1119/2700 [41:40<25:20,  1.04it/s]
 41%|████▏     | 1120/2700 [41:41<20:40,  1.27it/s]
 42%|████▏     | 1121/2700 [42:01<2:52:40,  6.56s/it]
 42%|████▏     | 1122/2700 [42:01<2:03:24,  4.69s/it]
 42%|████▏     | 1123/2700 [42:01<1:28:57,  3.38s/it]
 42%|████▏     | 1124/2700 [42:02<1:04:50,  2.47s/it]
 42%|████▏     | 1125/2700 [42:02<48:00,  1.83s/it]  
 42%|████▏     | 1126/2700 [42:02<36:09,  1.38s/it]
 42%|████▏     | 1127/2700 [42:03<27:55,  1.07s/it]
 42%|████▏     | 1128/2700 [42:03<22:12,  1.18it/s]
 42%|████▏     | 1129/2700 [42:33<4:08:10,  9.48s/it]
 42%|████▏     | 1130/2700 [42:33<2:56:20,  6.74s/it]
 42%|████▏     | 1131/2700 [42:33<2:05:57,  4.82s/it]
 42%|████▏     | 1132/2700 [42:34<1:30:44,  3.47s/it]
 42%|████▏     | 1133/2700 [42:34<1:06:05,  2.53s/it]
 42%|████▏     | 1134/2700 [42:34<48:48,  1.87s/it]  
 42%|████▏     | 1135/2700 [42:35<36:49,  1.41s/it]
 42%|████▏     | 1136/2700 [42:35<28:23,  1.09s/it]
 42%|████▏     | 1137/2700 [42:52<2:35:00,  5.95s/it]
 42%|████▏     | 1138/2700 [42:53<1:51:00,  4.26s/it]
 42%|████▏     | 1139/2700 [42:53<1:20:12,  3.08s/it]
 42%|████▏     | 1140/2700 [42:53<58:40,  2.26s/it]  
 42%|████▏     | 1141/2700 [42:54<43:37,  1.68s/it]
 42%|████▏     | 1142/2700 [42:54<33:06,  1.28s/it]
 42%|████▏     | 1143/2700 [42:54<25:49,  1.00it/s]
 42%|████▏     | 1144/2700 [42:55<20:45,  1.25it/s]
 42%|████▏     | 1145/2700 [43:20<3:33:34,  8.24s/it]
 42%|████▏     | 1146/2700 [43:21<2:32:11,  5.88s/it]
 42%|████▏     | 1147/2700 [43:21<1:49:13,  4.22s/it]
 43%|████▎     | 1148/2700 [43:21<1:19:13,  3.06s/it]
 43%|████▎     | 1149/2700 [43:22<58:21,  2.26s/it]  
 43%|████▎     | 1150/2700 [43:22<43:37,  1.69s/it]
 43%|████▎     | 1151/2700 [43:22<33:15,  1.29s/it]
 43%|████▎     | 1152/2700 [43:23<26:01,  1.01s/it]
 43%|████▎     | 1153/2700 [43:55<4:23:56, 10.24s/it]
 43%|████▎     | 1154/2700 [43:55<3:07:14,  7.27s/it]
 43%|████▎     | 1155/2700 [43:55<2:13:37,  5.19s/it]
 43%|████▎     | 1156/2700 [43:56<1:36:06,  3.74s/it]
 43%|████▎     | 1157/2700 [43:56<1:09:51,  2.72s/it]
 43%|████▎     | 1158/2700 [43:56<51:33,  2.01s/it]  
 43%|████▎     | 1159/2700 [43:57<38:46,  1.51s/it]
 43%|████▎     | 1160/2700 [43:57<29:39,  1.16s/it]
 43%|████▎     | 1161/2700 [44:12<2:18:02,  5.38s/it]
 43%|████▎     | 1162/2700 [44:13<1:39:08,  3.87s/it]
 43%|████▎     | 1163/2700 [44:13<1:11:50,  2.80s/it]
 43%|████▎     | 1164/2700 [44:13<52:51,  2.06s/it]  
 43%|████▎     | 1165/2700 [44:13<39:28,  1.54s/it]
 43%|████▎     | 1166/2700 [44:14<30:07,  1.18s/it]
 43%|████▎     | 1167/2700 [44:14<23:43,  1.08it/s]
 43%|████▎     | 1168/2700 [44:14<19:04,  1.34it/s]
 43%|████▎     | 1169/2700 [44:35<2:46:54,  6.54s/it]
 43%|████▎     | 1170/2700 [44:35<1:59:20,  4.68s/it]
 43%|████▎     | 1171/2700 [44:35<1:26:09,  3.38s/it]
 43%|████▎     | 1172/2700 [44:36<1:03:02,  2.48s/it]
 43%|████▎     | 1173/2700 [44:36<46:30,  1.83s/it]  
 43%|████▎     | 1174/2700 [44:36<34:57,  1.37s/it]
 44%|████▎     | 1175/2700 [44:37<26:53,  1.06s/it]
 44%|████▎     | 1176/2700 [44:37<21:14,  1.20it/s]
 44%|████▎     | 1177/2700 [44:58<2:58:12,  7.02s/it]
 44%|████▎     | 1178/2700 [44:59<2:07:12,  5.01s/it]
 44%|████▎     | 1179/2700 [44:59<1:31:33,  3.61s/it]
 44%|████▎     | 1180/2700 [44:59<1:06:33,  2.63s/it]
 44%|████▎     | 1181/2700 [45:00<49:08,  1.94s/it]  
 44%|████▍     | 1182/2700 [45:00<37:00,  1.46s/it]
 44%|████▍     | 1183/2700 [45:00<28:24,  1.12s/it]
 44%|████▍     | 1184/2700 [45:01<22:17,  1.13it/s]
 44%|████▍     | 1185/2700 [45:21<2:50:35,  6.76s/it]
 44%|████▍     | 1186/2700 [45:21<2:01:52,  4.83s/it]
 44%|████▍     | 1187/2700 [45:22<1:27:44,  3.48s/it]
 44%|████▍     | 1188/2700 [45:22<1:03:50,  2.53s/it]
 44%|████▍     | 1189/2700 [45:22<47:29,  1.89s/it]  
 44%|████▍     | 1190/2700 [45:23<35:38,  1.42s/it]
 44%|████▍     | 1191/2700 [45:23<27:24,  1.09s/it]
 44%|████▍     | 1192/2700 [45:23<21:42,  1.16it/s]
 44%|████▍     | 1193/2700 [45:37<2:00:21,  4.79s/it]
 44%|████▍     | 1194/2700 [45:38<1:26:47,  3.46s/it]
 44%|████▍     | 1195/2700 [45:38<1:03:13,  2.52s/it]
 44%|████▍     | 1196/2700 [45:38<46:41,  1.86s/it]  
 44%|████▍     | 1197/2700 [45:39<35:11,  1.40s/it]
 44%|████▍     | 1198/2700 [45:39<27:10,  1.09s/it]
 44%|████▍     | 1199/2700 [45:39<21:30,  1.16it/s]
 44%|████▍     | 1200/2700 [45:40<17:29,  1.43it/s]
 44%|████▍     | 1201/2700 [46:18<4:55:37, 11.83s/it]
 45%|████▍     | 1202/2700 [46:18<3:29:15,  8.38s/it]
 45%|████▍     | 1203/2700 [46:18<2:28:52,  5.97s/it]
 45%|████▍     | 1204/2700 [46:19<1:46:36,  4.28s/it]
 45%|████▍     | 1205/2700 [46:19<1:17:02,  3.09s/it]
 45%|████▍     | 1206/2700 [46:19<56:20,  2.26s/it]  
 45%|████▍     | 1207/2700 [46:20<41:52,  1.68s/it]
 45%|████▍     | 1208/2700 [46:20<31:48,  1.28s/it]
 45%|████▍     | 1209/2700 [47:02<5:35:41, 13.51s/it]
 45%|████▍     | 1210/2700 [47:02<3:57:20,  9.56s/it]
 45%|████▍     | 1211/2700 [47:03<2:48:32,  6.79s/it]
 45%|████▍     | 1212/2700 [47:03<2:00:28,  4.86s/it]
 45%|████▍     | 1213/2700 [47:03<1:26:55,  3.51s/it]
 45%|████▍     | 1214/2700 [47:04<1:03:15,  2.55s/it]
 45%|████▌     | 1215/2700 [47:04<46:40,  1.89s/it]  
 45%|████▌     | 1216/2700 [47:04<35:05,  1.42s/it]
 45%|████▌     | 1217/2700 [47:19<2:12:32,  5.36s/it]
 45%|████▌     | 1218/2700 [47:19<1:35:09,  3.85s/it]
 45%|████▌     | 1219/2700 [47:20<1:08:59,  2.79s/it]
 45%|████▌     | 1220/2700 [47:20<50:44,  2.06s/it]  
 45%|████▌     | 1221/2700 [47:20<37:56,  1.54s/it]
 45%|████▌     | 1222/2700 [47:21<28:59,  1.18s/it]
 45%|████▌     | 1223/2700 [47:21<22:44,  1.08it/s]
 45%|████▌     | 1224/2700 [47:21<18:25,  1.34it/s]
 45%|████▌     | 1225/2700 [47:42<2:44:45,  6.70s/it]
 45%|████▌     | 1226/2700 [47:42<1:57:41,  4.79s/it]
 45%|████▌     | 1227/2700 [47:42<1:24:50,  3.46s/it]
 45%|████▌     | 1228/2700 [47:43<1:01:48,  2.52s/it]
 46%|████▌     | 1229/2700 [47:43<45:43,  1.87s/it]  
 46%|████▌     | 1230/2700 [47:43<34:31,  1.41s/it]
 46%|████▌     | 1231/2700 [47:44<26:37,  1.09s/it]
 46%|████▌     | 1232/2700 [47:44<21:11,  1.15it/s]
 46%|████▌     | 1233/2700 [47:59<2:05:16,  5.12s/it]
 46%|████▌     | 1234/2700 [48:00<1:30:14,  3.69s/it]
 46%|████▌     | 1235/2700 [48:00<1:05:49,  2.70s/it]
 46%|████▌     | 1236/2700 [48:00<48:45,  2.00s/it]  
 46%|████▌     | 1237/2700 [48:01<36:43,  1.51s/it]
 46%|████▌     | 1238/2700 [48:01<28:18,  1.16s/it]
 46%|████▌     | 1239/2700 [48:01<22:24,  1.09it/s]
 46%|████▌     | 1240/2700 [48:02<18:15,  1.33it/s]
 46%|████▌     | 1241/2700 [48:19<2:20:01,  5.76s/it]
 46%|████▌     | 1242/2700 [48:20<1:40:33,  4.14s/it]
 46%|████▌     | 1243/2700 [48:20<1:12:47,  3.00s/it]
 46%|████▌     | 1244/2700 [48:20<53:27,  2.20s/it]  
 46%|████▌     | 1245/2700 [48:21<39:58,  1.65s/it]
 46%|████▌     | 1246/2700 [48:21<30:38,  1.26s/it]
 46%|████▌     | 1247/2700 [48:21<24:03,  1.01it/s]
 46%|████▌     | 1248/2700 [48:22<19:26,  1.25it/s]
 46%|████▋     | 1249/2700 [48:36<2:00:08,  4.97s/it]
 46%|████▋     | 1250/2700 [48:37<1:26:40,  3.59s/it]
 46%|████▋     | 1251/2700 [48:37<1:03:13,  2.62s/it]
 46%|████▋     | 1252/2700 [48:37<46:47,  1.94s/it]  
 46%|████▋     | 1253/2700 [48:38<35:43,  1.48s/it]
 46%|████▋     | 1254/2700 [48:38<27:34,  1.14s/it]
 46%|████▋     | 1255/2700 [48:39<21:52,  1.10it/s]
 47%|████▋     | 1256/2700 [48:39<17:52,  1.35it/s]
 47%|████▋     | 1257/2700 [48:52<1:46:56,  4.45s/it]
 47%|████▋     | 1258/2700 [48:52<1:17:33,  3.23s/it]
 47%|████▋     | 1259/2700 [48:53<57:01,  2.37s/it]  
 47%|████▋     | 1260/2700 [48:53<42:30,  1.77s/it]
 47%|████▋     | 1261/2700 [48:54<32:22,  1.35s/it]
 47%|████▋     | 1262/2700 [48:54<25:15,  1.05s/it]
 47%|████▋     | 1263/2700 [48:54<20:15,  1.18it/s]
 47%|████▋     | 1264/2700 [48:55<16:48,  1.42it/s]
 47%|████▋     | 1265/2700 [49:11<2:09:51,  5.43s/it]
 47%|████▋     | 1266/2700 [49:11<1:33:25,  3.91s/it]
 47%|████▋     | 1267/2700 [49:12<1:07:57,  2.85s/it]
 47%|████▋     | 1268/2700 [49:12<50:08,  2.10s/it]  
 47%|████▋     | 1269/2700 [49:13<37:34,  1.58s/it]
 47%|████▋     | 1270/2700 [49:13<28:47,  1.21s/it]
 47%|████▋     | 1271/2700 [49:13<22:38,  1.05it/s]
 47%|████▋     | 1272/2700 [49:14<18:22,  1.29it/s]
 47%|████▋     | 1273/2700 [49:33<2:33:22,  6.45s/it]
 47%|████▋     | 1274/2700 [49:34<1:49:51,  4.62s/it]
 47%|████▋     | 1275/2700 [49:34<1:19:27,  3.35s/it]
 47%|████▋     | 1276/2700 [49:34<58:14,  2.45s/it]  
 47%|████▋     | 1277/2700 [49:35<43:24,  1.83s/it]
 47%|████▋     | 1278/2700 [49:35<32:55,  1.39s/it]
 47%|████▋     | 1279/2700 [49:35<25:47,  1.09s/it]
 47%|████▋     | 1280/2700 [49:36<21:05,  1.12it/s]
 47%|████▋     | 1281/2700 [49:56<2:40:38,  6.79s/it]
 47%|████▋     | 1282/2700 [49:57<1:54:51,  4.86s/it]
 48%|████▊     | 1283/2700 [49:57<1:22:49,  3.51s/it]
 48%|████▊     | 1284/2700 [49:58<1:00:25,  2.56s/it]
 48%|████▊     | 1285/2700 [49:58<44:43,  1.90s/it]  
 48%|████▊     | 1286/2700 [49:58<33:43,  1.43s/it]
 48%|████▊     | 1287/2700 [49:59<26:02,  1.11s/it]
 48%|████▊     | 1288/2700 [49:59<20:39,  1.14it/s]
 48%|████▊     | 1289/2700 [50:14<2:01:34,  5.17s/it]
 48%|████▊     | 1290/2700 [50:14<1:27:38,  3.73s/it]
 48%|████▊     | 1291/2700 [50:15<1:03:42,  2.71s/it]
 48%|████▊     | 1292/2700 [50:15<46:54,  2.00s/it]  
 48%|████▊     | 1293/2700 [50:15<35:10,  1.50s/it]
 48%|████▊     | 1294/2700 [50:16<27:00,  1.15s/it]
 48%|████▊     | 1295/2700 [50:16<21:20,  1.10it/s]
 48%|████▊     | 1296/2700 [50:17<17:23,  1.35it/s]
 48%|████▊     | 1297/2700 [51:06<5:56:50, 15.26s/it]
 48%|████▊     | 1298/2700 [51:06<4:11:55, 10.78s/it]
 48%|████▊     | 1299/2700 [51:06<2:58:28,  7.64s/it]
 48%|████▊     | 1300/2700 [51:07<2:07:07,  5.45s/it]
 48%|████▊     | 1301/2700 [51:07<1:31:17,  3.92s/it]
 48%|████▊     | 1302/2700 [51:07<1:06:09,  2.84s/it]
 48%|████▊     | 1303/2700 [51:08<48:33,  2.09s/it]  
 48%|████▊     | 1304/2700 [51:08<36:15,  1.56s/it]
 48%|████▊     | 1305/2700 [51:26<2:28:19,  6.38s/it]
 48%|████▊     | 1306/2700 [51:26<1:46:01,  4.56s/it]
 48%|████▊     | 1307/2700 [51:26<1:16:24,  3.29s/it]
 48%|████▊     | 1308/2700 [51:27<55:44,  2.40s/it]  
 48%|████▊     | 1309/2700 [51:27<41:15,  1.78s/it]
 49%|████▊     | 1310/2700 [51:27<31:12,  1.35s/it]
 49%|████▊     | 1311/2700 [51:28<24:08,  1.04s/it]
 49%|████▊     | 1312/2700 [51:28<19:12,  1.20it/s]
 49%|████▊     | 1313/2700 [51:43<2:00:43,  5.22s/it]
 49%|████▊     | 1314/2700 [51:44<1:26:55,  3.76s/it]
 49%|████▊     | 1315/2700 [51:44<1:03:12,  2.74s/it]
 49%|████▊     | 1316/2700 [51:44<46:29,  2.02s/it]  
 49%|████▉     | 1317/2700 [51:45<34:47,  1.51s/it]
 49%|████▉     | 1318/2700 [51:45<26:45,  1.16s/it]
 49%|████▉     | 1319/2700 [51:45<21:04,  1.09it/s]
 49%|████▉     | 1320/2700 [51:46<17:03,  1.35it/s]
 49%|████▉     | 1321/2700 [52:00<1:48:50,  4.74s/it]
 49%|████▉     | 1322/2700 [52:00<1:18:27,  3.42s/it]
 49%|████▉     | 1323/2700 [52:00<57:12,  2.49s/it]  
 49%|████▉     | 1324/2700 [52:01<42:20,  1.85s/it]
 49%|████▉     | 1325/2700 [52:01<31:54,  1.39s/it]
 49%|████▉     | 1326/2700 [52:01<24:39,  1.08s/it]
 49%|████▉     | 1327/2700 [52:02<19:30,  1.17it/s]
 49%|████▉     | 1328/2700 [52:02<15:55,  1.44it/s]
 49%|████▉     | 1329/2700 [52:17<1:51:53,  4.90s/it]
 49%|████▉     | 1330/2700 [52:17<1:20:41,  3.53s/it]
 49%|████▉     | 1331/2700 [52:18<58:46,  2.58s/it]  
 49%|████▉     | 1332/2700 [52:18<43:24,  1.90s/it]
 49%|████▉     | 1333/2700 [52:18<32:39,  1.43s/it]
 49%|████▉     | 1334/2700 [52:19<25:17,  1.11s/it]
 49%|████▉     | 1335/2700 [52:19<20:07,  1.13it/s]
 49%|████▉     | 1336/2700 [52:19<16:26,  1.38it/s]
 50%|████▉     | 1337/2700 [52:40<2:32:03,  6.69s/it]
 50%|████▉     | 1338/2700 [52:40<1:48:40,  4.79s/it]
 50%|████▉     | 1339/2700 [52:41<1:18:29,  3.46s/it]
 50%|████▉     | 1340/2700 [52:41<57:10,  2.52s/it]  
 50%|████▉     | 1341/2700 [52:41<42:27,  1.87s/it]
 50%|████▉     | 1342/2700 [52:42<32:04,  1.42s/it]
 50%|████▉     | 1343/2700 [52:42<24:41,  1.09s/it]
 50%|████▉     | 1344/2700 [52:42<19:35,  1.15it/s]
 50%|████▉     | 1345/2700 [53:14<3:51:30, 10.25s/it]
 50%|████▉     | 1346/2700 [53:15<2:44:12,  7.28s/it]
 50%|████▉     | 1347/2700 [53:15<1:57:03,  5.19s/it]
 50%|████▉     | 1348/2700 [53:15<1:24:12,  3.74s/it]
 50%|████▉     | 1349/2700 [53:16<1:01:10,  2.72s/it]
 50%|█████     | 1350/2700 [53:16<45:06,  2.00s/it]  
 50%|█████     | 1351/2700 [53:16<33:50,  1.51s/it]
 50%|█████     | 1352/2700 [53:17<25:55,  1.15s/it]
 50%|█████     | 1353/2700 [53:34<2:10:55,  5.83s/it]
 50%|█████     | 1354/2700 [53:34<1:33:49,  4.18s/it]
 50%|█████     | 1355/2700 [53:34<1:07:49,  3.03s/it]
 50%|█████     | 1356/2700 [53:35<49:41,  2.22s/it]  
 50%|█████     | 1357/2700 [53:35<36:56,  1.65s/it]
 50%|█████     | 1358/2700 [53:35<28:06,  1.26s/it]
 50%|█████     | 1359/2700 [53:36<21:52,  1.02it/s]
 50%|█████     | 1360/2700 [53:36<17:28,  1.28it/s]
 50%|█████     | 1361/2700 [53:54<2:11:15,  5.88s/it]
 50%|█████     | 1362/2700 [53:54<1:34:04,  4.22s/it]
 50%|█████     | 1363/2700 [53:54<1:08:05,  3.06s/it]
 51%|█████     | 1364/2700 [53:55<49:48,  2.24s/it]  
 51%|█████     | 1365/2700 [53:55<37:01,  1.66s/it]
 51%|█████     | 1366/2700 [53:55<28:03,  1.26s/it]
 51%|█████     | 1367/2700 [53:56<21:47,  1.02it/s]
 51%|█████     | 1368/2700 [53:56<17:26,  1.27it/s]
 51%|█████     | 1369/2700 [54:12<2:00:16,  5.42s/it]
 51%|█████     | 1370/2700 [54:13<1:26:19,  3.89s/it]
 51%|█████     | 1371/2700 [54:13<1:02:32,  2.82s/it]
 51%|█████     | 1372/2700 [54:13<45:54,  2.07s/it]  
 51%|█████     | 1373/2700 [54:14<34:15,  1.55s/it]
 51%|█████     | 1374/2700 [54:14<26:04,  1.18s/it]
 51%|█████     | 1375/2700 [54:14<20:26,  1.08it/s]
 51%|█████     | 1376/2700 [54:15<16:30,  1.34it/s]
 51%|█████     | 1377/2700 [54:33<2:10:59,  5.94s/it]
 51%|█████     | 1378/2700 [54:33<1:33:53,  4.26s/it]
 51%|█████     | 1379/2700 [54:33<1:07:55,  3.09s/it]
 51%|█████     | 1380/2700 [54:34<49:43,  2.26s/it]  
 51%|█████     | 1381/2700 [54:34<37:02,  1.68s/it]
 51%|█████     | 1382/2700 [54:34<28:06,  1.28s/it]
 51%|█████     | 1383/2700 [54:35<21:51,  1.00it/s]
 51%|█████▏    | 1384/2700 [54:35<17:28,  1.26it/s]
 51%|█████▏    | 1385/2700 [54:48<1:39:56,  4.56s/it]
 51%|█████▏    | 1386/2700 [54:49<1:12:08,  3.29s/it]
 51%|█████▏    | 1387/2700 [54:49<52:39,  2.41s/it]  
 51%|█████▏    | 1388/2700 [54:49<39:02,  1.79s/it]
 51%|█████▏    | 1389/2700 [54:50<29:31,  1.35s/it]
 51%|█████▏    | 1390/2700 [54:50<23:00,  1.05s/it]
 52%|█████▏    | 1391/2700 [54:50<18:17,  1.19it/s]
 52%|█████▏    | 1392/2700 [54:51<14:59,  1.45it/s]
 52%|█████▏    | 1393/2700 [55:06<1:49:58,  5.05s/it]
 52%|█████▏    | 1394/2700 [55:06<1:19:16,  3.64s/it]
 52%|█████▏    | 1395/2700 [55:07<57:41,  2.65s/it]  
 52%|█████▏    | 1396/2700 [55:07<42:34,  1.96s/it]
 52%|█████▏    | 1397/2700 [55:07<32:05,  1.48s/it]
 52%|█████▏    | 1398/2700 [55:08<24:46,  1.14s/it]
 52%|█████▏    | 1399/2700 [55:08<19:42,  1.10it/s]
 52%|█████▏    | 1400/2700 [55:08<16:07,  1.34it/s]
 52%|█████▏    | 1401/2700 [55:24<1:51:45,  5.16s/it]
 52%|█████▏    | 1402/2700 [55:24<1:20:29,  3.72s/it]
 52%|█████▏    | 1403/2700 [55:25<58:30,  2.71s/it]  
 52%|█████▏    | 1404/2700 [55:25<43:06,  2.00s/it]
 52%|█████▏    | 1405/2700 [55:25<32:20,  1.50s/it]
 52%|█████▏    | 1406/2700 [55:26<24:55,  1.16s/it]
 52%|█████▏    | 1407/2700 [55:26<19:38,  1.10it/s]
 52%|█████▏    | 1408/2700 [55:26<15:57,  1.35it/s]
 52%|█████▏    | 1409/2700 [55:42<1:50:56,  5.16s/it]
 52%|█████▏    | 1410/2700 [55:42<1:19:52,  3.71s/it]
 52%|█████▏    | 1411/2700 [55:42<58:03,  2.70s/it]  
 52%|█████▏    | 1412/2700 [55:43<42:53,  2.00s/it]
 52%|█████▏    | 1413/2700 [55:43<32:16,  1.50s/it]
 52%|█████▏    | 1414/2700 [55:43<24:53,  1.16s/it]
 52%|█████▏    | 1415/2700 [55:44<19:40,  1.09it/s]
 52%|█████▏    | 1416/2700 [55:44<16:25,  1.30it/s]
 52%|█████▏    | 1417/2700 [56:19<3:54:42, 10.98s/it]
 53%|█████▎    | 1418/2700 [56:19<2:46:29,  7.79s/it]
 53%|█████▎    | 1419/2700 [56:20<1:58:43,  5.56s/it]
 53%|█████▎    | 1420/2700 [56:20<1:25:19,  4.00s/it]
 53%|█████▎    | 1421/2700 [56:20<1:01:56,  2.91s/it]
 53%|█████▎    | 1422/2700 [56:21<45:32,  2.14s/it]  
 53%|█████▎    | 1423/2700 [56:21<34:05,  1.60s/it]
 53%|█████▎    | 1424/2700 [56:22<26:03,  1.23s/it]
 53%|█████▎    | 1425/2700 [56:50<3:22:49,  9.54s/it]
 53%|█████▎    | 1425/2700 [56:51<50:52,  2.39s/it]  
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json.
+PlasticBottlesInSquarePailTask_2 complete: task_name: PlasticBottlesInSquarePailTask, run_name: PlasticBottlesInSquarePailTask_2, run: 2, env_id: 0, policy: harness, instruction: Put all the small plastic bottles in the square pail, attributes: ['semantics', 'sorting', 'size', 'complex'], success: True, episode_step: 1426, duration: 95.06666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -13.459605861582766, 'joint_sparc_mean': -17.711515685783514, 'ee_isj': 16046.892103520375, 'joint_isj': 823100.9229602632, 'ee_path_length': 16.136718756460063, 'joint_rmse_mean': 1.4031858623958553, 'ee_speed_max': 0.711696207523346, 'ee_speed_mean': 0.16087938845157623}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 15, 'TARGET_OBJECT_DROPPED': 14, 'GRIPPER_HIT_TABLE': 7, 'OBJECT_BUMPED': 3, 'WRONG_OBJECT_GRABBED': 1, 'wrong_objects_grabbed': ['squarepail_a01']}, instruction_type: default, timing: {'policy_inference_s': 2936.474, 'policy_inference_avg_ms': 2059.2, 'env_step_s': 463.211, 'env_step_avg_ms': 324.8, 'video_write_s': 10.829, 'video_write_avg_ms': 7.6, 'wall_total_s': 3410.514, 'it_per_sec': 0.42}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 7b6c10d664874ce2a915d8700c0ac77f-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-29T19:18:16Z [8,587,182ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:4
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.523565 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-29T19:18:21Z [8,592,224ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T19:18:21Z [8,592,224ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T19:18:21Z [8,592,234ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T19:18:21Z [8,592,234ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T19:18:21Z [8,592,242ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T19:18:21Z [8,592,250ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-29T19:18:22Z [8,592,269ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-29T19:18:22Z [8,592,487ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((299))' not available in the MDL representation.
+2026-10-29T19:18:22Z [8,592,487ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((299))' not available in the MDL representation.
+2026-10-29T19:18:22Z [8,592,563ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((325))' not available in the MDL representation.
+2026-10-29T19:18:22Z [8,592,563ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((325))' not available in the MDL representation.
+2026-10-29T19:18:22Z [8,592,565ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((326))' not available in the MDL representation.
+2026-10-29T19:18:22Z [8,592,565ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((326))' not available in the MDL representation.
+2026-10-29T19:18:22Z [8,592,968ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((357))' not available in the MDL representation.
+2026-10-29T19:18:22Z [8,592,968ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((357))' not available in the MDL representation.
+2026-10-29T19:18:22Z [8,593,001ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((371))' not available in the MDL representation.
+2026-10-29T19:18:22Z [8,593,002ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((371))' not available in the MDL representation.
+2026-10-29T19:18:22Z [8,593,003ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((372))' not available in the MDL representation.
+2026-10-29T19:18:22Z [8,593,004ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((372))' not available in the MDL representation.
+2026-10-29T19:18:22Z [8,593,011ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((376))' not available in the MDL representation.
+2026-10-29T19:18:22Z [8,593,011ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((376))' not available in the MDL representation.
+2026-10-29T19:18:22Z [8,593,035ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((381))' not available in the MDL representation.
+2026-10-29T19:18:22Z [8,593,035ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((381))' not available in the MDL representation.
+2026-10-29T19:18:22Z [8,593,046ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((387))' not available in the MDL representation.
+2026-10-29T19:18:22Z [8,593,046ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((387))' not available in the MDL representation.
+2026-10-29T19:18:22Z [8,593,076ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((390))' not available in the MDL representation.
+2026-10-29T19:18:22Z [8,593,076ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((390))' not available in the MDL representation.
+2026-10-29T19:18:22Z [8,593,084ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((395))' not available in the MDL representation.
+2026-10-29T19:18:22Z [8,593,084ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((395))' not available in the MDL representation.
+2026-10-29T19:18:22Z [8,593,130ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((419))' not available in the MDL representation.
+2026-10-29T19:18:22Z [8,593,130ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((419))' not available in the MDL representation.
+2026-10-29T19:18:23Z [8,593,360ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((445))' not available in the MDL representation.
+2026-10-29T19:18:23Z [8,593,360ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((445))' not available in the MDL representation.
+2026-10-29T19:18:23Z [8,593,393ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((458))' not available in the MDL representation.
+2026-10-29T19:18:23Z [8,593,394ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((458))' not available in the MDL representation.
+2026-10-29T19:18:23Z [8,593,691ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((493))' not available in the MDL representation.
+2026-10-29T19:18:23Z [8,593,692ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((493))' not available in the MDL representation.
+2026-10-29T19:18:23Z [8,593,698ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((497))' not available in the MDL representation.
+2026-10-29T19:18:23Z [8,593,699ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((497))' not available in the MDL representation.
+2026-10-29T19:18:23Z [8,593,702ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((499))' not available in the MDL representation.
+2026-10-29T19:18:23Z [8,593,702ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((499))' not available in the MDL representation.
+2026-10-29T19:18:23Z [8,593,705ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((501))' not available in the MDL representation.
+2026-10-29T19:18:23Z [8,593,705ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((501))' not available in the MDL representation.
+2026-10-29T19:18:24Z [8,594,825ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((371))' not available in the MDL representation.
+2026-10-29T19:18:24Z [8,594,826ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((371))' not available in the MDL representation.
+2026-10-29T19:18:24Z [8,594,827ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((381))' not available in the MDL representation.
+2026-10-29T19:18:24Z [8,594,827ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((381))' not available in the MDL representation.
+2026-10-29T19:18:24Z [8,594,828ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((390))' not available in the MDL representation.
+2026-10-29T19:18:24Z [8,594,828ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((390))' not available in the MDL representation.
+2026-10-29T19:18:24Z [8,594,830ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((419))' not available in the MDL representation.
+2026-10-29T19:18:24Z [8,594,830ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((419))' not available in the MDL representation.
+2026-10-29T19:18:24Z [8,594,833ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((458))' not available in the MDL representation.
+2026-10-29T19:18:24Z [8,594,833ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((458))' not available in the MDL representation.
+2026-10-29T19:18:24Z [8,594,835ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((493))' not available in the MDL representation.
+2026-10-29T19:18:24Z [8,594,835ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((493))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 7.142053 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : OneBottleInSquarePailTask                     │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put any white plastic bottle in the square pail │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : OneBottleInSquarePailTaskSceneEnvCfg          │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running OneBottleInSquarePailTask_0: 'Put any white plastic bottle in the square pail' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:30<7:31:13, 30.12s/it]
  0%|          | 2/900 [00:30<3:08:32, 12.60s/it]
  0%|          | 3/900 [00:30<1:44:26,  6.99s/it]
  0%|          | 4/900 [00:31<1:05:03,  4.36s/it]
  1%|          | 5/900 [00:31<43:14,  2.90s/it]  
  1%|          | 6/900 [00:31<30:04,  2.02s/it]
  1%|          | 7/900 [00:32<21:43,  1.46s/it]
  1%|          | 8/900 [00:32<16:15,  1.09s/it]
  1%|          | 9/900 [00:42<58:39,  3.95s/it]
  1%|          | 10/900 [00:42<42:02,  2.83s/it]
  1%|          | 11/900 [00:43<30:36,  2.07s/it]
  1%|▏         | 12/900 [00:43<22:43,  1.54s/it]
  1%|▏         | 13/900 [00:43<17:15,  1.17s/it]
  2%|▏         | 14/900 [00:44<13:26,  1.10it/s]
  2%|▏         | 15/900 [00:44<10:48,  1.36it/s]
  2%|▏         | 16/900 [00:44<08:57,  1.64it/s]
  2%|▏         | 17/900 [00:54<47:45,  3.25s/it]
  2%|▏         | 18/900 [00:54<34:50,  2.37s/it]
  2%|▏         | 19/900 [00:54<25:45,  1.75s/it]
  2%|▏         | 20/900 [00:55<19:24,  1.32s/it]
  2%|▏         | 21/900 [00:55<14:59,  1.02s/it]
  2%|▏         | 22/900 [00:55<11:52,  1.23it/s]
  3%|▎         | 23/900 [00:56<09:39,  1.51it/s]
  3%|▎         | 24/900 [00:56<08:07,  1.80it/s]
  3%|▎         | 25/900 [01:23<2:04:12,  8.52s/it]
  3%|▎         | 26/900 [01:23<1:28:15,  6.06s/it]
  3%|▎         | 27/900 [01:24<1:03:08,  4.34s/it]
  3%|▎         | 28/900 [01:24<45:33,  3.14s/it]  
  3%|▎         | 29/900 [01:24<33:17,  2.29s/it]
  3%|▎         | 30/900 [01:25<24:37,  1.70s/it]
  3%|▎         | 31/900 [01:25<18:36,  1.29s/it]
  4%|▎         | 32/900 [01:25<14:25,  1.00it/s]
  4%|▎         | 33/900 [01:36<56:26,  3.91s/it]
  4%|▍         | 34/900 [01:36<40:50,  2.83s/it]
  4%|▍         | 35/900 [01:37<30:02,  2.08s/it]
  4%|▍         | 36/900 [01:37<22:22,  1.55s/it]
  4%|▍         | 37/900 [01:37<17:01,  1.18s/it]
  4%|▍         | 38/900 [01:38<13:16,  1.08it/s]
  4%|▍         | 39/900 [01:38<10:39,  1.35it/s]
  4%|▍         | 40/900 [01:38<08:52,  1.62it/s]
  5%|▍         | 41/900 [01:43<25:23,  1.77s/it]
  5%|▍         | 42/900 [01:43<19:11,  1.34s/it]
  5%|▍         | 43/900 [01:43<14:55,  1.04s/it]
  5%|▍         | 44/900 [01:44<11:55,  1.20it/s]
  5%|▌         | 45/900 [01:44<09:49,  1.45it/s]
  5%|▌         | 46/900 [01:44<08:22,  1.70it/s]
  5%|▌         | 47/900 [01:45<07:21,  1.93it/s]
  5%|▌         | 48/900 [01:45<06:40,  2.13it/s]
  5%|▌         | 49/900 [01:50<24:14,  1.71s/it]
  6%|▌         | 50/900 [01:50<18:26,  1.30s/it]
  6%|▌         | 51/900 [01:50<14:21,  1.01s/it]
  6%|▌         | 52/900 [01:51<11:33,  1.22it/s]
  6%|▌         | 53/900 [01:51<09:36,  1.47it/s]
  6%|▌         | 54/900 [01:52<08:16,  1.70it/s]
  6%|▌         | 55/900 [01:52<07:17,  1.93it/s]
  6%|▌         | 56/900 [01:52<06:32,  2.15it/s]
  6%|▋         | 57/900 [02:01<40:38,  2.89s/it]
  6%|▋         | 58/900 [02:01<29:54,  2.13s/it]
  7%|▋         | 59/900 [02:02<22:27,  1.60s/it]
  7%|▋         | 60/900 [02:02<17:13,  1.23s/it]
  7%|▋         | 61/900 [02:02<13:33,  1.03it/s]
  7%|▋         | 62/900 [02:03<10:58,  1.27it/s]
  7%|▋         | 63/900 [02:03<09:07,  1.53it/s]
  7%|▋         | 64/900 [02:03<07:50,  1.78it/s]
  7%|▋         | 65/900 [02:18<1:06:04,  4.75s/it]
  7%|▋         | 66/900 [02:18<47:38,  3.43s/it]  
  7%|▋         | 67/900 [02:18<34:45,  2.50s/it]
  8%|▊         | 68/900 [02:19<25:47,  1.86s/it]
  8%|▊         | 69/900 [02:19<19:29,  1.41s/it]
  8%|▊         | 70/900 [02:20<15:02,  1.09s/it]
  8%|▊         | 71/900 [02:20<11:49,  1.17it/s]
  8%|▊         | 72/900 [02:20<09:35,  1.44it/s]
  8%|▊         | 73/900 [02:25<25:50,  1.87s/it]
  8%|▊         | 74/900 [02:25<19:22,  1.41s/it]
  8%|▊         | 75/900 [02:25<14:50,  1.08s/it]
  8%|▊         | 76/900 [02:26<11:38,  1.18it/s]
  9%|▊         | 77/900 [02:26<09:26,  1.45it/s]
  9%|▊         | 78/900 [02:26<07:54,  1.73it/s]
  9%|▉         | 79/900 [02:27<06:49,  2.01it/s]
  9%|▉         | 80/900 [02:27<06:05,  2.24it/s]
  9%|▉         | 81/900 [02:44<1:13:05,  5.36s/it]
  9%|▉         | 82/900 [02:44<52:24,  3.84s/it]  
  9%|▉         | 83/900 [02:44<38:02,  2.79s/it]
  9%|▉         | 84/900 [02:45<27:54,  2.05s/it]
  9%|▉         | 85/900 [02:45<20:53,  1.54s/it]
 10%|▉         | 86/900 [02:45<15:57,  1.18s/it]
 10%|▉         | 87/900 [02:46<12:32,  1.08it/s]
 10%|▉         | 88/900 [02:46<10:04,  1.34it/s]
 10%|▉         | 89/900 [02:55<43:21,  3.21s/it]
 10%|█         | 90/900 [02:55<31:35,  2.34s/it]
 10%|█         | 91/900 [02:56<23:24,  1.74s/it]
 10%|█         | 92/900 [02:56<17:44,  1.32s/it]
 10%|█         | 93/900 [02:56<13:46,  1.02s/it]
 10%|█         | 94/900 [02:57<11:00,  1.22it/s]
 11%|█         | 95/900 [02:57<09:05,  1.48it/s]
 11%|█         | 96/900 [02:57<07:47,  1.72it/s]
 11%|█         | 97/900 [03:06<40:36,  3.03s/it]
 11%|█         | 98/900 [03:07<29:47,  2.23s/it]
 11%|█         | 99/900 [03:07<22:12,  1.66s/it]
 11%|█         | 100/900 [03:07<16:53,  1.27s/it]
 11%|█         | 101/900 [03:08<13:09,  1.01it/s]
 11%|█▏        | 102/900 [03:08<10:32,  1.26it/s]
 11%|█▏        | 103/900 [03:08<08:49,  1.51it/s]
 12%|█▏        | 104/900 [03:09<07:34,  1.75it/s]
 12%|█▏        | 105/900 [03:15<31:52,  2.41s/it]
 12%|█▏        | 106/900 [03:16<23:44,  1.79s/it]
 12%|█▏        | 107/900 [03:16<18:06,  1.37s/it]
 12%|█▏        | 108/900 [03:16<14:08,  1.07s/it]
 12%|█▏        | 109/900 [03:17<11:17,  1.17it/s]
 12%|█▏        | 110/900 [03:17<09:20,  1.41it/s]
 12%|█▏        | 111/900 [03:18<07:56,  1.66it/s]
 12%|█▏        | 112/900 [03:18<06:57,  1.89it/s]
 13%|█▎        | 113/900 [03:24<28:09,  2.15s/it]
 13%|█▎        | 114/900 [03:24<21:11,  1.62s/it]
 13%|█▎        | 115/900 [03:25<16:13,  1.24s/it]
 13%|█▎        | 116/900 [03:25<12:41,  1.03it/s]
 13%|█▎        | 117/900 [03:25<10:08,  1.29it/s]
 13%|█▎        | 118/900 [03:26<08:19,  1.57it/s]
 13%|█▎        | 119/900 [03:26<07:04,  1.84it/s]
 13%|█▎        | 120/900 [03:26<06:10,  2.10it/s]
 13%|█▎        | 121/900 [03:53<1:49:46,  8.46s/it]
 14%|█▎        | 122/900 [03:54<1:18:00,  6.02s/it]
 14%|█▎        | 123/900 [03:54<55:47,  4.31s/it]  
 14%|█▍        | 124/900 [03:54<40:15,  3.11s/it]
 14%|█▍        | 125/900 [03:55<29:27,  2.28s/it]
 14%|█▍        | 126/900 [03:55<21:55,  1.70s/it]
 14%|█▍        | 127/900 [03:55<16:38,  1.29s/it]
 14%|█▍        | 128/900 [03:56<12:57,  1.01s/it]
 14%|█▍        | 129/900 [04:09<59:35,  4.64s/it]
 14%|█▍        | 130/900 [04:09<42:59,  3.35s/it]
 15%|█▍        | 131/900 [04:09<31:22,  2.45s/it]
 15%|█▍        | 132/900 [04:10<23:17,  1.82s/it]
 15%|█▍        | 133/900 [04:10<17:36,  1.38s/it]
 15%|█▍        | 134/900 [04:10<13:39,  1.07s/it]
 15%|█▌        | 135/900 [04:11<10:53,  1.17it/s]
 15%|█▌        | 136/900 [04:11<08:58,  1.42it/s]
 15%|█▌        | 137/900 [04:21<43:49,  3.45s/it]
 15%|█▌        | 138/900 [04:21<31:59,  2.52s/it]
 15%|█▌        | 139/900 [04:22<23:41,  1.87s/it]
 16%|█▌        | 140/900 [04:22<17:55,  1.42s/it]
 16%|█▌        | 141/900 [04:22<13:51,  1.10s/it]
 16%|█▌        | 142/900 [04:23<11:00,  1.15it/s]
 16%|█▌        | 143/900 [04:23<09:03,  1.39it/s]
 16%|█▌        | 144/900 [04:23<07:37,  1.65it/s]
 16%|█▌        | 145/900 [04:42<1:14:54,  5.95s/it]
 16%|█▌        | 146/900 [04:42<53:40,  4.27s/it]  
 16%|█▋        | 147/900 [04:43<38:53,  3.10s/it]
 16%|█▋        | 148/900 [04:43<28:25,  2.27s/it]
 17%|█▋        | 149/900 [04:43<21:04,  1.68s/it]
 17%|█▋        | 150/900 [04:44<15:56,  1.28s/it]
 17%|█▋        | 151/900 [04:44<12:18,  1.01it/s]
 17%|█▋        | 152/900 [04:44<09:50,  1.27it/s]
 17%|█▋        | 153/900 [04:52<37:32,  3.01s/it]
 17%|█▋        | 154/900 [04:53<27:29,  2.21s/it]
 17%|█▋        | 155/900 [04:53<20:24,  1.64s/it]
 17%|█▋        | 156/900 [04:53<15:29,  1.25s/it]
 17%|█▋        | 157/900 [04:54<12:00,  1.03it/s]
 18%|█▊        | 158/900 [04:54<09:39,  1.28it/s]
 18%|█▊        | 159/900 [04:54<08:01,  1.54it/s]
 18%|█▊        | 160/900 [04:55<06:53,  1.79it/s]
 18%|█▊        | 161/900 [05:04<39:08,  3.18s/it]
 18%|█▊        | 162/900 [05:04<28:43,  2.34s/it]
 18%|█▊        | 163/900 [05:05<21:23,  1.74s/it]
 18%|█▊        | 164/900 [05:05<16:20,  1.33s/it]
 18%|█▊        | 165/900 [05:05<12:42,  1.04s/it]
 18%|█▊        | 166/900 [05:06<10:13,  1.20it/s]
 19%|█▊        | 167/900 [05:06<08:27,  1.44it/s]
 19%|█▊        | 168/900 [05:07<07:12,  1.69it/s]
 19%|█▉        | 169/900 [05:13<28:00,  2.30s/it]
 19%|█▉        | 170/900 [05:13<20:55,  1.72s/it]
 19%|█▉        | 171/900 [05:14<15:52,  1.31s/it]
 19%|█▉        | 172/900 [05:14<12:24,  1.02s/it]
 19%|█▉        | 173/900 [05:14<09:59,  1.21it/s]
 19%|█▉        | 174/900 [05:15<08:16,  1.46it/s]
 19%|█▉        | 175/900 [05:15<07:05,  1.70it/s]
 20%|█▉        | 176/900 [05:15<06:16,  1.92it/s]
 20%|█▉        | 177/900 [05:21<23:14,  1.93s/it]
 20%|█▉        | 178/900 [05:21<17:33,  1.46s/it]
 20%|█▉        | 179/900 [05:21<13:39,  1.14s/it]
 20%|██        | 180/900 [05:22<10:54,  1.10it/s]
 20%|██        | 181/900 [05:22<08:54,  1.35it/s]
 20%|██        | 182/900 [05:22<07:30,  1.59it/s]
 20%|██        | 183/900 [05:23<06:31,  1.83it/s]
 20%|██        | 184/900 [05:23<05:49,  2.05it/s]
 21%|██        | 185/900 [05:31<32:51,  2.76s/it]
 21%|██        | 186/900 [05:32<24:15,  2.04s/it]
 21%|██        | 187/900 [05:32<18:13,  1.53s/it]
 21%|██        | 188/900 [05:32<13:59,  1.18s/it]
 21%|██        | 189/900 [05:33<10:58,  1.08it/s]
 21%|██        | 190/900 [05:33<08:54,  1.33it/s]
 21%|██        | 191/900 [05:33<07:40,  1.54it/s]
 21%|██▏       | 192/900 [05:34<06:38,  1.78it/s]
 21%|██▏       | 193/900 [05:46<49:00,  4.16s/it]
 22%|██▏       | 194/900 [05:47<35:30,  3.02s/it]
 22%|██▏       | 195/900 [05:47<26:05,  2.22s/it]
 22%|██▏       | 196/900 [05:47<19:28,  1.66s/it]
 22%|██▏       | 197/900 [05:48<14:49,  1.27s/it]
 22%|██▏       | 198/900 [05:48<11:38,  1.01it/s]
 22%|██▏       | 199/900 [05:48<09:22,  1.25it/s]
 22%|██▏       | 200/900 [05:49<07:47,  1.50it/s]
 22%|██▏       | 201/900 [05:56<32:32,  2.79s/it]
 22%|██▏       | 202/900 [05:57<24:02,  2.07s/it]
 23%|██▎       | 203/900 [05:57<18:04,  1.56s/it]
 23%|██▎       | 204/900 [05:58<13:51,  1.20s/it]
 23%|██▎       | 205/900 [05:58<10:52,  1.06it/s]
 23%|██▎       | 206/900 [05:58<08:47,  1.31it/s]
 23%|██▎       | 207/900 [05:59<07:22,  1.57it/s]
 23%|██▎       | 208/900 [05:59<06:22,  1.81it/s]
 23%|██▎       | 209/900 [06:10<43:49,  3.80s/it]
 23%|██▎       | 210/900 [06:11<31:50,  2.77s/it]
 23%|██▎       | 211/900 [06:11<23:28,  2.04s/it]
 24%|██▎       | 212/900 [06:11<17:38,  1.54s/it]
 24%|██▎       | 213/900 [06:12<13:33,  1.18s/it]
 24%|██▍       | 214/900 [06:12<10:41,  1.07it/s]
 24%|██▍       | 215/900 [06:12<08:41,  1.31it/s]
 24%|██▍       | 216/900 [06:13<07:14,  1.57it/s]
 24%|██▍       | 217/900 [06:23<38:49,  3.41s/it]
 24%|██▍       | 218/900 [06:23<28:19,  2.49s/it]
 24%|██▍       | 219/900 [06:23<21:02,  1.85s/it]
 24%|██▍       | 220/900 [06:24<15:52,  1.40s/it]
 25%|██▍       | 221/900 [06:24<12:18,  1.09s/it]
 25%|██▍       | 222/900 [06:25<09:49,  1.15it/s]
 25%|██▍       | 223/900 [06:25<08:03,  1.40it/s]
 25%|██▍       | 224/900 [06:25<06:48,  1.65it/s]
 25%|██▍       | 224/900 [06:32<19:45,  1.75s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/log_0_env0.json.
+OneBottleInSquarePailTask_0 complete: task_name: OneBottleInSquarePailTask, run_name: OneBottleInSquarePailTask_0, run: 0, env_id: 0, policy: harness, instruction: Put any white plastic bottle in the square pail, attributes: ['semantics', 'simple'], success: True, episode_step: 225, duration: 15.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.990323329109185, 'joint_sparc_mean': -7.459136694585417, 'ee_isj': 1468.3778333999915, 'joint_isj': 38294.93318731062, 'ee_path_length': 2.042478061321543, 'joint_rmse_mean': 1.1931433949378254, 'ee_speed_max': 0.3617265224456787, 'ee_speed_mean': 0.13003075122833252}, events: {'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 3}, instruction_type: default, timing: {'policy_inference_s': 316.984, 'policy_inference_avg_ms': 1408.8, 'env_step_s': 73.525, 'env_step_avg_ms': 326.8, 'video_write_s': 2.119, 'video_write_avg_ms': 9.4, 'wall_total_s': 392.628, 'it_per_sec': 0.57}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: f337253b1668442cac607ab91f26328d-0
+[RoboLab] Running OneBottleInSquarePailTask_1: 'Put any white plastic bottle in the square pail' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:34<8:29:26, 34.00s/it]
  0%|          | 2/900 [00:34<3:32:20, 14.19s/it]
  0%|          | 3/900 [00:34<1:57:26,  7.86s/it]
  0%|          | 4/900 [00:34<1:12:52,  4.88s/it]
  1%|          | 5/900 [00:35<48:15,  3.23s/it]  
  1%|          | 6/900 [00:35<33:25,  2.24s/it]
  1%|          | 7/900 [00:35<24:00,  1.61s/it]
  1%|          | 8/900 [00:36<17:50,  1.20s/it]
  1%|          | 9/900 [00:41<34:47,  2.34s/it]
  1%|          | 10/900 [00:41<25:31,  1.72s/it]
  1%|          | 11/900 [00:41<19:08,  1.29s/it]
  1%|▏         | 12/900 [00:42<14:50,  1.00s/it]
  1%|▏         | 13/900 [00:42<11:44,  1.26it/s]
  2%|▏         | 14/900 [00:42<09:35,  1.54it/s]
  2%|▏         | 15/900 [00:43<08:06,  1.82it/s]
  2%|▏         | 16/900 [00:43<07:05,  2.08it/s]
  2%|▏         | 17/900 [00:51<41:48,  2.84s/it]
  2%|▏         | 18/900 [00:51<30:37,  2.08s/it]
  2%|▏         | 19/900 [00:52<22:48,  1.55s/it]
  2%|▏         | 20/900 [00:52<17:23,  1.19s/it]
  2%|▏         | 21/900 [00:52<13:35,  1.08it/s]
  2%|▏         | 22/900 [00:53<10:55,  1.34it/s]
  3%|▎         | 23/900 [00:53<09:02,  1.62it/s]
  3%|▎         | 24/900 [00:53<07:43,  1.89it/s]
  3%|▎         | 25/900 [00:58<26:52,  1.84s/it]
  3%|▎         | 26/900 [00:59<20:08,  1.38s/it]
  3%|▎         | 27/900 [00:59<15:28,  1.06s/it]
  3%|▎         | 28/900 [00:59<12:13,  1.19it/s]
  3%|▎         | 29/900 [01:00<09:55,  1.46it/s]
  3%|▎         | 30/900 [01:00<08:18,  1.74it/s]
  3%|▎         | 31/900 [01:00<07:11,  2.02it/s]
  4%|▎         | 32/900 [01:01<06:24,  2.26it/s]
  4%|▎         | 33/900 [01:05<23:32,  1.63s/it]
  4%|▍         | 34/900 [01:05<17:47,  1.23s/it]
  4%|▍         | 35/900 [01:06<13:48,  1.04it/s]
  4%|▍         | 36/900 [01:06<11:00,  1.31it/s]
  4%|▍         | 37/900 [01:06<09:02,  1.59it/s]
  4%|▍         | 38/900 [01:07<07:41,  1.87it/s]
  4%|▍         | 39/900 [01:07<06:45,  2.12it/s]
  4%|▍         | 40/900 [01:07<06:06,  2.35it/s]
  5%|▍         | 41/900 [01:17<48:30,  3.39s/it]
  5%|▍         | 42/900 [01:18<35:16,  2.47s/it]
  5%|▍         | 43/900 [01:18<26:00,  1.82s/it]
  5%|▍         | 44/900 [01:18<19:33,  1.37s/it]
  5%|▌         | 45/900 [01:19<15:00,  1.05s/it]
  5%|▌         | 46/900 [01:19<11:51,  1.20it/s]
  5%|▌         | 47/900 [01:19<09:38,  1.47it/s]
  5%|▌         | 48/900 [01:20<08:05,  1.75it/s]
  5%|▌         | 49/900 [01:32<58:08,  4.10s/it]
  6%|▌         | 50/900 [01:32<42:04,  2.97s/it]
  6%|▌         | 51/900 [01:33<30:44,  2.17s/it]
  6%|▌         | 52/900 [01:33<22:49,  1.62s/it]
  6%|▌         | 53/900 [01:33<17:17,  1.23s/it]
  6%|▌         | 54/900 [01:34<13:26,  1.05it/s]
  6%|▌         | 55/900 [01:34<10:44,  1.31it/s]
  6%|▌         | 56/900 [01:34<08:57,  1.57it/s]
  6%|▋         | 57/900 [01:41<34:23,  2.45s/it]
  6%|▋         | 58/900 [01:41<25:28,  1.82s/it]
  7%|▋         | 59/900 [01:42<19:16,  1.38s/it]
  7%|▋         | 60/900 [01:42<14:55,  1.07s/it]
  7%|▋         | 61/900 [01:42<11:53,  1.18it/s]
  7%|▋         | 62/900 [01:43<09:44,  1.43it/s]
  7%|▋         | 63/900 [01:43<08:18,  1.68it/s]
  7%|▋         | 64/900 [01:43<07:17,  1.91it/s]
  7%|▋         | 65/900 [01:55<51:54,  3.73s/it]
  7%|▋         | 66/900 [01:55<37:48,  2.72s/it]
  7%|▋         | 67/900 [01:55<27:58,  2.01s/it]
  8%|▊         | 68/900 [01:56<21:02,  1.52s/it]
  8%|▊         | 69/900 [01:56<16:10,  1.17s/it]
  8%|▊         | 70/900 [01:56<12:46,  1.08it/s]
  8%|▊         | 71/900 [01:57<10:23,  1.33it/s]
  8%|▊         | 72/900 [01:57<08:47,  1.57it/s]
  8%|▊         | 73/900 [02:07<45:05,  3.27s/it]
  8%|▊         | 74/900 [02:07<32:58,  2.39s/it]
  8%|▊         | 75/900 [02:07<24:33,  1.79s/it]
  8%|▊         | 76/900 [02:08<18:38,  1.36s/it]
  9%|▊         | 77/900 [02:08<14:31,  1.06s/it]
  9%|▊         | 78/900 [02:08<11:37,  1.18it/s]
  9%|▉         | 79/900 [02:09<09:36,  1.42it/s]
  9%|▉         | 80/900 [02:09<08:10,  1.67it/s]
  9%|▉         | 81/900 [02:18<41:47,  3.06s/it]
  9%|▉         | 82/900 [02:18<30:31,  2.24s/it]
  9%|▉         | 83/900 [02:18<22:38,  1.66s/it]
  9%|▉         | 84/900 [02:19<17:08,  1.26s/it]
  9%|▉         | 85/900 [02:19<13:19,  1.02it/s]
 10%|▉         | 86/900 [02:19<10:39,  1.27it/s]
 10%|▉         | 87/900 [02:20<08:47,  1.54it/s]
 10%|▉         | 88/900 [02:20<07:26,  1.82it/s]
 10%|▉         | 89/900 [02:25<25:47,  1.91s/it]
 10%|█         | 90/900 [02:26<19:21,  1.43s/it]
 10%|█         | 91/900 [02:26<14:54,  1.11s/it]
 10%|█         | 92/900 [02:26<11:46,  1.14it/s]
 10%|█         | 93/900 [02:27<09:32,  1.41it/s]
 10%|█         | 94/900 [02:27<07:58,  1.68it/s]
 11%|█         | 95/900 [02:27<06:50,  1.96it/s]
 11%|█         | 96/900 [02:27<06:02,  2.22it/s]
 11%|█         | 97/900 [02:35<32:48,  2.45s/it]
 11%|█         | 98/900 [02:35<24:11,  1.81s/it]
 11%|█         | 99/900 [02:35<18:11,  1.36s/it]
 11%|█         | 100/900 [02:36<13:58,  1.05s/it]
 11%|█         | 101/900 [02:36<11:02,  1.21it/s]
 11%|█▏        | 102/900 [02:36<08:56,  1.49it/s]
 11%|█▏        | 103/900 [02:36<07:29,  1.77it/s]
 12%|█▏        | 104/900 [02:37<06:27,  2.05it/s]
 12%|█▏        | 105/900 [03:12<2:23:26, 10.83s/it]
 12%|█▏        | 106/900 [03:12<1:41:31,  7.67s/it]
 12%|█▏        | 107/900 [03:12<1:12:12,  5.46s/it]
 12%|█▏        | 108/900 [03:13<51:43,  3.92s/it]  
 12%|█▏        | 109/900 [03:13<37:26,  2.84s/it]
 12%|█▏        | 110/900 [03:13<27:25,  2.08s/it]
 12%|█▏        | 111/900 [03:14<20:24,  1.55s/it]
 12%|█▏        | 112/900 [03:14<15:29,  1.18s/it]
 13%|█▎        | 113/900 [03:18<27:41,  2.11s/it]
 13%|█▎        | 114/900 [03:19<20:38,  1.58s/it]
 13%|█▎        | 115/900 [03:19<15:44,  1.20s/it]
 13%|█▎        | 116/900 [03:19<12:13,  1.07it/s]
 13%|█▎        | 117/900 [03:20<09:50,  1.33it/s]
 13%|█▎        | 118/900 [03:20<08:09,  1.60it/s]
 13%|█▎        | 119/900 [03:20<06:57,  1.87it/s]
 13%|█▎        | 120/900 [03:20<06:05,  2.13it/s]
 13%|█▎        | 121/900 [03:27<30:59,  2.39s/it]
 14%|█▎        | 122/900 [03:28<22:55,  1.77s/it]
 14%|█▎        | 123/900 [03:28<17:15,  1.33s/it]
 14%|█▍        | 124/900 [03:28<13:15,  1.03s/it]
 14%|█▍        | 125/900 [03:29<10:31,  1.23it/s]
 14%|█▍        | 126/900 [03:29<08:36,  1.50it/s]
 14%|█▍        | 127/900 [03:29<07:16,  1.77it/s]
 14%|█▍        | 128/900 [03:30<06:20,  2.03it/s]
 14%|█▍        | 129/900 [03:47<1:10:18,  5.47s/it]
 14%|█▍        | 130/900 [03:47<50:23,  3.93s/it]  
 15%|█▍        | 131/900 [03:47<36:26,  2.84s/it]
 15%|█▍        | 132/900 [03:48<26:40,  2.08s/it]
 15%|█▍        | 133/900 [03:48<19:52,  1.55s/it]
 15%|█▍        | 134/900 [03:48<15:07,  1.19s/it]
 15%|█▌        | 135/900 [03:49<11:51,  1.08it/s]
 15%|█▌        | 136/900 [03:49<09:32,  1.34it/s]
 15%|█▌        | 137/900 [04:05<1:08:42,  5.40s/it]
 15%|█▌        | 138/900 [04:06<49:17,  3.88s/it]  
 15%|█▌        | 139/900 [04:06<35:41,  2.81s/it]
 16%|█▌        | 140/900 [04:06<26:08,  2.06s/it]
 16%|█▌        | 141/900 [04:06<19:30,  1.54s/it]
 16%|█▌        | 142/900 [04:07<14:59,  1.19s/it]
 16%|█▌        | 143/900 [04:07<11:49,  1.07it/s]
 16%|█▌        | 144/900 [04:08<09:35,  1.31it/s]
 16%|█▌        | 145/900 [04:18<46:11,  3.67s/it]
 16%|█▌        | 146/900 [04:18<33:36,  2.67s/it]
 16%|█▋        | 147/900 [04:19<24:53,  1.98s/it]
 16%|█▋        | 148/900 [04:19<18:42,  1.49s/it]
 17%|█▋        | 149/900 [04:19<14:22,  1.15s/it]
 17%|█▋        | 150/900 [04:20<11:23,  1.10it/s]
 17%|█▋        | 151/900 [04:20<09:15,  1.35it/s]
 17%|█▋        | 152/900 [04:20<07:50,  1.59it/s]
 17%|█▋        | 153/900 [04:30<40:19,  3.24s/it]
 17%|█▋        | 154/900 [04:30<29:28,  2.37s/it]
 17%|█▋        | 155/900 [04:31<21:54,  1.77s/it]
 17%|█▋        | 156/900 [04:31<16:36,  1.34s/it]
 17%|█▋        | 157/900 [04:31<12:53,  1.04s/it]
 18%|█▊        | 158/900 [04:32<10:15,  1.21it/s]
 18%|█▊        | 159/900 [04:32<08:28,  1.46it/s]
 18%|█▊        | 160/900 [04:32<07:09,  1.72it/s]
 18%|█▊        | 161/900 [04:55<1:30:23,  7.34s/it]
 18%|█▊        | 162/900 [04:56<1:04:26,  5.24s/it]
 18%|█▊        | 163/900 [04:56<46:18,  3.77s/it]  
 18%|█▊        | 164/900 [04:56<33:43,  2.75s/it]
 18%|█▊        | 165/900 [04:57<24:48,  2.03s/it]
 18%|█▊        | 166/900 [04:57<18:34,  1.52s/it]
 19%|█▊        | 167/900 [04:57<14:15,  1.17s/it]
 19%|█▊        | 168/900 [04:58<11:13,  1.09it/s]
 19%|█▉        | 169/900 [05:09<48:24,  3.97s/it]
 19%|█▉        | 170/900 [05:09<35:08,  2.89s/it]
 19%|█▉        | 171/900 [05:10<25:48,  2.12s/it]
 19%|█▉        | 172/900 [05:10<19:16,  1.59s/it]
 19%|█▉        | 173/900 [05:10<14:41,  1.21s/it]
 19%|█▉        | 174/900 [05:11<11:29,  1.05it/s]
 19%|█▉        | 175/900 [05:11<09:19,  1.30it/s]
 20%|█▉        | 176/900 [05:11<07:45,  1.56it/s]
 20%|█▉        | 177/900 [05:22<44:06,  3.66s/it]
 20%|█▉        | 178/900 [05:22<32:10,  2.67s/it]
 20%|█▉        | 179/900 [05:23<23:49,  1.98s/it]
 20%|██        | 180/900 [05:23<17:59,  1.50s/it]
 20%|██        | 181/900 [05:23<13:49,  1.15s/it]
 20%|██        | 182/900 [05:24<10:57,  1.09it/s]
 20%|██        | 183/900 [05:24<08:47,  1.36it/s]
 20%|██        | 184/900 [05:24<07:19,  1.63it/s]
 21%|██        | 185/900 [05:34<37:41,  3.16s/it]
 21%|██        | 186/900 [05:34<27:27,  2.31s/it]
 21%|██        | 187/900 [05:34<20:20,  1.71s/it]
 21%|██        | 188/900 [05:34<15:23,  1.30s/it]
 21%|██        | 189/900 [05:35<11:54,  1.00s/it]
 21%|██        | 190/900 [05:35<09:31,  1.24it/s]
 21%|██        | 191/900 [05:35<07:50,  1.51it/s]
 21%|██▏       | 192/900 [05:36<06:36,  1.78it/s]
 21%|██▏       | 193/900 [06:17<2:30:30, 12.77s/it]
 22%|██▏       | 194/900 [06:17<1:46:21,  9.04s/it]
 22%|██▏       | 195/900 [06:18<1:15:29,  6.43s/it]
 22%|██▏       | 196/900 [06:18<53:55,  4.60s/it]  
 22%|██▏       | 197/900 [06:18<38:49,  3.31s/it]
 22%|██▏       | 198/900 [06:19<28:17,  2.42s/it]
 22%|██▏       | 199/900 [06:19<20:53,  1.79s/it]
 22%|██▏       | 200/900 [06:19<15:45,  1.35s/it]
 22%|██▏       | 201/900 [06:31<51:56,  4.46s/it]
 22%|██▏       | 202/900 [06:31<37:28,  3.22s/it]
 23%|██▎       | 203/900 [06:32<27:18,  2.35s/it]
 23%|██▎       | 204/900 [06:32<20:11,  1.74s/it]
 23%|██▎       | 205/900 [06:32<15:13,  1.31s/it]
 23%|██▎       | 206/900 [06:33<11:47,  1.02s/it]
 23%|██▎       | 207/900 [06:33<09:22,  1.23it/s]
 23%|██▎       | 208/900 [06:33<07:41,  1.50it/s]
 23%|██▎       | 209/900 [06:43<38:43,  3.36s/it]
 23%|██▎       | 210/900 [06:43<28:12,  2.45s/it]
 23%|██▎       | 211/900 [06:44<20:47,  1.81s/it]
 24%|██▎       | 212/900 [06:44<15:38,  1.36s/it]
 24%|██▎       | 213/900 [06:44<12:02,  1.05s/it]
 24%|██▍       | 214/900 [06:45<09:33,  1.20it/s]
 24%|██▍       | 215/900 [06:45<07:45,  1.47it/s]
 24%|██▍       | 216/900 [06:45<06:32,  1.74it/s]
 24%|██▍       | 217/900 [06:54<34:25,  3.02s/it]
 24%|██▍       | 218/900 [06:54<25:10,  2.21s/it]
 24%|██▍       | 219/900 [06:55<18:44,  1.65s/it]
 24%|██▍       | 220/900 [06:55<14:09,  1.25s/it]
 25%|██▍       | 221/900 [06:55<11:08,  1.02it/s]
 25%|██▍       | 222/900 [06:56<08:58,  1.26it/s]
 25%|██▍       | 223/900 [06:56<07:27,  1.51it/s]
 25%|██▍       | 224/900 [06:56<06:23,  1.76it/s]
 25%|██▌       | 225/900 [07:29<1:54:25, 10.17s/it]
 25%|██▌       | 226/900 [07:29<1:21:06,  7.22s/it]
 25%|██▌       | 227/900 [07:30<57:42,  5.15s/it]  
 25%|██▌       | 228/900 [07:30<41:26,  3.70s/it]
 25%|██▌       | 229/900 [07:30<30:01,  2.68s/it]
 26%|██▌       | 230/900 [07:31<22:06,  1.98s/it]
 26%|██▌       | 231/900 [07:31<16:37,  1.49s/it]
 26%|██▌       | 232/900 [07:31<12:43,  1.14s/it]
 26%|██▌       | 233/900 [07:46<58:47,  5.29s/it]
 26%|██▌       | 234/900 [07:47<42:08,  3.80s/it]
 26%|██▌       | 235/900 [07:47<30:34,  2.76s/it]
 26%|██▌       | 236/900 [07:47<22:27,  2.03s/it]
 26%|██▋       | 237/900 [07:48<16:46,  1.52s/it]
 26%|██▋       | 238/900 [07:48<12:50,  1.16s/it]
 27%|██▋       | 239/900 [07:48<10:05,  1.09it/s]
 27%|██▋       | 240/900 [07:49<08:08,  1.35it/s]
 27%|██▋       | 241/900 [07:58<37:05,  3.38s/it]
 27%|██▋       | 242/900 [07:58<26:59,  2.46s/it]
 27%|██▋       | 243/900 [07:59<19:56,  1.82s/it]
 27%|██▋       | 244/900 [07:59<15:00,  1.37s/it]
 27%|██▋       | 245/900 [07:59<11:34,  1.06s/it]
 27%|██▋       | 246/900 [08:00<09:07,  1.19it/s]
 27%|██▋       | 247/900 [08:00<07:23,  1.47it/s]
 28%|██▊       | 248/900 [08:00<06:09,  1.76it/s]
 28%|██▊       | 249/900 [08:08<30:48,  2.84s/it]
 28%|██▊       | 250/900 [08:09<22:32,  2.08s/it]
 28%|██▊       | 251/900 [08:09<16:46,  1.55s/it]
 28%|██▊       | 252/900 [08:09<12:47,  1.18s/it]
 28%|██▊       | 253/900 [08:10<10:00,  1.08it/s]
 28%|██▊       | 254/900 [08:10<08:08,  1.32it/s]
 28%|██▊       | 255/900 [08:10<06:53,  1.56it/s]
 28%|██▊       | 256/900 [08:11<05:56,  1.81it/s]
 29%|██▊       | 257/900 [08:18<27:08,  2.53s/it]
 29%|██▊       | 258/900 [08:18<20:03,  1.87s/it]
 29%|██▉       | 259/900 [08:19<15:06,  1.41s/it]
 29%|██▉       | 260/900 [08:19<11:37,  1.09s/it]
 29%|██▉       | 261/900 [08:19<09:17,  1.15it/s]
 29%|██▉       | 262/900 [08:20<07:32,  1.41it/s]
 29%|██▉       | 263/900 [08:20<06:17,  1.69it/s]
 29%|██▉       | 264/900 [08:20<05:26,  1.95it/s]
 29%|██▉       | 265/900 [08:28<29:19,  2.77s/it]
 30%|██▉       | 266/900 [08:29<21:33,  2.04s/it]
 30%|██▉       | 267/900 [08:29<16:10,  1.53s/it]
 30%|██▉       | 268/900 [08:29<12:25,  1.18s/it]
 30%|██▉       | 269/900 [08:30<09:48,  1.07it/s]
 30%|███       | 270/900 [08:30<07:56,  1.32it/s]
 30%|███       | 271/900 [08:30<06:40,  1.57it/s]
 30%|███       | 272/900 [08:31<05:46,  1.81it/s]
 30%|███       | 273/900 [08:38<27:37,  2.64s/it]
 30%|███       | 274/900 [08:39<20:27,  1.96s/it]
 31%|███       | 275/900 [08:39<15:23,  1.48s/it]
 31%|███       | 276/900 [08:39<11:50,  1.14s/it]
 31%|███       | 277/900 [08:40<09:22,  1.11it/s]
 31%|███       | 278/900 [08:40<07:39,  1.35it/s]
 31%|███       | 279/900 [08:40<06:24,  1.61it/s]
 31%|███       | 280/900 [08:41<05:33,  1.86it/s]
 31%|███       | 281/900 [08:49<28:52,  2.80s/it]
 31%|███▏      | 282/900 [08:49<21:18,  2.07s/it]
 31%|███▏      | 283/900 [08:50<15:58,  1.55s/it]
 32%|███▏      | 284/900 [08:50<12:14,  1.19s/it]
 32%|███▏      | 285/900 [08:50<09:37,  1.06it/s]
 32%|███▏      | 286/900 [08:51<07:47,  1.31it/s]
 32%|███▏      | 287/900 [08:51<06:30,  1.57it/s]
 32%|███▏      | 288/900 [08:51<05:37,  1.81it/s]
 32%|███▏      | 289/900 [09:00<28:55,  2.84s/it]
 32%|███▏      | 290/900 [09:00<21:16,  2.09s/it]
 32%|███▏      | 291/900 [09:00<15:54,  1.57s/it]
 32%|███▏      | 292/900 [09:01<12:10,  1.20s/it]
 33%|███▎      | 293/900 [09:01<09:31,  1.06it/s]
 33%|███▎      | 294/900 [09:01<07:41,  1.31it/s]
 33%|███▎      | 295/900 [09:02<06:22,  1.58it/s]
 33%|███▎      | 296/900 [09:02<05:29,  1.83it/s]
 33%|███▎      | 297/900 [09:12<33:00,  3.28s/it]
 33%|███▎      | 298/900 [09:12<24:09,  2.41s/it]
 33%|███▎      | 299/900 [09:12<17:54,  1.79s/it]
 33%|███▎      | 300/900 [09:13<13:30,  1.35s/it]
 33%|███▎      | 301/900 [09:13<10:26,  1.05s/it]
 34%|███▎      | 302/900 [09:13<08:19,  1.20it/s]
 34%|███▎      | 303/900 [09:14<06:53,  1.44it/s]
 34%|███▍      | 304/900 [09:14<05:52,  1.69it/s]
 34%|███▍      | 305/900 [09:21<24:44,  2.49s/it]
 34%|███▍      | 306/900 [09:21<18:19,  1.85s/it]
 34%|███▍      | 307/900 [09:22<13:54,  1.41s/it]
 34%|███▍      | 308/900 [09:22<10:47,  1.09s/it]
 34%|███▍      | 309/900 [09:22<08:34,  1.15it/s]
 34%|███▍      | 310/900 [09:23<07:01,  1.40it/s]
 35%|███▍      | 311/900 [09:23<05:53,  1.66it/s]
 35%|███▍      | 312/900 [09:23<05:06,  1.92it/s]
 35%|███▍      | 313/900 [09:30<24:11,  2.47s/it]
 35%|███▍      | 314/900 [09:31<17:53,  1.83s/it]
 35%|███▌      | 315/900 [09:31<13:32,  1.39s/it]
 35%|███▌      | 316/900 [09:31<10:30,  1.08s/it]
 35%|███▌      | 317/900 [09:32<08:20,  1.16it/s]
 35%|███▌      | 318/900 [09:32<06:53,  1.41it/s]
 35%|███▌      | 319/900 [09:33<05:51,  1.65it/s]
 36%|███▌      | 320/900 [09:33<05:08,  1.88it/s]
 36%|███▌      | 321/900 [09:47<43:41,  4.53s/it]
 36%|███▌      | 322/900 [09:47<31:34,  3.28s/it]
 36%|███▌      | 323/900 [09:47<23:06,  2.40s/it]
 36%|███▌      | 324/900 [09:48<17:12,  1.79s/it]
 36%|███▌      | 325/900 [09:48<13:02,  1.36s/it]
 36%|███▌      | 326/900 [09:49<10:07,  1.06s/it]
 36%|███▋      | 327/900 [09:49<08:04,  1.18it/s]
 36%|███▋      | 328/900 [09:49<06:40,  1.43it/s]
 37%|███▋      | 329/900 [10:08<58:28,  6.14s/it]
 37%|███▋      | 330/900 [10:08<41:53,  4.41s/it]
 37%|███▋      | 331/900 [10:09<30:18,  3.20s/it]
 37%|███▋      | 332/900 [10:09<22:11,  2.34s/it]
 37%|███▋      | 333/900 [10:10<16:30,  1.75s/it]
 37%|███▋      | 334/900 [10:10<12:32,  1.33s/it]
 37%|███▋      | 335/900 [10:10<09:45,  1.04s/it]
 37%|███▋      | 336/900 [10:11<07:47,  1.21it/s]
 37%|███▋      | 336/900 [10:19<17:20,  1.84s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/log_1_env0.json.
+OneBottleInSquarePailTask_1 complete: task_name: OneBottleInSquarePailTask, run_name: OneBottleInSquarePailTask_1, run: 1, env_id: 0, policy: harness, instruction: Put any white plastic bottle in the square pail, attributes: ['semantics', 'simple'], success: True, episode_step: 337, duration: 22.466666666666665, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.684416947374418, 'joint_sparc_mean': -8.683299282059993, 'ee_isj': 2281.8433533114635, 'joint_isj': 130346.4622724253, 'ee_path_length': 3.3604409041673984, 'joint_rmse_mean': 1.04551114928776, 'ee_speed_max': 0.7317624092102051, 'ee_speed_mean': 0.14075811207294464}, events: {'GRIPPER_FULLY_CLOSED': 2, 'GRIPPER_HIT_OBJECT': 2, 'WRONG_OBJECT_GRABBED': 1, 'OBJECT_BUMPED': 1, 'TARGET_OBJECT_DROPPED': 1, 'wrong_objects_grabbed': ['utilityjug_a01']}, instruction_type: default, timing: {'policy_inference_s': 509.496, 'policy_inference_avg_ms': 1511.9, 'env_step_s': 106.315, 'env_step_avg_ms': 315.5, 'video_write_s': 3.602, 'video_write_avg_ms': 10.7, 'wall_total_s': 619.413, 'it_per_sec': 0.54}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 9fccee1219144cdc993816b838d4a1d7-1
+[RoboLab] Running OneBottleInSquarePailTask_2: 'Put any white plastic bottle in the square pail' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:32<8:14:24, 33.00s/it]
  0%|          | 2/900 [00:33<3:26:19, 13.79s/it]
  0%|          | 3/900 [00:33<1:54:09,  7.64s/it]
  0%|          | 4/900 [00:33<1:10:50,  4.74s/it]
  1%|          | 5/900 [00:34<47:00,  3.15s/it]  
  1%|          | 6/900 [00:34<32:35,  2.19s/it]
  1%|          | 7/900 [00:34<23:30,  1.58s/it]
  1%|          | 8/900 [00:35<17:30,  1.18s/it]
  1%|          | 9/900 [00:38<29:16,  1.97s/it]
  1%|          | 10/900 [00:39<21:39,  1.46s/it]
  1%|          | 11/900 [00:39<16:26,  1.11s/it]
  1%|▏         | 12/900 [00:39<12:50,  1.15it/s]
  1%|▏         | 13/900 [00:40<10:24,  1.42it/s]
  2%|▏         | 14/900 [00:40<08:41,  1.70it/s]
  2%|▏         | 15/900 [00:40<07:34,  1.95it/s]
  2%|▏         | 16/900 [00:41<06:44,  2.19it/s]
  2%|▏         | 17/900 [00:52<53:19,  3.62s/it]
  2%|▏         | 18/900 [00:52<38:38,  2.63s/it]
  2%|▏         | 19/900 [00:52<28:26,  1.94s/it]
  2%|▏         | 20/900 [00:53<21:16,  1.45s/it]
  2%|▏         | 21/900 [00:53<16:21,  1.12s/it]
  2%|▏         | 22/900 [00:53<12:55,  1.13it/s]
  3%|▎         | 23/900 [00:54<10:30,  1.39it/s]
  3%|▎         | 24/900 [00:54<08:50,  1.65it/s]
  3%|▎         | 25/900 [00:58<25:29,  1.75s/it]
  3%|▎         | 26/900 [00:59<19:12,  1.32s/it]
  3%|▎         | 27/900 [00:59<14:50,  1.02s/it]
  3%|▎         | 28/900 [00:59<11:48,  1.23it/s]
  3%|▎         | 29/900 [01:00<09:37,  1.51it/s]
  3%|▎         | 30/900 [01:00<08:09,  1.78it/s]
  3%|▎         | 31/900 [01:00<07:06,  2.04it/s]
  4%|▎         | 32/900 [01:01<06:22,  2.27it/s]
  4%|▎         | 33/900 [01:10<42:45,  2.96s/it]
  4%|▍         | 34/900 [01:10<31:16,  2.17s/it]
  4%|▍         | 35/900 [01:10<23:13,  1.61s/it]
  4%|▍         | 36/900 [01:10<17:36,  1.22s/it]
  4%|▍         | 37/900 [01:11<13:40,  1.05it/s]
  4%|▍         | 38/900 [01:11<10:59,  1.31it/s]
  4%|▍         | 39/900 [01:11<09:02,  1.59it/s]
  4%|▍         | 40/900 [01:12<07:44,  1.85it/s]
  5%|▍         | 41/900 [01:47<2:38:20, 11.06s/it]
  5%|▍         | 42/900 [01:48<1:52:06,  7.84s/it]
  5%|▍         | 43/900 [01:48<1:19:44,  5.58s/it]
  5%|▍         | 44/900 [01:48<57:08,  4.01s/it]  
  5%|▌         | 45/900 [01:49<41:17,  2.90s/it]
  5%|▌         | 46/900 [01:49<30:10,  2.12s/it]
  5%|▌         | 47/900 [01:49<22:28,  1.58s/it]
  5%|▌         | 48/900 [01:50<17:03,  1.20s/it]
  5%|▌         | 49/900 [01:58<46:53,  3.31s/it]
  6%|▌         | 50/900 [01:58<34:07,  2.41s/it]
  6%|▌         | 51/900 [01:58<25:12,  1.78s/it]
  6%|▌         | 52/900 [01:59<18:58,  1.34s/it]
  6%|▌         | 53/900 [01:59<14:35,  1.03s/it]
  6%|▌         | 54/900 [01:59<11:28,  1.23it/s]
  6%|▌         | 55/900 [02:00<09:19,  1.51it/s]
  6%|▌         | 56/900 [02:00<07:57,  1.77it/s]
  6%|▋         | 57/900 [02:08<39:59,  2.85s/it]
  6%|▋         | 58/900 [02:09<29:23,  2.09s/it]
  7%|▋         | 59/900 [02:09<21:58,  1.57s/it]
  7%|▋         | 60/900 [02:09<16:48,  1.20s/it]
  7%|▋         | 61/900 [02:10<13:10,  1.06it/s]
  7%|▋         | 62/900 [02:10<10:39,  1.31it/s]
  7%|▋         | 63/900 [02:10<09:01,  1.55it/s]
  7%|▋         | 64/900 [02:11<07:43,  1.80it/s]
  7%|▋         | 65/900 [02:42<2:15:59,  9.77s/it]
  7%|▋         | 66/900 [02:42<1:36:31,  6.94s/it]
  7%|▋         | 67/900 [02:43<1:08:53,  4.96s/it]
  8%|▊         | 68/900 [02:43<49:34,  3.58s/it]  
  8%|▊         | 69/900 [02:43<36:03,  2.60s/it]
  8%|▊         | 70/900 [02:44<26:40,  1.93s/it]
  8%|▊         | 71/900 [02:44<20:04,  1.45s/it]
  8%|▊         | 72/900 [02:44<15:29,  1.12s/it]
  8%|▊         | 73/900 [02:57<1:02:08,  4.51s/it]
  8%|▊         | 74/900 [02:57<44:54,  3.26s/it]  
  8%|▊         | 75/900 [02:57<32:52,  2.39s/it]
  8%|▊         | 76/900 [02:58<24:23,  1.78s/it]
  9%|▊         | 77/900 [02:58<18:28,  1.35s/it]
  9%|▊         | 78/900 [02:58<14:19,  1.05s/it]
  9%|▉         | 79/900 [02:59<11:27,  1.19it/s]
  9%|▉         | 80/900 [02:59<09:24,  1.45it/s]
  9%|▉         | 81/900 [03:06<33:43,  2.47s/it]
  9%|▉         | 82/900 [03:06<24:50,  1.82s/it]
  9%|▉         | 83/900 [03:06<18:35,  1.37s/it]
  9%|▉         | 84/900 [03:07<14:14,  1.05s/it]
  9%|▉         | 85/900 [03:07<11:14,  1.21it/s]
 10%|▉         | 86/900 [03:07<09:08,  1.48it/s]
 10%|▉         | 87/900 [03:08<07:43,  1.75it/s]
 10%|▉         | 88/900 [03:08<06:43,  2.01it/s]
 10%|▉         | 89/900 [03:38<2:07:36,  9.44s/it]
 10%|█         | 90/900 [03:39<1:30:30,  6.70s/it]
 10%|█         | 91/900 [03:39<1:04:34,  4.79s/it]
 10%|█         | 92/900 [03:39<46:26,  3.45s/it]  
 10%|█         | 93/900 [03:40<33:54,  2.52s/it]
 10%|█         | 94/900 [03:40<25:08,  1.87s/it]
 11%|█         | 95/900 [03:40<19:01,  1.42s/it]
 11%|█         | 96/900 [03:41<14:41,  1.10s/it]
 11%|█         | 97/900 [03:54<1:03:02,  4.71s/it]
 11%|█         | 98/900 [03:54<45:21,  3.39s/it]  
 11%|█         | 99/900 [03:54<32:59,  2.47s/it]
 11%|█         | 100/900 [03:55<24:17,  1.82s/it]
 11%|█         | 101/900 [03:55<18:12,  1.37s/it]
 11%|█▏        | 102/900 [03:55<13:58,  1.05s/it]
 11%|█▏        | 103/900 [03:56<11:03,  1.20it/s]
 12%|█▏        | 104/900 [03:56<09:00,  1.47it/s]
 12%|█▏        | 105/900 [04:06<47:16,  3.57s/it]
 12%|█▏        | 106/900 [04:07<34:17,  2.59s/it]
 12%|█▏        | 107/900 [04:07<25:12,  1.91s/it]
 12%|█▏        | 108/900 [04:07<18:51,  1.43s/it]
 12%|█▏        | 109/900 [04:08<14:26,  1.10s/it]
 12%|█▏        | 110/900 [04:08<11:24,  1.15it/s]
 12%|█▏        | 111/900 [04:08<09:15,  1.42it/s]
 12%|█▏        | 112/900 [04:09<07:45,  1.69it/s]
 13%|█▎        | 113/900 [04:33<1:41:40,  7.75s/it]
 13%|█▎        | 114/900 [04:33<1:12:30,  5.54s/it]
 13%|█▎        | 115/900 [04:34<51:58,  3.97s/it]  
 13%|█▎        | 116/900 [04:34<37:39,  2.88s/it]
 13%|█▎        | 117/900 [04:34<27:41,  2.12s/it]
 13%|█▎        | 118/900 [04:35<20:42,  1.59s/it]
 13%|█▎        | 119/900 [04:35<15:45,  1.21s/it]
 13%|█▎        | 120/900 [04:35<12:21,  1.05it/s]
 13%|█▎        | 121/900 [04:40<28:06,  2.17s/it]
 14%|█▎        | 122/900 [04:41<20:56,  1.62s/it]
 14%|█▎        | 123/900 [04:41<15:58,  1.23s/it]
 14%|█▍        | 124/900 [04:41<12:34,  1.03it/s]
 14%|█▍        | 125/900 [04:42<10:12,  1.27it/s]
 14%|█▍        | 126/900 [04:42<08:30,  1.52it/s]
 14%|█▍        | 127/900 [04:43<07:21,  1.75it/s]
 14%|█▍        | 128/900 [04:43<06:33,  1.96it/s]
 14%|█▍        | 129/900 [04:50<31:37,  2.46s/it]
 14%|█▍        | 130/900 [04:50<23:33,  1.84s/it]
 15%|█▍        | 131/900 [04:51<17:50,  1.39s/it]
 15%|█▍        | 132/900 [04:51<13:53,  1.08s/it]
 15%|█▍        | 133/900 [04:51<11:04,  1.15it/s]
 15%|█▍        | 134/900 [04:52<09:04,  1.41it/s]
 15%|█▌        | 135/900 [04:52<07:44,  1.65it/s]
 15%|█▌        | 136/900 [04:52<06:49,  1.86it/s]
 15%|█▌        | 137/900 [05:13<1:24:16,  6.63s/it]
 15%|█▌        | 138/900 [05:14<1:00:13,  4.74s/it]
 15%|█▌        | 139/900 [05:14<43:23,  3.42s/it]  
 16%|█▌        | 140/900 [05:14<31:37,  2.50s/it]
 16%|█▌        | 141/900 [05:15<23:25,  1.85s/it]
 16%|█▌        | 142/900 [05:15<17:36,  1.39s/it]
 16%|█▌        | 143/900 [05:15<13:31,  1.07s/it]
 16%|█▌        | 144/900 [05:16<10:42,  1.18it/s]
 16%|█▌        | 145/900 [05:26<45:02,  3.58s/it]
 16%|█▌        | 146/900 [05:26<32:42,  2.60s/it]
 16%|█▋        | 147/900 [05:26<24:07,  1.92s/it]
 16%|█▋        | 148/900 [05:27<18:08,  1.45s/it]
 17%|█▋        | 149/900 [05:27<13:55,  1.11s/it]
 17%|█▋        | 150/900 [05:27<10:56,  1.14it/s]
 17%|█▋        | 151/900 [05:28<08:51,  1.41it/s]
 17%|█▋        | 152/900 [05:28<07:22,  1.69it/s]
 17%|█▋        | 153/900 [05:33<25:13,  2.03s/it]
 17%|█▋        | 154/900 [05:34<18:51,  1.52s/it]
 17%|█▋        | 155/900 [05:34<14:22,  1.16s/it]
 17%|█▋        | 156/900 [05:34<11:30,  1.08it/s]
 17%|█▋        | 157/900 [05:35<09:15,  1.34it/s]
 18%|█▊        | 158/900 [05:35<07:40,  1.61it/s]
 18%|█▊        | 159/900 [05:35<06:35,  1.87it/s]
 18%|█▊        | 160/900 [05:36<05:51,  2.11it/s]
 18%|█▊        | 161/900 [05:42<29:18,  2.38s/it]
 18%|█▊        | 162/900 [05:43<21:41,  1.76s/it]
 18%|█▊        | 163/900 [05:43<16:21,  1.33s/it]
 18%|█▊        | 164/900 [05:43<12:37,  1.03s/it]
 18%|█▊        | 165/900 [05:44<10:03,  1.22it/s]
 18%|█▊        | 166/900 [05:44<08:13,  1.49it/s]
 19%|█▊        | 167/900 [05:44<06:56,  1.76it/s]
 19%|█▊        | 168/900 [05:45<06:03,  2.01it/s]
 19%|█▉        | 169/900 [05:56<43:57,  3.61s/it]
 19%|█▉        | 170/900 [05:56<31:55,  2.62s/it]
 19%|█▉        | 171/900 [05:56<23:35,  1.94s/it]
 19%|█▉        | 172/900 [05:57<17:43,  1.46s/it]
 19%|█▉        | 173/900 [05:57<13:37,  1.13s/it]
 19%|█▉        | 174/900 [05:57<10:46,  1.12it/s]
 19%|█▉        | 175/900 [05:58<08:49,  1.37it/s]
 20%|█▉        | 176/900 [05:58<07:25,  1.62it/s]
 20%|█▉        | 177/900 [06:05<29:04,  2.41s/it]
 20%|█▉        | 178/900 [06:05<21:33,  1.79s/it]
 20%|█▉        | 179/900 [06:05<16:18,  1.36s/it]
 20%|██        | 180/900 [06:06<12:37,  1.05s/it]
 20%|██        | 181/900 [06:06<10:00,  1.20it/s]
 20%|██        | 182/900 [06:06<08:12,  1.46it/s]
 20%|██        | 183/900 [06:07<06:55,  1.73it/s]
 20%|██        | 184/900 [06:07<06:03,  1.97it/s]
 21%|██        | 185/900 [06:15<34:33,  2.90s/it]
 21%|██        | 186/900 [06:16<25:23,  2.13s/it]
 21%|██        | 187/900 [06:16<18:53,  1.59s/it]
 21%|██        | 188/900 [06:16<14:19,  1.21s/it]
 21%|██        | 189/900 [06:17<11:08,  1.06it/s]
 21%|██        | 190/900 [06:17<08:56,  1.32it/s]
 21%|██        | 191/900 [06:17<07:24,  1.59it/s]
 21%|██▏       | 192/900 [06:18<06:19,  1.87it/s]
 21%|██▏       | 193/900 [06:50<1:56:53,  9.92s/it]
 22%|██▏       | 194/900 [06:50<1:22:51,  7.04s/it]
 22%|██▏       | 195/900 [06:50<59:03,  5.03s/it]  
 22%|██▏       | 196/900 [06:51<42:25,  3.62s/it]
 22%|██▏       | 197/900 [06:51<30:48,  2.63s/it]
 22%|██▏       | 198/900 [06:51<22:43,  1.94s/it]
 22%|██▏       | 199/900 [06:52<16:59,  1.45s/it]
 22%|██▏       | 200/900 [06:52<13:03,  1.12s/it]
 22%|██▏       | 201/900 [06:58<31:08,  2.67s/it]
 22%|██▏       | 202/900 [06:58<22:52,  1.97s/it]
 23%|██▎       | 203/900 [06:59<17:05,  1.47s/it]
 23%|██▎       | 204/900 [06:59<13:04,  1.13s/it]
 23%|██▎       | 205/900 [06:59<10:17,  1.12it/s]
 23%|██▎       | 206/900 [07:00<08:19,  1.39it/s]
 23%|██▎       | 207/900 [07:00<06:55,  1.67it/s]
 23%|██▎       | 208/900 [07:00<05:57,  1.94it/s]
 23%|██▎       | 209/900 [07:10<38:32,  3.35s/it]
 23%|██▎       | 210/900 [07:11<28:01,  2.44s/it]
 23%|██▎       | 211/900 [07:11<20:42,  1.80s/it]
 24%|██▎       | 212/900 [07:11<15:36,  1.36s/it]
 24%|██▎       | 213/900 [07:12<12:01,  1.05s/it]
 24%|██▍       | 214/900 [07:12<09:31,  1.20it/s]
 24%|██▍       | 215/900 [07:12<07:46,  1.47it/s]
 24%|██▍       | 216/900 [07:13<06:30,  1.75it/s]
 24%|██▍       | 217/900 [07:24<42:49,  3.76s/it]
 24%|██▍       | 218/900 [07:24<31:07,  2.74s/it]
 24%|██▍       | 219/900 [07:25<22:53,  2.02s/it]
 24%|██▍       | 220/900 [07:25<17:06,  1.51s/it]
 25%|██▍       | 221/900 [07:25<13:03,  1.15s/it]
 25%|██▍       | 222/900 [07:25<10:16,  1.10it/s]
 25%|██▍       | 223/900 [07:26<08:24,  1.34it/s]
 25%|██▍       | 224/900 [07:26<07:06,  1.59it/s]
 25%|██▌       | 225/900 [07:34<30:56,  2.75s/it]
 25%|██▌       | 226/900 [07:34<22:50,  2.03s/it]
 25%|██▌       | 227/900 [07:35<17:08,  1.53s/it]
 25%|██▌       | 228/900 [07:35<13:12,  1.18s/it]
 25%|██▌       | 229/900 [07:35<10:25,  1.07it/s]
 26%|██▌       | 230/900 [07:36<08:26,  1.32it/s]
 26%|██▌       | 231/900 [07:36<07:03,  1.58it/s]
 26%|██▌       | 232/900 [07:36<06:07,  1.82it/s]
 26%|██▌       | 233/900 [07:44<28:00,  2.52s/it]
 26%|██▌       | 234/900 [07:44<20:45,  1.87s/it]
 26%|██▌       | 235/900 [07:44<15:43,  1.42s/it]
 26%|██▌       | 236/900 [07:45<12:10,  1.10s/it]
 26%|██▋       | 237/900 [07:45<09:43,  1.14it/s]
 26%|██▋       | 238/900 [07:45<07:59,  1.38it/s]
 27%|██▋       | 239/900 [07:46<06:44,  1.64it/s]
 27%|██▋       | 240/900 [07:46<05:50,  1.88it/s]
 27%|██▋       | 241/900 [07:52<24:23,  2.22s/it]
 27%|██▋       | 242/900 [07:53<18:10,  1.66s/it]
 27%|██▋       | 243/900 [07:53<13:50,  1.26s/it]
 27%|██▋       | 244/900 [07:53<10:48,  1.01it/s]
 27%|██▋       | 245/900 [07:54<08:34,  1.27it/s]
 27%|██▋       | 246/900 [07:54<06:59,  1.56it/s]
 27%|██▋       | 247/900 [07:54<05:52,  1.85it/s]
 28%|██▊       | 248/900 [07:54<05:09,  2.11it/s]
 28%|██▊       | 249/900 [08:07<45:03,  4.15s/it]
 28%|██▊       | 250/900 [08:07<32:29,  3.00s/it]
 28%|██▊       | 251/900 [08:08<23:41,  2.19s/it]
 28%|██▊       | 252/900 [08:08<17:34,  1.63s/it]
 28%|██▊       | 253/900 [08:08<13:17,  1.23s/it]
 28%|██▊       | 254/900 [08:09<10:18,  1.04it/s]
 28%|██▊       | 255/900 [08:09<08:11,  1.31it/s]
 28%|██▊       | 256/900 [08:09<06:42,  1.60it/s]
 29%|██▊       | 257/900 [08:25<54:05,  5.05s/it]
 29%|██▊       | 258/900 [08:25<38:50,  3.63s/it]
 29%|██▉       | 259/900 [08:25<28:09,  2.64s/it]
 29%|██▉       | 260/900 [08:26<20:40,  1.94s/it]
 29%|██▉       | 261/900 [08:26<15:26,  1.45s/it]
 29%|██▉       | 262/900 [08:26<11:46,  1.11s/it]
 29%|██▉       | 263/900 [08:27<09:13,  1.15it/s]
 29%|██▉       | 264/900 [08:27<07:26,  1.43it/s]
 29%|██▉       | 265/900 [09:03<1:59:11, 11.26s/it]
 30%|██▉       | 266/900 [09:03<1:24:22,  7.99s/it]
 30%|██▉       | 267/900 [09:03<59:58,  5.68s/it]  
 30%|██▉       | 268/900 [09:04<42:54,  4.07s/it]
 30%|██▉       | 269/900 [09:04<30:58,  2.95s/it]
 30%|███       | 270/900 [09:04<22:37,  2.15s/it]
 30%|███       | 271/900 [09:05<16:48,  1.60s/it]
 30%|███       | 272/900 [09:05<12:44,  1.22s/it]
 30%|███       | 273/900 [09:12<29:17,  2.80s/it]
 30%|███       | 274/900 [09:12<21:25,  2.05s/it]
 31%|███       | 275/900 [09:12<15:55,  1.53s/it]
 31%|███       | 276/900 [09:12<12:06,  1.16s/it]
 31%|███       | 277/900 [09:13<09:25,  1.10it/s]
 31%|███       | 278/900 [09:13<07:32,  1.37it/s]
 31%|███       | 279/900 [09:13<06:13,  1.66it/s]
 31%|███       | 280/900 [09:14<05:17,  1.95it/s]
 31%|███       | 281/900 [09:32<1:01:02,  5.92s/it]
 31%|███▏      | 282/900 [09:33<43:35,  4.23s/it]  
 31%|███▏      | 283/900 [09:33<31:24,  3.05s/it]
 32%|███▏      | 284/900 [09:33<22:52,  2.23s/it]
 32%|███▏      | 285/900 [09:33<16:55,  1.65s/it]
 32%|███▏      | 286/900 [09:34<12:46,  1.25s/it]
 32%|███▏      | 287/900 [09:34<09:51,  1.04it/s]
 32%|███▏      | 288/900 [09:34<07:51,  1.30it/s]
 32%|███▏      | 289/900 [09:41<24:49,  2.44s/it]
 32%|███▏      | 290/900 [09:41<18:16,  1.80s/it]
 32%|███▏      | 291/900 [09:41<13:42,  1.35s/it]
 32%|███▏      | 292/900 [09:42<10:29,  1.04s/it]
 33%|███▎      | 293/900 [09:42<08:15,  1.22it/s]
 33%|███▎      | 294/900 [09:42<06:42,  1.50it/s]
 33%|███▎      | 295/900 [09:43<05:39,  1.78it/s]
 33%|███▎      | 296/900 [09:43<04:56,  2.04it/s]
 33%|███▎      | 297/900 [09:49<22:04,  2.20s/it]
 33%|███▎      | 298/900 [09:49<16:21,  1.63s/it]
 33%|███▎      | 299/900 [09:50<12:21,  1.23s/it]
 33%|███▎      | 300/900 [09:50<09:34,  1.04it/s]
 33%|███▎      | 301/900 [09:50<07:35,  1.32it/s]
 34%|███▎      | 302/900 [09:51<06:15,  1.59it/s]
 34%|███▎      | 303/900 [09:51<05:17,  1.88it/s]
 34%|███▍      | 304/900 [09:51<04:37,  2.15it/s]
 34%|███▍      | 305/900 [10:01<31:44,  3.20s/it]
 34%|███▍      | 306/900 [10:01<23:05,  2.33s/it]
 34%|███▍      | 307/900 [10:01<17:02,  1.73s/it]
 34%|███▍      | 308/900 [10:02<12:51,  1.30s/it]
 34%|███▍      | 309/900 [10:02<09:54,  1.01s/it]
 34%|███▍      | 310/900 [10:02<07:49,  1.26it/s]
 35%|███▍      | 311/900 [10:03<06:23,  1.54it/s]
 35%|███▍      | 312/900 [10:03<05:22,  1.82it/s]
 35%|███▍      | 313/900 [10:11<27:48,  2.84s/it]
 35%|███▍      | 314/900 [10:11<20:21,  2.08s/it]
 35%|███▌      | 315/900 [10:12<15:07,  1.55s/it]
 35%|███▌      | 316/900 [10:12<11:28,  1.18s/it]
 35%|███▌      | 317/900 [10:12<08:57,  1.08it/s]
 35%|███▌      | 318/900 [10:13<07:08,  1.36it/s]
 35%|███▌      | 319/900 [10:13<05:52,  1.65it/s]
 36%|███▌      | 320/900 [10:13<05:00,  1.93it/s]
 36%|███▌      | 321/900 [10:26<39:28,  4.09s/it]
 36%|███▌      | 322/900 [10:26<28:28,  2.96s/it]
 36%|███▌      | 323/900 [10:26<20:46,  2.16s/it]
 36%|███▌      | 324/900 [10:27<15:23,  1.60s/it]
 36%|███▌      | 325/900 [10:27<11:39,  1.22s/it]
 36%|███▌      | 326/900 [10:27<09:02,  1.06it/s]
 36%|███▋      | 327/900 [10:28<07:13,  1.32it/s]
 36%|███▋      | 328/900 [10:28<05:59,  1.59it/s]
 37%|███▋      | 329/900 [10:35<24:45,  2.60s/it]
 37%|███▋      | 330/900 [10:35<18:19,  1.93s/it]
 37%|███▋      | 331/900 [10:36<13:46,  1.45s/it]
 37%|███▋      | 332/900 [10:36<10:35,  1.12s/it]
 37%|███▋      | 333/900 [10:37<08:25,  1.12it/s]
 37%|███▋      | 334/900 [10:37<06:56,  1.36it/s]
 37%|███▋      | 335/900 [10:37<05:52,  1.60it/s]
 37%|███▋      | 336/900 [10:38<05:07,  1.84it/s]
 37%|███▋      | 337/900 [10:45<24:21,  2.60s/it]
 38%|███▊      | 338/900 [10:45<18:02,  1.93s/it]
 38%|███▊      | 339/900 [10:46<13:39,  1.46s/it]
 38%|███▊      | 340/900 [10:46<10:35,  1.13s/it]
 38%|███▊      | 341/900 [10:46<08:25,  1.11it/s]
 38%|███▊      | 342/900 [10:47<06:55,  1.34it/s]
 38%|███▊      | 343/900 [10:47<05:51,  1.59it/s]
 38%|███▊      | 344/900 [10:48<05:06,  1.82it/s]
 38%|███▊      | 345/900 [10:59<35:42,  3.86s/it]
 38%|███▊      | 346/900 [11:00<25:56,  2.81s/it]
 39%|███▊      | 347/900 [11:00<19:09,  2.08s/it]
 39%|███▊      | 348/900 [11:00<14:26,  1.57s/it]
 39%|███▉      | 349/900 [11:01<11:07,  1.21s/it]
 39%|███▉      | 350/900 [11:01<08:45,  1.05it/s]
 39%|███▉      | 351/900 [11:01<07:07,  1.28it/s]
 39%|███▉      | 352/900 [11:02<05:56,  1.54it/s]
 39%|███▉      | 353/900 [11:07<19:24,  2.13s/it]
 39%|███▉      | 354/900 [11:08<14:32,  1.60s/it]
 39%|███▉      | 355/900 [11:08<11:08,  1.23s/it]
 40%|███▉      | 356/900 [11:08<08:46,  1.03it/s]
 40%|███▉      | 357/900 [11:09<07:06,  1.27it/s]
 40%|███▉      | 358/900 [11:09<05:55,  1.52it/s]
 40%|███▉      | 359/900 [11:09<05:07,  1.76it/s]
 40%|████      | 360/900 [11:10<04:32,  1.98it/s]
 40%|████      | 361/900 [11:20<31:53,  3.55s/it]
 40%|████      | 362/900 [11:21<23:20,  2.60s/it]
 40%|████      | 363/900 [11:21<17:21,  1.94s/it]
 40%|████      | 364/900 [11:22<13:09,  1.47s/it]
 41%|████      | 365/900 [11:22<10:10,  1.14s/it]
 41%|████      | 366/900 [11:22<08:05,  1.10it/s]
 41%|████      | 367/900 [11:23<06:36,  1.34it/s]
 41%|████      | 368/900 [11:23<05:35,  1.59it/s]
 41%|████      | 369/900 [11:44<59:28,  6.72s/it]
 41%|████      | 370/900 [11:44<42:29,  4.81s/it]
 41%|████      | 371/900 [11:45<30:36,  3.47s/it]
 41%|████▏     | 372/900 [11:45<22:19,  2.54s/it]
 41%|████▏     | 373/900 [11:45<16:33,  1.88s/it]
 42%|████▏     | 374/900 [11:46<12:30,  1.43s/it]
 42%|████▏     | 375/900 [11:46<09:43,  1.11s/it]
 42%|████▏     | 376/900 [11:47<07:45,  1.13it/s]
 42%|████▏     | 376/900 [12:00<16:43,  1.92s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/log_2_env0.json.
+OneBottleInSquarePailTask_2 complete: task_name: OneBottleInSquarePailTask, run_name: OneBottleInSquarePailTask_2, run: 2, env_id: 0, policy: harness, instruction: Put any white plastic bottle in the square pail, attributes: ['semantics', 'simple'], success: True, episode_step: 377, duration: 25.133333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.929720247030804, 'joint_sparc_mean': -11.94274791502856, 'ee_isj': 2972.4840610818874, 'joint_isj': 224549.7676732497, 'ee_path_length': 3.8321811945660826, 'joint_rmse_mean': 1.071914928955906, 'ee_speed_max': 0.5547526478767395, 'ee_speed_mean': 0.14473989605903625}, events: {'GRIPPER_HIT_OBJECT': 2, 'OBJECT_BUMPED': 2, 'GRIPPER_FULLY_CLOSED': 3, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 598.309, 'policy_inference_avg_ms': 1587.0, 'env_step_s': 117.813, 'env_step_avg_ms': 312.5, 'video_write_s': 3.977, 'video_write_avg_ms': 10.5, 'wall_total_s': 720.099, 'it_per_sec': 0.52}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 202f22fc5a1c484ab3f400d585aab369-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-29T19:47:57Z [10,368,213ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:4
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.205821 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-29T19:48:01Z [10,371,777ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-29T19:48:01Z [10,371,885ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T19:48:01Z [10,371,885ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T19:48:01Z [10,371,894ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T19:48:01Z [10,371,894ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T19:48:01Z [10,371,902ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T19:48:01Z [10,371,909ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-29T19:48:02Z [10,372,464ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((702))' not available in the MDL representation.
+2026-10-29T19:48:02Z [10,372,464ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((702))' not available in the MDL representation.
+2026-10-29T19:48:02Z [10,373,087ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((702))' not available in the MDL representation.
+2026-10-29T19:48:02Z [10,373,087ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((702))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 4.783675 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BananasInBinThreeTotalTask                    │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Make sure there are 3 (three) bananas in the grey bin. │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BananasInBinThreeTotalTaskSceneEnvCfg         │
+│  Attributes  : semantics, counting, moderate                 │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BananasInBinThreeTotalTask_0: 'Make sure there are 3 (three) bananas in the grey bin.' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:27<6:53:30, 27.60s/it]
  0%|          | 2/900 [00:27<2:52:43, 11.54s/it]
  0%|          | 3/900 [00:28<1:35:46,  6.41s/it]
  0%|          | 4/900 [00:28<59:32,  3.99s/it]  
  1%|          | 5/900 [00:28<39:32,  2.65s/it]
  1%|          | 6/900 [00:29<27:26,  1.84s/it]
  1%|          | 7/900 [00:29<19:48,  1.33s/it]
  1%|          | 8/900 [00:29<14:49,  1.00it/s]
  1%|          | 9/900 [00:35<37:53,  2.55s/it]
  1%|          | 10/900 [00:35<27:24,  1.85s/it]
  1%|          | 11/900 [00:36<20:13,  1.36s/it]
  1%|▏         | 12/900 [00:36<15:21,  1.04s/it]
  1%|▏         | 13/900 [00:36<11:57,  1.24it/s]
  2%|▏         | 14/900 [00:36<09:33,  1.54it/s]
  2%|▏         | 15/900 [00:37<07:51,  1.88it/s]
  2%|▏         | 16/900 [00:37<06:52,  2.14it/s]
  2%|▏         | 17/900 [00:54<1:17:53,  5.29s/it]
  2%|▏         | 18/900 [00:54<55:36,  3.78s/it]  
  2%|▏         | 19/900 [00:54<40:03,  2.73s/it]
  2%|▏         | 20/900 [00:54<29:09,  1.99s/it]
  2%|▏         | 21/900 [00:55<21:33,  1.47s/it]
  2%|▏         | 22/900 [00:55<16:15,  1.11s/it]
  3%|▎         | 23/900 [00:55<12:33,  1.16it/s]
  3%|▎         | 24/900 [00:55<09:59,  1.46it/s]
  3%|▎         | 25/900 [01:00<26:05,  1.79s/it]
  3%|▎         | 26/900 [01:00<19:25,  1.33s/it]
  3%|▎         | 27/900 [01:00<14:44,  1.01s/it]
  3%|▎         | 28/900 [01:01<11:32,  1.26it/s]
  3%|▎         | 29/900 [01:01<09:17,  1.56it/s]
  3%|▎         | 30/900 [01:01<07:43,  1.88it/s]
  3%|▎         | 31/900 [01:01<06:37,  2.19it/s]
  4%|▎         | 32/900 [01:02<05:49,  2.48it/s]
  4%|▎         | 33/900 [01:10<38:50,  2.69s/it]
  4%|▍         | 34/900 [01:10<28:24,  1.97s/it]
  4%|▍         | 35/900 [01:10<21:01,  1.46s/it]
  4%|▍         | 36/900 [01:11<15:52,  1.10s/it]
  4%|▍         | 37/900 [01:11<12:20,  1.16it/s]
  4%|▍         | 38/900 [01:11<09:49,  1.46it/s]
  4%|▍         | 39/900 [01:11<08:04,  1.78it/s]
  4%|▍         | 40/900 [01:12<06:50,  2.09it/s]
  5%|▍         | 41/900 [01:49<2:43:21, 11.41s/it]
  5%|▍         | 42/900 [01:49<1:55:23,  8.07s/it]
  5%|▍         | 43/900 [01:49<1:21:49,  5.73s/it]
  5%|▍         | 44/900 [01:49<58:24,  4.09s/it]  
  5%|▌         | 45/900 [01:50<42:11,  2.96s/it]
  5%|▌         | 46/900 [01:50<30:44,  2.16s/it]
  5%|▌         | 47/900 [01:50<22:39,  1.59s/it]
  5%|▌         | 48/900 [01:51<17:11,  1.21s/it]
  5%|▌         | 49/900 [01:57<39:50,  2.81s/it]
  6%|▌         | 50/900 [01:57<29:03,  2.05s/it]
  6%|▌         | 51/900 [01:58<21:33,  1.52s/it]
  6%|▌         | 52/900 [01:58<16:16,  1.15s/it]
  6%|▌         | 53/900 [01:58<12:36,  1.12it/s]
  6%|▌         | 54/900 [01:59<10:02,  1.41it/s]
  6%|▌         | 55/900 [01:59<08:14,  1.71it/s]
  6%|▌         | 56/900 [01:59<06:59,  2.01it/s]
  6%|▋         | 57/900 [02:05<28:08,  2.00s/it]
  6%|▋         | 58/900 [02:05<20:54,  1.49s/it]
  7%|▋         | 59/900 [02:05<15:48,  1.13s/it]
  7%|▋         | 60/900 [02:06<12:15,  1.14it/s]
  7%|▋         | 61/900 [02:06<09:46,  1.43it/s]
  7%|▋         | 62/900 [02:06<08:04,  1.73it/s]
  7%|▋         | 63/900 [02:06<06:51,  2.03it/s]
  7%|▋         | 64/900 [02:07<06:00,  2.32it/s]
  7%|▋         | 65/900 [02:11<20:35,  1.48s/it]
  7%|▋         | 66/900 [02:11<15:36,  1.12s/it]
  7%|▋         | 67/900 [02:11<12:07,  1.14it/s]
  8%|▊         | 68/900 [02:12<09:51,  1.41it/s]
  8%|▊         | 69/900 [02:12<08:09,  1.70it/s]
  8%|▊         | 70/900 [02:12<07:01,  1.97it/s]
  8%|▊         | 71/900 [02:13<06:12,  2.22it/s]
  8%|▊         | 72/900 [02:13<05:39,  2.44it/s]
  8%|▊         | 73/900 [02:17<22:06,  1.60s/it]
  8%|▊         | 74/900 [02:18<16:46,  1.22s/it]
  8%|▊         | 75/900 [02:18<13:01,  1.06it/s]
  8%|▊         | 76/900 [02:18<10:20,  1.33it/s]
  9%|▊         | 77/900 [02:18<08:29,  1.61it/s]
  9%|▊         | 78/900 [02:19<07:22,  1.86it/s]
  9%|▉         | 79/900 [02:19<06:27,  2.12it/s]
  9%|▉         | 80/900 [02:19<05:48,  2.35it/s]
  9%|▉         | 81/900 [02:31<53:01,  3.88s/it]
  9%|▉         | 82/900 [02:32<38:19,  2.81s/it]
  9%|▉         | 83/900 [02:32<28:03,  2.06s/it]
  9%|▉         | 84/900 [02:32<20:54,  1.54s/it]
  9%|▉         | 85/900 [02:33<15:52,  1.17s/it]
 10%|▉         | 86/900 [02:33<12:20,  1.10it/s]
 10%|▉         | 87/900 [02:33<09:54,  1.37it/s]
 10%|▉         | 88/900 [02:34<08:09,  1.66it/s]
 10%|▉         | 89/900 [02:44<46:42,  3.46s/it]
 10%|█         | 90/900 [02:44<33:55,  2.51s/it]
 10%|█         | 91/900 [02:44<24:55,  1.85s/it]
 10%|█         | 92/900 [02:45<18:40,  1.39s/it]
 10%|█         | 93/900 [02:45<14:16,  1.06s/it]
 10%|█         | 94/900 [02:45<11:16,  1.19it/s]
 11%|█         | 95/900 [02:46<09:08,  1.47it/s]
 11%|█         | 96/900 [02:46<07:40,  1.75it/s]
 11%|█         | 97/900 [03:01<1:07:05,  5.01s/it]
 11%|█         | 97/900 [03:02<25:07,  1.88s/it]  
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/log_0_env0.json.
+BananasInBinThreeTotalTask_0 complete: task_name: BananasInBinThreeTotalTask, run_name: BananasInBinThreeTotalTask_0, run: 0, env_id: 0, policy: harness, instruction: Make sure there are 3 (three) bananas in the grey bin., attributes: ['semantics', 'counting', 'moderate'], success: True, episode_step: 98, duration: 6.533333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.250237876687363, 'joint_sparc_mean': -4.465438140320355, 'ee_isj': 774.6511950924372, 'joint_isj': 16604.424648589902, 'ee_path_length': 1.014553921044532, 'joint_rmse_mean': 0.8410833893659092, 'ee_speed_max': 0.5362293124198914, 'ee_speed_mean': 0.15745526552200317}, events: {'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 153.546, 'policy_inference_avg_ms': 1566.8, 'env_step_s': 26.937, 'env_step_avg_ms': 274.9, 'video_write_s': 1.6, 'video_write_avg_ms': 16.3, 'wall_total_s': 182.082, 'it_per_sec': 0.54}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: eaffbff5199e4c9582d3ae7c63116877-0
+[RoboLab] Running BananasInBinThreeTotalTask_1: 'Make sure there are 3 (three) bananas in the grey bin.' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:36<9:02:25, 36.20s/it]
  0%|          | 2/900 [00:36<3:45:34, 15.07s/it]
  0%|          | 3/900 [00:36<2:04:22,  8.32s/it]
  0%|          | 4/900 [00:37<1:16:45,  5.14s/it]
  1%|          | 5/900 [00:37<50:27,  3.38s/it]  
  1%|          | 6/900 [00:37<34:41,  2.33s/it]
  1%|          | 7/900 [00:37<24:40,  1.66s/it]
  1%|          | 8/900 [00:38<18:06,  1.22s/it]
  1%|          | 9/900 [00:48<1:02:26,  4.20s/it]
  1%|          | 10/900 [00:49<44:21,  2.99s/it] 
  1%|          | 11/900 [00:49<32:03,  2.16s/it]
  1%|▏         | 12/900 [00:49<23:32,  1.59s/it]
  1%|▏         | 13/900 [00:50<17:38,  1.19s/it]
  2%|▏         | 14/900 [00:50<13:31,  1.09it/s]
  2%|▏         | 15/900 [00:50<10:38,  1.39it/s]
  2%|▏         | 16/900 [00:50<08:38,  1.70it/s]
  2%|▏         | 17/900 [00:54<21:49,  1.48s/it]
  2%|▏         | 18/900 [00:54<16:26,  1.12s/it]
  2%|▏         | 19/900 [00:54<12:39,  1.16it/s]
  2%|▏         | 20/900 [00:55<10:01,  1.46it/s]
  2%|▏         | 21/900 [00:55<08:10,  1.79it/s]
  2%|▏         | 22/900 [00:55<06:55,  2.11it/s]
  3%|▎         | 23/900 [00:56<06:03,  2.42it/s]
  3%|▎         | 24/900 [00:56<05:27,  2.68it/s]
  3%|▎         | 25/900 [01:06<46:36,  3.20s/it]
  3%|▎         | 26/900 [01:06<33:46,  2.32s/it]
  3%|▎         | 27/900 [01:06<24:46,  1.70s/it]
  3%|▎         | 28/900 [01:06<18:29,  1.27s/it]
  3%|▎         | 29/900 [01:07<14:06,  1.03it/s]
  3%|▎         | 30/900 [01:07<11:03,  1.31it/s]
  3%|▎         | 31/900 [01:07<08:55,  1.62it/s]
  4%|▎         | 32/900 [01:07<07:25,  1.95it/s]
  4%|▎         | 33/900 [01:18<51:47,  3.58s/it]
  4%|▍         | 34/900 [01:19<37:22,  2.59s/it]
  4%|▍         | 35/900 [01:19<27:17,  1.89s/it]
  4%|▍         | 36/900 [01:19<20:16,  1.41s/it]
  4%|▍         | 37/900 [01:19<15:22,  1.07s/it]
  4%|▍         | 38/900 [01:20<11:56,  1.20it/s]
  4%|▍         | 39/900 [01:20<09:33,  1.50it/s]
  4%|▍         | 40/900 [01:20<07:54,  1.81it/s]
  5%|▍         | 41/900 [01:30<47:34,  3.32s/it]
  5%|▍         | 42/900 [01:30<34:26,  2.41s/it]
  5%|▍         | 43/900 [01:31<25:14,  1.77s/it]
  5%|▍         | 44/900 [01:31<18:48,  1.32s/it]
  5%|▌         | 45/900 [01:31<14:19,  1.01s/it]
  5%|▌         | 46/900 [01:31<11:14,  1.27it/s]
  5%|▌         | 47/900 [01:32<09:02,  1.57it/s]
  5%|▌         | 48/900 [01:32<07:29,  1.90it/s]
  5%|▌         | 49/900 [01:43<54:31,  3.84s/it]
  6%|▌         | 50/900 [01:44<39:16,  2.77s/it]
  6%|▌         | 51/900 [01:44<28:37,  2.02s/it]
  6%|▌         | 52/900 [01:44<21:08,  1.50s/it]
  6%|▌         | 53/900 [01:45<15:57,  1.13s/it]
  6%|▌         | 54/900 [01:45<12:18,  1.15it/s]
  6%|▌         | 55/900 [01:45<09:47,  1.44it/s]
  6%|▌         | 56/900 [01:45<08:00,  1.76it/s]
  6%|▋         | 57/900 [01:54<43:40,  3.11s/it]
  6%|▋         | 58/900 [01:55<31:46,  2.26s/it]
  7%|▋         | 59/900 [01:55<23:27,  1.67s/it]
  7%|▋         | 60/900 [01:55<17:34,  1.26s/it]
  7%|▋         | 61/900 [01:56<13:30,  1.04it/s]
  7%|▋         | 62/900 [01:56<10:43,  1.30it/s]
  7%|▋         | 63/900 [01:56<08:40,  1.61it/s]
  7%|▋         | 64/900 [01:56<07:13,  1.93it/s]
  7%|▋         | 65/900 [02:01<25:27,  1.83s/it]
  7%|▋         | 66/900 [02:02<18:55,  1.36s/it]
  7%|▋         | 67/900 [02:02<14:25,  1.04s/it]
  8%|▊         | 68/900 [02:02<11:24,  1.22it/s]
  8%|▊         | 69/900 [02:02<09:08,  1.52it/s]
  8%|▊         | 70/900 [02:03<07:36,  1.82it/s]
  8%|▊         | 71/900 [02:03<06:36,  2.09it/s]
  8%|▊         | 72/900 [02:03<05:53,  2.34it/s]
  8%|▊         | 73/900 [02:18<1:04:29,  4.68s/it]
  8%|▊         | 74/900 [02:18<46:21,  3.37s/it]  
  8%|▊         | 75/900 [02:19<33:40,  2.45s/it]
  8%|▊         | 76/900 [02:19<24:47,  1.80s/it]
  9%|▊         | 77/900 [02:19<18:34,  1.35s/it]
  9%|▊         | 78/900 [02:20<14:14,  1.04s/it]
  9%|▉         | 79/900 [02:20<11:12,  1.22it/s]
  9%|▉         | 80/900 [02:20<09:05,  1.50it/s]
  9%|▉         | 81/900 [02:25<26:41,  1.96s/it]
  9%|▉         | 82/900 [02:25<19:54,  1.46s/it]
  9%|▉         | 83/900 [02:26<15:09,  1.11s/it]
  9%|▉         | 84/900 [02:26<11:52,  1.15it/s]
  9%|▉         | 85/900 [02:26<09:32,  1.42it/s]
 10%|▉         | 86/900 [02:27<07:55,  1.71it/s]
 10%|▉         | 87/900 [02:27<06:46,  2.00it/s]
 10%|▉         | 88/900 [02:27<05:59,  2.26it/s]
 10%|▉         | 89/900 [02:34<32:57,  2.44s/it]
 10%|█         | 90/900 [02:35<24:11,  1.79s/it]
 10%|█         | 91/900 [02:35<18:06,  1.34s/it]
 10%|█         | 92/900 [02:35<13:51,  1.03s/it]
 10%|█         | 93/900 [02:36<10:56,  1.23it/s]
 10%|█         | 94/900 [02:36<08:55,  1.51it/s]
 11%|█         | 95/900 [02:36<07:28,  1.79it/s]
 11%|█         | 96/900 [02:36<06:27,  2.08it/s]
 11%|█         | 97/900 [02:42<28:24,  2.12s/it]
 11%|█         | 98/900 [02:43<21:04,  1.58s/it]
 11%|█         | 99/900 [02:43<15:58,  1.20s/it]
 11%|█         | 100/900 [02:43<12:23,  1.08it/s]
 11%|█         | 101/900 [02:44<09:52,  1.35it/s]
 11%|█▏        | 102/900 [02:44<08:08,  1.63it/s]
 11%|█▏        | 103/900 [02:44<06:55,  1.92it/s]
 12%|█▏        | 104/900 [02:45<06:01,  2.20it/s]
 12%|█▏        | 105/900 [02:54<40:25,  3.05s/it]
 12%|█▏        | 106/900 [02:54<29:39,  2.24s/it]
 12%|█▏        | 107/900 [02:54<22:00,  1.67s/it]
 12%|█▏        | 108/900 [02:55<16:38,  1.26s/it]
 12%|█▏        | 109/900 [02:55<12:51,  1.03it/s]
 12%|█▏        | 110/900 [02:55<10:13,  1.29it/s]
 12%|█▏        | 111/900 [02:56<08:23,  1.57it/s]
 12%|█▏        | 112/900 [02:56<07:05,  1.85it/s]
 13%|█▎        | 113/900 [03:01<24:30,  1.87s/it]
 13%|█▎        | 114/900 [03:01<18:21,  1.40s/it]
 13%|█▎        | 115/900 [03:01<14:03,  1.07s/it]
 13%|█▎        | 116/900 [03:02<11:04,  1.18it/s]
 13%|█▎        | 117/900 [03:02<08:53,  1.47it/s]
 13%|█▎        | 118/900 [03:02<07:24,  1.76it/s]
 13%|█▎        | 119/900 [03:03<06:19,  2.06it/s]
 13%|█▎        | 120/900 [03:03<05:36,  2.32it/s]
 13%|█▎        | 121/900 [03:14<46:33,  3.59s/it]
 14%|█▎        | 122/900 [03:14<33:45,  2.60s/it]
 14%|█▎        | 123/900 [03:15<24:47,  1.91s/it]
 14%|█▍        | 124/900 [03:15<18:32,  1.43s/it]
 14%|█▍        | 125/900 [03:15<14:10,  1.10s/it]
 14%|█▍        | 126/900 [03:16<11:04,  1.16it/s]
 14%|█▍        | 127/900 [03:16<08:55,  1.44it/s]
 14%|█▍        | 128/900 [03:16<07:25,  1.73it/s]
 14%|█▍        | 129/900 [03:23<30:36,  2.38s/it]
 14%|█▍        | 130/900 [03:23<22:33,  1.76s/it]
 15%|█▍        | 131/900 [03:23<16:57,  1.32s/it]
 15%|█▍        | 132/900 [03:24<13:01,  1.02s/it]
 15%|█▍        | 133/900 [03:24<10:14,  1.25it/s]
 15%|█▍        | 134/900 [03:24<08:18,  1.54it/s]
 15%|█▌        | 135/900 [03:25<06:56,  1.83it/s]
 15%|█▌        | 136/900 [03:25<05:59,  2.13it/s]
 15%|█▌        | 136/900 [03:33<19:58,  1.57s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/log_1_env0.json.
+BananasInBinThreeTotalTask_1 complete: task_name: BananasInBinThreeTotalTask, run_name: BananasInBinThreeTotalTask_1, run: 1, env_id: 0, policy: harness, instruction: Make sure there are 3 (three) bananas in the grey bin., attributes: ['semantics', 'counting', 'moderate'], success: True, episode_step: 137, duration: 9.133333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.8495005383419505, 'joint_sparc_mean': -6.766907389261194, 'ee_isj': 551.522346453577, 'joint_isj': 81703.9608945174, 'ee_path_length': 1.1511850906636727, 'joint_rmse_mean': 0.8998098842145513, 'ee_speed_max': 0.4797865152359009, 'ee_speed_mean': 0.11970017105340958}, events: {'TARGET_OBJECT_DROPPED': 3, 'GRIPPER_HIT_TABLE': 1}, instruction_type: default, timing: {'policy_inference_s': 174.213, 'policy_inference_avg_ms': 1271.6, 'env_step_s': 37.064, 'env_step_avg_ms': 270.5, 'video_write_s': 2.01, 'video_write_avg_ms': 14.7, 'wall_total_s': 213.287, 'it_per_sec': 0.64}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 92985020b61a403f8f1c5a570d8ac258-1
+[RoboLab] Running BananasInBinThreeTotalTask_2: 'Make sure there are 3 (three) bananas in the grey bin.' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [01:05<16:27:24, 65.90s/it]
  0%|          | 2/900 [01:06<6:48:32, 27.30s/it] 
  0%|          | 3/900 [01:06<3:43:42, 14.96s/it]
  0%|          | 4/900 [01:06<2:16:50,  9.16s/it]
  1%|          | 5/900 [01:07<1:28:55,  5.96s/it]
  1%|          | 6/900 [01:07<1:00:01,  4.03s/it]
  1%|          | 7/900 [01:07<41:42,  2.80s/it]  
  1%|          | 8/900 [01:07<29:43,  2.00s/it]
  1%|          | 9/900 [01:14<49:29,  3.33s/it]
  1%|          | 10/900 [01:14<35:27,  2.39s/it]
  1%|          | 11/900 [01:14<25:48,  1.74s/it]
  1%|▏         | 12/900 [01:14<19:10,  1.30s/it]
  1%|▏         | 13/900 [01:15<14:34,  1.01it/s]
  2%|▏         | 14/900 [01:15<11:23,  1.30it/s]
  2%|▏         | 15/900 [01:15<09:08,  1.61it/s]
  2%|▏         | 16/900 [01:16<07:36,  1.94it/s]
  2%|▏         | 17/900 [01:26<51:29,  3.50s/it]
  2%|▏         | 18/900 [01:26<37:12,  2.53s/it]
  2%|▏         | 19/900 [01:27<27:14,  1.86s/it]
  2%|▏         | 20/900 [01:27<20:14,  1.38s/it]
  2%|▏         | 21/900 [01:27<15:20,  1.05s/it]
  2%|▏         | 22/900 [01:27<11:55,  1.23it/s]
  3%|▎         | 23/900 [01:28<09:32,  1.53it/s]
  3%|▎         | 24/900 [01:28<07:54,  1.85it/s]
  3%|▎         | 25/900 [01:33<28:51,  1.98s/it]
  3%|▎         | 26/900 [01:34<21:23,  1.47s/it]
  3%|▎         | 27/900 [01:34<16:10,  1.11s/it]
  3%|▎         | 28/900 [01:34<12:33,  1.16it/s]
  3%|▎         | 29/900 [01:34<10:03,  1.44it/s]
  3%|▎         | 30/900 [01:35<08:15,  1.76it/s]
  3%|▎         | 31/900 [01:35<06:58,  2.08it/s]
  4%|▎         | 32/900 [01:35<06:06,  2.37it/s]
  4%|▎         | 33/900 [01:47<55:36,  3.85s/it]
  4%|▍         | 34/900 [01:47<40:04,  2.78s/it]
  4%|▍         | 35/900 [01:48<29:11,  2.02s/it]
  4%|▍         | 36/900 [01:48<21:34,  1.50s/it]
  4%|▍         | 37/900 [01:48<16:15,  1.13s/it]
  4%|▍         | 38/900 [01:48<12:35,  1.14it/s]
  4%|▍         | 39/900 [01:49<10:05,  1.42it/s]
  4%|▍         | 40/900 [01:49<08:18,  1.72it/s]
  5%|▍         | 41/900 [01:55<31:39,  2.21s/it]
  5%|▍         | 42/900 [01:55<23:25,  1.64s/it]
  5%|▍         | 43/900 [01:56<17:41,  1.24s/it]
  5%|▍         | 44/900 [01:56<13:39,  1.04it/s]
  5%|▌         | 45/900 [01:56<10:51,  1.31it/s]
  5%|▌         | 46/900 [01:57<08:54,  1.60it/s]
  5%|▌         | 47/900 [01:57<07:31,  1.89it/s]
  5%|▌         | 48/900 [01:57<06:37,  2.15it/s]
  5%|▌         | 49/900 [02:03<27:50,  1.96s/it]
  6%|▌         | 50/900 [02:03<20:47,  1.47s/it]
  6%|▌         | 51/900 [02:03<15:50,  1.12s/it]
  6%|▌         | 52/900 [02:04<12:21,  1.14it/s]
  6%|▌         | 53/900 [02:04<09:53,  1.43it/s]
  6%|▌         | 54/900 [02:04<08:10,  1.72it/s]
  6%|▌         | 55/900 [02:04<07:00,  2.01it/s]
  6%|▌         | 56/900 [02:05<06:10,  2.28it/s]
  6%|▋         | 57/900 [02:10<25:18,  1.80s/it]
  6%|▋         | 58/900 [02:10<18:54,  1.35s/it]
  7%|▋         | 59/900 [02:10<14:25,  1.03s/it]
  7%|▋         | 60/900 [02:11<11:16,  1.24it/s]
  7%|▋         | 61/900 [02:11<09:08,  1.53it/s]
  7%|▋         | 62/900 [02:11<07:38,  1.83it/s]
  7%|▋         | 63/900 [02:11<06:31,  2.14it/s]
  7%|▋         | 64/900 [02:12<05:42,  2.44it/s]
  7%|▋         | 65/900 [02:31<1:25:48,  6.17s/it]
  7%|▋         | 66/900 [02:32<1:01:15,  4.41s/it]
  7%|▋         | 67/900 [02:32<44:04,  3.17s/it]  
  8%|▊         | 68/900 [02:32<32:10,  2.32s/it]
  8%|▊         | 69/900 [02:33<23:37,  1.71s/it]
  8%|▊         | 70/900 [02:33<17:42,  1.28s/it]
  8%|▊         | 71/900 [02:33<13:30,  1.02it/s]
  8%|▊         | 72/900 [02:33<10:34,  1.30it/s]
  8%|▊         | 73/900 [02:41<37:41,  2.73s/it]
  8%|▊         | 74/900 [02:41<27:28,  2.00s/it]
  8%|▊         | 75/900 [02:41<20:22,  1.48s/it]
  8%|▊         | 76/900 [02:42<15:23,  1.12s/it]
  9%|▊         | 77/900 [02:42<11:52,  1.15it/s]
  9%|▊         | 78/900 [02:42<09:29,  1.44it/s]
  9%|▉         | 79/900 [02:42<07:47,  1.75it/s]
  9%|▉         | 80/900 [02:43<06:33,  2.08it/s]
  9%|▉         | 81/900 [02:53<48:10,  3.53s/it]
  9%|▉         | 82/900 [02:54<34:48,  2.55s/it]
  9%|▉         | 83/900 [02:54<25:29,  1.87s/it]
  9%|▉         | 84/900 [02:54<18:58,  1.40s/it]
  9%|▉         | 85/900 [02:54<14:25,  1.06s/it]
 10%|▉         | 86/900 [02:55<11:13,  1.21it/s]
 10%|▉         | 87/900 [02:55<08:59,  1.51it/s]
 10%|▉         | 88/900 [02:55<07:23,  1.83it/s]
 10%|▉         | 89/900 [03:03<34:46,  2.57s/it]
 10%|█         | 90/900 [03:03<25:26,  1.89s/it]
 10%|█         | 91/900 [03:03<18:54,  1.40s/it]
 10%|█         | 92/900 [03:03<14:20,  1.07s/it]
 10%|█         | 93/900 [03:04<11:09,  1.21it/s]
 10%|█         | 94/900 [03:04<08:55,  1.50it/s]
 11%|█         | 95/900 [03:04<07:22,  1.82it/s]
 11%|█         | 96/900 [03:05<06:16,  2.14it/s]
 11%|█         | 97/900 [03:18<57:56,  4.33s/it]
 11%|█         | 98/900 [03:18<41:36,  3.11s/it]
 11%|█         | 99/900 [03:18<30:12,  2.26s/it]
 11%|█         | 100/900 [03:19<22:13,  1.67s/it]
 11%|█         | 101/900 [03:19<16:36,  1.25s/it]
 11%|█▏        | 102/900 [03:19<12:43,  1.05it/s]
 11%|█▏        | 103/900 [03:20<09:59,  1.33it/s]
 12%|█▏        | 104/900 [03:20<08:05,  1.64it/s]
 12%|█▏        | 105/900 [03:27<34:21,  2.59s/it]
 12%|█▏        | 106/900 [03:27<25:11,  1.90s/it]
 12%|█▏        | 107/900 [03:28<18:44,  1.42s/it]
 12%|█▏        | 108/900 [03:28<14:14,  1.08s/it]
 12%|█▏        | 109/900 [03:28<11:07,  1.18it/s]
 12%|█▏        | 110/900 [03:28<08:58,  1.47it/s]
 12%|█▏        | 111/900 [03:29<07:25,  1.77it/s]
 12%|█▏        | 112/900 [03:29<06:19,  2.08it/s]
 13%|█▎        | 113/900 [03:35<25:53,  1.97s/it]
 13%|█▎        | 114/900 [03:35<19:12,  1.47s/it]
 13%|█▎        | 115/900 [03:35<14:32,  1.11s/it]
 13%|█▎        | 116/900 [03:35<11:15,  1.16it/s]
 13%|█▎        | 117/900 [03:36<08:55,  1.46it/s]
 13%|█▎        | 118/900 [03:36<07:19,  1.78it/s]
 13%|█▎        | 119/900 [03:36<06:17,  2.07it/s]
 13%|█▎        | 120/900 [03:37<05:34,  2.33it/s]
 13%|█▎        | 121/900 [03:42<23:38,  1.82s/it]
 14%|█▎        | 122/900 [03:42<17:41,  1.36s/it]
 14%|█▎        | 123/900 [03:42<13:35,  1.05s/it]
 14%|█▍        | 124/900 [03:42<10:40,  1.21it/s]
 14%|█▍        | 125/900 [03:43<08:39,  1.49it/s]
 14%|█▍        | 126/900 [03:43<07:13,  1.78it/s]
 14%|█▍        | 127/900 [03:43<06:11,  2.08it/s]
 14%|█▍        | 128/900 [03:44<05:31,  2.33it/s]
 14%|█▍        | 129/900 [03:50<26:22,  2.05s/it]
 14%|█▍        | 130/900 [03:50<19:37,  1.53s/it]
 15%|█▍        | 131/900 [03:50<14:54,  1.16s/it]
 15%|█▍        | 132/900 [03:50<11:36,  1.10it/s]
 15%|█▍        | 133/900 [03:51<09:17,  1.38it/s]
 15%|█▍        | 134/900 [03:51<07:40,  1.66it/s]
 15%|█▌        | 135/900 [03:51<06:32,  1.95it/s]
 15%|█▌        | 136/900 [03:52<05:44,  2.22it/s]
 15%|█▌        | 137/900 [04:03<48:32,  3.82s/it]
 15%|█▌        | 138/900 [04:04<35:05,  2.76s/it]
 15%|█▌        | 139/900 [04:04<25:41,  2.03s/it]
 16%|█▌        | 140/900 [04:04<19:08,  1.51s/it]
 16%|█▌        | 141/900 [04:05<14:32,  1.15s/it]
 16%|█▌        | 142/900 [04:05<11:19,  1.12it/s]
 16%|█▌        | 143/900 [04:05<09:03,  1.39it/s]
 16%|█▌        | 144/900 [04:06<07:30,  1.68it/s]
 16%|█▌        | 145/900 [04:11<26:53,  2.14s/it]
 16%|█▌        | 146/900 [04:12<19:59,  1.59s/it]
 16%|█▋        | 147/900 [04:12<15:07,  1.21s/it]
 16%|█▋        | 148/900 [04:12<11:43,  1.07it/s]
 17%|█▋        | 149/900 [04:12<09:21,  1.34it/s]
 17%|█▋        | 150/900 [04:13<07:41,  1.62it/s]
 17%|█▋        | 151/900 [04:13<06:31,  1.91it/s]
 17%|█▋        | 152/900 [04:13<05:43,  2.18it/s]
 17%|█▋        | 153/900 [04:19<23:14,  1.87s/it]
 17%|█▋        | 154/900 [04:19<17:24,  1.40s/it]
 17%|█▋        | 155/900 [04:19<13:18,  1.07s/it]
 17%|█▋        | 156/900 [04:19<10:25,  1.19it/s]
 17%|█▋        | 157/900 [04:20<08:23,  1.48it/s]
 18%|█▊        | 158/900 [04:20<06:59,  1.77it/s]
 18%|█▊        | 159/900 [04:20<06:01,  2.05it/s]
 18%|█▊        | 160/900 [04:21<05:22,  2.30it/s]
 18%|█▊        | 161/900 [04:28<31:04,  2.52s/it]
 18%|█▊        | 162/900 [04:28<22:49,  1.86s/it]
 18%|█▊        | 163/900 [04:29<17:02,  1.39s/it]
 18%|█▊        | 164/900 [04:29<13:00,  1.06s/it]
 18%|█▊        | 165/900 [04:29<10:11,  1.20it/s]
 18%|█▊        | 166/900 [04:30<08:15,  1.48it/s]
 19%|█▊        | 167/900 [04:30<06:51,  1.78it/s]
 19%|█▊        | 168/900 [04:30<05:54,  2.07it/s]
 19%|█▉        | 169/900 [04:36<24:11,  1.99s/it]
 19%|█▉        | 170/900 [04:36<18:01,  1.48s/it]
 19%|█▉        | 171/900 [04:36<13:42,  1.13s/it]
 19%|█▉        | 172/900 [04:37<10:42,  1.13it/s]
 19%|█▉        | 173/900 [04:37<08:35,  1.41it/s]
 19%|█▉        | 174/900 [04:37<07:10,  1.69it/s]
 19%|█▉        | 175/900 [04:38<06:08,  1.97it/s]
 20%|█▉        | 176/900 [04:38<05:27,  2.21it/s]
 20%|█▉        | 177/900 [04:46<33:31,  2.78s/it]
 20%|█▉        | 178/900 [04:46<24:32,  2.04s/it]
 20%|█▉        | 179/900 [04:47<18:15,  1.52s/it]
 20%|██        | 180/900 [04:47<13:50,  1.15s/it]
 20%|██        | 181/900 [04:47<10:45,  1.11it/s]
 20%|██        | 182/900 [04:48<08:36,  1.39it/s]
 20%|██        | 183/900 [04:48<07:05,  1.68it/s]
 20%|██        | 184/900 [04:48<06:02,  1.97it/s]
 21%|██        | 185/900 [05:03<56:24,  4.73s/it]
 21%|██        | 186/900 [05:03<40:32,  3.41s/it]
 21%|██        | 187/900 [05:03<29:26,  2.48s/it]
 21%|██        | 188/900 [05:04<21:41,  1.83s/it]
 21%|██        | 189/900 [05:04<16:17,  1.38s/it]
 21%|██        | 190/900 [05:04<12:26,  1.05s/it]
 21%|██        | 191/900 [05:05<09:45,  1.21it/s]
 21%|██▏       | 192/900 [05:05<07:53,  1.50it/s]
 21%|██▏       | 192/900 [05:11<19:07,  1.62s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/log_2_env0.json.
+BananasInBinThreeTotalTask_2 complete: task_name: BananasInBinThreeTotalTask, run_name: BananasInBinThreeTotalTask_2, run: 2, env_id: 0, policy: harness, instruction: Make sure there are 3 (three) bananas in the grey bin., attributes: ['semantics', 'counting', 'moderate'], success: True, episode_step: 193, duration: 12.866666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.292773748754366, 'joint_sparc_mean': -6.403132980045727, 'ee_isj': 604.5696845196071, 'joint_isj': 18606.11252519759, 'ee_path_length': 1.4115849950018737, 'joint_rmse_mean': 1.125950320412572, 'ee_speed_max': 0.30428051948547363, 'ee_speed_mean': 0.10600225627422333}, events: {'TARGET_OBJECT_DROPPED': 6, 'GRIPPER_HIT_TABLE': 2, 'GRIPPER_FULLY_CLOSED': 2}, instruction_type: default, timing: {'policy_inference_s': 256.071, 'policy_inference_avg_ms': 1326.8, 'env_step_s': 52.785, 'env_step_avg_ms': 273.5, 'video_write_s': 2.23, 'video_write_avg_ms': 11.6, 'wall_total_s': 311.086, 'it_per_sec': 0.62}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 5a1b4c841d37486693eeb236ccd067d5-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-29T20:00:26Z [11,116,453ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:4
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.179818 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-29T20:00:28Z [11,118,608ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T20:00:28Z [11,118,608ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T20:00:28Z [11,118,616ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T20:00:28Z [11,118,617ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T20:00:28Z [11,118,624ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T20:00:28Z [11,118,631ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-29T20:00:28Z [11,119,039ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((912))' not available in the MDL representation.
+2026-10-29T20:00:28Z [11,119,039ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((912))' not available in the MDL representation.
+2026-10-29T20:00:29Z [11,119,710ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((912))' not available in the MDL representation.
+2026-10-29T20:00:29Z [11,119,710ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((912))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.188776 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BowlStackingRightOnLeftTask                   │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Stack the right bowl on the left bowl         │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BowlStackingRightOnLeftTaskSceneEnvCfg        │
+│  Attributes  : spatial, simple                               │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BowlStackingRightOnLeftTask_0: 'Stack the right bowl on the left bowl' (run 0, 1 envs)
+
  0%|          | 0/300 [00:00<?, ?it/s]
  0%|          | 1/300 [00:27<2:18:38, 27.82s/it]
  1%|          | 2/300 [00:28<57:30, 11.58s/it]  
  1%|          | 3/300 [00:28<31:35,  6.38s/it]
  1%|▏         | 4/300 [00:28<19:27,  3.94s/it]
  2%|▏         | 5/300 [00:28<12:45,  2.60s/it]
  2%|▏         | 6/300 [00:28<08:44,  1.78s/it]
  2%|▏         | 7/300 [00:29<06:11,  1.27s/it]
  3%|▎         | 8/300 [00:29<04:31,  1.08it/s]
  3%|▎         | 9/300 [00:56<44:31,  9.18s/it]
  3%|▎         | 10/300 [00:56<30:58,  6.41s/it]
  4%|▎         | 11/300 [00:56<21:43,  4.51s/it]
  4%|▍         | 12/300 [00:57<15:21,  3.20s/it]
  4%|▍         | 13/300 [00:57<10:57,  2.29s/it]
  5%|▍         | 14/300 [00:57<07:55,  1.66s/it]
  5%|▌         | 15/300 [00:57<05:48,  1.22s/it]
  5%|▌         | 16/300 [00:58<04:19,  1.09it/s]
  6%|▌         | 17/300 [01:28<45:41,  9.69s/it]
  6%|▌         | 18/300 [01:28<32:07,  6.84s/it]
  6%|▋         | 19/300 [01:28<22:41,  4.85s/it]
  7%|▋         | 20/300 [01:28<16:06,  3.45s/it]
  7%|▋         | 21/300 [01:28<11:30,  2.48s/it]
  7%|▋         | 22/300 [01:29<08:18,  1.79s/it]
  8%|▊         | 23/300 [01:29<06:05,  1.32s/it]
  8%|▊         | 24/300 [01:29<04:31,  1.02it/s]
  8%|▊         | 25/300 [01:48<29:23,  6.41s/it]
  9%|▊         | 26/300 [01:48<20:48,  4.56s/it]
  9%|▉         | 27/300 [01:49<14:48,  3.25s/it]
  9%|▉         | 28/300 [01:49<10:36,  2.34s/it]
 10%|▉         | 29/300 [01:49<07:40,  1.70s/it]
 10%|█         | 30/300 [01:49<05:39,  1.26s/it]
 10%|█         | 31/300 [01:49<04:13,  1.06it/s]
 11%|█         | 32/300 [01:50<03:13,  1.39it/s]
 11%|█         | 33/300 [02:07<25:55,  5.83s/it]
 11%|█▏        | 34/300 [02:08<18:21,  4.14s/it]
 12%|█▏        | 35/300 [02:08<13:04,  2.96s/it]
 12%|█▏        | 36/300 [02:08<09:23,  2.14s/it]
 12%|█▏        | 37/300 [02:08<06:49,  1.56s/it]
 13%|█▎        | 38/300 [02:08<05:01,  1.15s/it]
 13%|█▎        | 39/300 [02:09<03:47,  1.15it/s]
 13%|█▎        | 40/300 [02:09<02:55,  1.48it/s]
 14%|█▎        | 41/300 [02:18<13:24,  3.11s/it]
 14%|█▍        | 42/300 [02:18<09:39,  2.25s/it]
 14%|█▍        | 43/300 [02:18<07:00,  1.64s/it]
 15%|█▍        | 44/300 [02:18<05:10,  1.21s/it]
 15%|█▌        | 45/300 [02:18<03:52,  1.10it/s]
 15%|█▌        | 46/300 [02:19<02:58,  1.43it/s]
 16%|█▌        | 47/300 [02:19<02:21,  1.79it/s]
 16%|█▌        | 48/300 [02:19<01:55,  2.17it/s]
 16%|█▋        | 49/300 [02:30<14:43,  3.52s/it]
 17%|█▋        | 50/300 [02:30<10:33,  2.53s/it]
 17%|█▋        | 51/300 [02:30<07:38,  1.84s/it]
 17%|█▋        | 52/300 [02:30<05:36,  1.36s/it]
 18%|█▊        | 53/300 [02:31<04:12,  1.02s/it]
 18%|█▊        | 54/300 [02:31<03:12,  1.28it/s]
 18%|█▊        | 55/300 [02:31<02:30,  1.63it/s]
 19%|█▊        | 56/300 [02:31<02:01,  2.00it/s]
 19%|█▉        | 57/300 [02:39<11:09,  2.75s/it]
 19%|█▉        | 58/300 [02:40<08:02,  1.99s/it]
 20%|█▉        | 59/300 [02:40<05:52,  1.46s/it]
 20%|██        | 60/300 [02:40<04:22,  1.09s/it]
 20%|██        | 61/300 [02:40<03:19,  1.20it/s]
 21%|██        | 62/300 [02:41<02:34,  1.54it/s]
 21%|██        | 63/300 [02:41<02:05,  1.89it/s]
 21%|██▏       | 64/300 [02:41<01:43,  2.28it/s]
 22%|██▏       | 65/300 [02:50<12:17,  3.14s/it]
 22%|██▏       | 66/300 [02:51<08:51,  2.27s/it]
 22%|██▏       | 67/300 [02:51<06:26,  1.66s/it]
 23%|██▎       | 68/300 [02:51<04:45,  1.23s/it]
 23%|██▎       | 69/300 [02:51<03:35,  1.07it/s]
 23%|██▎       | 70/300 [02:52<02:46,  1.39it/s]
 24%|██▎       | 71/300 [02:52<02:11,  1.74it/s]
 24%|██▍       | 72/300 [02:52<01:48,  2.11it/s]
 24%|██▍       | 73/300 [03:07<18:28,  4.88s/it]
 25%|██▍       | 74/300 [03:07<13:08,  3.49s/it]
 25%|██▌       | 75/300 [03:08<09:24,  2.51s/it]
 25%|██▌       | 76/300 [03:08<06:48,  1.82s/it]
 26%|██▌       | 77/300 [03:08<05:00,  1.35s/it]
 26%|██▌       | 78/300 [03:08<03:45,  1.01s/it]
 26%|██▋       | 79/300 [03:09<02:52,  1.28it/s]
 27%|██▋       | 80/300 [03:09<02:15,  1.63it/s]
 27%|██▋       | 81/300 [03:31<25:39,  7.03s/it]
 27%|██▋       | 82/300 [03:31<18:07,  4.99s/it]
 28%|██▊       | 83/300 [03:31<12:53,  3.56s/it]
 28%|██▊       | 84/300 [03:32<09:13,  2.56s/it]
 28%|██▊       | 85/300 [03:32<06:41,  1.87s/it]
 29%|██▊       | 86/300 [03:32<04:54,  1.38s/it]
 29%|██▉       | 87/300 [03:32<03:40,  1.03s/it]
 29%|██▉       | 88/300 [03:33<02:48,  1.26it/s]
 30%|██▉       | 89/300 [03:42<11:42,  3.33s/it]
 30%|███       | 90/300 [03:42<08:25,  2.41s/it]
 30%|███       | 91/300 [03:42<06:06,  1.76s/it]
 31%|███       | 92/300 [03:42<04:30,  1.30s/it]
 31%|███       | 93/300 [03:43<03:22,  1.02it/s]
 31%|███▏      | 94/300 [03:43<02:35,  1.33it/s]
 32%|███▏      | 95/300 [03:43<02:02,  1.68it/s]
 32%|███▏      | 95/300 [03:43<08:03,  2.36s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/log_0_env0.json.
+BowlStackingRightOnLeftTask_0 complete: task_name: BowlStackingRightOnLeftTask, run_name: BowlStackingRightOnLeftTask_0, run: 0, env_id: 0, policy: harness, instruction: Stack the right bowl on the left bowl, attributes: ['spatial', 'simple'], success: True, episode_step: 96, duration: 6.4, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.248781954555599, 'joint_sparc_mean': -4.747440494788099, 'ee_isj': 618.3337650463543, 'joint_isj': 16567.859673217907, 'ee_path_length': 0.9826179045222352, 'joint_rmse_mean': 0.9494783569362972, 'ee_speed_max': 0.4220418930053711, 'ee_speed_mean': 0.14190548658370972}, events: {'GRIPPER_FULLY_CLOSED': 2, 'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_HIT_TABLE': 1, 'WRONG_OBJECT_GRABBED': 1, 'OBJECT_BUMPED': 1, 'wrong_objects_grabbed': ['bowl_2']}, instruction_type: default, timing: {'policy_inference_s': 203.036, 'policy_inference_avg_ms': 2115.0, 'env_step_s': 19.429, 'env_step_avg_ms': 202.4, 'video_write_s': 1.463, 'video_write_avg_ms': 15.2, 'wall_total_s': 223.928, 'it_per_sec': 0.43}, score: 1.0, reason: Completed subtask 'stack_bowl_right_on_left' 1/1, harness_episode_id: 03ac3bafc62d48a0815b6f0aa82c68db-0
+[RoboLab] Running BowlStackingRightOnLeftTask_1: 'Stack the right bowl on the left bowl' (run 1, 1 envs)
+
  0%|          | 0/300 [00:00<?, ?it/s]
  0%|          | 1/300 [00:33<2:46:36, 33.43s/it]
  1%|          | 2/300 [00:33<1:09:00, 13.89s/it]
  1%|          | 3/300 [00:33<37:51,  7.65s/it]  
  1%|▏         | 4/300 [00:34<23:14,  4.71s/it]
  2%|▏         | 5/300 [00:34<15:11,  3.09s/it]
  2%|▏         | 6/300 [00:34<10:20,  2.11s/it]
  2%|▏         | 7/300 [00:34<07:16,  1.49s/it]
  3%|▎         | 8/300 [00:34<05:16,  1.08s/it]
  3%|▎         | 9/300 [00:45<19:05,  3.94s/it]
  3%|▎         | 10/300 [00:45<13:27,  2.78s/it]
  4%|▎         | 11/300 [00:45<09:35,  1.99s/it]
  4%|▍         | 12/300 [00:45<06:57,  1.45s/it]
  4%|▍         | 13/300 [00:45<05:07,  1.07s/it]
  5%|▍         | 14/300 [00:46<03:51,  1.24it/s]
  5%|▌         | 15/300 [00:46<02:59,  1.59it/s]
  5%|▌         | 16/300 [00:46<02:23,  1.98it/s]
  6%|▌         | 17/300 [01:12<38:12,  8.10s/it]
  6%|▌         | 18/300 [01:12<26:55,  5.73s/it]
  6%|▋         | 19/300 [01:12<19:03,  4.07s/it]
  7%|▋         | 20/300 [01:12<13:34,  2.91s/it]
  7%|▋         | 21/300 [01:13<09:45,  2.10s/it]
  7%|▋         | 22/300 [01:13<07:05,  1.53s/it]
  8%|▊         | 23/300 [01:13<05:13,  1.13s/it]
  8%|▊         | 24/300 [01:13<03:55,  1.17it/s]
  8%|▊         | 25/300 [01:42<42:32,  9.28s/it]
  9%|▊         | 26/300 [01:42<29:57,  6.56s/it]
  9%|▉         | 27/300 [01:43<21:10,  4.65s/it]
  9%|▉         | 28/300 [01:43<15:03,  3.32s/it]
 10%|▉         | 29/300 [01:43<10:47,  2.39s/it]
 10%|█         | 30/300 [01:43<07:48,  1.74s/it]
 10%|█         | 31/300 [01:43<05:42,  1.28s/it]
 11%|█         | 32/300 [01:44<04:15,  1.05it/s]
 11%|█         | 33/300 [02:15<44:08,  9.92s/it]
 11%|█▏        | 34/300 [02:15<31:03,  7.00s/it]
 12%|█▏        | 35/300 [02:15<21:55,  4.96s/it]
 12%|█▏        | 36/300 [02:15<15:33,  3.54s/it]
 12%|█▏        | 37/300 [02:15<11:08,  2.54s/it]
 13%|█▎        | 38/300 [02:16<08:02,  1.84s/it]
 13%|█▎        | 39/300 [02:16<05:52,  1.35s/it]
 13%|█▎        | 40/300 [02:16<04:22,  1.01s/it]
 14%|█▎        | 41/300 [02:35<28:02,  6.49s/it]
 14%|█▍        | 42/300 [02:35<19:48,  4.61s/it]
 14%|█▍        | 43/300 [02:36<14:04,  3.29s/it]
 15%|█▍        | 44/300 [02:36<10:04,  2.36s/it]
 15%|█▌        | 45/300 [02:36<07:16,  1.71s/it]
 15%|█▌        | 46/300 [02:36<05:19,  1.26s/it]
 16%|█▌        | 47/300 [02:36<03:58,  1.06it/s]
 16%|█▌        | 48/300 [02:37<03:02,  1.38it/s]
 16%|█▋        | 49/300 [03:24<1:01:07, 14.61s/it]
 17%|█▋        | 50/300 [03:24<42:52, 10.29s/it]  
 17%|█▋        | 51/300 [03:24<30:09,  7.27s/it]
 17%|█▋        | 52/300 [03:24<21:16,  5.15s/it]
 18%|█▊        | 53/300 [03:25<15:05,  3.66s/it]
 18%|█▊        | 54/300 [03:25<10:47,  2.63s/it]
 18%|█▊        | 55/300 [03:25<07:48,  1.91s/it]
 19%|█▊        | 56/300 [03:25<05:44,  1.41s/it]
 19%|█▉        | 57/300 [03:42<23:58,  5.92s/it]
 19%|█▉        | 58/300 [03:42<16:59,  4.21s/it]
 20%|█▉        | 59/300 [03:42<12:07,  3.02s/it]
 20%|██        | 60/300 [03:42<08:44,  2.18s/it]
 20%|██        | 61/300 [03:43<06:21,  1.60s/it]
 21%|██        | 62/300 [03:43<04:43,  1.19s/it]
 21%|██        | 63/300 [03:43<03:34,  1.11it/s]
 21%|██▏       | 64/300 [03:43<02:45,  1.42it/s]
 22%|██▏       | 65/300 [04:04<26:36,  6.79s/it]
 22%|██▏       | 66/300 [04:05<18:48,  4.82s/it]
 22%|██▏       | 67/300 [04:05<13:22,  3.44s/it]
 23%|██▎       | 68/300 [04:05<09:34,  2.48s/it]
 23%|██▎       | 69/300 [04:05<06:56,  1.80s/it]
 23%|██▎       | 70/300 [04:05<05:05,  1.33s/it]
 24%|██▎       | 71/300 [04:06<03:47,  1.01it/s]
 24%|██▍       | 72/300 [04:06<02:52,  1.33it/s]
 24%|██▍       | 73/300 [04:17<14:14,  3.77s/it]
 25%|██▍       | 74/300 [04:17<10:09,  2.70s/it]
 25%|██▌       | 75/300 [04:17<07:18,  1.95s/it]
 25%|██▌       | 76/300 [04:17<05:19,  1.42s/it]
 26%|██▌       | 77/300 [04:17<03:56,  1.06s/it]
 26%|██▌       | 78/300 [04:18<02:59,  1.24it/s]
 26%|██▋       | 79/300 [04:18<02:18,  1.59it/s]
 27%|██▋       | 80/300 [04:18<01:50,  1.98it/s]
 27%|██▋       | 81/300 [04:24<07:16,  1.99s/it]
 27%|██▋       | 82/300 [04:24<05:18,  1.46s/it]
 28%|██▊       | 83/300 [04:24<03:56,  1.09s/it]
 28%|██▊       | 84/300 [04:24<02:58,  1.21it/s]
 28%|██▊       | 85/300 [04:24<02:18,  1.55it/s]
 29%|██▊       | 86/300 [04:25<01:50,  1.93it/s]
 29%|██▉       | 87/300 [04:25<01:30,  2.34it/s]
 29%|██▉       | 88/300 [04:25<01:17,  2.74it/s]
 30%|██▉       | 89/300 [04:34<10:48,  3.07s/it]
 30%|███       | 90/300 [04:35<07:45,  2.22s/it]
 30%|███       | 91/300 [04:35<05:38,  1.62s/it]
 31%|███       | 92/300 [04:35<04:09,  1.20s/it]
 31%|███       | 93/300 [04:35<03:07,  1.11it/s]
 31%|███▏      | 94/300 [04:36<02:24,  1.43it/s]
 32%|███▏      | 95/300 [04:36<01:54,  1.79it/s]
 32%|███▏      | 96/300 [04:36<01:33,  2.18it/s]
 32%|███▏      | 97/300 [05:09<34:41, 10.25s/it]
 33%|███▎      | 98/300 [05:09<24:22,  7.24s/it]
 33%|███▎      | 99/300 [05:10<17:10,  5.13s/it]
 33%|███▎      | 100/300 [05:10<12:10,  3.65s/it]
 34%|███▎      | 101/300 [05:10<08:41,  2.62s/it]
 34%|███▍      | 102/300 [05:10<06:15,  1.89s/it]
 34%|███▍      | 103/300 [05:10<04:33,  1.39s/it]
 35%|███▍      | 104/300 [05:11<03:22,  1.03s/it]
 35%|███▌      | 105/300 [05:18<09:56,  3.06s/it]
 35%|███▌      | 106/300 [05:19<07:07,  2.20s/it]
 36%|███▌      | 107/300 [05:19<05:09,  1.60s/it]
 36%|███▌      | 108/300 [05:19<03:47,  1.19s/it]
 36%|███▋      | 109/300 [05:19<02:50,  1.12it/s]
 37%|███▋      | 110/300 [05:19<02:10,  1.46it/s]
 37%|███▋      | 111/300 [05:20<01:42,  1.84it/s]
 37%|███▋      | 112/300 [05:20<01:23,  2.26it/s]
 38%|███▊      | 113/300 [05:34<14:19,  4.60s/it]
 38%|███▊      | 114/300 [05:34<10:09,  3.28s/it]
 38%|███▊      | 115/300 [05:35<07:16,  2.36s/it]
 39%|███▊      | 116/300 [05:35<05:14,  1.71s/it]
 39%|███▉      | 117/300 [05:35<03:50,  1.26s/it]
 39%|███▉      | 118/300 [05:35<02:51,  1.06it/s]
 40%|███▉      | 119/300 [05:35<02:10,  1.39it/s]
 40%|████      | 120/300 [05:36<01:41,  1.78it/s]
 40%|████      | 121/300 [05:43<07:52,  2.64s/it]
 41%|████      | 122/300 [05:43<05:40,  1.91s/it]
 41%|████      | 123/300 [05:43<04:07,  1.40s/it]
 41%|████▏     | 124/300 [05:44<03:02,  1.04s/it]
 42%|████▏     | 125/300 [05:44<02:17,  1.27it/s]
 42%|████▏     | 126/300 [05:44<01:46,  1.64it/s]
 42%|████▏     | 127/300 [05:44<01:24,  2.04it/s]
 43%|████▎     | 128/300 [05:44<01:09,  2.48it/s]
 43%|████▎     | 129/300 [05:51<06:35,  2.31s/it]
 43%|████▎     | 130/300 [05:51<04:45,  1.68s/it]
 44%|████▎     | 131/300 [05:52<03:28,  1.24s/it]
 44%|████▍     | 132/300 [05:52<02:35,  1.08it/s]
 44%|████▍     | 133/300 [05:52<01:58,  1.40it/s]
 45%|████▍     | 134/300 [05:52<01:33,  1.78it/s]
 45%|████▌     | 135/300 [05:52<01:14,  2.21it/s]
 45%|████▌     | 136/300 [05:53<01:01,  2.65it/s]
 46%|████▌     | 137/300 [05:59<05:36,  2.06s/it]
 46%|████▌     | 138/300 [05:59<04:04,  1.51s/it]
 46%|████▋     | 139/300 [05:59<03:01,  1.13s/it]
 47%|████▋     | 140/300 [05:59<02:17,  1.17it/s]
 47%|████▋     | 141/300 [06:00<01:45,  1.50it/s]
 47%|████▋     | 142/300 [06:00<01:24,  1.88it/s]
 48%|████▊     | 143/300 [06:00<01:08,  2.29it/s]
 48%|████▊     | 144/300 [06:00<00:57,  2.70it/s]
 48%|████▊     | 145/300 [06:07<05:57,  2.31s/it]
 49%|████▊     | 146/300 [06:07<04:19,  1.69s/it]
 49%|████▉     | 147/300 [06:08<03:11,  1.25s/it]
 49%|████▉     | 148/300 [06:08<02:23,  1.06it/s]
 50%|████▉     | 149/300 [06:08<01:50,  1.36it/s]
 50%|█████     | 150/300 [06:08<01:27,  1.72it/s]
 50%|█████     | 151/300 [06:08<01:13,  2.03it/s]
 51%|█████     | 152/300 [06:09<01:01,  2.42it/s]
 51%|█████     | 153/300 [06:19<08:12,  3.35s/it]
 51%|█████▏    | 154/300 [06:19<05:52,  2.42s/it]
 52%|█████▏    | 155/300 [06:19<04:15,  1.76s/it]
 52%|█████▏    | 156/300 [06:20<03:07,  1.30s/it]
 52%|█████▏    | 157/300 [06:20<02:20,  1.02it/s]
 53%|█████▎    | 158/300 [06:20<01:47,  1.33it/s]
 53%|█████▎    | 159/300 [06:20<01:23,  1.68it/s]
 53%|█████▎    | 160/300 [06:21<01:08,  2.05it/s]
 54%|█████▎    | 161/300 [06:36<11:48,  5.10s/it]
 54%|█████▍    | 162/300 [06:37<08:21,  3.64s/it]
 54%|█████▍    | 163/300 [06:37<05:58,  2.62s/it]
 55%|█████▍    | 164/300 [06:37<04:18,  1.90s/it]
 55%|█████▌    | 165/300 [06:37<03:09,  1.40s/it]
 55%|█████▌    | 166/300 [06:38<02:21,  1.05s/it]
 56%|█████▌    | 167/300 [06:38<01:47,  1.24it/s]
 56%|█████▌    | 168/300 [06:38<01:23,  1.58it/s]
 56%|█████▋    | 169/300 [06:53<10:51,  4.98s/it]
 57%|█████▋    | 170/300 [06:53<07:42,  3.55s/it]
 57%|█████▋    | 171/300 [06:54<05:29,  2.56s/it]
 57%|█████▋    | 172/300 [06:54<03:58,  1.86s/it]
 58%|█████▊    | 173/300 [06:54<02:54,  1.37s/it]
 58%|█████▊    | 174/300 [06:54<02:09,  1.03s/it]
 58%|█████▊    | 175/300 [06:55<01:38,  1.26it/s]
 59%|█████▊    | 176/300 [06:55<01:17,  1.60it/s]
 59%|█████▉    | 177/300 [07:26<20:11,  9.85s/it]
 59%|█████▉    | 178/300 [07:26<14:09,  6.96s/it]
 60%|█████▉    | 179/300 [07:27<09:58,  4.94s/it]
 60%|██████    | 180/300 [07:27<07:03,  3.53s/it]
 60%|██████    | 181/300 [07:27<05:02,  2.54s/it]
 61%|██████    | 182/300 [07:27<03:38,  1.85s/it]
 61%|██████    | 183/300 [07:28<02:39,  1.37s/it]
 61%|██████▏   | 184/300 [07:28<01:58,  1.03s/it]
 62%|██████▏   | 185/300 [07:38<07:01,  3.66s/it]
 62%|██████▏   | 186/300 [07:38<05:00,  2.64s/it]
 62%|██████▏   | 187/300 [07:38<03:36,  1.92s/it]
 63%|██████▎   | 188/300 [07:38<02:38,  1.41s/it]
 63%|██████▎   | 189/300 [07:39<01:57,  1.06s/it]
 63%|██████▎   | 190/300 [07:39<01:29,  1.23it/s]
 64%|██████▎   | 191/300 [07:39<01:09,  1.56it/s]
 64%|██████▍   | 192/300 [07:39<00:55,  1.94it/s]
 64%|██████▍   | 193/300 [08:06<14:46,  8.28s/it]
 65%|██████▍   | 194/300 [08:06<10:24,  5.89s/it]
 65%|██████▌   | 195/300 [08:06<07:19,  4.19s/it]
 65%|██████▌   | 196/300 [08:06<05:12,  3.00s/it]
 66%|██████▌   | 197/300 [08:07<03:43,  2.17s/it]
 66%|██████▌   | 198/300 [08:07<02:42,  1.59s/it]
 66%|██████▋   | 199/300 [08:07<01:59,  1.18s/it]
 67%|██████▋   | 200/300 [08:07<01:29,  1.12it/s]
 67%|██████▋   | 201/300 [08:15<04:53,  2.96s/it]
 67%|██████▋   | 202/300 [08:15<03:30,  2.15s/it]
 68%|██████▊   | 203/300 [08:16<02:32,  1.57s/it]
 68%|██████▊   | 204/300 [08:16<01:52,  1.17s/it]
 68%|██████▊   | 205/300 [08:16<01:24,  1.13it/s]
 69%|██████▊   | 206/300 [08:16<01:04,  1.45it/s]
 69%|██████▉   | 207/300 [08:16<00:51,  1.82it/s]
 69%|██████▉   | 208/300 [08:17<00:41,  2.21it/s]
 70%|██████▉   | 209/300 [08:50<15:26, 10.18s/it]
 70%|███████   | 210/300 [08:50<10:47,  7.20s/it]
 70%|███████   | 211/300 [08:50<07:34,  5.11s/it]
 71%|███████   | 212/300 [08:50<05:20,  3.64s/it]
 71%|███████   | 213/300 [08:51<03:47,  2.62s/it]
 71%|███████▏  | 214/300 [08:51<02:43,  1.90s/it]
 72%|███████▏  | 215/300 [08:51<01:59,  1.40s/it]
 72%|███████▏  | 216/300 [08:51<01:27,  1.05s/it]
 72%|███████▏  | 217/300 [09:01<05:11,  3.76s/it]
 73%|███████▎  | 218/300 [09:02<03:41,  2.70s/it]
 73%|███████▎  | 219/300 [09:02<02:38,  1.96s/it]
 73%|███████▎  | 220/300 [09:02<01:55,  1.44s/it]
 74%|███████▎  | 221/300 [09:02<01:24,  1.07s/it]
 74%|███████▍  | 222/300 [09:02<01:03,  1.22it/s]
 74%|███████▍  | 223/300 [09:03<00:49,  1.56it/s]
 75%|███████▍  | 224/300 [09:03<00:39,  1.94it/s]
 75%|███████▌  | 225/300 [09:25<08:37,  6.90s/it]
 75%|███████▌  | 226/300 [09:25<06:02,  4.90s/it]
 76%|███████▌  | 227/300 [09:25<04:15,  3.50s/it]
 76%|███████▌  | 228/300 [09:25<03:01,  2.52s/it]
 76%|███████▋  | 229/300 [09:26<02:10,  1.83s/it]
 77%|███████▋  | 230/300 [09:26<01:34,  1.35s/it]
 77%|███████▋  | 231/300 [09:26<01:10,  1.02s/it]
 77%|███████▋  | 232/300 [09:26<00:53,  1.28it/s]
 78%|███████▊  | 233/300 [09:35<03:25,  3.06s/it]
 78%|███████▊  | 234/300 [09:35<02:25,  2.21s/it]
 78%|███████▊  | 234/300 [09:35<02:42,  2.46s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/log_1_env0.json.
+BowlStackingRightOnLeftTask_1 complete: task_name: BowlStackingRightOnLeftTask, run_name: BowlStackingRightOnLeftTask_1, run: 1, env_id: 0, policy: harness, instruction: Stack the right bowl on the left bowl, attributes: ['spatial', 'simple'], success: True, episode_step: 235, duration: 15.666666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.09783893543658, 'joint_sparc_mean': -6.796904986985166, 'ee_isj': 1112.7623478265991, 'joint_isj': 44075.310435567844, 'ee_path_length': 1.9500011710162992, 'joint_rmse_mean': 0.9791696372956195, 'ee_speed_max': 0.4973410665988922, 'ee_speed_mean': 0.11316145211458206}, events: {'GRIPPER_HIT_OBJECT': 2, 'OBJECT_BUMPED': 4, 'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_FULLY_CLOSED': 2, 'wrong_objects_grabbed': ['bowl_1', 'bowl_2', 'bowl_2']}, instruction_type: default, timing: {'policy_inference_s': 525.888, 'policy_inference_avg_ms': 2237.8, 'env_step_s': 47.159, 'env_step_avg_ms': 200.7, 'video_write_s': 2.549, 'video_write_avg_ms': 10.8, 'wall_total_s': 575.596, 'it_per_sec': 0.41}, score: 1.0, reason: Completed subtask 'stack_bowl_right_on_left' 1/1, harness_episode_id: c0997f5dd6284e2cafd43f4c75e0a9dc-1
+[RoboLab] Running BowlStackingRightOnLeftTask_2: 'Stack the right bowl on the left bowl' (run 2, 1 envs)
+
  0%|          | 0/300 [00:00<?, ?it/s]
  0%|          | 1/300 [00:36<2:59:28, 36.01s/it]
  1%|          | 2/300 [00:36<1:14:15, 14.95s/it]
  1%|          | 3/300 [00:36<40:40,  8.22s/it]  
  1%|▏         | 4/300 [00:36<24:56,  5.05s/it]
  2%|▏         | 5/300 [00:36<16:16,  3.31s/it]
  2%|▏         | 6/300 [00:37<11:02,  2.25s/it]
  2%|▏         | 7/300 [00:37<07:43,  1.58s/it]
  3%|▎         | 8/300 [00:37<05:34,  1.14s/it]
  3%|▎         | 9/300 [00:53<28:30,  5.88s/it]
  3%|▎         | 10/300 [00:53<19:56,  4.13s/it]
  4%|▎         | 11/300 [00:54<14:04,  2.92s/it]
  4%|▍         | 12/300 [00:54<10:03,  2.09s/it]
  4%|▍         | 13/300 [00:54<07:16,  1.52s/it]
  5%|▍         | 14/300 [00:54<05:21,  1.13s/it]
  5%|▌         | 15/300 [00:54<04:01,  1.18it/s]
  5%|▌         | 16/300 [00:55<03:05,  1.53it/s]
  6%|▌         | 17/300 [01:01<10:35,  2.24s/it]
  6%|▌         | 18/300 [01:01<07:39,  1.63s/it]
  6%|▋         | 19/300 [01:01<05:38,  1.20s/it]
  7%|▋         | 20/300 [01:01<04:13,  1.11it/s]
  7%|▋         | 21/300 [01:01<03:13,  1.44it/s]
  7%|▋         | 22/300 [01:02<02:32,  1.83it/s]
  8%|▊         | 23/300 [01:02<02:04,  2.22it/s]
  8%|▊         | 24/300 [01:02<01:45,  2.62it/s]
  8%|▊         | 25/300 [01:19<24:51,  5.42s/it]
  9%|▊         | 26/300 [01:19<17:37,  3.86s/it]
  9%|▉         | 27/300 [01:20<12:34,  2.77s/it]
  9%|▉         | 28/300 [01:20<09:02,  2.00s/it]
 10%|▉         | 29/300 [01:20<06:34,  1.46s/it]
 10%|█         | 30/300 [01:20<04:51,  1.08s/it]
 10%|█         | 31/300 [01:20<03:39,  1.22it/s]
 11%|█         | 32/300 [01:21<02:49,  1.58it/s]
 11%|█         | 33/300 [01:34<19:34,  4.40s/it]
 11%|█▏        | 34/300 [01:34<13:55,  3.14s/it]
 12%|█▏        | 35/300 [01:34<09:57,  2.26s/it]
 12%|█▏        | 36/300 [01:34<07:12,  1.64s/it]
 12%|█▏        | 37/300 [01:35<05:17,  1.21s/it]
 13%|█▎        | 38/300 [01:35<03:57,  1.10it/s]
 13%|█▎        | 39/300 [01:35<03:01,  1.43it/s]
 13%|█▎        | 40/300 [01:35<02:24,  1.80it/s]
 14%|█▎        | 41/300 [01:49<19:56,  4.62s/it]
 14%|█▍        | 42/300 [01:50<14:12,  3.30s/it]
 14%|█▍        | 43/300 [01:50<10:12,  2.38s/it]
 15%|█▍        | 44/300 [01:50<07:25,  1.74s/it]
 15%|█▌        | 45/300 [01:50<05:28,  1.29s/it]
 15%|█▌        | 46/300 [01:51<04:06,  1.03it/s]
 16%|█▌        | 47/300 [01:51<03:10,  1.33it/s]
 16%|█▌        | 48/300 [01:51<02:30,  1.67it/s]
 16%|█▋        | 49/300 [02:01<13:56,  3.33s/it]
 17%|█▋        | 50/300 [02:01<10:00,  2.40s/it]
 17%|█▋        | 51/300 [02:01<07:15,  1.75s/it]
 17%|█▋        | 52/300 [02:01<05:20,  1.29s/it]
 18%|█▊        | 53/300 [02:02<04:00,  1.03it/s]
 18%|█▊        | 54/300 [02:02<03:06,  1.32it/s]
 18%|█▊        | 55/300 [02:02<02:26,  1.67it/s]
 19%|█▊        | 56/300 [02:02<01:59,  2.05it/s]
 19%|█▉        | 57/300 [02:09<09:52,  2.44s/it]
 19%|█▉        | 58/300 [02:10<07:09,  1.78s/it]
 20%|█▉        | 59/300 [02:10<05:16,  1.31s/it]
 20%|██        | 60/300 [02:10<03:56,  1.01it/s]
 20%|██        | 61/300 [02:10<03:01,  1.32it/s]
 21%|██        | 62/300 [02:11<02:22,  1.68it/s]
 21%|██        | 63/300 [02:11<01:55,  2.05it/s]
 21%|██▏       | 64/300 [02:11<01:36,  2.44it/s]
 22%|██▏       | 65/300 [02:27<20:05,  5.13s/it]
 22%|██▏       | 66/300 [02:27<14:16,  3.66s/it]
 22%|██▏       | 67/300 [02:28<10:12,  2.63s/it]
 23%|██▎       | 68/300 [02:28<07:22,  1.91s/it]
 23%|██▎       | 69/300 [02:28<05:23,  1.40s/it]
 23%|██▎       | 70/300 [02:28<04:01,  1.05s/it]
 24%|██▎       | 71/300 [02:28<03:03,  1.25it/s]
 24%|██▍       | 72/300 [02:29<02:23,  1.59it/s]
 24%|██▍       | 73/300 [02:50<25:51,  6.83s/it]
 25%|██▍       | 74/300 [02:50<18:16,  4.85s/it]
 25%|██▌       | 75/300 [02:50<13:00,  3.47s/it]
 25%|██▌       | 76/300 [02:51<09:19,  2.50s/it]
 26%|██▌       | 77/300 [02:51<06:44,  1.82s/it]
 26%|██▌       | 78/300 [02:51<04:57,  1.34s/it]
 26%|██▋       | 79/300 [02:51<03:42,  1.01s/it]
 27%|██▋       | 80/300 [02:52<02:49,  1.29it/s]
 27%|██▋       | 81/300 [02:57<07:30,  2.06s/it]
 27%|██▋       | 82/300 [02:57<05:29,  1.51s/it]
 28%|██▊       | 83/300 [02:57<04:04,  1.13s/it]
 28%|██▊       | 84/300 [02:57<03:05,  1.16it/s]
 28%|██▊       | 85/300 [02:58<02:23,  1.49it/s]
 29%|██▊       | 86/300 [02:58<01:54,  1.87it/s]
 29%|██▉       | 87/300 [02:58<01:34,  2.24it/s]
 29%|██▉       | 88/300 [02:58<01:21,  2.60it/s]
 30%|██▉       | 89/300 [03:06<09:02,  2.57s/it]
 30%|███       | 90/300 [03:06<06:32,  1.87s/it]
 30%|███       | 91/300 [03:06<04:47,  1.38s/it]
 31%|███       | 92/300 [03:07<03:34,  1.03s/it]
 31%|███       | 93/300 [03:07<02:43,  1.27it/s]
 31%|███▏      | 94/300 [03:07<02:07,  1.61it/s]
 32%|███▏      | 95/300 [03:07<01:43,  1.99it/s]
 32%|███▏      | 96/300 [03:08<01:26,  2.36it/s]
 32%|███▏      | 97/300 [03:13<06:58,  2.06s/it]
 33%|███▎      | 98/300 [03:14<05:05,  1.51s/it]
 33%|███▎      | 99/300 [03:14<03:46,  1.13s/it]
 33%|███▎      | 100/300 [03:14<02:50,  1.17it/s]
 34%|███▎      | 101/300 [03:14<02:12,  1.50it/s]
 34%|███▍      | 102/300 [03:15<01:45,  1.88it/s]
 34%|███▍      | 103/300 [03:15<01:26,  2.27it/s]
 35%|███▍      | 104/300 [03:15<01:13,  2.66it/s]
 35%|███▌      | 105/300 [04:06<51:01, 15.70s/it]
 35%|███▌      | 106/300 [04:07<35:45, 11.06s/it]
 36%|███▌      | 107/300 [04:07<25:07,  7.81s/it]
 36%|███▌      | 108/300 [04:07<17:42,  5.53s/it]
 36%|███▋      | 109/300 [04:07<12:32,  3.94s/it]
 37%|███▋      | 110/300 [04:08<08:57,  2.83s/it]
 37%|███▋      | 111/300 [04:08<06:27,  2.05s/it]
 37%|███▋      | 112/300 [04:08<04:42,  1.50s/it]
 38%|███▊      | 113/300 [04:15<09:41,  3.11s/it]
 38%|███▊      | 114/300 [04:15<06:57,  2.25s/it]
 38%|███▊      | 115/300 [04:15<05:03,  1.64s/it]
 39%|███▊      | 116/300 [04:16<03:43,  1.22s/it]
 39%|███▉      | 117/300 [04:16<02:48,  1.08it/s]
 39%|███▉      | 118/300 [04:16<02:09,  1.40it/s]
 40%|███▉      | 119/300 [04:16<01:43,  1.75it/s]
 40%|████      | 120/300 [04:17<01:24,  2.13it/s]
 40%|████      | 121/300 [04:23<06:23,  2.14s/it]
 41%|████      | 122/300 [04:23<04:39,  1.57s/it]
 41%|████      | 123/300 [04:23<03:27,  1.17s/it]
 41%|████▏     | 124/300 [04:23<02:36,  1.13it/s]
 42%|████▏     | 125/300 [04:24<02:00,  1.45it/s]
 42%|████▏     | 126/300 [04:24<01:35,  1.82it/s]
 42%|████▏     | 127/300 [04:24<01:18,  2.21it/s]
 43%|████▎     | 128/300 [04:24<01:06,  2.60it/s]
 43%|████▎     | 129/300 [04:38<12:26,  4.36s/it]
 43%|████▎     | 130/300 [04:38<08:51,  3.12s/it]
 44%|████▎     | 131/300 [04:38<06:21,  2.26s/it]
 44%|████▍     | 132/300 [04:39<04:36,  1.65s/it]
 44%|████▍     | 133/300 [04:39<03:24,  1.22s/it]
 45%|████▍     | 134/300 [04:39<02:33,  1.08it/s]
 45%|████▌     | 135/300 [04:39<01:58,  1.40it/s]
 45%|████▌     | 136/300 [04:39<01:33,  1.76it/s]
 46%|████▌     | 137/300 [04:52<11:02,  4.06s/it]
 46%|████▌     | 138/300 [04:52<07:52,  2.91s/it]
 46%|████▋     | 139/300 [04:52<05:39,  2.11s/it]
 47%|████▋     | 140/300 [04:52<04:06,  1.54s/it]
 47%|████▋     | 141/300 [04:53<03:02,  1.14s/it]
 47%|████▋     | 142/300 [04:53<02:16,  1.15it/s]
 48%|████▊     | 143/300 [04:53<01:45,  1.48it/s]
 48%|████▊     | 144/300 [04:53<01:24,  1.86it/s]
 48%|████▊     | 145/300 [04:58<04:46,  1.85s/it]
 49%|████▊     | 146/300 [04:58<03:30,  1.36s/it]
 49%|████▉     | 147/300 [04:59<02:36,  1.02s/it]
 49%|████▉     | 148/300 [04:59<01:59,  1.27it/s]
 50%|████▉     | 149/300 [04:59<01:33,  1.62it/s]
 50%|█████     | 150/300 [04:59<01:14,  2.00it/s]
 50%|█████     | 151/300 [05:00<01:02,  2.38it/s]
 51%|█████     | 152/300 [05:00<00:53,  2.77it/s]
 51%|█████     | 153/300 [05:05<04:49,  1.97s/it]
 51%|█████▏    | 154/300 [05:06<03:31,  1.45s/it]
 52%|█████▏    | 155/300 [05:06<02:36,  1.08s/it]
 52%|█████▏    | 156/300 [05:06<01:58,  1.22it/s]
 52%|█████▏    | 157/300 [05:06<01:32,  1.55it/s]
 53%|█████▎    | 158/300 [05:07<01:14,  1.91it/s]
 53%|█████▎    | 159/300 [05:07<01:01,  2.30it/s]
 53%|█████▎    | 160/300 [05:07<00:52,  2.69it/s]
 54%|█████▎    | 161/300 [05:20<09:33,  4.13s/it]
 54%|█████▍    | 162/300 [05:20<06:48,  2.96s/it]
 54%|█████▍    | 163/300 [05:20<04:53,  2.14s/it]
 55%|█████▍    | 164/300 [05:21<03:34,  1.58s/it]
 55%|█████▌    | 165/300 [05:21<02:38,  1.17s/it]
 55%|█████▌    | 166/300 [05:21<01:58,  1.13it/s]
 56%|█████▌    | 167/300 [05:21<01:31,  1.45it/s]
 56%|█████▌    | 168/300 [05:22<01:12,  1.82it/s]
 56%|█████▋    | 169/300 [07:14<1:14:37, 34.18s/it]
 57%|█████▋    | 170/300 [07:14<51:58, 23.99s/it]  
 57%|█████▋    | 171/300 [07:15<36:14, 16.86s/it]
 57%|█████▋    | 172/300 [07:15<25:19, 11.87s/it]
 58%|█████▊    | 173/300 [07:15<17:43,  8.38s/it]
 58%|█████▊    | 174/300 [07:15<12:27,  5.93s/it]
 58%|█████▊    | 175/300 [07:16<08:47,  4.22s/it]
 59%|█████▊    | 176/300 [07:16<06:14,  3.02s/it]
 59%|█████▉    | 177/300 [07:24<09:31,  4.64s/it]
 59%|█████▉    | 178/300 [07:24<06:44,  3.32s/it]
 60%|█████▉    | 179/300 [07:25<04:49,  2.39s/it]
 60%|██████    | 180/300 [07:25<03:28,  1.74s/it]
 60%|██████    | 181/300 [07:25<02:32,  1.28s/it]
 61%|██████    | 182/300 [07:25<01:53,  1.04it/s]
 61%|██████    | 183/300 [07:26<01:26,  1.35it/s]
 61%|██████▏   | 184/300 [07:26<01:07,  1.71it/s]
 62%|██████▏   | 185/300 [08:34<40:05, 20.92s/it]
 62%|██████▏   | 186/300 [08:34<27:57, 14.71s/it]
 62%|██████▏   | 187/300 [08:35<19:31, 10.36s/it]
 63%|██████▎   | 188/300 [08:35<13:40,  7.32s/it]
 63%|██████▎   | 189/300 [08:35<09:36,  5.19s/it]
 63%|██████▎   | 190/300 [08:35<06:47,  3.70s/it]
 64%|██████▎   | 191/300 [08:35<04:49,  2.66s/it]
 64%|██████▍   | 192/300 [08:36<03:28,  1.93s/it]
 64%|██████▍   | 193/300 [08:43<06:13,  3.49s/it]
 65%|██████▍   | 194/300 [08:43<04:26,  2.52s/it]
 65%|██████▌   | 195/300 [08:43<03:12,  1.83s/it]
 65%|██████▌   | 196/300 [08:44<02:20,  1.35s/it]
 66%|██████▌   | 197/300 [08:44<01:44,  1.02s/it]
 66%|██████▌   | 198/300 [08:44<01:19,  1.28it/s]
 66%|██████▋   | 199/300 [08:44<01:01,  1.63it/s]
 66%|██████▋   | 199/300 [08:45<04:26,  2.64s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/log_2_env0.json.
+BowlStackingRightOnLeftTask_2 complete: task_name: BowlStackingRightOnLeftTask, run_name: BowlStackingRightOnLeftTask_2, run: 2, env_id: 0, policy: harness, instruction: Stack the right bowl on the left bowl, attributes: ['spatial', 'simple'], success: True, episode_step: 200, duration: 13.333333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.403262271442127, 'joint_sparc_mean': -6.510177413130663, 'ee_isj': 891.9592876234224, 'joint_isj': 51651.91967528776, 'ee_path_length': 1.4968364327897299, 'joint_rmse_mean': 1.0424016550027602, 'ee_speed_max': 0.3190104365348816, 'ee_speed_mean': 0.11247015744447708}, events: {'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_HIT_TABLE': 1, 'OBJECT_BUMPED': 6, 'MULTIPLE_OBJECTS_GRABBED': 1}, instruction_type: default, timing: {'policy_inference_s': 481.615, 'policy_inference_avg_ms': 2408.1, 'env_step_s': 41.105, 'env_step_avg_ms': 205.5, 'video_write_s': 2.209, 'video_write_avg_ms': 11.0, 'wall_total_s': 524.929, 'it_per_sec': 0.38}, score: 1.0, reason: Completed subtask 'stack_bowl_right_on_left' 1/1, harness_episode_id: 3f62198994fe4efdbf36933dfd893409-2
+----------------------------------------------------------------------- EXPERIMENT SUMMARY -----------------------------------------------------------------------
+Task Name                      Success    %     95% CI         Score(total) Score(fail) Time(s) EE SPARC PathLen(m) Speed(cm/s) it/s Walltime(m)
+------------------------------------------------------------------------------------------------------------------------------------------------------------------
+TOTAL (4 tasks)                11/12    91.7%   [64.0-98.1]    0.917        0.000       25.18   -7.58    5.31       13.2        0.53 16.9       
+------------------------------------------------------------------------------------------------------------------------------------------------------------------
+BananasInBinThreeTotalTask     3/3      100.0%  [39.8-99.4]    1.000        -           9.51    -4.80    1.19       12.8        0.60 3.9        
+BowlStackingRightOnLeftTask    3/3      100.0%  [39.8-99.4]    1.000        -           11.80   -5.58    1.48       12.3        0.41 7.4        
+OneBottleInSquarePailTask      3/3      100.0%  [39.8-99.4]    1.000        -           20.87   -5.87    3.08       13.9        0.54 9.6        
+PlasticBottlesInSquarePailTask 2/3      66.7%   [19.4-93.2]    0.667        0.000       75.23   -14.07   15.51      13.9        0.59 46.6       
+------------------------------------------------------------------------------------------------------------------------------------------------------------------
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval.episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4579736433fae0c8d54523f9130d60fc2aac8d41
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval.episodes.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1890db9ca120e748d806a37958f5aa75900266dccbbcffde6ed81ec370ba159
+size 24017
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f6fec2608062225c3b6e2ea13288bde36edd3c92
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7058f892be91986cc0fae944d0f0bb9146c42ee7df027de926dfce89c95ee75f
+size 2585975
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0001/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a1cfc9da8af57e6e0e68bfd0a935cfea6d4f21ed
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0001/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e87247bb288455c04ae44c7ff5130bf3dbad2e21c36a220d40953b1260afe04e
+size 76340659
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0001/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0001/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7c4a64980f0e2a583197939ac3f5e5280f8146ad
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0001/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e42f2ad96014885e8823664fe2d2b06d96021fd976a9a8e3d078e44bbdcc7816
+size 49203
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0001/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0002/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0002/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..10c6ccc2d5979181f878ee0c9719ba8047ed8a89
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0002/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e6975a50700f0d56501e8fe06164008265d2a9617b8b8d25b6c30112f94b3c7
+size 24621689
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0002/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0002/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..64f47ea8448fefb671155ec7ead082965d8f8d71
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0002/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2077b41b1b41b44368531a310dda25cf2ecd8bb05c55587b2d69a12b133e237
+size 31584
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0002/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0002/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0003/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0003/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cbb1e0207cf365132962edb7017c25e4f356dbd4
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0003/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d569943ecddd551755e25a7393b9b6796a0375e48d4798003f905949e62224d
+size 41943869
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0003/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0003/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b233dfca3e8a65f46c6b802b71c1579f210e343c
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0003/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f42a561dbaa29a64b3b03e6c484fa2f4c575f2cc1ada55b080397f16c442e47
+size 60082
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0003/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0003/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0004/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0004/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..42b7d23de0b3d7ef364fb488254909cf5c8dbf38
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0004/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66a3adfb746953871919c5290fbd053141e7d18e2cfcad9b07bd31945c7f1aa5
+size 6751836
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0004/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0004/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5ca5e75d83b3c4a904c294c71a21fc79d9e21179
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0004/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d23c94047a83336e15c4b44fecaff1e185b98f8933319fa17828c1863fcc8f82
+size 9592
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0004/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0004/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0005/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0005/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..211533e3a9bdfcd910f207ee31f532f6e07ac0e5
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0005/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed95bee9962e6bcae6e212c40e72bc31f4d6b2ec02d51ac235f8ecef2c787222
+size 10685600
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0005/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0005/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2a91741ef80c07dd8a2d68aba0bb31b362a0edc9
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0005/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd32287f5b0f5dcdf43d6b19cf6631c2a20db264538bb72fad01332d36312689
+size 14356
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0005/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0005/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0006/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0006/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3f11989851716d2960bf3e509f45bf2e999f9707
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0006/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d503b6339d6eee0594cd3435a49d75fe63d10fb3066705fdc9ef44fcba1048a8
+size 11584089
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0006/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0006/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8a56964f199d2c2dc34a216fc4f3e5fc4281aac6
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0006/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a9e559a78d3329d62364f8608fbf468612e2df4ba86946d8841214d1b2fb72f
+size 16048
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0006/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0006/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0007/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0007/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6eee819ef14f7c108d848b8d805b0d346799cbb6
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0007/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9df44c7e5b11ccac8f067328d1e00fc84f22be1a1be3a57369a46d789aa6bf2
+size 3322413
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0007/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0007/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4c41f080252604a53e5440deb8ec0e76143bca90
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0007/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb1e1e5b7f4045c3f75a388d06e61c3146ade4f466d667941c567dee1b174153
+size 5672
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0007/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0007/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0008/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0008/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6e64559ab2215899dc4f20272b69cede4020cd6e
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0008/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8371d789e582513ee99c3a7946ec5ba97b8931d14ab7095e84e287558d4d843
+size 4326932
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0008/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0008/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..79f72c43429c81b6dc2cfaa0f622a0768ecf01c6
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0008/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd19ccedf9f9d58bf5055248605ebd60f7f40a3956ef65465e968f2195e41fa8
+size 6792
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0008/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0008/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0009/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0009/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..88c7c16ba7c1cb5879215e2574a8743974a38811
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0009/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1291353ce2dc63b64591b8bc830effc8b6d03e02de364baac8c78157cab0e0f
+size 6232397
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0009/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0009/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..477b8961cec7568b6a720ea98fa5f2d718f7e442
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0009/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44b7d71c275655bbec26fe8e0d4aa8539da9cc73d5aff45734b57f0044156bd8
+size 9032
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0009/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0009/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0010/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0010/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1cb76d1a0b22fd0a46b84f3904b2bb70490b45aa
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0010/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd932d0bf6dd271120f29ea7ccd4c436b30c2bfddf6f2e7d9a7e0898b70d8852
+size 3558234
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0010/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0010/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7bdd5da1dd56e1c438b4faba20ec411766149633
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0010/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28607039b21e6c7ef64758d589b9fc01e2881d92c96ff2391745c6900cb4bb40
+size 5112
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0010/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0010/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0011/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0011/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9881b6ac457644ed69b79936aad268434ebac50e
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0011/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b76f811db4180383586e80415dcd4c3c985a37c3da8f3839af0cc26c91523bd6
+size 9895614
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0011/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0011/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9ca08e7b76c5c00c83847f3c9a6e3839e9909f2e
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0011/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec7ed23f87c4e8782b9cd2e478b77992ed3b7616ad4891941ae61657bbde80f5
+size 18652
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0011/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0011/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0012/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0012/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ae2f272891fa1da36f5568b3a04bed125253006d
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0012/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c229603d527640b88509a2de5e3e7734ea2f0b83f2481c56ff8406fcbf7c31fb
+size 11129450
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0012/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0012/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ebbaa818130052d8333cde41d9d7f0b300831f5f
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0012/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:060fa0ecfde65eacd7271d73f41177511fd214f5e445e781daf14f3130d36cfd
+size 11272
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0012/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval/episode-0012/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_0.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..19d476fda866c86ecf10047430ba834ef6492abb
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e9853b468b40c14809adae19550351bbfa933911181eef10200f06ba779b4c7
+size 1140643
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_0_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..47b7ac10ffd0b5db5f4bd393e516772307bb422b
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c81c3696447e3e5fc6734dab979670ef9b880bcb5f55d97c0b0416feb7cfd1b9
+size 496639
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_1.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fd188f276284094b5c8b9ed038fff4ba87c1ebbb
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b92edf5d027c5451d21d893f4e15cd9f2d1209806d9cdf97887a74dde32b784c
+size 1712211
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_1_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..85515976444e71a22410a0beb242c90344609b58
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9be71f5fc6d462acb734a38a0bbdfb54c488d5a2e6e098d77e3725808d0f6f98
+size 701374
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_2.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2ac9020857f72f3e274234bd7c67e9a9fc40b09
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d528cbd5e60a9bc4da61d5550681c45ab92f9a0c55f85f4ea514255a58ba299a
+size 2074835
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_2_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee95fd6c79e2f6ca645ae37e51f02bc679333a65
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:875ed11c4649bf1c0137131712017eeadafefcd943a073cf223948338128548c
+size 876426
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/env_cfg.json b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..51619381120b36aa2aa51f9c2a9d9177a34635d8
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:4", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/bananas_5_grey_bin.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.1986086070537567, 0.02207084558904171, 0.05000215023756027], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "banana": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/banana", "spawn": null, "init_state": {"pos": [0.4572347104549408, 0.13281071186065674, 0.06881386041641235], "rot": [0.9998323917388916, -0.0066386946972827295, -0.01367147034285098, -0.010208185983240194], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "banana_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/banana_01", "spawn": null, "init_state": {"pos": [0.5051590204238892, 0.17553137242794037, 0.0916505679488182], "rot": [0.9383014440536499, -0.07088605686974415, 0.1061059999852131, -0.32141419351894324], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "banana_02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/banana_02", "spawn": null, "init_state": {"pos": [0.45876049995422363, -0.2314152717590332, 0.07583961635828018], "rot": [0.9923003315925598, -0.002646509948235513, -0.003143607709993421, -0.12378677488712357], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "banana_03": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/banana_03", "spawn": null, "init_state": {"pos": [0.5301897525787354, 0.016014935448765755, 0.06842733919620514], "rot": [-0.42526885867118847, 0.006748795640065469, 0.00016480963996411322, 0.9050418909861002], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "banana_04": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/banana_04", "spawn": null, "init_state": {"pos": [0.5551273226737976, -0.20309223234653473, 0.07596556842327118], "rot": [0.2090113461017608, 0.005550577816772902, -0.0035618197001467044, 0.9778909764012825], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "grey_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/grey_bin", "spawn": null, "init_state": {"pos": [0.5017970623368689, -0.22697487965471644, 0.05000000000000005], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana", "/World/envs/env_.*/scene/banana_01", "/World/envs/env_.*/scene/banana_02", "/World/envs/env_.*/scene/banana_03", "/World/envs/env_.*/scene/banana_04", "/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__banana_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__banana_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__banana_03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__banana_04": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_04"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__banana_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__banana_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__banana_03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__banana_04": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_04"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana_01__banana_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana_01__banana_03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana_01__banana_04": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_04"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana_01__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana_01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana_02__banana_03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana_02__banana_04": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_04"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana_02__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana_02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana_03__banana_04": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_04"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana_03__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana_03__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana_04__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_04", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana_04__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_04", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["banana", "banana_01", "banana_03"], "container": "grey_bin", "logical": "choose", "K": 1, "require_gripper_detached": true, "require_contact_with": false}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"banana": [["functools.partial(<function object_grabbed at 0x7fb874dd5440>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7fb874ef6200>, object='banana', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "banana_01": [["functools.partial(<function object_grabbed at 0x7fb874dd5440>, object='banana_01')", 0.0], ["functools.partial(<function object_in_container at 0x7fb874ef6200>, object='banana_01', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "banana_03": [["functools.partial(<function object_grabbed at 0x7fb874dd5440>, object='banana_03')", 0.0], ["functools.partial(<function object_in_container at 0x7fb874ef6200>, object='banana_03', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "choose", "K": 1, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "counting", "moderate"], "_task_attributes": ["semantics", "counting", "moderate"], "_task_name": "BananasInBinThreeTotalTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Make sure there are 3 (three) bananas in the grey bin.", "contact_object_list": ["banana", "banana_01", "banana_02", "banana_03", "banana_04", "grey_bin", "table"], "_instruction_variants": {"default": "Make sure there are 3 (three) bananas in the grey bin.", "vague": "3 bananas in the bin", "specific": "In addition to bananas in the bin, add one more banana to the grey bin until there are exactly three bananas inside"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/log_0_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6f0f4f59dce55fce19d8b01073c286802c59efa
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInBinThreeTotalTask", "env_id": 0, "run": 0, "success": true, "final_step": 98, "events": [{"step": 48, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 48, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 49, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 49, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 50, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 67, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 98, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 98, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/log_1_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..613385b119d91ecef5cb46d55a226571b00f271a
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInBinThreeTotalTask", "env_id": 0, "run": 1, "success": true, "final_step": 137, "events": [{"step": 57, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 59, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 59, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 71, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 83, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 84, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 84, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 93, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 137, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/log_2_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f15a61e4db919289abbeff47c318d6cf60a61602
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInBinThreeTotalTask", "env_id": 0, "run": 2, "success": true, "final_step": 193, "events": [{"step": 38, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 39, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 39, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 40, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 46, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 47, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 47, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 49, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 50, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 50, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 52, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 54, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 54, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 55, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 57, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 57, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 59, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 119, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 129, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 184, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 193, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 193, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/run_0.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3a714e247f7ad15965dff83a2e66eead2ff32d16
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce304723af3dbbb03b556fa1edc74b7f9ed7402865820e461fb355817c1e21ad
+size 285806
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/run_1.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..257ef5f66fb52fa402b0f48cdd623a5857b2a335
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee95f5dcbc2838fa3d22bb66f8fd71df022513376ded45be468d89fa8e822796
+size 306195
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/run_2.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4d3b2998bc026d8d9b48d68f1a4c65ed13b198b4
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BananasInBinThreeTotalTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a19bc8ee4a879fd43c4d25bd84ceb2781e2b975c965fe93b037a3915ec485fc
+size 330792
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_0.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b731fa4f1c66ac839b76a17bf711303713d5adbd
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a0d61a604695a35827ec1d85c8121cff5729b00bd065552e4bd45406f6c32c7
+size 1722797
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_0_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b5ba6406e44c1d21071a5758bf0e145c845889d0
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:446841cc85b345925a6950363876849a4b1d4f7019c501351faa97be3ff48872
+size 576675
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_1.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..631fced5b4d2db6e9df134aadd79d0781b34c7be
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7f9aaad7bba77ad24a8731f4279445f953210d7a3d1065a0edf4c0a629861e8
+size 4276385
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_1_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4fb762dec554db56b3ea0afe59af73e8cb0967fc
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61370c8922c6d1b768293316931575784e4db2afdfcc414ef1b0279dfffa8b4f
+size 1437860
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_2.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..46a61394dd3f46c22d69d944f468ba9e34a59c1c
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:771ea2e28b58e1beb9c66844a1d3654fcdb6816a029bf704cec4cdab52c7f48f
+size 3351508
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_2_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d0419c06ba3a872e2c0038f1fee8d5eee058e8c4
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2ccdf7fa9f53c58a523271e5764c195cb1d12bd1f38f4aca5e0bfaf902bd099
+size 1151189
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/env_cfg.json b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..451e350aaa8804433cae26e7c4ab6b56109affc6
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:4", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/bowls_2_table.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.4884050190448761, -5.765136666013859e-05, -0.34700125455856323], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bowl_1": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl_1", "spawn": null, "init_state": {"pos": [0.4893045127391815, -0.18842542171478271, 0.0303815845400095], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bowl_2": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl_2", "spawn": null, "init_state": {"pos": [0.33596667647361755, 0.00012400129344314337, 0.030381567776203156], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl_1", "/World/envs/env_.*/scene/bowl_2"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bowl_1": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl_1"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bowl_2": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl_2"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl_1__bowl_2": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl_2"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl_1__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl_2__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl_2", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 20, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["bowl_1"], "container": "bowl_2", "gripper_name": "gripper", "require_contact_with": true, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"conditions": [["functools.partial(<function object_in_container at 0x7fb874ef6200>, object=['bowl_1'], container='bowl_2', gripper_name='gripper', require_contact_with=True, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "stack_bowl_right_on_left"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["spatial", "simple"], "_task_attributes": ["spatial", "simple"], "_task_name": "BowlStackingRightOnLeftTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Stack the right bowl on the left bowl", "contact_object_list": ["bowl_1", "bowl_2", "table"], "_instruction_variants": {"default": "Stack the right bowl on the left bowl", "vague": "Stack the right bowl on the left", "specific": "Pick up the bowl to the right of the robot and place it on top of the bowl to the left of the robot"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/log_0_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dcd84ec5a058bc6b20d0415042c8db56186fc9c
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 0, "run": 0, "success": true, "final_step": 96, "events": [{"step": 26, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 39, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_2'", "score": 0.0}, {"step": 47, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 61, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 62, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 82, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.148m", "score": 0.0}, {"step": 96, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'stack_bowl_right_on_left' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/log_1_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..05b013063797ff2bd4ff29446820dc7983ff67fe
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 0, "run": 1, "success": true, "final_step": 235, "events": [{"step": 53, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}, {"step": 68, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.054m", "score": 0.0}, {"step": 91, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_1' (target objects: ['conditions'])", "score": 0.0}, {"step": 93, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 97, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_1'", "score": 0.0}, {"step": 102, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.052m", "score": 0.0}, {"step": 139, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 139, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_2'", "score": 0.0}, {"step": 141, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 146, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 146, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 170, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.152m", "score": 0.0}, {"step": 226, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.089m", "score": 0.0}, {"step": 235, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 1.0}, {"step": 235, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'stack_bowl_right_on_left' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/log_2_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2693474fc5e8f69df70fa37e5075249184933874
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 0, "run": 2, "success": true, "final_step": 200, "events": [{"step": 40, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_2'", "score": 0.0}, {"step": 43, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 76, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.184m", "score": 0.0}, {"step": 92, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.064m", "score": 0.0}, {"step": 105, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.097m", "score": 0.0}, {"step": 112, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}, {"step": 112, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 113, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.088m", "score": 0.0}, {"step": 161, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.075m", "score": 0.0}, {"step": 193, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.136m", "score": 0.0}, {"step": 200, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'stack_bowl_right_on_left' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/run_0.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d99f97afd04799b9e5f96cedc30326810bfc3192
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9626d998328337bd88d4c6bfd3b2dfa0ab6c3397ee1657be94973b8b3880c249
+size 187314
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/run_1.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b408d63634137db710c3807b964279dc062b0040
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1402e812ae7f38a87ac1bd8006e27d9a3725dbd24ec9ab697611c75da16499ac
+size 231639
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/run_2.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e4aaeb51f9add4de43d1928a6bb7b34169e0b5fd
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/BowlStackingRightOnLeftTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1431c5d252e8435da772e57f26b4e2978e6f54022881728d56c4a3cd2b6beb3a
+size 223630
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_0.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..15275d9e4159a53f1543b94896a5f27dd9d52dcb
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a78060089693c7f50faa50a975d9d4d9cc8d09397c1a821eeebb4595989fed4a
+size 4981715
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_0_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bf91311558c59afac36bdf713b23863c59851831
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b90d4cb65da1a5bb12937ead7d4ca2952a8dd67c05f2a2ef535aa2e5a7f3d250
+size 1196644
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_1.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dedfd01230493c60594be00b2c0d69552682fba4
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:761f047f1a2d45f152ba67b1c354039d54f863da785aa61b2c99a6ff4acd6f62
+size 7561382
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_1_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cc1d3d433301cedb752056ffcb194387e2666ade
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8cd0954ef76b24ecb82f7ff6684b4ebe1e3de3bdb49692869b19f2472a4291a
+size 1595478
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_2.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4478d4665f31ef02f8dd2f2cc3f725910a9545d3
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:977d811bc4ecc95b681bd50799b5f49ccaa3f0dca3c15d91dfab2b35cf020f1d
+size 9239097
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_2_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a016b531f8935bee9da5046e0fdcf5edb3eafb1
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc1f9703c7001972474bf3a49d4618074a585fd803da7bb00d5e42322827e30f
+size 2049494
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/env_cfg.json b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4e57711e1fe8b626d9eee9ba315f6ca864d6c79
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:4", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/shelf_with_cleaning_products.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "whitepackerbottle_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "spawn": null, "init_state": {"pos": [0.4951748251914978, 0.002323938999325037, 0.00303838774561882], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "whitepackerbottle_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "spawn": null, "init_state": {"pos": [0.28736525774002075, 0.0023219173308461905, 0.0030435509979724884], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "utilityjug_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "spawn": null, "init_state": {"pos": [0.5175222158432007, 0.13965396583080292, 0.0029999762773513794], "rot": [0.9827805757522583, 1.215864130171703e-07, 2.6798162516524354e-07, 0.18477645933390183], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "utilityjug_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "spawn": null, "init_state": {"pos": [0.3349469304084778, 0.39741018414497375, 0.06527079641819], "rot": [0.6131772994995115, 0.6131771190009222, 0.3521560420851528, 0.3521555652479958], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "squarepail_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "spawn": null, "init_state": {"pos": [0.4033661054547676, -0.1820307865632952, 0.002999909222126054], "rot": [0.7322364449501036, 4.1123793487004365e-07, 3.568093930259821e-07, 0.6810505037708565], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "plasticpail_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "spawn": null, "init_state": {"pos": [-0.15762089192867051, -0.5730319619178744, 0.15215439857621735], "rot": [-0.6061230301856994, -0.00697792104548076, -0.00023375031548243696, 0.7953402581645034], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "whitepackerbottle_a03": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a03", "spawn": null, "init_state": {"pos": [0.3588706087990672, 0.1415705985534548, 0.0], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": null, "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "large_storage_rack": {"class_type": null, "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "spawn": null, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01", "/World/envs/env_.*/scene/whitepackerbottle_a01", "/World/envs/env_.*/scene/whitepackerbottle_a02", "/World/envs/env_.*/scene/utilityjug_a01", "/World/envs/env_.*/scene/utilityjug_a02", "/World/envs/env_.*/scene/plasticpail_a02", "/World/envs/env_.*/scene/whitepackerbottle_a03", "/World/envs/env_.*/scene/large_storage_rack"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__whitepackerbottle_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "squarepail_a01__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "squarepail_a01__whitepackerbottle_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "squarepail_a01__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "squarepail_a01__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "squarepail_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "squarepail_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "squarepail_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "squarepail_a01__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__whitepackerbottle_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a02__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a02__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plasticpail_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plasticpail_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plasticpail_a02__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a03__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a03__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["whitepackerbottle_a01", "whitepackerbottle_a02", "whitepackerbottle_a03"], "container": "squarepail_a01", "logical": "any", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"whitepackerbottle_a01": [["functools.partial(<function object_grabbed at 0x7fb874dd5440>, object='whitepackerbottle_a01')", 0.0], ["functools.partial(<function object_in_container at 0x7fb874ef6200>, object='whitepackerbottle_a01', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a02": [["functools.partial(<function object_grabbed at 0x7fb874dd5440>, object='whitepackerbottle_a02')", 0.0], ["functools.partial(<function object_in_container at 0x7fb874ef6200>, object='whitepackerbottle_a02', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a03": [["functools.partial(<function object_grabbed at 0x7fb874dd5440>, object='whitepackerbottle_a03')", 0.0], ["functools.partial(<function object_in_container at 0x7fb874ef6200>, object='whitepackerbottle_a03', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "any", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "OneBottleInSquarePailTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put any white plastic bottle in the square pail", "contact_object_list": ["squarepail_a01", "whitepackerbottle_a01", "whitepackerbottle_a02", "utilityjug_a01", "utilityjug_a02", "plasticpail_a02", "whitepackerbottle_a03", "table", "large_storage_rack"], "_instruction_variants": {"default": "Put any white plastic bottle in the square pail", "vague": "Put a bottle in the square pail", "specific": "Pick up one of the three white plastic bottles and place it inside the square pail"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/log_0_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1732b5f22e802524eeb35946853c624b75cd07a0
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 0, "success": true, "final_step": 225, "events": [{"step": 105, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 114, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 115, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 115, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 136, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 137, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 172, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 225, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 225, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/log_1_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b2999d0f9c221fe3f70ab3b870356cfe75ef1ee
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 1, "success": true, "final_step": 337, "events": [{"step": 114, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 142, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 163, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 174, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 182, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 200, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.324m", "score": 0.0}, {"step": 221, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 274, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 337, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 337, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/log_2_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..63c35ea74f3cc9ad556d819f297a0d9de753a4ba
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 2, "success": true, "final_step": 377, "events": [{"step": 94, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 109, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.076m", "score": 0.0}, {"step": 139, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 171, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.0}, {"step": 186, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 244, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 261, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.171m", "score": 0.0}, {"step": 329, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 377, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 377, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/run_0.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0fa97156c8a62850c5928db4a2190e4b7a456ad2
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:affca843d290866df58363ff41c2338e9a9b4355b566cb4663f3f468aa23d1b3
+size 337266
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/run_1.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..77bf3f4a08d8f552ce59bcb6ab0c85f51e33d67c
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b787adf0c0770f2a4f759fea91e6ecdcdc9becdeb17c4f99bc774386eb387a73
+size 390404
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/run_2.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b3f1f255950f689c54d90a128a5f34a71f45ff27
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/OneBottleInSquarePailTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e362e805544a93a8cc9eabe18fdc9198c2243623b18070af0ccc0f5cbcb669e
+size 407177
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..67c27651f572d8f46087af06b021589ae7624738
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5f2265329bca9d1fe3d424cc7d31815efa218836466d354ee09d4a846fe759a
+size 53491813
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4ea283c02365d691a25b4a39e171bde7423d6a21
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c6f92be3af5293a1aa47317d48933ce0b1a21a6d09e5bca4cb8d5ffe587222e
+size 10837265
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..448db0a5442bd1fb5507c8d2056e7339f97dfcf6
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c7bdfac6a2dedb3757d56c62034c55d7a80b910327c124c547de93688536f84
+size 18427038
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b653830779dcc9427f13afdbea477ca7a9f415d1
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4149111ffb8afe17aac641793ed3ac22c659c9334a10fa6db12f62300fced865
+size 3713061
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7dade465d95e117388e2edf8f71523f3d0156774
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e20bee2fc61c0ff7a01296d33459662b6cb7fbba2dd201e98c2de7f48c84c55
+size 30981059
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4e066b953264d3501d3f08d454b4297998633020
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:059ccf6783ed3d5618cb612ece55b0d1d01735ef932050eec2de04ed94ed88f4
+size 6521520
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/env_cfg.json b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9a3d7adc69cb4991777baa1ce88e2b561e9303f
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:4", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/shelf_with_cleaning_products.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "whitepackerbottle_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "spawn": null, "init_state": {"pos": [0.4951748251914978, 0.002323938999325037, 0.00303838774561882], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "whitepackerbottle_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "spawn": null, "init_state": {"pos": [0.28736525774002075, 0.0023219173308461905, 0.0030435509979724884], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "utilityjug_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "spawn": null, "init_state": {"pos": [0.5175222158432007, 0.13965396583080292, 0.0029999762773513794], "rot": [0.9827805757522583, 1.215864130171703e-07, 2.6798162516524354e-07, 0.18477645933390183], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "utilityjug_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "spawn": null, "init_state": {"pos": [0.3349469304084778, 0.39741018414497375, 0.06527079641819], "rot": [0.6131772994995115, 0.6131771190009222, 0.3521560420851528, 0.3521555652479958], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "squarepail_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "spawn": null, "init_state": {"pos": [0.4033661054547676, -0.1820307865632952, 0.002999909222126054], "rot": [0.7322364449501036, 4.1123793487004365e-07, 3.568093930259821e-07, 0.6810505037708565], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "plasticpail_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "spawn": null, "init_state": {"pos": [-0.15762089192867051, -0.5730319619178744, 0.15215439857621735], "rot": [-0.6061230301856994, -0.00697792104548076, -0.00023375031548243696, 0.7953402581645034], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "whitepackerbottle_a03": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a03", "spawn": null, "init_state": {"pos": [0.3588706087990672, 0.1415705985534548, 0.0], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": null, "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "large_storage_rack": {"class_type": null, "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "spawn": null, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack", "/World/envs/env_.*/scene/whitepackerbottle_a01", "/World/envs/env_.*/scene/whitepackerbottle_a02", "/World/envs/env_.*/scene/utilityjug_a01", "/World/envs/env_.*/scene/utilityjug_a02", "/World/envs/env_.*/scene/squarepail_a01", "/World/envs/env_.*/scene/plasticpail_a02", "/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__whitepackerbottle_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__whitepackerbottle_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "large_storage_rack__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__whitepackerbottle_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a02__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a02__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "squarepail_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "squarepail_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "squarepail_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plasticpail_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plasticpail_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a03__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 180, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["whitepackerbottle_a01", "whitepackerbottle_a02", "whitepackerbottle_a03"], "container": "squarepail_a01", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"whitepackerbottle_a01": [["functools.partial(<function object_grabbed at 0x7fb874dd5440>, object='whitepackerbottle_a01')", 0.0], ["functools.partial(<function object_in_container at 0x7fb874ef6200>, object='whitepackerbottle_a01', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a02": [["functools.partial(<function object_grabbed at 0x7fb874dd5440>, object='whitepackerbottle_a02')", 0.0], ["functools.partial(<function object_in_container at 0x7fb874ef6200>, object='whitepackerbottle_a02', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a03": [["functools.partial(<function object_grabbed at 0x7fb874dd5440>, object='whitepackerbottle_a03')", 0.0], ["functools.partial(<function object_in_container at 0x7fb874ef6200>, object='whitepackerbottle_a03', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "sorting", "size", "complex"], "_task_attributes": ["semantics", "sorting", "size", "complex"], "_task_name": "PlasticBottlesInSquarePailTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put all the small plastic bottles in the square pail", "contact_object_list": ["large_storage_rack", "whitepackerbottle_a01", "whitepackerbottle_a02", "utilityjug_a01", "utilityjug_a02", "squarepail_a01", "plasticpail_a02", "whitepackerbottle_a03", "table"], "_instruction_variants": {"default": "Put all the small plastic bottles in the square pail", "vague": "Clean up small bottles in the square pail", "specific": "Pick up the three small plastic bottles and place them inside the square shaped pail"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0315163130696ec88f299a6cc89593981f96ed3
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 33, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.118m", "score": 0.0}, {"step": 49, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.162m", "score": 0.0}, {"step": 58, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 58, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 68, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 69, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 73, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 75, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.140m", "score": 0.0}, {"step": 76, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 81, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 82, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 87, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 88, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 89, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 91, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 92, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 103, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.122m", "score": 0.0}, {"step": 149, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.115m", "score": 0.0}, {"step": 226, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 266, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 282, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.122m", "score": 0.0}, {"step": 306, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.108m", "score": 0.0}, {"step": 402, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 425, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 425, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 426, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 497, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 501, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 506, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 506, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 511, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 529, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 529, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 546, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 578, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 665, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 684, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 685, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 685, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 703, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 761, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 761, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 793, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 810, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 811, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 811, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 903, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 905, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 905, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 911, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 914, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 914, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 946, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 947, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 953, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 953, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 956, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 961, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 961, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 965, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 969, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 969, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1117, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1127, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1140, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.051m", "score": 0.0}, {"step": 1274, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1354, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1354, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1370, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1370, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1386, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1407, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1449, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1449, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1457, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.0}, {"step": 1573, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1587, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1601, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.076m", "score": 0.0}, {"step": 1619, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.148m", "score": 0.0}, {"step": 1633, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.167m", "score": 0.0}, {"step": 1640, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.050m", "score": 0.0}, {"step": 1646, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.240m", "score": 0.0}, {"step": 1659, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.204m", "score": 0.0}, {"step": 1705, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.171m", "score": 0.0}, {"step": 1722, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.126m", "score": 0.0}, {"step": 1745, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.169m", "score": 0.0}, {"step": 1771, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.200m", "score": 0.0}, {"step": 1794, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.171m", "score": 0.0}, {"step": 1833, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 1835, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1841, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 1844, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1849, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 1850, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1881, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 1926, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.476m", "score": 0.0}, {"step": 1934, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.077m", "score": 0.0}, {"step": 1958, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 1958, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1958, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.067m", "score": 0.0}, {"step": 1962, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.265m", "score": 0.0}, {"step": 1969, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.053m", "score": 0.0}, {"step": 1986, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.189m", "score": 0.0}, {"step": 2001, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 2009, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.074m", "score": 0.0}, {"step": 2026, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.201m", "score": 0.0}, {"step": 2071, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2073, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2073, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2116, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2129, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.204m", "score": 0.0}, {"step": 2161, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 2171, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.210m", "score": 0.0}, {"step": 2209, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.436m", "score": 0.0}, {"step": 2225, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.0}, {"step": 2241, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 2264, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a02' displaced 0.520m", "score": 0.0}, {"step": 2394, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2426, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2538, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2561, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2577, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2578, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2626, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2649, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2658, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2658, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2659, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..684680e8d66d2d652459de7f59e1eae085abaf17
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 1, "success": true, "final_step": 831, "events": [{"step": 42, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 47, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 131, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 131, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 137, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 138, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 138, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 163, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 167, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 170, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 170, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 226, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 230, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 232, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 232, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 298, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 329, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 378, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 385, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 387, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 387, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 399, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.3333333333333333}, {"step": 505, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 508, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 508, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 538, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 564, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 602, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 604, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 609, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 609, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 634, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 657, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 686, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 686, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 687, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 705, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 705, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a02, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a02. All conditions satisfied for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 753, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 757, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 757, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 757, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 768, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 830, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 830, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 831, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..54bde5f8a85dbde53d534dc7c28e2eda5db9da41
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 2, "success": true, "final_step": 1426, "events": [{"step": 113, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 146, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 270, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 511, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 511, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a02, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a02. All conditions satisfied for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 552, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 578, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 578, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 578, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 602, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 632, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 641, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 641, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 641, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 670, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 672, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 672, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 673, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 682, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 682, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 683, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 713, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 722, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 745, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 753, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 753, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 754, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 786, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 818, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 838, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 849, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 849, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 880, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.197m", "score": 0.3333333333333333}, {"step": 881, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 890, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 890, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 891, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 907, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 912, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 912, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 912, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 913, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 916, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 916, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 916, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 921, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 968, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.256m", "score": 0.3333333333333333}, {"step": 986, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1031, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1041, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1041, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1088, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 1090, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1105, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1105, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1106, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 1121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1121, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 1145, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a02', 'whitepackerbottle_a03'])", "score": 0.6666666666666666}, {"step": 1150, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 1160, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.103m", "score": 0.6666666666666666}, {"step": 1234, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1338, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 1341, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 1343, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 1346, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1394, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1425, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1425, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1426, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_0.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c5d73232f7a0f693e77840bcede08b4f88afa00b
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a69f8aa5e87ab85bcf621ee8fa930b94b5f9a587e5920aa2870321f715c3179
+size 1453406
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_1.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d56fb5e03b9c496f356a1a5b79f9d2e80933927f
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:974172b0d25101ddbc396a5c5ac3a8cbb662102e40862916475dc37ef9488d95
+size 609324
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_2.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1a3e04bed7cc6bdcbb32845bed451b7469232af6
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac122701e7381d084b2036bf99f4bf69fb00fe0876bb73c3fae23195672e7a5d
+size 901612
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/episode_results.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..96ec9c84a2e8ad46284d0ecb8c8c62e3b7828a19
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/robolab/episode_results.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:508ca27e7b6911c5a329c0d1f563c5f037f08909cdf3c198aa849295c127301a
+size 14885
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_4/server.log b/harness_robolab_exploration/embo_xhigh/gpu_4/server.log
new file mode 100644
index 0000000000000000000000000000000000000000..9b2e03af4e1808f2e68f6ecec8122ee358cd70b7
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_4/server.log
@@ -0,0 +1,36 @@
+[2026-10-29T16:55:03Z] GPU 4: Starting worker at PlasticBottlesInSquarePailTask/0 (resume=false)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: False; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8020
+INFO:websockets.server:server listening on 127.0.0.1:8020
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 37360) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode c796e10af20d45f198973248adb0946e-0 (codex/gpt-6-astra) ended: wall=3482.307s harness=2583.755s tokens=20914973 usage_complete=False decisions=338 executed_steps=2700 steps_complete=True network_wait=48.891491673886776 rate_limit_wait=0 rate_limit_count=0 excluded=48.891491673886776 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 49407f7987064b9980f04e6eaa7632c0-1 (codex/gpt-6-astra) ended: wall=1439.471s harness=1157.075s tokens=9756592 usage_complete=True decisions=104 executed_steps=831 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 7b6c10d664874ce2a915d8700c0ac77f-2 (codex/gpt-6-astra) ended: wall=3363.282s harness=2870.384s tokens=22823709 usage_complete=False decisions=179 executed_steps=1426 steps_complete=True network_wait=48.124683171510696 rate_limit_wait=0 rate_limit_count=0 excluded=48.124683171510696 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode f337253b1668442cac607ab91f26328d-0 (codex/gpt-6-astra) ended: wall=392.764s harness=314.339s tokens=2118603 usage_complete=True decisions=29 executed_steps=225 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 9fccee1219144cdc993816b838d4a1d7-1 (codex/gpt-6-astra) ended: wall=619.621s harness=505.460s tokens=3524961 usage_complete=True decisions=43 executed_steps=337 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 202f22fc5a1c484ab3f400d585aab369-2 (codex/gpt-6-astra) ended: wall=720.336s harness=593.664s tokens=4070376 usage_complete=True decisions=48 executed_steps=377 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode eaffbff5199e4c9582d3ae7c63116877-0 (codex/gpt-6-astra) ended: wall=182.144s harness=152.350s tokens=1151517 usage_complete=True decisions=13 executed_steps=98 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 92985020b61a403f8f1c5a570d8ac258-1 (codex/gpt-6-astra) ended: wall=213.376s harness=172.503s tokens=1396658 usage_complete=True decisions=18 executed_steps=137 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 5a1b4c841d37486693eeb236ccd067d5-2 (codex/gpt-6-astra) ended: wall=311.200s harness=253.737s tokens=1870356 usage_complete=True decisions=25 executed_steps=193 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 03ac3bafc62d48a0815b6f0aa82c68db-0 (codex/gpt-6-astra) ended: wall=223.987s harness=201.826s tokens=1030275 usage_complete=True decisions=12 executed_steps=96 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode c0997f5dd6284e2cafd43f4c75e0a9dc-1 (codex/gpt-6-astra) ended: wall=529.290s harness=476.474s tokens=2805635 usage_complete=True decisions=30 executed_steps=235 steps_complete=True network_wait=46.435928016901016 rate_limit_wait=0 rate_limit_count=0 excluded=46.435928016901016 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 3f62198994fe4efdbf36933dfd893409-2 (codex/gpt-6-astra) ended: wall=525.051s harness=479.212s tokens=2662254 usage_complete=True decisions=25 executed_steps=200 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_4/harness/20261029T165506.205660Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 37360) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/client.log b/harness_robolab_exploration/embo_xhigh/gpu_5/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..ef50e61488ed27e3513db2e60b85c19638e72d7d
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/client.log
@@ -0,0 +1,943 @@
+[2026-10-29T16:55:03Z] GPU 5: Starting worker at FruitsOnionToPlateTask/0 (resume=false)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:5
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261029_165509.log
+2026-10-29T16:55:09Z [14ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-10-29T16:55:14Z [5,044ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:14Z [5,045ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:14Z [5,182ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-10-29T16:55:17Z [8,192ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:17Z [8,193ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:17Z [8,194ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 707652
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-10-29T16:55:26Z [17,002ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-10-29T16:55:26Z [17,002ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 897.75   2.73   2.10   1.27   1.22  10.49  14.82  15.67 
+     1   2.15 901.10   1.60   2.11   3.02  17.13  17.09  18.17 
+     2   2.28   1.70 866.13   3.00  14.15  12.56  11.20  15.51 
+     3   3.20   2.19   6.09 884.77   3.03  16.18  15.88  15.90 
+     4  13.62  12.61  12.07   9.75 904.83   5.18   6.02  12.00 
+     5   5.64   5.00   6.66   7.93  10.78 919.12   6.45   6.47 
+     6  17.35   7.63  10.53   8.21   9.13   4.18 918.58   6.48 
+     7  19.50  19.32  18.62  18.00  15.22  19.44   6.60 921.29 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.46  41.84  14.64  11.66  12.34  14.80  15.64  23.81 
+     1  24.36   1.43  18.36  18.35  17.33  17.11  18.26  28.21 
+     2  19.62  44.13   1.36  13.70  14.29  11.34  12.18  27.06 
+     3  21.13  22.55  18.84   1.38  13.32  11.34  11.33  22.18 
+     4  16.52  19.77  18.87  11.43   1.34  11.36  11.52  22.81 
+     5  14.24  20.77  32.91  15.54  18.34   1.36  11.98  22.75 
+     6  13.80  18.01  36.03  14.88  11.73  11.05   1.45  23.00 
+     7 389.32 263.87 234.61 252.21 234.11 234.02 231.92   1.44 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   4.83  15.13  13.40  14.07  11.96  11.77   7.94   7.92 
+     1   9.62   2.93   9.28   9.54  11.49  12.30  10.98  11.63 
+     2  13.45  12.94   5.10  13.89  11.35  10.14   9.49   9.85 
+     3   9.81   9.38   9.30   2.80   8.31   8.38   7.67   7.90 
+     4   8.86   8.61   8.83   8.57   2.53   7.91   7.16   7.20 
+     5   8.72   8.47   8.57   8.43   7.56   2.52   7.16   7.21 
+     6   8.20   7.99   8.08   9.28   9.01   8.34   3.86   7.56 
+     7   8.57   8.22   8.37   8.27   7.52   7.47   6.81   2.33 
+2026-10-29T16:55:36Z [26,491ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 1.2 GB/s.
+2026-10-29T16:55:36Z [26,492ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 389.3 us.
+2026-10-29T16:55:36Z [26,492ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-10-29T16:55:40Z [30,624ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:40Z [30,625ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:40Z [30,758ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:40Z [30,758ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:40Z [30,772ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:40Z [30,772ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:40Z [31,118ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:40Z [31,118ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:40Z [31,123ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:40Z [31,123ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:40Z [31,128ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:40Z [31,128ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:42Z [32,473ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-10-29T16:55:46Z [36,296ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-10-29T16:55:56Z [46,935ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-10-29T16:55:57Z [47,852ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-10-29T16:56:16Z [66,701ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-10-29T16:56:16Z [66,703ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-10-29T16:56:17Z [67,380ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-10-29T16:56:22Z [73,117ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-29T16:56:22Z [73,118ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-29T16:56:22Z [73,121ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-29T16:56:22Z [73,144ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-10-29T16:56:22Z [73,184ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-29T16:56:22Z [73,185ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['FruitsOnionToPlateTask', 'BlockStackingSpecifiedOrderTask', 'ReorientRedMugTask', 'BananaThenRubiksCubeTask', 'FoodPacking1CansTask']
+2026-10-29T16:56:39Z [89,298ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x561280146bc0>)
+
+2026-10-29T16:56:39Z [89,299ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x561280146bc0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Environments   : FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/robolab
+══════════════════════════════════════════════════════════════
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-29T16:56:46Z [96,409ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:5
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.437158 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-29T16:56:53Z [103,777ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T16:56:53Z [103,778ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T16:56:53Z [103,809ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T16:56:53Z [103,809ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T16:56:53Z [103,817ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T16:56:53Z [103,825ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-29T16:56:53Z [104,124ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-29T16:56:53Z [104,152ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-29T16:57:02Z [112,856ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((105))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,857ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((105))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,857ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((105))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,901ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((110))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,901ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((110))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,901ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((110))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,977ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((123))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,978ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((123))' not available in the MDL representation.
+2026-10-29T16:57:02Z [113,165ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((152))' not available in the MDL representation.
+2026-10-29T16:57:02Z [113,165ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((152))' not available in the MDL representation.
+2026-10-29T16:57:02Z [113,201ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-10-29T16:57:02Z [113,201ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-10-29T16:57:02Z [113,201ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-10-29T16:57:02Z [113,207ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((166))' not available in the MDL representation.
+2026-10-29T16:57:02Z [113,207ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((166))' not available in the MDL representation.
+2026-10-29T16:57:02Z [113,218ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((168))' not available in the MDL representation.
+2026-10-29T16:57:02Z [113,218ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((168))' not available in the MDL representation.
+2026-10-29T16:57:02Z [113,241ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((177))' not available in the MDL representation.
+2026-10-29T16:57:02Z [113,241ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((177))' not available in the MDL representation.
+2026-10-29T16:57:04Z [114,726ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-10-29T16:57:04Z [115,181ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((105))' not available in the MDL representation.
+2026-10-29T16:57:04Z [115,181ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((105))' not available in the MDL representation.
+2026-10-29T16:57:04Z [115,181ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((105))' not available in the MDL representation.
+2026-10-29T16:57:04Z [115,183ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((110))' not available in the MDL representation.
+2026-10-29T16:57:04Z [115,183ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((110))' not available in the MDL representation.
+2026-10-29T16:57:04Z [115,183ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((110))' not available in the MDL representation.
+2026-10-29T16:57:04Z [115,184ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((123))' not available in the MDL representation.
+2026-10-29T16:57:04Z [115,184ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((123))' not available in the MDL representation.
+2026-10-29T16:57:04Z [115,187ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((152))' not available in the MDL representation.
+2026-10-29T16:57:04Z [115,187ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((152))' not available in the MDL representation.
+2026-10-29T16:57:04Z [115,189ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-10-29T16:57:04Z [115,189ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-10-29T16:57:04Z [115,189ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-10-29T16:57:04Z [115,189ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((166))' not available in the MDL representation.
+2026-10-29T16:57:04Z [115,189ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((166))' not available in the MDL representation.
+2026-10-29T16:57:04Z [115,190ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((168))' not available in the MDL representation.
+2026-10-29T16:57:04Z [115,190ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((168))' not available in the MDL representation.
+2026-10-29T16:57:04Z [115,191ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((177))' not available in the MDL representation.
+2026-10-29T16:57:04Z [115,191ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((177))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 16.479564 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : FruitsOnionToPlateTask                        │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the onion on the plate                    │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : FruitsOnionToPlateTaskSceneEnvCfg             │
+│  Attributes  : semantics, vague, simple                      │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running FruitsOnionToPlateTask_0: 'Put the onion on the plate' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:58<14:41:28, 58.83s/it]
  0%|          | 2/900 [00:59<6:08:41, 24.63s/it] 
  0%|          | 3/900 [01:00<3:24:27, 13.68s/it]
  0%|          | 4/900 [01:00<2:07:20,  8.53s/it]
  1%|          | 5/900 [01:01<1:24:44,  5.68s/it]
  1%|          | 6/900 [01:02<59:10,  3.97s/it]  
  1%|          | 7/900 [01:02<42:53,  2.88s/it]
  1%|          | 8/900 [01:03<32:15,  2.17s/it]
  1%|          | 9/900 [01:17<1:27:54,  5.92s/it]
  1%|          | 10/900 [01:18<1:03:39,  4.29s/it]
  1%|          | 11/900 [01:18<46:56,  3.17s/it]  
  1%|▏         | 12/900 [01:19<35:27,  2.40s/it]
  1%|▏         | 13/900 [01:20<27:36,  1.87s/it]
  2%|▏         | 14/900 [01:20<22:11,  1.50s/it]
  2%|▏         | 15/900 [01:21<18:20,  1.24s/it]
  2%|▏         | 16/900 [01:22<15:36,  1.06s/it]
  2%|▏         | 17/900 [01:35<1:08:47,  4.67s/it]
  2%|▏         | 18/900 [01:35<50:52,  3.46s/it]  
  2%|▏         | 19/900 [01:36<38:22,  2.61s/it]
  2%|▏         | 20/900 [01:37<29:46,  2.03s/it]
  2%|▏         | 21/900 [01:37<23:44,  1.62s/it]
  2%|▏         | 22/900 [01:38<19:25,  1.33s/it]
  3%|▎         | 23/900 [01:38<16:20,  1.12s/it]
  3%|▎         | 24/900 [01:39<14:10,  1.03it/s]
  3%|▎         | 25/900 [01:48<47:58,  3.29s/it]
  3%|▎         | 26/900 [01:48<36:16,  2.49s/it]
  3%|▎         | 27/900 [01:49<28:10,  1.94s/it]
  3%|▎         | 28/900 [01:50<22:40,  1.56s/it]
  3%|▎         | 29/900 [01:50<18:43,  1.29s/it]
  3%|▎         | 30/900 [01:51<15:58,  1.10s/it]
  3%|▎         | 31/900 [01:52<14:05,  1.03it/s]
  4%|▎         | 32/900 [01:52<12:49,  1.13it/s]
  4%|▎         | 33/900 [02:01<47:23,  3.28s/it]
  4%|▍         | 34/900 [02:02<35:55,  2.49s/it]
  4%|▍         | 35/900 [02:03<27:59,  1.94s/it]
  4%|▍         | 36/900 [02:03<22:24,  1.56s/it]
  4%|▍         | 37/900 [02:04<18:28,  1.28s/it]
  4%|▍         | 38/900 [02:05<15:44,  1.10s/it]
  4%|▍         | 39/900 [02:05<13:51,  1.04it/s]
  4%|▍         | 40/900 [02:06<12:24,  1.15it/s]
  5%|▍         | 41/900 [02:45<2:55:33, 12.26s/it]
  5%|▍         | 42/900 [02:45<2:05:30,  8.78s/it]2026-10-29T16:59:53Z [283,596ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+
  5%|▍         | 43/900 [02:46<1:30:33,  6.34s/it]
  5%|▍         | 44/900 [02:47<1:06:04,  4.63s/it]
  5%|▌         | 45/900 [02:47<48:58,  3.44s/it]  
  5%|▌         | 46/900 [02:48<36:57,  2.60s/it]
  5%|▌         | 47/900 [02:49<28:37,  2.01s/it]
  5%|▌         | 48/900 [02:49<22:50,  1.61s/it]
  5%|▌         | 49/900 [03:07<1:33:30,  6.59s/it]
  6%|▌         | 50/900 [03:08<1:08:08,  4.81s/it]
  6%|▌         | 51/900 [03:09<50:22,  3.56s/it]  
  6%|▌         | 52/900 [03:09<37:52,  2.68s/it]
  6%|▌         | 53/900 [03:10<29:09,  2.07s/it]
  6%|▌         | 54/900 [03:11<23:09,  1.64s/it]
  6%|▌         | 55/900 [03:11<18:57,  1.35s/it]
  6%|▌         | 56/900 [03:12<16:09,  1.15s/it]
  6%|▋         | 57/900 [03:20<42:49,  3.05s/it]
  6%|▋         | 58/900 [03:20<32:41,  2.33s/it]
  7%|▋         | 59/900 [03:21<25:45,  1.84s/it]
  7%|▋         | 60/900 [03:22<20:45,  1.48s/it]
  7%|▋         | 61/900 [03:22<17:15,  1.23s/it]
  7%|▋         | 62/900 [03:23<14:48,  1.06s/it]
  7%|▋         | 63/900 [03:23<13:04,  1.07it/s]
  7%|▋         | 64/900 [03:24<11:46,  1.18it/s]
  7%|▋         | 65/900 [03:30<33:12,  2.39s/it]
  7%|▋         | 66/900 [03:31<25:57,  1.87s/it]
  7%|▋         | 67/900 [03:31<20:55,  1.51s/it]
  8%|▊         | 68/900 [03:32<17:29,  1.26s/it]
  8%|▊         | 69/900 [03:33<15:02,  1.09s/it]
  8%|▊         | 70/900 [03:33<13:19,  1.04it/s]
  8%|▊         | 71/900 [03:34<12:04,  1.14it/s]
  8%|▊         | 72/900 [03:35<11:14,  1.23it/s]
  8%|▊         | 73/900 [03:40<30:25,  2.21s/it]
  8%|▊         | 74/900 [03:41<23:58,  1.74s/it]
  8%|▊         | 75/900 [03:42<19:27,  1.41s/it]
  8%|▊         | 76/900 [03:42<16:17,  1.19s/it]
  9%|▊         | 77/900 [03:43<14:15,  1.04s/it]
  9%|▊         | 78/900 [03:44<12:40,  1.08it/s]
  9%|▉         | 79/900 [03:44<11:33,  1.18it/s]
  9%|▉         | 80/900 [03:45<10:51,  1.26it/s]
  9%|▉         | 81/900 [03:54<44:34,  3.27s/it]
  9%|▉         | 82/900 [03:55<33:50,  2.48s/it]
  9%|▉         | 83/900 [03:55<26:19,  1.93s/it]
  9%|▉         | 84/900 [03:56<21:05,  1.55s/it]
  9%|▉         | 85/900 [03:57<17:40,  1.30s/it]
 10%|▉         | 86/900 [03:57<15:10,  1.12s/it]
 10%|▉         | 87/900 [03:58<13:21,  1.01it/s]
 10%|▉         | 88/900 [03:59<11:51,  1.14it/s]
 10%|▉         | 89/900 [04:10<54:40,  4.04s/it]
 10%|█         | 90/900 [04:11<40:45,  3.02s/it]
 10%|█         | 91/900 [04:11<30:59,  2.30s/it]
 10%|█         | 92/900 [04:12<24:11,  1.80s/it]
 10%|█         | 93/900 [04:13<19:39,  1.46s/it]
 10%|█         | 94/900 [04:13<16:24,  1.22s/it]
 11%|█         | 95/900 [04:14<14:06,  1.05s/it]
 11%|█         | 96/900 [04:15<12:25,  1.08it/s]
 11%|█         | 97/900 [04:22<38:12,  2.85s/it]
 11%|█         | 98/900 [04:23<29:14,  2.19s/it]
 11%|█         | 99/900 [04:23<22:57,  1.72s/it]
 11%|█         | 100/900 [04:24<18:33,  1.39s/it]
 11%|█         | 101/900 [04:24<15:30,  1.16s/it]
 11%|█▏        | 102/900 [04:25<13:21,  1.00s/it]
 11%|█▏        | 103/900 [04:26<11:53,  1.12it/s]
 12%|█▏        | 104/900 [04:26<10:48,  1.23it/s]
 12%|█▏        | 105/900 [04:34<39:13,  2.96s/it]
 12%|█▏        | 106/900 [04:35<30:02,  2.27s/it]
 12%|█▏        | 107/900 [04:36<23:34,  1.78s/it]
 12%|█▏        | 108/900 [04:36<19:05,  1.45s/it]
 12%|█▏        | 109/900 [04:37<15:56,  1.21s/it]
 12%|█▏        | 110/900 [04:38<13:48,  1.05s/it]
 12%|█▏        | 111/900 [04:38<12:29,  1.05it/s]
 12%|█▏        | 112/900 [04:39<11:17,  1.16it/s]
 13%|█▎        | 113/900 [04:44<28:52,  2.20s/it]
 13%|█▎        | 114/900 [04:45<22:51,  1.75s/it]
 13%|█▎        | 115/900 [04:46<18:40,  1.43s/it]
 13%|█▎        | 116/900 [04:46<15:43,  1.20s/it]
 13%|█▎        | 117/900 [04:47<13:37,  1.04s/it]
 13%|█▎        | 118/900 [04:48<12:06,  1.08it/s]
 13%|█▎        | 119/900 [04:48<11:00,  1.18it/s]
 13%|█▎        | 120/900 [04:49<10:16,  1.26it/s]
 13%|█▎        | 121/900 [04:59<46:41,  3.60s/it]
 14%|█▎        | 122/900 [05:00<35:26,  2.73s/it]
 14%|█▎        | 123/900 [05:01<27:24,  2.12s/it]
 14%|█▍        | 124/900 [05:01<21:42,  1.68s/it]
 14%|█▍        | 125/900 [05:02<17:47,  1.38s/it]
 14%|█▍        | 126/900 [05:02<14:57,  1.16s/it]
 14%|█▍        | 127/900 [05:03<13:00,  1.01s/it]
 14%|█▍        | 128/900 [05:04<11:41,  1.10it/s]
 14%|█▍        | 129/900 [05:13<44:49,  3.49s/it]
 14%|█▍        | 130/900 [05:14<33:57,  2.65s/it]
 15%|█▍        | 131/900 [05:15<26:32,  2.07s/it]
 15%|█▍        | 132/900 [05:15<21:14,  1.66s/it]
 15%|█▍        | 133/900 [05:16<17:40,  1.38s/it]
 15%|█▍        | 134/900 [05:17<14:55,  1.17s/it]
 15%|█▌        | 135/900 [05:18<13:00,  1.02s/it]
 15%|█▌        | 136/900 [05:18<11:39,  1.09it/s]
 15%|█▌        | 137/900 [05:26<39:44,  3.12s/it]
 15%|█▌        | 138/900 [05:27<30:23,  2.39s/it]
 15%|█▌        | 139/900 [05:28<23:53,  1.88s/it]
 16%|█▌        | 140/900 [05:29<19:15,  1.52s/it]
 16%|█▌        | 141/900 [05:29<16:07,  1.28s/it]
 16%|█▌        | 142/900 [05:30<13:57,  1.10s/it]
 16%|█▌        | 143/900 [05:31<12:19,  1.02it/s]
 16%|█▌        | 144/900 [05:31<11:08,  1.13it/s]
 16%|█▌        | 145/900 [05:40<41:17,  3.28s/it]
 16%|█▌        | 146/900 [05:41<31:26,  2.50s/it]
 16%|█▋        | 147/900 [05:42<24:35,  1.96s/it]
 16%|█▋        | 148/900 [05:42<19:52,  1.59s/it]
 17%|█▋        | 149/900 [05:43<16:25,  1.31s/it]
 17%|█▋        | 150/900 [05:44<14:05,  1.13s/it]
 17%|█▋        | 151/900 [05:44<12:18,  1.01it/s]
 17%|█▋        | 152/900 [05:45<11:06,  1.12it/s]
 17%|█▋        | 153/900 [05:55<45:25,  3.65s/it]
 17%|█▋        | 154/900 [05:56<34:24,  2.77s/it]
 17%|█▋        | 155/900 [05:56<26:39,  2.15s/it]
 17%|█▋        | 156/900 [05:57<21:09,  1.71s/it]
 17%|█▋        | 157/900 [05:58<17:21,  1.40s/it]
 18%|█▊        | 158/900 [05:59<14:43,  1.19s/it]
 18%|█▊        | 159/900 [05:59<12:57,  1.05s/it]
 18%|█▊        | 160/900 [06:00<11:35,  1.06it/s]
 18%|█▊        | 161/900 [06:26<1:43:16,  8.39s/it]
 18%|█▊        | 162/900 [06:26<1:14:45,  6.08s/it]
 18%|█▊        | 163/900 [06:27<54:44,  4.46s/it]  
 18%|█▊        | 164/900 [06:28<40:53,  3.33s/it]
 18%|█▊        | 165/900 [06:28<31:06,  2.54s/it]
 18%|█▊        | 166/900 [06:29<24:14,  1.98s/it]
 19%|█▊        | 167/900 [06:30<19:30,  1.60s/it]
 19%|█▊        | 168/900 [06:31<16:14,  1.33s/it]
 19%|█▉        | 169/900 [06:43<55:32,  4.56s/it]
 19%|█▉        | 170/900 [06:43<41:25,  3.40s/it]
 19%|█▉        | 171/900 [06:44<31:27,  2.59s/it]
 19%|█▉        | 172/900 [06:45<24:28,  2.02s/it]
 19%|█▉        | 173/900 [06:45<19:41,  1.62s/it]
 19%|█▉        | 174/900 [06:46<16:12,  1.34s/it]
 19%|█▉        | 175/900 [06:47<13:48,  1.14s/it]
 20%|█▉        | 176/900 [06:47<12:13,  1.01s/it]
 20%|█▉        | 177/900 [06:58<47:28,  3.94s/it]
 20%|█▉        | 178/900 [06:59<35:35,  2.96s/it]
 20%|█▉        | 179/900 [07:00<27:16,  2.27s/it]
 20%|██        | 180/900 [07:00<21:24,  1.78s/it]
 20%|██        | 181/900 [07:01<17:19,  1.45s/it]
 20%|██        | 182/900 [07:02<14:27,  1.21s/it]
 20%|██        | 183/900 [07:02<12:29,  1.05s/it]
 20%|██        | 184/900 [07:03<11:05,  1.08it/s]
 21%|██        | 185/900 [07:09<31:27,  2.64s/it]
 21%|██        | 186/900 [07:10<24:31,  2.06s/it]
 21%|██        | 187/900 [07:11<19:30,  1.64s/it]
 21%|██        | 188/900 [07:12<15:54,  1.34s/it]
 21%|██        | 189/900 [07:12<13:21,  1.13s/it]
 21%|██        | 190/900 [07:13<11:38,  1.02it/s]
 21%|██        | 191/900 [07:13<10:24,  1.13it/s]
 21%|██▏       | 192/900 [07:14<09:31,  1.24it/s]
 21%|██▏       | 193/900 [07:24<40:57,  3.48s/it]
 22%|██▏       | 194/900 [07:24<31:01,  2.64s/it]
 22%|██▏       | 195/900 [07:25<24:05,  2.05s/it]
 22%|██▏       | 196/900 [07:26<19:11,  1.64s/it]
 22%|██▏       | 197/900 [07:26<15:40,  1.34s/it]
 22%|██▏       | 198/900 [07:27<13:14,  1.13s/it]
 22%|██▏       | 199/900 [07:28<11:32,  1.01it/s]
 22%|██▏       | 200/900 [07:28<10:20,  1.13it/s]
 22%|██▏       | 201/900 [08:05<2:13:57, 11.50s/it]
 22%|██▏       | 202/900 [08:05<1:35:56,  8.25s/it]
 23%|██▎       | 203/900 [08:06<1:09:15,  5.96s/it]
 23%|██▎       | 204/900 [08:07<50:38,  4.37s/it]  
 23%|██▎       | 205/900 [08:07<37:38,  3.25s/it]
 23%|██▎       | 206/900 [08:08<28:35,  2.47s/it]
 23%|██▎       | 207/900 [08:09<22:11,  1.92s/it]
 23%|██▎       | 208/900 [08:09<17:44,  1.54s/it]
 23%|██▎       | 209/900 [08:10<15:24,  1.34s/it]
 23%|██▎       | 210/900 [08:11<12:58,  1.13s/it]
 23%|██▎       | 211/900 [08:11<11:19,  1.01it/s]
 24%|██▎       | 212/900 [08:12<10:18,  1.11it/s]
 24%|██▎       | 213/900 [08:13<09:33,  1.20it/s]
 24%|██▍       | 214/900 [08:13<08:56,  1.28it/s]
 24%|██▍       | 215/900 [08:14<08:30,  1.34it/s]
 24%|██▍       | 216/900 [08:15<08:10,  1.39it/s]
 24%|██▍       | 217/900 [08:16<09:16,  1.23it/s]
 24%|██▍       | 218/900 [08:16<08:46,  1.29it/s]
 24%|██▍       | 219/900 [08:17<08:20,  1.36it/s]
 24%|██▍       | 220/900 [08:18<08:08,  1.39it/s]
 25%|██▍       | 221/900 [08:18<07:58,  1.42it/s]
 25%|██▍       | 222/900 [08:19<07:55,  1.43it/s]
 25%|██▍       | 223/900 [08:20<07:50,  1.44it/s]
 25%|██▍       | 224/900 [08:20<07:50,  1.44it/s]
 25%|██▌       | 225/900 [08:21<08:40,  1.30it/s]
 25%|██▌       | 226/900 [08:22<08:14,  1.36it/s]
 25%|██▌       | 227/900 [08:23<07:56,  1.41it/s]
 25%|██▌       | 228/900 [08:23<07:47,  1.44it/s]
 25%|██▌       | 229/900 [08:24<07:37,  1.47it/s]
 26%|██▌       | 230/900 [08:25<07:37,  1.46it/s]
 26%|██▌       | 231/900 [08:25<07:32,  1.48it/s]
 26%|██▌       | 232/900 [08:26<07:28,  1.49it/s]
 26%|██▌       | 233/900 [08:27<08:45,  1.27it/s]
 26%|██▌       | 234/900 [08:28<08:15,  1.34it/s]
 26%|██▌       | 235/900 [08:28<08:00,  1.38it/s]
 26%|██▌       | 236/900 [08:29<07:42,  1.44it/s]
 26%|██▋       | 237/900 [08:30<07:34,  1.46it/s]
 26%|██▋       | 238/900 [08:30<07:27,  1.48it/s]
 27%|██▋       | 239/900 [08:31<07:17,  1.51it/s]
 27%|██▋       | 240/900 [08:32<07:19,  1.50it/s]
 27%|██▋       | 241/900 [08:33<08:13,  1.34it/s]
 27%|██▋       | 242/900 [08:33<08:02,  1.36it/s]
 27%|██▋       | 243/900 [08:34<07:51,  1.39it/s]
 27%|██▋       | 244/900 [08:35<07:40,  1.43it/s]
 27%|██▋       | 245/900 [08:35<07:34,  1.44it/s]
 27%|██▋       | 246/900 [08:36<07:26,  1.46it/s]
 27%|██▋       | 247/900 [08:37<07:17,  1.49it/s]
 28%|██▊       | 248/900 [08:37<07:14,  1.50it/s]
 28%|██▊       | 249/900 [09:00<1:17:28,  7.14s/it]
 28%|██▊       | 250/900 [09:00<56:27,  5.21s/it]  
 28%|██▊       | 251/900 [09:01<41:37,  3.85s/it]
 28%|██▊       | 252/900 [09:02<31:19,  2.90s/it]
 28%|██▊       | 253/900 [09:02<24:07,  2.24s/it]
 28%|██▊       | 254/900 [09:03<18:59,  1.76s/it]
 28%|██▊       | 255/900 [09:04<15:20,  1.43s/it]
 28%|██▊       | 256/900 [09:04<12:49,  1.19s/it]
 29%|██▊       | 257/900 [09:05<11:50,  1.10s/it]
 29%|██▊       | 258/900 [09:06<10:27,  1.02it/s]
 29%|██▉       | 259/900 [09:06<09:26,  1.13it/s]
 29%|██▉       | 260/900 [09:07<08:43,  1.22it/s]
 29%|██▉       | 261/900 [09:08<08:11,  1.30it/s]
 29%|██▉       | 262/900 [09:08<07:48,  1.36it/s]
 29%|██▉       | 263/900 [09:09<07:35,  1.40it/s]
 29%|██▉       | 264/900 [09:10<07:25,  1.43it/s]
 29%|██▉       | 265/900 [09:11<08:24,  1.26it/s]
 30%|██▉       | 266/900 [09:11<08:04,  1.31it/s]
 30%|██▉       | 267/900 [09:12<07:46,  1.36it/s]
 30%|██▉       | 268/900 [09:13<07:34,  1.39it/s]
 30%|██▉       | 269/900 [09:13<07:23,  1.42it/s]
 30%|███       | 270/900 [09:14<07:17,  1.44it/s]
 30%|███       | 271/900 [09:15<07:12,  1.45it/s]
 30%|███       | 272/900 [09:16<07:13,  1.45it/s]
 30%|███       | 273/900 [09:17<08:13,  1.27it/s]
 30%|███       | 274/900 [09:17<08:00,  1.30it/s]
 31%|███       | 275/900 [09:18<07:42,  1.35it/s]
 31%|███       | 276/900 [09:19<07:24,  1.40it/s]
 31%|███       | 277/900 [09:19<07:16,  1.43it/s]
 31%|███       | 278/900 [09:20<07:11,  1.44it/s]
 31%|███       | 279/900 [09:21<06:59,  1.48it/s]
 31%|███       | 280/900 [09:21<06:50,  1.51it/s]
 31%|███       | 281/900 [09:22<07:45,  1.33it/s]
 31%|███▏      | 282/900 [09:23<07:28,  1.38it/s]
 31%|███▏      | 283/900 [09:24<07:16,  1.42it/s]
 32%|███▏      | 284/900 [09:24<07:03,  1.45it/s]
 32%|███▏      | 285/900 [09:25<06:52,  1.49it/s]
 32%|███▏      | 286/900 [09:25<06:52,  1.49it/s]
 32%|███▏      | 287/900 [09:26<06:45,  1.51it/s]
 32%|███▏      | 288/900 [09:27<06:50,  1.49it/s]
 32%|███▏      | 289/900 [09:31<16:39,  1.64s/it]
 32%|███▏      | 290/900 [09:31<13:38,  1.34s/it]
 32%|███▏      | 291/900 [09:32<11:28,  1.13s/it]
 32%|███▏      | 292/900 [09:33<10:09,  1.00s/it]
 33%|███▎      | 293/900 [09:33<09:10,  1.10it/s]
 33%|███▎      | 294/900 [09:34<08:27,  1.19it/s]
 33%|███▎      | 295/900 [09:35<07:52,  1.28it/s]
 33%|███▎      | 296/900 [09:35<07:30,  1.34it/s]
 33%|███▎      | 297/900 [09:36<07:34,  1.33it/s]
 33%|███▎      | 298/900 [09:37<07:16,  1.38it/s]
 33%|███▎      | 299/900 [09:37<07:02,  1.42it/s]
 33%|███▎      | 300/900 [09:38<06:53,  1.45it/s]
 33%|███▎      | 301/900 [09:39<06:47,  1.47it/s]
 34%|███▎      | 302/900 [09:39<06:43,  1.48it/s]
 34%|███▎      | 303/900 [09:40<06:43,  1.48it/s]
 34%|███▍      | 304/900 [09:41<06:35,  1.51it/s]
 34%|███▍      | 305/900 [09:49<27:46,  2.80s/it]
 34%|███▍      | 306/900 [09:49<21:23,  2.16s/it]
 34%|███▍      | 307/900 [09:50<16:54,  1.71s/it]
 34%|███▍      | 308/900 [09:50<13:45,  1.40s/it]
 34%|███▍      | 309/900 [09:51<11:31,  1.17s/it]
 34%|███▍      | 310/900 [09:52<10:01,  1.02s/it]
 35%|███▍      | 311/900 [09:52<08:56,  1.10it/s]
 35%|███▍      | 312/900 [09:53<08:09,  1.20it/s]
 35%|███▍      | 313/900 [09:55<10:58,  1.12s/it]
 35%|███▍      | 314/900 [09:56<09:31,  1.03it/s]
 35%|███▌      | 315/900 [09:56<08:30,  1.15it/s]
 35%|███▌      | 316/900 [09:57<07:49,  1.24it/s]
 35%|███▌      | 317/900 [09:57<07:19,  1.33it/s]
 35%|███▌      | 318/900 [09:58<06:59,  1.39it/s]
 35%|███▌      | 319/900 [09:59<06:45,  1.43it/s]
 36%|███▌      | 320/900 [09:59<06:38,  1.45it/s]
 36%|███▌      | 321/900 [10:00<07:13,  1.34it/s]
 36%|███▌      | 322/900 [10:01<06:54,  1.39it/s]
 36%|███▌      | 323/900 [10:02<06:43,  1.43it/s]
 36%|███▌      | 324/900 [10:02<06:37,  1.45it/s]
 36%|███▌      | 325/900 [10:03<06:32,  1.47it/s]
 36%|███▌      | 326/900 [10:04<06:27,  1.48it/s]
 36%|███▋      | 327/900 [10:04<06:29,  1.47it/s]
 36%|███▋      | 328/900 [10:05<06:21,  1.50it/s]
 37%|███▋      | 329/900 [10:06<06:40,  1.42it/s]
 37%|███▋      | 330/900 [10:06<06:40,  1.42it/s]
 37%|███▋      | 331/900 [10:07<06:34,  1.44it/s]
 37%|███▋      | 332/900 [10:08<06:29,  1.46it/s]
 37%|███▋      | 333/900 [10:08<06:24,  1.47it/s]
 37%|███▋      | 334/900 [10:09<06:22,  1.48it/s]
 37%|███▋      | 335/900 [10:10<06:17,  1.50it/s]
 37%|███▋      | 336/900 [10:10<06:09,  1.53it/s]
 37%|███▋      | 337/900 [10:11<07:03,  1.33it/s]
 38%|███▊      | 338/900 [10:12<06:43,  1.39it/s]
 38%|███▊      | 339/900 [10:13<06:28,  1.44it/s]
 38%|███▊      | 340/900 [10:13<06:16,  1.49it/s]
 38%|███▊      | 341/900 [10:14<06:16,  1.49it/s]
 38%|███▊      | 342/900 [10:15<06:08,  1.52it/s]
 38%|███▊      | 343/900 [10:15<06:03,  1.53it/s]
 38%|███▊      | 344/900 [10:16<06:08,  1.51it/s]
 38%|███▊      | 345/900 [10:17<06:22,  1.45it/s]
 38%|███▊      | 346/900 [10:17<06:17,  1.47it/s]
 39%|███▊      | 347/900 [10:18<06:11,  1.49it/s]
 39%|███▊      | 348/900 [10:19<06:07,  1.50it/s]
 39%|███▉      | 349/900 [10:19<06:02,  1.52it/s]
 39%|███▉      | 350/900 [10:20<05:55,  1.55it/s]
 39%|███▉      | 351/900 [10:20<05:53,  1.55it/s]
 39%|███▉      | 352/900 [10:21<05:55,  1.54it/s]
 39%|███▉      | 353/900 [10:22<06:10,  1.48it/s]
 39%|███▉      | 354/900 [10:23<06:02,  1.51it/s]
 39%|███▉      | 355/900 [10:23<05:59,  1.52it/s]
 40%|███▉      | 356/900 [10:24<05:54,  1.53it/s]
 40%|███▉      | 357/900 [10:24<05:50,  1.55it/s]
 40%|███▉      | 358/900 [10:25<05:47,  1.56it/s]
 40%|███▉      | 359/900 [10:26<05:44,  1.57it/s]
 40%|████      | 360/900 [10:26<05:48,  1.55it/s]
 40%|████      | 361/900 [10:27<06:23,  1.41it/s]
 40%|████      | 362/900 [10:28<06:11,  1.45it/s]
 40%|████      | 363/900 [10:28<06:00,  1.49it/s]
 40%|████      | 364/900 [10:29<05:53,  1.51it/s]
 41%|████      | 365/900 [10:30<05:47,  1.54it/s]
 41%|████      | 366/900 [10:30<05:44,  1.55it/s]
 41%|████      | 367/900 [10:31<05:46,  1.54it/s]
 41%|████      | 368/900 [10:32<05:41,  1.56it/s]
 41%|████      | 369/900 [10:45<40:31,  4.58s/it]
 41%|████      | 370/900 [10:46<30:01,  3.40s/it]
 41%|████      | 371/900 [10:47<22:40,  2.57s/it]
 41%|████▏     | 372/900 [10:47<17:31,  1.99s/it]
 41%|████▏     | 373/900 [10:48<13:56,  1.59s/it]
 42%|████▏     | 374/900 [10:49<11:23,  1.30s/it]
 42%|████▏     | 375/900 [10:49<09:36,  1.10s/it]
 42%|████▏     | 376/900 [10:50<08:25,  1.04it/s]
 42%|████▏     | 377/900 [10:51<08:11,  1.06it/s]
 42%|████▏     | 378/900 [10:51<07:22,  1.18it/s]
 42%|████▏     | 379/900 [10:52<06:49,  1.27it/s]
 42%|████▏     | 380/900 [10:53<06:24,  1.35it/s]
 42%|████▏     | 381/900 [10:53<06:13,  1.39it/s]
 42%|████▏     | 382/900 [10:54<06:04,  1.42it/s]
 43%|████▎     | 383/900 [10:55<06:02,  1.42it/s]
 43%|████▎     | 384/900 [10:55<05:52,  1.47it/s]
 43%|████▎     | 385/900 [10:57<08:00,  1.07it/s]
 43%|████▎     | 386/900 [10:58<07:14,  1.18it/s]
 43%|████▎     | 387/900 [10:58<06:41,  1.28it/s]
 43%|████▎     | 388/900 [10:59<06:24,  1.33it/s]
 43%|████▎     | 389/900 [10:59<06:08,  1.39it/s]
 43%|████▎     | 390/900 [11:00<05:59,  1.42it/s]
 43%|████▎     | 391/900 [11:01<05:51,  1.45it/s]
 44%|████▎     | 392/900 [11:01<05:44,  1.48it/s]
 44%|████▎     | 393/900 [11:03<06:52,  1.23it/s]
 44%|████▍     | 394/900 [11:03<06:26,  1.31it/s]
 44%|████▍     | 395/900 [11:04<06:09,  1.37it/s]
 44%|████▍     | 396/900 [11:05<05:58,  1.41it/s]
 44%|████▍     | 397/900 [11:05<05:49,  1.44it/s]
 44%|████▍     | 398/900 [11:06<05:42,  1.47it/s]
 44%|████▍     | 399/900 [11:07<05:39,  1.47it/s]
 44%|████▍     | 400/900 [11:07<05:35,  1.49it/s]
 45%|████▍     | 401/900 [11:09<09:25,  1.13s/it]
 45%|████▍     | 402/900 [11:10<08:20,  1.01s/it]
 45%|████▍     | 403/900 [11:11<07:28,  1.11it/s]
 45%|████▍     | 404/900 [11:11<06:51,  1.20it/s]
 45%|████▌     | 405/900 [11:12<06:24,  1.29it/s]
 45%|████▌     | 406/900 [11:13<06:03,  1.36it/s]
 45%|████▌     | 407/900 [11:13<05:47,  1.42it/s]
 45%|████▌     | 408/900 [11:14<05:39,  1.45it/s]
 45%|████▌     | 409/900 [11:15<05:49,  1.41it/s]
 46%|████▌     | 410/900 [11:15<05:39,  1.44it/s]
 46%|████▌     | 411/900 [11:16<05:31,  1.48it/s]
 46%|████▌     | 412/900 [11:17<05:28,  1.48it/s]
 46%|████▌     | 413/900 [11:17<05:23,  1.51it/s]
 46%|████▌     | 414/900 [11:18<05:19,  1.52it/s]
 46%|████▌     | 415/900 [11:19<05:16,  1.53it/s]
 46%|████▌     | 416/900 [11:19<05:17,  1.53it/s]
 46%|████▋     | 417/900 [11:20<05:32,  1.45it/s]
 46%|████▋     | 418/900 [11:21<05:26,  1.48it/s]
 47%|████▋     | 419/900 [11:21<05:23,  1.48it/s]
 47%|████▋     | 420/900 [11:22<05:20,  1.50it/s]
 47%|████▋     | 421/900 [11:23<05:14,  1.52it/s]
 47%|████▋     | 422/900 [11:23<05:11,  1.54it/s]
 47%|████▋     | 423/900 [11:24<05:08,  1.55it/s]
 47%|████▋     | 424/900 [11:25<05:06,  1.55it/s]
 47%|████▋     | 425/900 [11:25<05:24,  1.46it/s]
 47%|████▋     | 426/900 [11:26<05:20,  1.48it/s]
 47%|████▋     | 427/900 [11:27<05:15,  1.50it/s]
 48%|████▊     | 428/900 [11:27<05:14,  1.50it/s]
 48%|████▊     | 429/900 [11:28<05:09,  1.52it/s]
 48%|████▊     | 430/900 [11:29<05:05,  1.54it/s]
 48%|████▊     | 431/900 [11:29<05:05,  1.53it/s]
 48%|████▊     | 432/900 [11:30<05:06,  1.53it/s]
 48%|████▊     | 433/900 [11:31<05:16,  1.47it/s]
 48%|████▊     | 434/900 [11:31<05:09,  1.50it/s]
 48%|████▊     | 435/900 [11:32<05:05,  1.52it/s]
 48%|████▊     | 436/900 [11:33<05:02,  1.53it/s]
 49%|████▊     | 437/900 [11:33<05:00,  1.54it/s]
 49%|████▊     | 438/900 [11:34<04:58,  1.55it/s]
 49%|████▉     | 439/900 [11:35<04:58,  1.55it/s]
 49%|████▉     | 440/900 [11:35<04:56,  1.55it/s]
 49%|████▉     | 441/900 [11:43<21:54,  2.86s/it]
 49%|████▉     | 442/900 [11:44<16:48,  2.20s/it]
 49%|████▉     | 443/900 [11:45<13:18,  1.75s/it]
 49%|████▉     | 444/900 [11:45<10:47,  1.42s/it]
 49%|████▉     | 445/900 [11:46<09:00,  1.19s/it]
 50%|████▉     | 446/900 [11:46<07:46,  1.03s/it]
 50%|████▉     | 447/900 [11:47<06:54,  1.09it/s]
 50%|████▉     | 448/900 [11:48<06:15,  1.20it/s]
 50%|████▉     | 449/900 [11:49<06:03,  1.24it/s]
 50%|█████     | 450/900 [11:49<05:43,  1.31it/s]
 50%|█████     | 451/900 [11:50<05:26,  1.38it/s]
 50%|█████     | 452/900 [11:50<05:16,  1.42it/s]
 50%|█████     | 453/900 [11:51<05:10,  1.44it/s]
 50%|█████     | 454/900 [11:52<05:03,  1.47it/s]
 51%|█████     | 455/900 [11:52<04:59,  1.48it/s]
 51%|█████     | 456/900 [11:53<04:57,  1.49it/s]
 51%|█████     | 457/900 [11:54<05:41,  1.30it/s]
 51%|█████     | 458/900 [11:55<05:24,  1.36it/s]
 51%|█████     | 459/900 [11:55<05:12,  1.41it/s]
 51%|█████     | 460/900 [11:56<05:00,  1.46it/s]
 51%|█████     | 461/900 [11:57<04:52,  1.50it/s]
 51%|█████▏    | 462/900 [11:57<04:48,  1.52it/s]
 51%|█████▏    | 463/900 [11:58<04:45,  1.53it/s]
 52%|█████▏    | 464/900 [11:59<04:43,  1.54it/s]
 52%|█████▏    | 465/900 [11:59<04:53,  1.48it/s]
 52%|█████▏    | 466/900 [12:00<04:46,  1.51it/s]
 52%|█████▏    | 467/900 [12:01<04:44,  1.52it/s]
 52%|█████▏    | 468/900 [12:01<04:40,  1.54it/s]
 52%|█████▏    | 469/900 [12:02<04:37,  1.55it/s]
 52%|█████▏    | 470/900 [12:02<04:34,  1.57it/s]
 52%|█████▏    | 471/900 [12:03<04:32,  1.57it/s]
 52%|█████▏    | 472/900 [12:04<04:30,  1.58it/s]
 53%|█████▎    | 473/900 [12:05<04:59,  1.43it/s]
 53%|█████▎    | 474/900 [12:05<04:50,  1.47it/s]
 53%|█████▎    | 475/900 [12:06<04:44,  1.50it/s]
 53%|█████▎    | 476/900 [12:07<04:42,  1.50it/s]
 53%|█████▎    | 477/900 [12:07<04:40,  1.51it/s]
 53%|█████▎    | 478/900 [12:08<04:42,  1.50it/s]
 53%|█████▎    | 479/900 [12:09<04:42,  1.49it/s]
 53%|█████▎    | 480/900 [12:09<04:38,  1.51it/s]
 53%|█████▎    | 481/900 [12:10<05:14,  1.33it/s]
 54%|█████▎    | 482/900 [12:11<05:01,  1.39it/s]
 54%|█████▎    | 483/900 [12:11<04:50,  1.44it/s]
 54%|█████▍    | 484/900 [12:12<04:43,  1.46it/s]
 54%|█████▍    | 485/900 [12:13<04:39,  1.49it/s]
 54%|█████▍    | 486/900 [12:13<04:36,  1.50it/s]
 54%|█████▍    | 487/900 [12:14<04:33,  1.51it/s]
 54%|█████▍    | 488/900 [12:15<04:29,  1.53it/s]
 54%|█████▍    | 489/900 [12:15<04:40,  1.46it/s]
 54%|█████▍    | 490/900 [12:16<04:36,  1.48it/s]
 55%|█████▍    | 491/900 [12:17<04:32,  1.50it/s]
 55%|█████▍    | 492/900 [12:17<04:29,  1.51it/s]
 55%|█████▍    | 493/900 [12:18<04:28,  1.52it/s]
 55%|█████▍    | 494/900 [12:19<04:27,  1.52it/s]
 55%|█████▌    | 495/900 [12:19<04:25,  1.53it/s]
 55%|█████▌    | 496/900 [12:20<04:23,  1.53it/s]
 55%|█████▌    | 497/900 [12:21<04:32,  1.48it/s]
 55%|█████▌    | 498/900 [12:21<04:25,  1.51it/s]
 55%|█████▌    | 499/900 [12:22<04:22,  1.53it/s]
 56%|█████▌    | 500/900 [12:23<05:20,  1.25it/s]
 56%|█████▌    | 501/900 [12:24<05:02,  1.32it/s]
 56%|█████▌    | 502/900 [12:24<04:50,  1.37it/s]
 56%|█████▌    | 503/900 [12:25<04:38,  1.43it/s]
 56%|█████▌    | 504/900 [12:26<04:32,  1.46it/s]
 56%|█████▌    | 505/900 [12:27<05:44,  1.15it/s]
 56%|█████▌    | 506/900 [12:28<05:19,  1.23it/s]
 56%|█████▋    | 507/900 [12:28<05:01,  1.30it/s]
 56%|█████▋    | 508/900 [12:29<04:48,  1.36it/s]
 57%|█████▋    | 509/900 [12:30<04:39,  1.40it/s]
 57%|█████▋    | 510/900 [12:30<04:31,  1.44it/s]
 57%|█████▋    | 511/900 [12:31<04:26,  1.46it/s]
 57%|█████▋    | 512/900 [12:32<04:23,  1.47it/s]
 57%|█████▋    | 513/900 [12:40<18:17,  2.84s/it]
 57%|█████▋    | 514/900 [12:40<14:01,  2.18s/it]
 57%|█████▋    | 515/900 [12:41<11:03,  1.72s/it]
 57%|█████▋    | 516/900 [12:42<09:01,  1.41s/it]
 57%|█████▋    | 517/900 [12:42<07:33,  1.18s/it]
 58%|█████▊    | 518/900 [12:43<06:32,  1.03s/it]
 58%|█████▊    | 519/900 [12:44<05:47,  1.10it/s]
 58%|█████▊    | 520/900 [12:44<05:15,  1.21it/s]
 58%|█████▊    | 521/900 [12:45<05:08,  1.23it/s]
 58%|█████▊    | 522/900 [12:46<04:50,  1.30it/s]
 58%|█████▊    | 523/900 [12:46<04:37,  1.36it/s]
 58%|█████▊    | 524/900 [12:47<04:24,  1.42it/s]
 58%|█████▊    | 525/900 [12:48<04:17,  1.46it/s]
 58%|█████▊    | 526/900 [12:48<04:13,  1.48it/s]
 59%|█████▊    | 527/900 [12:49<04:09,  1.49it/s]
 59%|█████▊    | 528/900 [12:49<04:07,  1.50it/s]
 59%|█████▉    | 529/900 [12:50<04:21,  1.42it/s]
 59%|█████▉    | 530/900 [12:51<04:17,  1.44it/s]
 59%|█████▉    | 531/900 [12:52<04:07,  1.49it/s]
 59%|█████▉    | 532/900 [12:52<04:04,  1.51it/s]
 59%|█████▉    | 533/900 [12:53<04:03,  1.51it/s]
 59%|█████▉    | 534/900 [12:54<04:02,  1.51it/s]
 59%|█████▉    | 535/900 [12:54<04:00,  1.52it/s]
 60%|█████▉    | 536/900 [12:55<04:00,  1.51it/s]
 60%|█████▉    | 537/900 [12:56<04:09,  1.46it/s]
 60%|█████▉    | 538/900 [12:56<04:02,  1.49it/s]
 60%|█████▉    | 539/900 [12:57<03:58,  1.51it/s]
 60%|██████    | 540/900 [12:58<03:56,  1.52it/s]
 60%|██████    | 541/900 [12:58<04:00,  1.49it/s]
 60%|██████    | 542/900 [12:59<04:00,  1.49it/s]
 60%|██████    | 543/900 [13:00<03:59,  1.49it/s]
 60%|██████    | 544/900 [13:00<04:00,  1.48it/s]
 61%|██████    | 545/900 [13:01<04:14,  1.40it/s]
 61%|██████    | 546/900 [13:02<04:08,  1.42it/s]
 61%|██████    | 547/900 [13:02<04:01,  1.46it/s]
 61%|██████    | 548/900 [13:03<03:57,  1.48it/s]
 61%|██████    | 549/900 [13:04<03:53,  1.50it/s]
 61%|██████    | 550/900 [13:04<03:49,  1.52it/s]
 61%|██████    | 551/900 [13:05<03:47,  1.54it/s]
 61%|██████▏   | 552/900 [13:06<03:45,  1.55it/s]
 61%|██████▏   | 553/900 [13:06<03:58,  1.45it/s]
 62%|██████▏   | 554/900 [13:07<03:54,  1.47it/s]
 62%|██████▏   | 555/900 [13:08<03:49,  1.51it/s]
 62%|██████▏   | 556/900 [13:08<03:44,  1.53it/s]
 62%|██████▏   | 557/900 [13:09<03:43,  1.53it/s]
 62%|██████▏   | 558/900 [13:10<03:41,  1.54it/s]
 62%|██████▏   | 559/900 [13:10<03:39,  1.55it/s]
 62%|██████▏   | 560/900 [13:11<03:38,  1.56it/s]
 62%|██████▏   | 561/900 [13:12<03:50,  1.47it/s]
 62%|██████▏   | 562/900 [13:12<03:43,  1.51it/s]
 63%|██████▎   | 563/900 [13:13<03:40,  1.53it/s]
 63%|██████▎   | 564/900 [13:14<03:38,  1.54it/s]
 63%|██████▎   | 565/900 [13:14<03:38,  1.53it/s]
 63%|██████▎   | 566/900 [13:15<03:36,  1.54it/s]
 63%|██████▎   | 567/900 [13:15<03:35,  1.55it/s]
 63%|██████▎   | 568/900 [13:16<03:35,  1.54it/s]
 63%|██████▎   | 569/900 [13:17<04:25,  1.25it/s]
 63%|██████▎   | 570/900 [13:18<04:07,  1.33it/s]
 63%|██████▎   | 571/900 [13:19<03:59,  1.38it/s]
 64%|██████▎   | 572/900 [13:19<03:51,  1.42it/s]
 64%|██████▎   | 573/900 [13:20<03:46,  1.44it/s]
 64%|██████▍   | 574/900 [13:21<03:42,  1.47it/s]
 64%|██████▍   | 575/900 [13:21<03:41,  1.47it/s]
 64%|██████▍   | 576/900 [13:22<03:38,  1.48it/s]
 64%|██████▍   | 577/900 [13:23<03:51,  1.39it/s]
 64%|██████▍   | 578/900 [13:23<03:42,  1.45it/s]
 64%|██████▍   | 579/900 [13:24<03:36,  1.48it/s]
 64%|██████▍   | 580/900 [13:25<03:33,  1.50it/s]
 65%|██████▍   | 581/900 [13:25<03:30,  1.52it/s]
 65%|██████▍   | 582/900 [13:26<03:30,  1.51it/s]
 65%|██████▍   | 583/900 [13:27<03:28,  1.52it/s]
 65%|██████▍   | 584/900 [13:27<03:25,  1.53it/s]
 65%|██████▌   | 585/900 [13:35<13:59,  2.67s/it]
 65%|██████▌   | 586/900 [13:35<10:48,  2.06s/it]
 65%|██████▌   | 587/900 [13:36<08:35,  1.65s/it]
 65%|██████▌   | 588/900 [13:37<07:00,  1.35s/it]
 65%|██████▌   | 589/900 [13:37<05:53,  1.14s/it]
 66%|██████▌   | 590/900 [13:38<05:07,  1.01it/s]
 66%|██████▌   | 591/900 [13:39<04:37,  1.12it/s]
 66%|██████▌   | 592/900 [13:39<04:16,  1.20it/s]
 66%|██████▌   | 593/900 [13:40<04:19,  1.18it/s]
 66%|██████▌   | 594/900 [13:41<03:59,  1.28it/s]
 66%|██████▌   | 595/900 [13:41<03:45,  1.35it/s]
 66%|██████▌   | 596/900 [13:42<03:36,  1.41it/s]
 66%|██████▋   | 597/900 [13:43<03:29,  1.45it/s]
 66%|██████▋   | 598/900 [13:43<03:25,  1.47it/s]
 67%|██████▋   | 599/900 [13:44<03:24,  1.47it/s]
 67%|██████▋   | 600/900 [13:45<03:22,  1.48it/s]
 67%|██████▋   | 601/900 [13:46<03:45,  1.33it/s]
 67%|██████▋   | 602/900 [13:46<03:35,  1.38it/s]
 67%|██████▋   | 603/900 [13:47<03:27,  1.43it/s]
 67%|██████▋   | 604/900 [13:48<03:21,  1.47it/s]
 67%|██████▋   | 605/900 [13:48<03:17,  1.49it/s]
 67%|██████▋   | 606/900 [13:49<03:17,  1.49it/s]
 67%|██████▋   | 607/900 [13:49<03:16,  1.49it/s]
 68%|██████▊   | 608/900 [13:50<03:14,  1.50it/s]
 68%|██████▊   | 609/900 [13:51<03:39,  1.32it/s]
 68%|██████▊   | 610/900 [13:52<03:29,  1.38it/s]
 68%|██████▊   | 611/900 [13:52<03:25,  1.41it/s]
 68%|██████▊   | 612/900 [13:53<03:20,  1.44it/s]
 68%|██████▊   | 613/900 [13:54<03:17,  1.45it/s]
 68%|██████▊   | 614/900 [13:54<03:16,  1.46it/s]
 68%|██████▊   | 615/900 [13:55<03:15,  1.46it/s]
 68%|██████▊   | 616/900 [13:56<03:13,  1.47it/s]
 69%|██████▊   | 617/900 [13:57<03:27,  1.36it/s]
 69%|██████▊   | 618/900 [13:57<03:19,  1.41it/s]
 69%|██████▉   | 619/900 [13:58<03:16,  1.43it/s]
 69%|██████▉   | 620/900 [13:59<03:12,  1.45it/s]
 69%|██████▉   | 621/900 [13:59<03:09,  1.48it/s]
 69%|██████▉   | 622/900 [14:00<03:06,  1.49it/s]
 69%|██████▉   | 623/900 [14:01<03:06,  1.49it/s]
 69%|██████▉   | 624/900 [14:01<03:04,  1.50it/s]
 69%|██████▉   | 625/900 [14:03<04:33,  1.01it/s]
 70%|██████▉   | 626/900 [14:04<04:04,  1.12it/s]
 70%|██████▉   | 627/900 [14:04<03:42,  1.23it/s]
 70%|██████▉   | 628/900 [14:05<03:27,  1.31it/s]
 70%|██████▉   | 629/900 [14:06<03:16,  1.38it/s]
 70%|███████   | 630/900 [14:06<03:09,  1.42it/s]
 70%|███████   | 631/900 [14:07<03:06,  1.44it/s]
 70%|███████   | 632/900 [14:08<03:03,  1.46it/s]
 70%|███████   | 633/900 [14:08<03:13,  1.38it/s]
 70%|███████   | 634/900 [14:09<03:07,  1.42it/s]
 71%|███████   | 635/900 [14:10<03:02,  1.46it/s]
 71%|███████   | 636/900 [14:10<02:59,  1.47it/s]
 71%|███████   | 637/900 [14:11<02:55,  1.50it/s]
 71%|███████   | 638/900 [14:12<02:54,  1.51it/s]
 71%|███████   | 639/900 [14:12<02:58,  1.46it/s]
 71%|███████   | 640/900 [14:13<02:55,  1.48it/s]
 71%|███████   | 641/900 [14:14<03:10,  1.36it/s]
 71%|███████▏  | 642/900 [14:15<03:04,  1.40it/s]
 71%|███████▏  | 643/900 [14:15<02:59,  1.43it/s]
 72%|███████▏  | 644/900 [14:16<02:54,  1.47it/s]
 72%|███████▏  | 645/900 [14:17<02:51,  1.49it/s]
 72%|███████▏  | 646/900 [14:17<02:47,  1.51it/s]
 72%|███████▏  | 647/900 [14:18<02:48,  1.50it/s]
 72%|███████▏  | 648/900 [14:19<02:50,  1.48it/s]
 72%|███████▏  | 649/900 [14:19<03:02,  1.38it/s]
 72%|███████▏  | 650/900 [14:20<02:58,  1.40it/s]
 72%|███████▏  | 651/900 [14:21<02:51,  1.45it/s]
 72%|███████▏  | 652/900 [14:21<02:47,  1.48it/s]
 73%|███████▎  | 653/900 [14:22<02:44,  1.50it/s]
 73%|███████▎  | 654/900 [14:23<02:42,  1.51it/s]
 73%|███████▎  | 655/900 [14:23<02:41,  1.52it/s]
 73%|███████▎  | 656/900 [14:24<02:39,  1.53it/s]
 73%|███████▎  | 657/900 [14:33<12:49,  3.17s/it]
 73%|███████▎  | 658/900 [14:34<09:43,  2.41s/it]
 73%|███████▎  | 659/900 [14:34<07:33,  1.88s/it]
 73%|███████▎  | 660/900 [14:35<06:02,  1.51s/it]
 73%|███████▎  | 661/900 [14:36<04:57,  1.25s/it]
 74%|███████▎  | 662/900 [14:36<04:13,  1.07s/it]
 74%|███████▎  | 663/900 [14:37<03:44,  1.06it/s]
 74%|███████▍  | 664/900 [14:38<03:22,  1.16it/s]
 74%|███████▍  | 665/900 [14:38<03:15,  1.20it/s]
 74%|███████▍  | 666/900 [14:39<03:03,  1.28it/s]
 74%|███████▍  | 667/900 [14:40<02:54,  1.34it/s]
 74%|███████▍  | 668/900 [14:40<02:45,  1.40it/s]
 74%|███████▍  | 669/900 [14:41<02:39,  1.45it/s]
 74%|███████▍  | 670/900 [14:42<02:35,  1.48it/s]
 75%|███████▍  | 671/900 [14:42<02:30,  1.52it/s]
 75%|███████▍  | 672/900 [14:43<02:30,  1.52it/s]
 75%|███████▍  | 673/900 [14:44<02:37,  1.44it/s]
 75%|███████▍  | 674/900 [14:44<02:34,  1.46it/s]
 75%|███████▌  | 675/900 [14:45<02:32,  1.47it/s]
 75%|███████▌  | 676/900 [14:46<02:30,  1.49it/s]
 75%|███████▌  | 677/900 [14:46<02:28,  1.50it/s]
 75%|███████▌  | 678/900 [14:47<02:27,  1.51it/s]
 75%|███████▌  | 679/900 [14:48<02:25,  1.51it/s]
 76%|███████▌  | 680/900 [14:48<02:24,  1.52it/s]
 76%|███████▌  | 681/900 [14:49<02:31,  1.45it/s]
 76%|███████▌  | 682/900 [14:50<02:26,  1.48it/s]
 76%|███████▌  | 683/900 [14:50<02:23,  1.51it/s]
 76%|███████▌  | 684/900 [14:51<02:20,  1.54it/s]
 76%|███████▌  | 685/900 [14:52<02:19,  1.54it/s]
 76%|███████▌  | 686/900 [14:52<02:18,  1.55it/s]
 76%|███████▋  | 687/900 [14:53<02:16,  1.56it/s]
 76%|███████▋  | 688/900 [14:53<02:16,  1.55it/s]
 77%|███████▋  | 689/900 [14:54<02:33,  1.38it/s]
 77%|███████▋  | 690/900 [14:55<02:29,  1.40it/s]
 77%|███████▋  | 691/900 [14:56<02:25,  1.44it/s]
 77%|███████▋  | 692/900 [14:56<02:21,  1.47it/s]
 77%|███████▋  | 693/900 [14:57<02:19,  1.49it/s]
 77%|███████▋  | 694/900 [14:58<02:18,  1.49it/s]
 77%|███████▋  | 695/900 [14:58<02:19,  1.47it/s]
 77%|███████▋  | 696/900 [14:59<02:17,  1.48it/s]
 77%|███████▋  | 697/900 [15:00<02:32,  1.33it/s]
 78%|███████▊  | 698/900 [15:01<02:25,  1.38it/s]
 78%|███████▊  | 699/900 [15:01<02:21,  1.42it/s]
 78%|███████▊  | 700/900 [15:02<02:17,  1.45it/s]
 78%|███████▊  | 701/900 [15:03<02:15,  1.47it/s]
 78%|███████▊  | 702/900 [15:03<02:13,  1.48it/s]
 78%|███████▊  | 703/900 [15:04<02:11,  1.50it/s]
 78%|███████▊  | 704/900 [15:05<02:09,  1.51it/s]
 78%|███████▊  | 705/900 [15:06<02:27,  1.32it/s]
 78%|███████▊  | 706/900 [15:06<02:19,  1.39it/s]
 79%|███████▊  | 707/900 [15:07<02:15,  1.43it/s]
 79%|███████▊  | 708/900 [15:07<02:11,  1.46it/s]
 79%|███████▉  | 709/900 [15:08<02:09,  1.48it/s]
 79%|███████▉  | 710/900 [15:09<02:07,  1.49it/s]
 79%|███████▉  | 711/900 [15:09<02:05,  1.50it/s]
 79%|███████▉  | 712/900 [15:10<02:04,  1.51it/s]
 79%|███████▉  | 713/900 [15:11<02:24,  1.29it/s]
 79%|███████▉  | 714/900 [15:12<02:17,  1.36it/s]
 79%|███████▉  | 715/900 [15:12<02:13,  1.38it/s]
 80%|███████▉  | 716/900 [15:13<02:09,  1.42it/s]
 80%|███████▉  | 717/900 [15:14<02:05,  1.45it/s]
 80%|███████▉  | 718/900 [15:14<02:03,  1.48it/s]
 80%|███████▉  | 719/900 [15:15<02:01,  1.49it/s]
 80%|████████  | 720/900 [15:16<01:59,  1.50it/s]
 80%|████████  | 721/900 [15:17<02:55,  1.02it/s]
 80%|████████  | 722/900 [15:18<02:39,  1.12it/s]
 80%|████████  | 723/900 [15:19<02:25,  1.21it/s]
 80%|████████  | 724/900 [15:19<02:17,  1.28it/s]
 81%|████████  | 725/900 [15:20<02:12,  1.33it/s]
 81%|████████  | 726/900 [15:21<02:05,  1.39it/s]
 81%|████████  | 727/900 [15:21<01:59,  1.44it/s]
 81%|████████  | 728/900 [15:22<01:58,  1.45it/s]
 81%|████████  | 729/900 [15:31<08:33,  3.00s/it]
 81%|████████  | 730/900 [15:31<06:31,  2.30s/it]
 81%|████████  | 731/900 [15:32<05:06,  1.81s/it]
 81%|████████▏ | 732/900 [15:33<04:06,  1.47s/it]
 81%|████████▏ | 733/900 [15:33<03:24,  1.22s/it]
 82%|████████▏ | 734/900 [15:34<02:54,  1.05s/it]
 82%|████████▏ | 735/900 [15:34<02:33,  1.08it/s]
 82%|████████▏ | 736/900 [15:35<02:19,  1.18it/s]
 82%|████████▏ | 737/900 [15:36<02:20,  1.16it/s]
 82%|████████▏ | 738/900 [15:37<02:09,  1.25it/s]
 82%|████████▏ | 739/900 [15:37<02:01,  1.33it/s]
 82%|████████▏ | 740/900 [15:38<01:55,  1.39it/s]
 82%|████████▏ | 741/900 [15:39<01:50,  1.43it/s]
 82%|████████▏ | 742/900 [15:39<01:47,  1.46it/s]
 83%|████████▎ | 743/900 [15:40<01:46,  1.48it/s]
 83%|████████▎ | 744/900 [15:41<01:44,  1.50it/s]
 83%|████████▎ | 745/900 [15:41<01:52,  1.38it/s]
 83%|████████▎ | 746/900 [15:42<01:48,  1.43it/s]
 83%|████████▎ | 747/900 [15:43<01:44,  1.46it/s]
 83%|████████▎ | 748/900 [15:43<01:43,  1.48it/s]
 83%|████████▎ | 749/900 [15:44<01:41,  1.49it/s]
 83%|████████▎ | 750/900 [15:45<01:39,  1.51it/s]
 83%|████████▎ | 751/900 [15:45<01:37,  1.53it/s]
 84%|████████▎ | 752/900 [15:46<01:35,  1.54it/s]
 84%|████████▎ | 753/900 [15:47<01:41,  1.45it/s]
 84%|████████▍ | 754/900 [15:47<01:39,  1.47it/s]
 84%|████████▍ | 755/900 [15:48<01:37,  1.48it/s]
 84%|████████▍ | 756/900 [15:49<01:37,  1.48it/s]
 84%|████████▍ | 757/900 [15:49<01:34,  1.51it/s]
 84%|████████▍ | 758/900 [15:50<01:33,  1.52it/s]
 84%|████████▍ | 759/900 [15:51<01:31,  1.54it/s]
 84%|████████▍ | 760/900 [15:51<01:30,  1.54it/s]
 85%|████████▍ | 761/900 [15:52<01:34,  1.47it/s]
 85%|████████▍ | 762/900 [15:53<01:34,  1.46it/s]
 85%|████████▍ | 763/900 [15:53<01:33,  1.47it/s]
 85%|████████▍ | 764/900 [15:54<01:30,  1.49it/s]
 85%|████████▌ | 765/900 [15:55<01:29,  1.50it/s]
 85%|████████▌ | 766/900 [15:55<01:27,  1.53it/s]
 85%|████████▌ | 767/900 [15:56<01:25,  1.55it/s]
 85%|████████▌ | 768/900 [15:57<01:24,  1.56it/s]
 85%|████████▌ | 769/900 [15:57<01:29,  1.47it/s]
 86%|████████▌ | 770/900 [15:58<01:27,  1.49it/s]
 86%|████████▌ | 771/900 [15:59<01:25,  1.51it/s]
 86%|████████▌ | 772/900 [15:59<01:23,  1.53it/s]
 86%|████████▌ | 773/900 [16:00<01:22,  1.54it/s]
 86%|████████▌ | 774/900 [16:01<01:23,  1.52it/s]
 86%|████████▌ | 775/900 [16:01<01:22,  1.52it/s]
 86%|████████▌ | 776/900 [16:02<01:21,  1.52it/s]
 86%|████████▋ | 777/900 [16:03<01:23,  1.47it/s]
 86%|████████▋ | 778/900 [16:03<01:22,  1.49it/s]
 87%|████████▋ | 779/900 [16:04<01:22,  1.47it/s]
 87%|████████▋ | 780/900 [16:05<01:21,  1.48it/s]
 87%|████████▋ | 781/900 [16:05<01:19,  1.50it/s]
 87%|████████▋ | 782/900 [16:06<01:17,  1.53it/s]
 87%|████████▋ | 783/900 [16:07<01:15,  1.54it/s]
 87%|████████▋ | 784/900 [16:07<01:14,  1.56it/s]
 87%|████████▋ | 785/900 [16:08<01:18,  1.47it/s]
 87%|████████▋ | 786/900 [16:09<01:16,  1.50it/s]
 87%|████████▋ | 787/900 [16:09<01:14,  1.52it/s]
 88%|████████▊ | 788/900 [16:10<01:12,  1.54it/s]
 88%|████████▊ | 789/900 [16:11<01:11,  1.55it/s]
 88%|████████▊ | 790/900 [16:11<01:10,  1.56it/s]
 88%|████████▊ | 791/900 [16:12<01:10,  1.54it/s]
 88%|████████▊ | 792/900 [16:12<01:10,  1.54it/s]
 88%|████████▊ | 793/900 [16:13<01:15,  1.42it/s]
 88%|████████▊ | 794/900 [16:14<01:13,  1.45it/s]
 88%|████████▊ | 795/900 [16:15<01:11,  1.48it/s]
 88%|████████▊ | 796/900 [16:15<01:09,  1.49it/s]
 89%|████████▊ | 797/900 [16:16<01:08,  1.51it/s]
 89%|████████▊ | 798/900 [16:17<01:07,  1.50it/s]
 89%|████████▉ | 799/900 [16:17<01:07,  1.51it/s]
 89%|████████▉ | 800/900 [16:18<01:06,  1.50it/s]
 89%|████████▉ | 801/900 [16:50<16:28,  9.98s/it]
 89%|████████▉ | 802/900 [16:50<11:44,  7.18s/it]
 89%|████████▉ | 803/900 [16:51<08:26,  5.22s/it]
 89%|████████▉ | 804/900 [16:52<06:08,  3.84s/it]
 89%|████████▉ | 805/900 [16:52<04:33,  2.88s/it]
 90%|████████▉ | 806/900 [16:53<03:27,  2.21s/it]
 90%|████████▉ | 807/900 [16:53<02:41,  1.74s/it]
 90%|████████▉ | 808/900 [16:54<02:10,  1.41s/it]
 90%|████████▉ | 809/900 [16:57<02:48,  1.85s/it]
 90%|█████████ | 810/900 [16:58<02:13,  1.48s/it]
 90%|█████████ | 811/900 [16:58<01:49,  1.23s/it]
 90%|█████████ | 812/900 [16:59<01:32,  1.05s/it]
 90%|█████████ | 813/900 [16:59<01:20,  1.08it/s]
 90%|█████████ | 814/900 [17:00<01:11,  1.20it/s]
 91%|█████████ | 815/900 [17:01<01:05,  1.29it/s]
 91%|█████████ | 816/900 [17:01<01:01,  1.36it/s]
 91%|█████████ | 817/900 [17:02<01:05,  1.26it/s]
 91%|█████████ | 818/900 [17:03<01:01,  1.33it/s]
 91%|█████████ | 819/900 [17:04<00:58,  1.38it/s]
 91%|█████████ | 820/900 [17:04<00:57,  1.40it/s]
 91%|█████████ | 821/900 [17:05<00:54,  1.44it/s]
 91%|█████████▏| 822/900 [17:06<00:53,  1.46it/s]
 91%|█████████▏| 823/900 [17:06<00:51,  1.49it/s]
 92%|█████████▏| 824/900 [17:07<00:49,  1.52it/s]
 92%|█████████▏| 825/900 [17:08<00:51,  1.46it/s]
 92%|█████████▏| 826/900 [17:08<00:50,  1.47it/s]
 92%|█████████▏| 827/900 [17:09<00:49,  1.48it/s]
 92%|█████████▏| 828/900 [17:10<00:48,  1.49it/s]
 92%|█████████▏| 829/900 [17:10<00:46,  1.51it/s]
 92%|█████████▏| 830/900 [17:11<00:46,  1.50it/s]
 92%|█████████▏| 831/900 [17:12<00:45,  1.50it/s]
 92%|█████████▏| 832/900 [17:12<00:44,  1.52it/s]
 93%|█████████▎| 833/900 [17:13<00:46,  1.44it/s]
 93%|█████████▎| 834/900 [17:14<00:45,  1.46it/s]
 93%|█████████▎| 835/900 [17:14<00:43,  1.50it/s]
 93%|█████████▎| 836/900 [17:15<00:42,  1.51it/s]
 93%|█████████▎| 837/900 [17:16<00:41,  1.54it/s]
 93%|█████████▎| 838/900 [17:16<00:39,  1.56it/s]
 93%|█████████▎| 839/900 [17:17<00:38,  1.57it/s]
 93%|█████████▎| 840/900 [17:18<00:38,  1.57it/s]
 93%|█████████▎| 841/900 [17:18<00:39,  1.48it/s]
 94%|█████████▎| 842/900 [17:19<00:38,  1.51it/s]
 94%|█████████▎| 843/900 [17:20<00:37,  1.53it/s]
 94%|█████████▍| 844/900 [17:20<00:36,  1.55it/s]
 94%|█████████▍| 845/900 [17:21<00:35,  1.55it/s]
 94%|█████████▍| 846/900 [17:21<00:34,  1.54it/s]
 94%|█████████▍| 847/900 [17:22<00:34,  1.54it/s]
 94%|█████████▍| 848/900 [17:23<00:34,  1.53it/s]
 94%|█████████▍| 849/900 [17:24<00:35,  1.44it/s]
 94%|█████████▍| 850/900 [17:24<00:34,  1.47it/s]
 95%|█████████▍| 851/900 [17:25<00:32,  1.49it/s]
 95%|█████████▍| 852/900 [17:26<00:31,  1.50it/s]
 95%|█████████▍| 853/900 [17:26<00:31,  1.51it/s]
 95%|█████████▍| 854/900 [17:27<00:30,  1.52it/s]
 95%|█████████▌| 855/900 [17:27<00:29,  1.52it/s]
 95%|█████████▌| 856/900 [17:28<00:28,  1.53it/s]
 95%|█████████▌| 857/900 [17:37<02:11,  3.06s/it]
 95%|█████████▌| 858/900 [17:37<01:38,  2.34s/it]
 95%|█████████▌| 859/900 [17:38<01:14,  1.82s/it]
 96%|█████████▌| 860/900 [17:39<00:58,  1.47s/it]
 96%|█████████▌| 861/900 [17:39<00:47,  1.21s/it]
 96%|█████████▌| 862/900 [17:40<00:39,  1.04s/it]
 96%|█████████▌| 863/900 [17:41<00:34,  1.07it/s]
 96%|█████████▌| 864/900 [17:41<00:30,  1.18it/s]
 96%|█████████▌| 865/900 [17:42<00:30,  1.15it/s]
 96%|█████████▌| 866/900 [17:43<00:27,  1.24it/s]
 96%|█████████▋| 867/900 [17:44<00:24,  1.33it/s]
 96%|█████████▋| 868/900 [17:44<00:23,  1.38it/s]
 97%|█████████▋| 869/900 [17:45<00:21,  1.42it/s]
 97%|█████████▋| 870/900 [17:45<00:20,  1.45it/s]
 97%|█████████▋| 871/900 [17:46<00:19,  1.47it/s]
 97%|█████████▋| 872/900 [17:47<00:18,  1.49it/s]
 97%|█████████▋| 873/900 [17:48<00:19,  1.39it/s]
 97%|█████████▋| 874/900 [17:48<00:18,  1.43it/s]
 97%|█████████▋| 875/900 [17:49<00:17,  1.46it/s]
 97%|█████████▋| 876/900 [17:50<00:16,  1.49it/s]
 97%|█████████▋| 877/900 [17:50<00:15,  1.50it/s]
 98%|█████████▊| 878/900 [17:51<00:14,  1.52it/s]
 98%|█████████▊| 879/900 [17:51<00:13,  1.54it/s]
 98%|█████████▊| 880/900 [17:52<00:12,  1.56it/s]
 98%|█████████▊| 881/900 [17:53<00:13,  1.44it/s]
 98%|█████████▊| 882/900 [17:54<00:12,  1.48it/s]
 98%|█████████▊| 883/900 [17:54<00:11,  1.49it/s]
 98%|█████████▊| 884/900 [17:55<00:10,  1.51it/s]
 98%|█████████▊| 885/900 [17:55<00:09,  1.53it/s]
 98%|█████████▊| 886/900 [17:56<00:09,  1.53it/s]
 99%|█████████▊| 887/900 [17:57<00:08,  1.53it/s]
 99%|█████████▊| 888/900 [17:57<00:07,  1.54it/s]
 99%|█████████▉| 889/900 [17:58<00:08,  1.33it/s]
 99%|█████████▉| 890/900 [17:59<00:07,  1.40it/s]
 99%|█████████▉| 891/900 [18:00<00:06,  1.45it/s]
 99%|█████████▉| 892/900 [18:00<00:05,  1.48it/s]
 99%|█████████▉| 893/900 [18:01<00:04,  1.50it/s]
 99%|█████████▉| 894/900 [18:02<00:03,  1.54it/s]
 99%|█████████▉| 895/900 [18:02<00:03,  1.55it/s]
100%|█████████▉| 896/900 [18:03<00:02,  1.56it/s]
100%|█████████▉| 897/900 [18:04<00:02,  1.40it/s]
100%|█████████▉| 898/900 [18:04<00:01,  1.44it/s]
100%|█████████▉| 899/900 [18:05<00:00,  1.48it/s]
100%|█████████▉| 899/900 [18:06<00:01,  1.21s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/log_0_env0.json.
+FruitsOnionToPlateTask_0 complete: task_name: FruitsOnionToPlateTask, run_name: FruitsOnionToPlateTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the onion on the plate, attributes: ['semantics', 'vague', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.768731570750679, 'joint_sparc_mean': -7.195033433554533, 'ee_isj': 1165.625788450136, 'joint_isj': 47157.02145592569, 'ee_path_length': 2.2683563780778893, 'joint_rmse_mean': 0.8510539515727487, 'ee_speed_max': 0.5742690563201904, 'ee_speed_mean': 0.03623059764504433}, events: {'OBJECT_BUMPED': 1, 'GRIPPER_FULLY_CLOSED': 3, 'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 503.949, 'policy_inference_avg_ms': 559.9, 'env_step_s': 574.269, 'env_step_avg_ms': 638.1, 'video_write_s': 7.489, 'video_write_avg_ms': 8.3, 'wall_total_s': 1085.707, 'it_per_sec': 0.83}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=redonion) (step 1/2), harness_episode_id: a535e8a8084d4f34945f3d07d619a9f1-0
+[RoboLab] Running FruitsOnionToPlateTask_1: 'Put the onion on the plate' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:41<10:27:31, 41.88s/it]
  0%|          | 2/900 [00:42<4:23:54, 17.63s/it] 
  0%|          | 3/900 [00:43<2:27:47,  9.89s/it]
  0%|          | 4/900 [00:43<1:33:18,  6.25s/it]
  1%|          | 5/900 [00:44<1:03:04,  4.23s/it]
  1%|          | 6/900 [00:45<44:48,  3.01s/it]  
  1%|          | 7/900 [00:45<33:24,  2.24s/it]
  1%|          | 8/900 [00:46<25:51,  1.74s/it]
  1%|          | 9/900 [00:58<1:11:15,  4.80s/it]
  1%|          | 10/900 [00:58<52:09,  3.52s/it] 
  1%|          | 11/900 [00:59<39:09,  2.64s/it]
  1%|▏         | 12/900 [01:00<30:14,  2.04s/it]
  1%|▏         | 13/900 [01:00<23:56,  1.62s/it]
  2%|▏         | 14/900 [01:01<19:33,  1.32s/it]
  2%|▏         | 15/900 [01:01<16:27,  1.12s/it]
  2%|▏         | 16/900 [01:02<14:28,  1.02it/s]
  2%|▏         | 17/900 [01:41<3:01:42, 12.35s/it]
  2%|▏         | 18/900 [01:42<2:09:57,  8.84s/it]
  2%|▏         | 19/900 [01:42<1:33:44,  6.38s/it]
  2%|▏         | 20/900 [01:43<1:08:23,  4.66s/it]
  2%|▏         | 21/900 [01:44<50:39,  3.46s/it]  
  2%|▏         | 22/900 [01:44<38:21,  2.62s/it]
  3%|▎         | 23/900 [01:45<29:43,  2.03s/it]
  3%|▎         | 24/900 [01:45<23:38,  1.62s/it]
  3%|▎         | 25/900 [01:54<54:20,  3.73s/it]
  3%|▎         | 26/900 [01:55<40:52,  2.81s/it]
  3%|▎         | 27/900 [01:55<31:28,  2.16s/it]
  3%|▎         | 28/900 [01:56<24:53,  1.71s/it]
  3%|▎         | 29/900 [01:57<20:19,  1.40s/it]
  3%|▎         | 30/900 [01:57<16:59,  1.17s/it]
  3%|▎         | 31/900 [01:58<14:43,  1.02s/it]
  4%|▎         | 32/900 [01:59<13:02,  1.11it/s]
  4%|▎         | 33/900 [02:09<55:19,  3.83s/it]
  4%|▍         | 34/900 [02:10<41:28,  2.87s/it]
  4%|▍         | 35/900 [02:11<31:51,  2.21s/it]
  4%|▍         | 36/900 [02:11<25:11,  1.75s/it]
  4%|▍         | 37/900 [02:12<20:33,  1.43s/it]
  4%|▍         | 38/900 [02:13<17:14,  1.20s/it]
  4%|▍         | 39/900 [02:13<14:50,  1.03s/it]
  4%|▍         | 40/900 [02:14<13:08,  1.09it/s]
  5%|▍         | 41/900 [02:37<1:48:32,  7.58s/it]
  5%|▍         | 42/900 [02:38<1:18:38,  5.50s/it]
  5%|▍         | 43/900 [02:38<57:57,  4.06s/it]  
  5%|▍         | 44/900 [02:39<43:15,  3.03s/it]
  5%|▌         | 45/900 [02:40<33:06,  2.32s/it]
  5%|▌         | 46/900 [02:40<25:58,  1.83s/it]
  5%|▌         | 47/900 [02:41<20:57,  1.47s/it]
  5%|▌         | 48/900 [02:42<17:24,  1.23s/it]
  5%|▌         | 49/900 [02:49<43:45,  3.09s/it]
  6%|▌         | 50/900 [02:50<33:30,  2.36s/it]
  6%|▌         | 51/900 [02:51<26:20,  1.86s/it]
  6%|▌         | 52/900 [02:51<21:18,  1.51s/it]
  6%|▌         | 53/900 [02:52<17:48,  1.26s/it]
  6%|▌         | 54/900 [02:53<15:17,  1.08s/it]
  6%|▌         | 55/900 [02:53<13:35,  1.04it/s]
  6%|▌         | 56/900 [02:54<12:19,  1.14it/s]
  6%|▋         | 57/900 [03:22<2:07:04,  9.05s/it]
  6%|▋         | 58/900 [03:23<1:31:31,  6.52s/it]
  7%|▋         | 59/900 [03:23<1:06:39,  4.76s/it]
  7%|▋         | 60/900 [03:24<49:21,  3.53s/it]  
  7%|▋         | 61/900 [03:25<37:13,  2.66s/it]
  7%|▋         | 62/900 [03:25<28:44,  2.06s/it]
  7%|▋         | 63/900 [03:26<22:49,  1.64s/it]
  7%|▋         | 64/900 [03:27<18:48,  1.35s/it]
  7%|▋         | 65/900 [03:35<48:13,  3.47s/it]
  7%|▋         | 66/900 [03:36<36:43,  2.64s/it]
  7%|▋         | 67/900 [03:36<28:36,  2.06s/it]
  8%|▊         | 68/900 [03:37<22:49,  1.65s/it]
  8%|▊         | 69/900 [03:38<18:49,  1.36s/it]
  8%|▊         | 70/900 [03:38<16:02,  1.16s/it]
  8%|▊         | 71/900 [03:39<14:10,  1.03s/it]
  8%|▊         | 72/900 [03:40<12:43,  1.08it/s]
  8%|▊         | 73/900 [03:50<51:56,  3.77s/it]
  8%|▊         | 74/900 [03:51<39:05,  2.84s/it]
  8%|▊         | 75/900 [03:52<30:08,  2.19s/it]
  8%|▊         | 76/900 [03:52<24:05,  1.75s/it]
  9%|▊         | 77/900 [03:53<19:43,  1.44s/it]
  9%|▊         | 78/900 [03:54<16:45,  1.22s/it]
  9%|▉         | 79/900 [03:55<14:39,  1.07s/it]
  9%|▉         | 80/900 [03:55<13:06,  1.04it/s]
  9%|▉         | 81/900 [04:07<55:32,  4.07s/it]
  9%|▉         | 82/900 [04:07<41:36,  3.05s/it]
  9%|▉         | 83/900 [04:08<31:48,  2.34s/it]
  9%|▉         | 84/900 [04:09<24:54,  1.83s/it]
  9%|▉         | 85/900 [04:09<20:03,  1.48s/it]
 10%|▉         | 86/900 [04:10<16:42,  1.23s/it]
 10%|▉         | 87/900 [04:11<14:31,  1.07s/it]
 10%|▉         | 88/900 [04:11<12:50,  1.05it/s]
 10%|▉         | 89/900 [04:21<48:56,  3.62s/it]
 10%|█         | 90/900 [04:22<36:51,  2.73s/it]
 10%|█         | 91/900 [04:22<28:24,  2.11s/it]
 10%|█         | 92/900 [04:23<22:31,  1.67s/it]
 10%|█         | 93/900 [04:24<18:25,  1.37s/it]
 10%|█         | 94/900 [04:24<15:35,  1.16s/it]
 11%|█         | 95/900 [04:25<13:36,  1.01s/it]
 11%|█         | 96/900 [04:26<12:17,  1.09it/s]
 11%|█         | 97/900 [04:36<49:24,  3.69s/it]
 11%|█         | 98/900 [04:37<37:16,  2.79s/it]
 11%|█         | 99/900 [04:37<28:43,  2.15s/it]
 11%|█         | 100/900 [04:38<22:45,  1.71s/it]
 11%|█         | 101/900 [04:39<18:28,  1.39s/it]
 11%|█▏        | 102/900 [04:39<15:28,  1.16s/it]
 11%|█▏        | 103/900 [04:40<13:27,  1.01s/it]
 12%|█▏        | 104/900 [04:40<11:59,  1.11it/s]
 12%|█▏        | 105/900 [06:15<6:23:53, 28.97s/it]
 12%|█▏        | 106/900 [06:16<4:31:04, 20.48s/it]
 12%|█▏        | 107/900 [06:16<3:12:09, 14.54s/it]
 12%|█▏        | 108/900 [06:17<2:16:56, 10.37s/it]
 12%|█▏        | 109/900 [06:18<1:38:15,  7.45s/it]
 12%|█▏        | 110/900 [06:18<1:11:11,  5.41s/it]
 12%|█▏        | 111/900 [06:19<52:17,  3.98s/it]  
 12%|█▏        | 112/900 [06:20<39:10,  2.98s/it]
 13%|█▎        | 113/900 [06:33<1:20:33,  6.14s/it]
 13%|█▎        | 114/900 [06:34<58:50,  4.49s/it]  
 13%|█▎        | 115/900 [06:34<43:42,  3.34s/it]
 13%|█▎        | 116/900 [06:35<33:09,  2.54s/it]
 13%|█▎        | 117/900 [06:36<25:43,  1.97s/it]
 13%|█▎        | 118/900 [06:36<20:35,  1.58s/it]
 13%|█▎        | 119/900 [06:37<16:56,  1.30s/it]
 13%|█▎        | 120/900 [06:38<14:21,  1.10s/it]
 13%|█▎        | 121/900 [06:49<55:54,  4.31s/it]
 14%|█▎        | 122/900 [06:50<41:39,  3.21s/it]
 14%|█▎        | 123/900 [06:51<31:39,  2.45s/it]
 14%|█▍        | 124/900 [06:51<24:40,  1.91s/it]
 14%|█▍        | 125/900 [06:52<19:45,  1.53s/it]
 14%|█▍        | 126/900 [06:53<16:21,  1.27s/it]
 14%|█▍        | 127/900 [06:53<14:05,  1.09s/it]
 14%|█▍        | 128/900 [06:54<12:24,  1.04it/s]
 14%|█▍        | 129/900 [07:04<45:45,  3.56s/it]
 14%|█▍        | 130/900 [07:04<34:34,  2.69s/it]
 15%|█▍        | 131/900 [07:05<26:45,  2.09s/it]
 15%|█▍        | 132/900 [07:06<21:16,  1.66s/it]
 15%|█▍        | 133/900 [07:06<17:19,  1.36s/it]
 15%|█▍        | 134/900 [07:07<14:36,  1.14s/it]
 15%|█▌        | 135/900 [07:08<12:42,  1.00it/s]
 15%|█▌        | 136/900 [07:08<11:27,  1.11it/s]
 15%|█▌        | 137/900 [07:21<56:20,  4.43s/it]
 15%|█▌        | 138/900 [07:22<41:59,  3.31s/it]
 15%|█▌        | 139/900 [07:22<31:51,  2.51s/it]
 16%|█▌        | 140/900 [07:23<24:49,  1.96s/it]
 16%|█▌        | 141/900 [07:24<19:55,  1.57s/it]
 16%|█▌        | 142/900 [07:24<16:33,  1.31s/it]
 16%|█▌        | 143/900 [07:25<14:05,  1.12s/it]
 16%|█▌        | 144/900 [07:26<12:26,  1.01it/s]
 16%|█▌        | 145/900 [07:34<40:14,  3.20s/it]
 16%|█▌        | 146/900 [07:35<30:38,  2.44s/it]
 16%|█▋        | 147/900 [07:35<23:56,  1.91s/it]
 16%|█▋        | 148/900 [07:36<19:13,  1.53s/it]
 17%|█▋        | 149/900 [07:37<16:03,  1.28s/it]
 17%|█▋        | 150/900 [07:37<13:43,  1.10s/it]
 17%|█▋        | 151/900 [07:38<12:10,  1.03it/s]
 17%|█▋        | 152/900 [07:39<11:01,  1.13it/s]
 17%|█▋        | 153/900 [07:50<49:45,  4.00s/it]
 17%|█▋        | 154/900 [07:51<37:24,  3.01s/it]
 17%|█▋        | 155/900 [07:51<28:41,  2.31s/it]
 17%|█▋        | 156/900 [07:52<22:41,  1.83s/it]
 17%|█▋        | 157/900 [07:53<18:23,  1.49s/it]
 18%|█▊        | 158/900 [07:53<15:22,  1.24s/it]
 18%|█▊        | 159/900 [07:54<13:19,  1.08s/it]
 18%|█▊        | 160/900 [07:55<11:50,  1.04it/s]
 18%|█▊        | 161/900 [08:06<51:20,  4.17s/it]
 18%|█▊        | 162/900 [08:07<38:25,  3.12s/it]
 18%|█▊        | 163/900 [08:08<29:22,  2.39s/it]
 18%|█▊        | 164/900 [08:09<23:05,  1.88s/it]
 18%|█▊        | 165/900 [08:09<18:43,  1.53s/it]
 18%|█▊        | 166/900 [08:10<15:28,  1.27s/it]
 19%|█▊        | 167/900 [08:11<13:28,  1.10s/it]
 19%|█▊        | 168/900 [08:11<11:57,  1.02it/s]
 19%|█▉        | 169/900 [08:26<1:00:52,  5.00s/it]
 19%|█▉        | 170/900 [08:26<45:04,  3.70s/it]  
 19%|█▉        | 171/900 [08:27<33:55,  2.79s/it]
 19%|█▉        | 172/900 [08:28<26:10,  2.16s/it]
 19%|█▉        | 173/900 [08:28<20:47,  1.72s/it]
 19%|█▉        | 174/900 [08:29<17:04,  1.41s/it]
 19%|█▉        | 175/900 [08:30<14:22,  1.19s/it]
 20%|█▉        | 176/900 [08:30<12:26,  1.03s/it]
 20%|█▉        | 177/900 [08:39<40:18,  3.35s/it]
 20%|█▉        | 178/900 [08:40<30:42,  2.55s/it]
 20%|█▉        | 179/900 [08:41<23:55,  1.99s/it]
 20%|██        | 180/900 [08:41<19:08,  1.60s/it]
 20%|██        | 181/900 [08:42<15:47,  1.32s/it]
 20%|██        | 182/900 [08:43<13:26,  1.12s/it]
 20%|██        | 183/900 [08:43<11:48,  1.01it/s]
 20%|██        | 184/900 [08:44<10:41,  1.12it/s]
 21%|██        | 185/900 [08:56<49:28,  4.15s/it]
 21%|██        | 186/900 [08:56<36:59,  3.11s/it]
 21%|██        | 187/900 [08:57<28:17,  2.38s/it]
 21%|██        | 188/900 [08:58<22:13,  1.87s/it]
 21%|██        | 189/900 [08:58<17:58,  1.52s/it]
 21%|██        | 190/900 [08:59<14:52,  1.26s/it]
 21%|██        | 191/900 [09:00<13:01,  1.10s/it]
 21%|██▏       | 192/900 [09:00<11:30,  1.03it/s]
 21%|██▏       | 193/900 [09:09<38:05,  3.23s/it]
 22%|██▏       | 194/900 [09:10<29:04,  2.47s/it]
 22%|██▏       | 195/900 [09:10<22:41,  1.93s/it]
 22%|██▏       | 196/900 [09:11<18:13,  1.55s/it]
 22%|██▏       | 197/900 [09:12<15:06,  1.29s/it]
 22%|██▏       | 198/900 [09:12<12:52,  1.10s/it]
 22%|██▏       | 199/900 [09:13<11:19,  1.03it/s]
 22%|██▏       | 200/900 [09:14<10:14,  1.14it/s]
 22%|██▏       | 201/900 [09:26<49:25,  4.24s/it]
 22%|██▏       | 202/900 [09:26<36:59,  3.18s/it]
 23%|██▎       | 203/900 [09:27<28:14,  2.43s/it]
 23%|██▎       | 204/900 [09:28<22:04,  1.90s/it]
 23%|██▎       | 205/900 [09:29<17:46,  1.53s/it]
 23%|██▎       | 206/900 [09:29<14:45,  1.28s/it]
 23%|██▎       | 207/900 [09:30<12:40,  1.10s/it]
 23%|██▎       | 208/900 [09:31<11:11,  1.03it/s]
 23%|██▎       | 209/900 [09:57<1:39:55,  8.68s/it]
 23%|██▎       | 210/900 [09:58<1:12:08,  6.27s/it]
 23%|██▎       | 211/900 [09:59<52:52,  4.60s/it]  
 24%|██▎       | 212/900 [09:59<39:20,  3.43s/it]
 24%|██▎       | 213/900 [10:00<29:57,  2.62s/it]
 24%|██▍       | 214/900 [10:01<23:14,  2.03s/it]
 24%|██▍       | 215/900 [10:01<18:31,  1.62s/it]
 24%|██▍       | 216/900 [10:02<15:14,  1.34s/it]
 24%|██▍       | 217/900 [10:10<36:46,  3.23s/it]
 24%|██▍       | 218/900 [10:10<28:03,  2.47s/it]
 24%|██▍       | 219/900 [10:11<21:53,  1.93s/it]
 24%|██▍       | 220/900 [10:12<17:40,  1.56s/it]
 25%|██▍       | 221/900 [10:12<14:37,  1.29s/it]
 25%|██▍       | 222/900 [10:13<12:33,  1.11s/it]
 25%|██▍       | 223/900 [10:14<11:02,  1.02it/s]
 25%|██▍       | 224/900 [10:14<10:01,  1.12it/s]
 25%|██▌       | 225/900 [10:27<48:40,  4.33s/it]
 25%|██▌       | 226/900 [10:27<36:18,  3.23s/it]
 25%|██▌       | 227/900 [10:28<27:36,  2.46s/it]
 25%|██▌       | 228/900 [10:29<21:36,  1.93s/it]
 25%|██▌       | 229/900 [10:29<17:23,  1.56s/it]
 26%|██▌       | 230/900 [10:30<14:23,  1.29s/it]
 26%|██▌       | 231/900 [10:31<12:19,  1.10s/it]
 26%|██▌       | 232/900 [10:31<10:52,  1.02it/s]
 26%|██▌       | 233/900 [10:56<1:28:32,  7.96s/it]
 26%|██▌       | 234/900 [10:56<1:04:04,  5.77s/it]
 26%|██▌       | 235/900 [10:57<46:57,  4.24s/it]  
 26%|██▌       | 236/900 [10:58<35:00,  3.16s/it]
 26%|██▋       | 237/900 [10:58<26:44,  2.42s/it]
 26%|██▋       | 238/900 [10:59<20:59,  1.90s/it]
 27%|██▋       | 239/900 [11:00<16:53,  1.53s/it]
 27%|██▋       | 240/900 [11:00<14:04,  1.28s/it]
 27%|██▋       | 241/900 [11:34<1:58:43, 10.81s/it]
 27%|██▋       | 242/900 [11:34<1:25:15,  7.77s/it]
 27%|██▋       | 243/900 [11:35<1:01:46,  5.64s/it]
 27%|██▋       | 244/900 [11:36<45:22,  4.15s/it]  
 27%|██▋       | 245/900 [11:36<33:54,  3.11s/it]
 27%|██▋       | 246/900 [11:37<25:52,  2.37s/it]
 27%|██▋       | 247/900 [11:38<20:12,  1.86s/it]
 28%|██▊       | 248/900 [11:38<16:17,  1.50s/it]
 28%|██▊       | 249/900 [11:54<1:02:53,  5.80s/it]
 28%|██▊       | 250/900 [11:55<46:05,  4.26s/it]  
 28%|██▊       | 251/900 [11:55<34:20,  3.17s/it]
 28%|██▊       | 252/900 [11:56<26:09,  2.42s/it]
 28%|██▊       | 253/900 [11:57<20:29,  1.90s/it]
 28%|██▊       | 254/900 [11:57<16:32,  1.54s/it]
 28%|██▊       | 255/900 [11:58<13:46,  1.28s/it]
 28%|██▊       | 256/900 [11:59<11:45,  1.10s/it]
 29%|██▊       | 257/900 [12:18<1:10:38,  6.59s/it]
 29%|██▊       | 258/900 [12:19<51:38,  4.83s/it]  
 29%|██▉       | 259/900 [12:20<38:22,  3.59s/it]
 29%|██▉       | 260/900 [12:20<28:59,  2.72s/it]
 29%|██▉       | 261/900 [12:21<22:29,  2.11s/it]
 29%|██▉       | 262/900 [12:22<17:51,  1.68s/it]
 29%|██▉       | 263/900 [12:22<14:37,  1.38s/it]
 29%|██▉       | 264/900 [12:23<12:20,  1.16s/it]
 29%|██▉       | 265/900 [12:55<1:51:25, 10.53s/it]
 30%|██▉       | 266/900 [12:56<1:19:58,  7.57s/it]
 30%|██▉       | 267/900 [12:57<58:02,  5.50s/it]  
 30%|██▉       | 268/900 [12:57<42:38,  4.05s/it]
 30%|██▉       | 269/900 [12:58<31:53,  3.03s/it]
 30%|███       | 270/900 [12:59<24:22,  2.32s/it]
 30%|███       | 271/900 [12:59<19:10,  1.83s/it]
 30%|███       | 272/900 [13:00<15:23,  1.47s/it]
 30%|███       | 273/900 [13:11<44:54,  4.30s/it]
 30%|███       | 274/900 [13:11<33:23,  3.20s/it]
 31%|███       | 275/900 [13:12<25:25,  2.44s/it]
 31%|███       | 276/900 [13:13<19:51,  1.91s/it]
 31%|███       | 277/900 [13:13<15:53,  1.53s/it]
 31%|███       | 278/900 [13:14<13:09,  1.27s/it]
 31%|███       | 279/900 [13:15<11:13,  1.08s/it]
 31%|███       | 280/900 [13:15<09:48,  1.05it/s]
 31%|███       | 281/900 [13:39<1:20:13,  7.78s/it]
 31%|███▏      | 282/900 [13:40<58:02,  5.64s/it]  
 31%|███▏      | 283/900 [13:40<42:32,  4.14s/it]
 32%|███▏      | 284/900 [13:41<31:42,  3.09s/it]
 32%|███▏      | 285/900 [13:42<24:11,  2.36s/it]
 32%|███▏      | 286/900 [13:42<18:57,  1.85s/it]
 32%|███▏      | 287/900 [13:43<15:21,  1.50s/it]
 32%|███▏      | 288/900 [13:44<12:45,  1.25s/it]
 32%|███▏      | 289/900 [14:01<1:01:59,  6.09s/it]
 32%|███▏      | 290/900 [14:02<45:21,  4.46s/it]  
 32%|███▏      | 291/900 [14:02<33:39,  3.32s/it]
 32%|███▏      | 292/900 [14:03<25:29,  2.52s/it]
 33%|███▎      | 293/900 [14:04<19:47,  1.96s/it]
 33%|███▎      | 294/900 [14:04<15:46,  1.56s/it]
 33%|███▎      | 295/900 [14:05<13:00,  1.29s/it]
 33%|███▎      | 296/900 [14:06<11:04,  1.10s/it]
 33%|███▎      | 297/900 [14:17<42:33,  4.23s/it]
 33%|███▎      | 298/900 [14:18<31:50,  3.17s/it]
 33%|███▎      | 299/900 [14:19<24:20,  2.43s/it]
 33%|███▎      | 300/900 [14:19<18:57,  1.90s/it]
 33%|███▎      | 301/900 [14:20<15:16,  1.53s/it]
 34%|███▎      | 302/900 [14:21<12:35,  1.26s/it]
 34%|███▎      | 303/900 [14:21<10:40,  1.07s/it]
 34%|███▍      | 304/900 [14:22<09:24,  1.06it/s]
 34%|███▍      | 305/900 [14:36<49:34,  5.00s/it]
 34%|███▍      | 306/900 [14:37<36:31,  3.69s/it]
 34%|███▍      | 307/900 [14:38<27:29,  2.78s/it]
 34%|███▍      | 308/900 [14:38<21:14,  2.15s/it]
 34%|███▍      | 309/900 [14:39<16:46,  1.70s/it]
 34%|███▍      | 310/900 [14:40<13:43,  1.40s/it]
 35%|███▍      | 311/900 [14:40<11:36,  1.18s/it]
 35%|███▍      | 312/900 [14:41<10:07,  1.03s/it]
 35%|███▍      | 313/900 [14:53<42:38,  4.36s/it]
 35%|███▍      | 314/900 [14:54<31:46,  3.25s/it]
 35%|███▌      | 315/900 [14:54<24:14,  2.49s/it]
 35%|███▌      | 316/900 [14:55<18:56,  1.95s/it]
 35%|███▌      | 317/900 [14:56<15:17,  1.57s/it]
 35%|███▌      | 318/900 [14:57<12:44,  1.31s/it]
 35%|███▌      | 319/900 [14:57<10:51,  1.12s/it]
 36%|███▌      | 320/900 [14:58<09:32,  1.01it/s]
 36%|███▌      | 321/900 [15:07<33:33,  3.48s/it]
 36%|███▌      | 322/900 [15:08<25:26,  2.64s/it]
 36%|███▌      | 323/900 [15:09<19:44,  2.05s/it]
 36%|███▌      | 324/900 [15:09<15:36,  1.63s/it]
 36%|███▌      | 325/900 [15:10<12:45,  1.33s/it]
 36%|███▌      | 326/900 [15:11<10:49,  1.13s/it]
 36%|███▋      | 327/900 [15:11<09:28,  1.01it/s]
 36%|███▋      | 328/900 [15:12<08:30,  1.12it/s]
 37%|███▋      | 329/900 [15:32<1:04:12,  6.75s/it]
 37%|███▋      | 330/900 [15:33<46:45,  4.92s/it]  
 37%|███▋      | 331/900 [15:34<34:34,  3.65s/it]
 37%|███▋      | 332/900 [15:34<26:02,  2.75s/it]
 37%|███▋      | 333/900 [15:35<20:04,  2.12s/it]
 37%|███▋      | 334/900 [15:36<15:54,  1.69s/it]
 37%|███▋      | 335/900 [15:36<12:57,  1.38s/it]
 37%|███▋      | 336/900 [15:37<10:56,  1.16s/it]
 37%|███▋      | 337/900 [15:44<28:32,  3.04s/it]
 38%|███▊      | 338/900 [15:45<21:47,  2.33s/it]
 38%|███▊      | 339/900 [15:46<17:06,  1.83s/it]
 38%|███▊      | 340/900 [15:46<13:52,  1.49s/it]
 38%|███▊      | 341/900 [15:47<11:39,  1.25s/it]
 38%|███▊      | 342/900 [15:48<09:59,  1.07s/it]
 38%|███▊      | 343/900 [15:48<08:47,  1.06it/s]
 38%|███▊      | 344/900 [15:49<07:59,  1.16it/s]
 38%|███▊      | 345/900 [15:59<33:38,  3.64s/it]
 38%|███▊      | 346/900 [16:00<25:27,  2.76s/it]
 39%|███▊      | 347/900 [16:01<19:40,  2.14s/it]
 39%|███▊      | 348/900 [16:01<15:37,  1.70s/it]
 39%|███▉      | 349/900 [16:02<12:46,  1.39s/it]
 39%|███▉      | 350/900 [16:03<10:45,  1.17s/it]
 39%|███▉      | 351/900 [16:03<09:21,  1.02s/it]
 39%|███▉      | 352/900 [16:04<08:25,  1.08it/s]
 39%|███▉      | 353/900 [16:12<26:56,  2.96s/it]
 39%|███▉      | 354/900 [16:12<20:40,  2.27s/it]
 39%|███▉      | 355/900 [16:13<16:16,  1.79s/it]
 40%|███▉      | 356/900 [16:14<13:12,  1.46s/it]
 40%|███▉      | 357/900 [16:14<11:02,  1.22s/it]
 40%|███▉      | 358/900 [16:15<09:29,  1.05s/it]
 40%|███▉      | 359/900 [16:16<08:27,  1.07it/s]
 40%|████      | 360/900 [16:16<07:43,  1.16it/s]
 40%|████      | 361/900 [16:42<1:15:33,  8.41s/it]
 40%|████      | 362/900 [16:43<54:42,  6.10s/it]  
 40%|████      | 363/900 [16:44<40:05,  4.48s/it]
 40%|████      | 364/900 [16:44<29:52,  3.34s/it]
 41%|████      | 365/900 [16:45<23:19,  2.62s/it]
 41%|████      | 366/900 [16:46<18:15,  2.05s/it]
 41%|████      | 367/900 [16:47<14:34,  1.64s/it]
 41%|████      | 368/900 [16:47<12:01,  1.36s/it]
 41%|████      | 369/900 [17:06<56:50,  6.42s/it]
 41%|████      | 370/900 [17:06<41:26,  4.69s/it]
 41%|████      | 371/900 [17:07<30:41,  3.48s/it]
 41%|████▏     | 372/900 [17:08<23:17,  2.65s/it]
 41%|████▏     | 373/900 [17:08<18:07,  2.06s/it]
 42%|████▏     | 374/900 [17:09<14:22,  1.64s/it]
 42%|████▏     | 375/900 [17:10<11:48,  1.35s/it]
 42%|████▏     | 376/900 [17:10<10:03,  1.15s/it]
 42%|████▏     | 377/900 [17:26<48:25,  5.56s/it]
 42%|████▏     | 378/900 [17:27<35:35,  4.09s/it]
 42%|████▏     | 379/900 [17:28<26:39,  3.07s/it]
 42%|████▏     | 380/900 [17:28<20:22,  2.35s/it]
 42%|████▏     | 381/900 [17:29<16:02,  1.85s/it]
 42%|████▏     | 382/900 [17:30<13:00,  1.51s/it]
 43%|████▎     | 383/900 [17:30<10:50,  1.26s/it]
 43%|████▎     | 384/900 [17:31<09:17,  1.08s/it]
 43%|████▎     | 385/900 [17:53<1:01:54,  7.21s/it]
 43%|████▎     | 386/900 [17:53<44:58,  5.25s/it]  
 43%|████▎     | 387/900 [17:54<33:08,  3.88s/it]
 43%|████▎     | 388/900 [17:55<24:52,  2.91s/it]
 43%|████▎     | 389/900 [17:55<19:06,  2.24s/it]
 43%|████▎     | 390/900 [17:56<15:00,  1.77s/it]
 43%|████▎     | 391/900 [17:57<12:08,  1.43s/it]
 44%|████▎     | 392/900 [17:57<10:10,  1.20s/it]
 44%|████▎     | 393/900 [18:10<40:26,  4.79s/it]
 44%|████▍     | 394/900 [18:11<29:57,  3.55s/it]
 44%|████▍     | 395/900 [18:12<22:36,  2.69s/it]
 44%|████▍     | 396/900 [18:12<17:32,  2.09s/it]
 44%|████▍     | 397/900 [18:13<13:57,  1.67s/it]
 44%|████▍     | 398/900 [18:14<11:27,  1.37s/it]
 44%|████▍     | 399/900 [18:14<09:42,  1.16s/it]
 44%|████▍     | 400/900 [18:15<08:26,  1.01s/it]
 45%|████▍     | 401/900 [18:26<33:44,  4.06s/it]
 45%|████▍     | 402/900 [18:27<25:10,  3.03s/it]
 45%|████▍     | 403/900 [18:28<19:12,  2.32s/it]
 45%|████▍     | 404/900 [18:28<15:02,  1.82s/it]
 45%|████▌     | 405/900 [18:29<12:07,  1.47s/it]
 45%|████▌     | 406/900 [18:30<10:06,  1.23s/it]
 45%|████▌     | 407/900 [18:30<08:41,  1.06s/it]
 45%|████▌     | 408/900 [18:31<07:38,  1.07it/s]
 45%|████▌     | 409/900 [18:59<1:14:43,  9.13s/it]
 46%|████▌     | 410/900 [19:00<53:47,  6.59s/it]  
 46%|████▌     | 411/900 [19:00<39:08,  4.80s/it]
 46%|████▌     | 412/900 [19:01<28:52,  3.55s/it]
 46%|████▌     | 413/900 [19:02<21:46,  2.68s/it]
 46%|████▌     | 414/900 [19:02<16:45,  2.07s/it]
 46%|████▌     | 415/900 [19:03<13:17,  1.64s/it]
 46%|████▌     | 416/900 [19:04<10:51,  1.35s/it]
 46%|████▋     | 417/900 [19:16<37:47,  4.69s/it]
 46%|████▋     | 418/900 [19:17<27:59,  3.49s/it]
 47%|████▋     | 419/900 [19:17<21:10,  2.64s/it]
 47%|████▋     | 420/900 [19:18<16:24,  2.05s/it]
 47%|████▋     | 421/900 [19:19<13:04,  1.64s/it]
 47%|████▋     | 422/900 [19:19<10:42,  1.34s/it]
 47%|████▋     | 423/900 [19:20<09:03,  1.14s/it]
 47%|████▋     | 424/900 [19:21<07:54,  1.00it/s]
 47%|████▋     | 425/900 [19:48<1:09:52,  8.83s/it]
 47%|████▋     | 426/900 [19:49<50:20,  6.37s/it]  
 47%|████▋     | 427/900 [19:49<36:47,  4.67s/it]
 48%|████▊     | 428/900 [19:50<27:22,  3.48s/it]
 48%|████▊     | 429/900 [19:51<20:39,  2.63s/it]
 48%|████▊     | 430/900 [19:51<15:57,  2.04s/it]
 48%|████▊     | 431/900 [19:52<12:39,  1.62s/it]
 48%|████▊     | 432/900 [19:52<10:21,  1.33s/it]
 48%|████▊     | 433/900 [20:02<28:52,  3.71s/it]
 48%|████▊     | 434/900 [20:02<21:41,  2.79s/it]
 48%|████▊     | 435/900 [20:03<16:38,  2.15s/it]
 48%|████▊     | 436/900 [20:04<13:06,  1.70s/it]
 49%|████▊     | 437/900 [20:04<10:39,  1.38s/it]
 49%|████▊     | 438/900 [20:05<08:59,  1.17s/it]
 49%|████▉     | 439/900 [20:06<07:49,  1.02s/it]
 49%|████▉     | 440/900 [20:06<06:59,  1.10it/s]
 49%|████▉     | 441/900 [20:28<53:54,  7.05s/it]
 49%|████▉     | 442/900 [20:28<39:16,  5.15s/it]
 49%|████▉     | 443/900 [20:29<28:57,  3.80s/it]
 49%|████▉     | 444/900 [20:30<21:46,  2.86s/it]
 49%|████▉     | 445/900 [20:30<16:43,  2.21s/it]
 50%|████▉     | 446/900 [20:31<13:11,  1.74s/it]
 50%|████▉     | 447/900 [20:32<10:42,  1.42s/it]
 50%|████▉     | 448/900 [20:32<08:58,  1.19s/it]
 50%|████▉     | 449/900 [20:44<32:09,  4.28s/it]
 50%|█████     | 450/900 [20:45<23:56,  3.19s/it]
 50%|█████     | 451/900 [20:45<18:13,  2.44s/it]
 50%|█████     | 452/900 [20:46<14:15,  1.91s/it]
 50%|█████     | 453/900 [20:47<11:29,  1.54s/it]
 50%|█████     | 454/900 [20:47<09:34,  1.29s/it]
 51%|█████     | 455/900 [20:48<08:14,  1.11s/it]
 51%|█████     | 456/900 [20:49<07:14,  1.02it/s]
 51%|█████     | 457/900 [21:07<44:47,  6.07s/it]
 51%|█████     | 458/900 [21:07<32:49,  4.46s/it]
 51%|█████     | 459/900 [21:08<24:25,  3.32s/it]
 51%|█████     | 460/900 [21:09<18:35,  2.54s/it]
 51%|█████     | 461/900 [21:09<14:31,  1.99s/it]
 51%|█████▏    | 462/900 [21:10<11:38,  1.59s/it]
 51%|█████▏    | 463/900 [21:11<09:37,  1.32s/it]
 52%|█████▏    | 464/900 [21:11<08:12,  1.13s/it]
 52%|█████▏    | 465/900 [21:20<24:07,  3.33s/it]
 52%|█████▏    | 466/900 [21:21<18:18,  2.53s/it]
 52%|█████▏    | 467/900 [21:21<14:17,  1.98s/it]
 52%|█████▏    | 468/900 [21:22<11:28,  1.59s/it]
 52%|█████▏    | 469/900 [21:23<09:29,  1.32s/it]
 52%|█████▏    | 470/900 [21:23<08:02,  1.12s/it]
 52%|█████▏    | 471/900 [21:24<07:02,  1.02it/s]
 52%|█████▏    | 472/900 [21:25<06:20,  1.12it/s]
 53%|█████▎    | 473/900 [21:45<47:42,  6.70s/it]
 53%|█████▎    | 474/900 [21:46<34:44,  4.89s/it]
 53%|█████▎    | 475/900 [21:46<25:38,  3.62s/it]
 53%|█████▎    | 476/900 [21:47<19:16,  2.73s/it]
 53%|█████▎    | 477/900 [21:47<14:49,  2.10s/it]
 53%|█████▎    | 478/900 [21:48<11:42,  1.66s/it]
 53%|█████▎    | 479/900 [21:49<09:31,  1.36s/it]
 53%|█████▎    | 480/900 [21:49<07:59,  1.14s/it]
 53%|█████▎    | 481/900 [22:07<43:10,  6.18s/it]
 54%|█████▎    | 482/900 [22:08<31:31,  4.52s/it]
 54%|█████▎    | 483/900 [22:09<23:21,  3.36s/it]
 54%|█████▍    | 484/900 [22:09<17:40,  2.55s/it]
 54%|█████▍    | 485/900 [22:10<13:43,  1.98s/it]
 54%|█████▍    | 486/900 [22:11<10:56,  1.58s/it]
 54%|█████▍    | 487/900 [22:11<09:02,  1.31s/it]
 54%|█████▍    | 488/900 [22:12<07:42,  1.12s/it]
 54%|█████▍    | 489/900 [22:27<36:51,  5.38s/it]
 54%|█████▍    | 490/900 [22:28<27:05,  3.97s/it]
 55%|█████▍    | 491/900 [22:29<20:17,  2.98s/it]
 55%|█████▍    | 492/900 [22:29<15:31,  2.28s/it]
 55%|█████▍    | 493/900 [22:30<12:12,  1.80s/it]
 55%|█████▍    | 494/900 [22:31<09:54,  1.46s/it]
 55%|█████▌    | 495/900 [22:31<08:16,  1.23s/it]
 55%|█████▌    | 496/900 [22:32<07:07,  1.06s/it]
 55%|█████▌    | 497/900 [22:49<38:33,  5.74s/it]
 55%|█████▌    | 498/900 [22:49<28:15,  4.22s/it]
 55%|█████▌    | 499/900 [22:50<21:04,  3.15s/it]
 56%|█████▌    | 500/900 [22:51<17:00,  2.55s/it]
 56%|█████▌    | 501/900 [22:52<13:10,  1.98s/it]
 56%|█████▌    | 502/900 [22:52<10:29,  1.58s/it]
 56%|█████▌    | 503/900 [22:53<08:35,  1.30s/it]
 56%|█████▌    | 504/900 [22:54<07:16,  1.10s/it]
 56%|█████▌    | 505/900 [23:03<22:58,  3.49s/it]
 56%|█████▌    | 506/900 [23:03<17:22,  2.65s/it]
 56%|█████▋    | 507/900 [23:04<13:26,  2.05s/it]
 56%|█████▋    | 508/900 [23:05<10:41,  1.64s/it]
 57%|█████▋    | 509/900 [23:05<08:48,  1.35s/it]
 57%|█████▋    | 510/900 [23:06<07:28,  1.15s/it]
 57%|█████▋    | 511/900 [23:07<06:30,  1.00s/it]
 57%|█████▋    | 512/900 [23:07<05:48,  1.11it/s]
 57%|█████▋    | 513/900 [23:17<23:03,  3.58s/it]
 57%|█████▋    | 514/900 [23:18<17:23,  2.70s/it]
 57%|█████▋    | 515/900 [23:19<13:29,  2.10s/it]
 57%|█████▋    | 516/900 [23:19<10:47,  1.69s/it]
 57%|█████▋    | 517/900 [23:20<08:50,  1.38s/it]
 58%|█████▊    | 518/900 [23:21<07:27,  1.17s/it]
 58%|█████▊    | 519/900 [23:21<06:29,  1.02s/it]
 58%|█████▊    | 520/900 [23:22<05:50,  1.09it/s]
 58%|█████▊    | 521/900 [23:43<44:35,  7.06s/it]
 58%|█████▊    | 522/900 [23:44<32:19,  5.13s/it]
 58%|█████▊    | 523/900 [23:45<23:46,  3.78s/it]
 58%|█████▊    | 524/900 [23:45<17:48,  2.84s/it]
 58%|█████▊    | 525/900 [23:46<13:38,  2.18s/it]
 58%|█████▊    | 526/900 [23:47<10:42,  1.72s/it]
 59%|█████▊    | 527/900 [23:47<08:39,  1.39s/it]
 59%|█████▊    | 528/900 [23:48<07:14,  1.17s/it]
 59%|█████▉    | 529/900 [23:58<23:16,  3.77s/it]
 59%|█████▉    | 530/900 [23:58<17:30,  2.84s/it]
 59%|█████▉    | 531/900 [23:59<13:26,  2.19s/it]
 59%|█████▉    | 532/900 [24:00<10:38,  1.74s/it]
 59%|█████▉    | 533/900 [24:01<08:41,  1.42s/it]
 59%|█████▉    | 534/900 [24:01<07:19,  1.20s/it]
 59%|█████▉    | 535/900 [24:02<06:24,  1.05s/it]
 60%|█████▉    | 536/900 [24:03<05:39,  1.07it/s]
 60%|█████▉    | 537/900 [24:24<42:54,  7.09s/it]
 60%|█████▉    | 538/900 [24:25<31:11,  5.17s/it]
 60%|█████▉    | 539/900 [24:25<23:04,  3.84s/it]
 60%|██████    | 540/900 [24:26<17:27,  2.91s/it]
 60%|██████    | 541/900 [24:27<13:28,  2.25s/it]
 60%|██████    | 542/900 [24:28<10:36,  1.78s/it]
 60%|██████    | 543/900 [24:28<08:37,  1.45s/it]
 60%|██████    | 544/900 [24:29<07:12,  1.22s/it]
 61%|██████    | 545/900 [24:39<23:19,  3.94s/it]
 61%|██████    | 546/900 [24:40<17:30,  2.97s/it]
 61%|██████    | 547/900 [24:41<13:29,  2.29s/it]
 61%|██████    | 548/900 [24:41<10:38,  1.81s/it]
 61%|██████    | 549/900 [24:42<08:38,  1.48s/it]
 61%|██████    | 550/900 [24:43<07:17,  1.25s/it]
 61%|██████    | 551/900 [24:43<06:20,  1.09s/it]
 61%|██████▏   | 552/900 [24:44<05:37,  1.03it/s]
 61%|██████▏   | 553/900 [24:55<22:26,  3.88s/it]
 62%|██████▏   | 554/900 [24:55<16:49,  2.92s/it]
 62%|██████▏   | 555/900 [24:56<12:55,  2.25s/it]
 62%|██████▏   | 556/900 [24:57<10:11,  1.78s/it]
 62%|██████▏   | 557/900 [24:58<08:18,  1.45s/it]
 62%|██████▏   | 558/900 [24:58<06:58,  1.22s/it]
 62%|██████▏   | 559/900 [24:59<06:00,  1.06s/it]
 62%|██████▏   | 560/900 [25:00<05:16,  1.07it/s]
 62%|██████▏   | 561/900 [25:21<39:57,  7.07s/it]
 62%|██████▏   | 562/900 [25:22<28:58,  5.14s/it]
 63%|██████▎   | 563/900 [25:22<21:19,  3.80s/it]
 63%|██████▎   | 564/900 [25:23<15:58,  2.85s/it]
 63%|██████▎   | 565/900 [25:24<12:15,  2.20s/it]
 63%|██████▎   | 566/900 [25:24<09:37,  1.73s/it]
 63%|██████▎   | 567/900 [25:25<07:47,  1.40s/it]
 63%|██████▎   | 568/900 [25:25<06:30,  1.18s/it]
 63%|██████▎   | 569/900 [25:39<26:45,  4.85s/it]
 63%|██████▎   | 570/900 [25:40<19:48,  3.60s/it]
 63%|██████▎   | 571/900 [25:40<14:56,  2.73s/it]
 64%|██████▎   | 572/900 [25:41<11:29,  2.10s/it]
 64%|██████▎   | 573/900 [25:42<09:05,  1.67s/it]
 64%|██████▍   | 574/900 [25:42<07:23,  1.36s/it]
 64%|██████▍   | 575/900 [25:43<06:11,  1.14s/it]
 64%|██████▍   | 576/900 [25:43<05:21,  1.01it/s]
 64%|██████▍   | 577/900 [26:07<41:16,  7.67s/it]
 64%|██████▍   | 578/900 [26:07<29:51,  5.57s/it]
 64%|██████▍   | 579/900 [26:08<21:54,  4.09s/it]
 64%|██████▍   | 580/900 [26:09<16:19,  3.06s/it]
 65%|██████▍   | 581/900 [26:09<12:26,  2.34s/it]
 65%|██████▍   | 582/900 [26:10<09:44,  1.84s/it]
 65%|██████▍   | 583/900 [26:11<07:51,  1.49s/it]
 65%|██████▍   | 584/900 [26:11<06:32,  1.24s/it]
 65%|██████▌   | 585/900 [26:23<23:32,  4.49s/it]
 65%|██████▌   | 586/900 [26:24<17:25,  3.33s/it]
 65%|██████▌   | 587/900 [26:25<13:09,  2.52s/it]
 65%|██████▌   | 588/900 [26:25<10:10,  1.96s/it]
 65%|██████▌   | 589/900 [26:26<08:06,  1.56s/it]
 66%|██████▌   | 590/900 [26:27<06:40,  1.29s/it]
 66%|██████▌   | 591/900 [26:27<05:38,  1.09s/it]
 66%|██████▌   | 592/900 [26:28<04:55,  1.04it/s]
 66%|██████▌   | 593/900 [26:50<38:00,  7.43s/it]
 66%|██████▌   | 594/900 [26:51<27:28,  5.39s/it]
 66%|██████▌   | 595/900 [26:52<20:08,  3.96s/it]
 66%|██████▌   | 596/900 [26:52<15:00,  2.96s/it]
 66%|██████▋   | 597/900 [26:53<11:28,  2.27s/it]
 66%|██████▋   | 598/900 [26:54<08:59,  1.79s/it]
 67%|██████▋   | 599/900 [26:54<07:15,  1.45s/it]
 67%|██████▋   | 600/900 [26:55<06:04,  1.21s/it]
 67%|██████▋   | 601/900 [27:11<28:21,  5.69s/it]
 67%|██████▋   | 602/900 [27:12<20:44,  4.18s/it]
 67%|██████▋   | 603/900 [27:12<15:25,  3.12s/it]
 67%|██████▋   | 604/900 [27:13<11:43,  2.38s/it]
 67%|██████▋   | 605/900 [27:14<09:08,  1.86s/it]
 67%|██████▋   | 606/900 [27:14<07:20,  1.50s/it]
 67%|██████▋   | 607/900 [27:15<06:05,  1.25s/it]
 68%|██████▊   | 608/900 [27:16<05:12,  1.07s/it]
 68%|██████▊   | 609/900 [27:27<19:40,  4.06s/it]
 68%|██████▊   | 610/900 [27:27<14:40,  3.04s/it]
 68%|██████▊   | 611/900 [27:28<11:11,  2.32s/it]
 68%|██████▊   | 612/900 [27:29<08:46,  1.83s/it]
 68%|██████▊   | 613/900 [27:29<07:06,  1.49s/it]
 68%|██████▊   | 614/900 [27:30<05:56,  1.25s/it]
 68%|██████▊   | 615/900 [27:31<05:06,  1.07s/it]
 68%|██████▊   | 616/900 [27:31<04:32,  1.04it/s]
 69%|██████▊   | 617/900 [27:45<22:14,  4.72s/it]
 69%|██████▊   | 618/900 [27:46<16:26,  3.50s/it]
 69%|██████▉   | 619/900 [27:46<12:24,  2.65s/it]
 69%|██████▉   | 620/900 [27:47<09:40,  2.07s/it]
 69%|██████▉   | 621/900 [27:48<07:44,  1.67s/it]
 69%|██████▉   | 622/900 [27:48<06:24,  1.38s/it]
 69%|██████▉   | 623/900 [27:49<05:24,  1.17s/it]
 69%|██████▉   | 624/900 [27:50<04:43,  1.03s/it]
 69%|██████▉   | 625/900 [28:02<19:47,  4.32s/it]
 70%|██████▉   | 626/900 [28:02<14:45,  3.23s/it]
 70%|██████▉   | 627/900 [28:03<11:11,  2.46s/it]
 70%|██████▉   | 628/900 [28:04<08:45,  1.93s/it]
 70%|██████▉   | 629/900 [28:05<07:02,  1.56s/it]
 70%|███████   | 630/900 [28:05<05:49,  1.29s/it]
 70%|███████   | 631/900 [28:06<04:58,  1.11s/it]
 70%|███████   | 632/900 [28:07<04:24,  1.01it/s]
 70%|███████   | 633/900 [28:17<17:01,  3.83s/it]
 70%|███████   | 634/900 [28:18<12:44,  2.88s/it]
 71%|███████   | 635/900 [28:18<09:45,  2.21s/it]
 71%|███████   | 636/900 [28:19<07:40,  1.74s/it]
 71%|███████   | 637/900 [28:20<06:12,  1.42s/it]
 71%|███████   | 638/900 [28:20<05:11,  1.19s/it]
 71%|███████   | 639/900 [28:21<04:29,  1.03s/it]
 71%|███████   | 640/900 [28:22<04:01,  1.08it/s]
 71%|███████   | 641/900 [28:53<43:15, 10.02s/it]
 71%|███████▏  | 642/900 [28:54<31:06,  7.23s/it]
 71%|███████▏  | 643/900 [28:54<22:33,  5.27s/it]
 72%|███████▏  | 644/900 [28:55<16:32,  3.88s/it]
 72%|███████▏  | 645/900 [28:56<12:23,  2.92s/it]
 72%|███████▏  | 646/900 [28:56<09:27,  2.24s/it]
 72%|███████▏  | 647/900 [28:57<07:24,  1.76s/it]
 72%|███████▏  | 648/900 [28:58<05:58,  1.42s/it]
 72%|███████▏  | 649/900 [29:25<39:11,  9.37s/it]
 72%|███████▏  | 650/900 [29:26<28:08,  6.75s/it]
 72%|███████▏  | 651/900 [29:27<20:26,  4.92s/it]
 72%|███████▏  | 652/900 [29:27<15:03,  3.64s/it]
 73%|███████▎  | 653/900 [29:28<11:17,  2.74s/it]
 73%|███████▎  | 654/900 [29:29<08:40,  2.12s/it]
 73%|███████▎  | 655/900 [29:29<06:49,  1.67s/it]
 73%|███████▎  | 656/900 [29:30<05:33,  1.36s/it]
 73%|███████▎  | 657/900 [29:55<34:41,  8.57s/it]
 73%|███████▎  | 658/900 [29:56<24:56,  6.19s/it]
 73%|███████▎  | 659/900 [29:57<18:09,  4.52s/it]
 73%|███████▎  | 660/900 [29:57<13:25,  3.36s/it]
 73%|███████▎  | 661/900 [29:58<10:07,  2.54s/it]
 74%|███████▎  | 662/900 [29:59<07:49,  1.97s/it]
 74%|███████▎  | 663/900 [29:59<06:13,  1.57s/it]
 74%|███████▍  | 664/900 [30:00<05:05,  1.30s/it]
 74%|███████▍  | 665/900 [30:11<16:48,  4.29s/it]
 74%|███████▍  | 666/900 [30:12<12:29,  3.20s/it]
 74%|███████▍  | 667/900 [30:12<09:27,  2.43s/it]
 74%|███████▍  | 668/900 [30:13<07:20,  1.90s/it]
 74%|███████▍  | 669/900 [30:14<05:53,  1.53s/it]
 74%|███████▍  | 670/900 [30:14<04:52,  1.27s/it]
 75%|███████▍  | 671/900 [30:15<04:09,  1.09s/it]
 75%|███████▍  | 672/900 [30:16<03:38,  1.04it/s]
 75%|███████▍  | 673/900 [30:29<18:05,  4.78s/it]
 75%|███████▍  | 674/900 [30:30<13:22,  3.55s/it]
 75%|███████▌  | 675/900 [30:31<10:03,  2.68s/it]
 75%|███████▌  | 676/900 [30:31<07:45,  2.08s/it]
 75%|███████▌  | 677/900 [30:32<06:08,  1.65s/it]
 75%|███████▌  | 678/900 [30:33<05:01,  1.36s/it]
 75%|███████▌  | 679/900 [30:33<04:16,  1.16s/it]
 76%|███████▌  | 680/900 [30:34<03:44,  1.02s/it]
 76%|███████▌  | 681/900 [30:53<23:34,  6.46s/it]
 76%|███████▌  | 682/900 [30:54<17:13,  4.74s/it]
 76%|███████▌  | 683/900 [30:55<12:47,  3.54s/it]
 76%|███████▌  | 684/900 [30:55<09:39,  2.69s/it]
 76%|███████▌  | 685/900 [30:56<07:28,  2.09s/it]
 76%|███████▌  | 686/900 [30:57<05:56,  1.66s/it]
 76%|███████▋  | 687/900 [30:57<04:50,  1.36s/it]
 76%|███████▋  | 688/900 [30:58<04:06,  1.16s/it]
 77%|███████▋  | 689/900 [31:18<23:18,  6.63s/it]
 77%|███████▋  | 690/900 [31:18<16:56,  4.84s/it]
 77%|███████▋  | 691/900 [31:19<12:30,  3.59s/it]
 77%|███████▋  | 692/900 [31:20<09:24,  2.72s/it]
 77%|███████▋  | 693/900 [31:20<07:15,  2.10s/it]
 77%|███████▋  | 694/900 [31:21<05:44,  1.67s/it]
 77%|███████▋  | 695/900 [31:22<04:39,  1.37s/it]
 77%|███████▋  | 696/900 [31:22<03:55,  1.15s/it]
 77%|███████▋  | 697/900 [31:40<21:08,  6.25s/it]
 78%|███████▊  | 698/900 [31:41<15:23,  4.57s/it]
 78%|███████▊  | 699/900 [31:42<11:23,  3.40s/it]
 78%|███████▊  | 700/900 [31:42<08:36,  2.58s/it]
 78%|███████▊  | 701/900 [31:43<06:39,  2.01s/it]
 78%|███████▊  | 702/900 [31:44<05:17,  1.61s/it]
 78%|███████▊  | 703/900 [31:44<04:20,  1.32s/it]
 78%|███████▊  | 704/900 [31:45<03:39,  1.12s/it]
 78%|███████▊  | 705/900 [31:55<12:26,  3.83s/it]
 78%|███████▊  | 706/900 [31:56<09:19,  2.88s/it]
 79%|███████▊  | 707/900 [31:56<07:07,  2.22s/it]
 79%|███████▊  | 708/900 [31:57<05:35,  1.75s/it]
 79%|███████▉  | 709/900 [31:58<04:30,  1.42s/it]
 79%|███████▉  | 710/900 [31:58<03:46,  1.19s/it]
 79%|███████▉  | 711/900 [31:59<03:14,  1.03s/it]
 79%|███████▉  | 712/900 [32:00<02:52,  1.09it/s]
 79%|███████▉  | 713/900 [32:41<40:46, 13.08s/it]
 79%|███████▉  | 714/900 [32:42<29:01,  9.36s/it]
 79%|███████▉  | 715/900 [32:43<20:49,  6.75s/it]
 80%|███████▉  | 716/900 [32:43<15:07,  4.93s/it]
 80%|███████▉  | 717/900 [32:44<11:08,  3.65s/it]
 80%|███████▉  | 718/900 [32:45<08:23,  2.76s/it]
 80%|███████▉  | 719/900 [32:45<06:27,  2.14s/it]
 80%|████████  | 720/900 [32:46<05:05,  1.70s/it]
 80%|████████  | 721/900 [32:59<15:14,  5.11s/it]
 80%|████████  | 722/900 [33:00<11:12,  3.78s/it]
 80%|████████  | 723/900 [33:00<08:26,  2.86s/it]
 80%|████████  | 724/900 [33:01<06:28,  2.21s/it]
 81%|████████  | 725/900 [33:02<05:07,  1.76s/it]
 81%|████████  | 726/900 [33:03<04:09,  1.43s/it]
 81%|████████  | 727/900 [33:03<03:27,  1.20s/it]
 81%|████████  | 728/900 [33:04<02:58,  1.04s/it]
 81%|████████  | 729/900 [33:21<16:57,  5.95s/it]
 81%|████████  | 730/900 [33:22<12:22,  4.36s/it]
 81%|████████  | 731/900 [33:23<09:09,  3.25s/it]
 81%|████████▏ | 732/900 [33:23<06:56,  2.48s/it]
 81%|████████▏ | 733/900 [33:24<05:23,  1.94s/it]
 82%|████████▏ | 734/900 [33:25<04:17,  1.55s/it]
 82%|████████▏ | 735/900 [33:25<03:31,  1.28s/it]
 82%|████████▏ | 736/900 [33:26<02:58,  1.09s/it]
 82%|████████▏ | 737/900 [33:47<19:17,  7.10s/it]
 82%|████████▏ | 738/900 [33:48<13:59,  5.18s/it]
 82%|████████▏ | 739/900 [33:48<10:16,  3.83s/it]
 82%|████████▏ | 740/900 [33:49<07:44,  2.90s/it]
 82%|████████▏ | 741/900 [33:50<05:57,  2.25s/it]
 82%|████████▏ | 742/900 [33:50<04:40,  1.78s/it]
 83%|████████▎ | 743/900 [33:51<03:46,  1.44s/it]
 83%|████████▎ | 744/900 [33:52<03:08,  1.21s/it]
 83%|████████▎ | 745/900 [34:27<29:38, 11.47s/it]
 83%|████████▎ | 746/900 [34:28<21:07,  8.23s/it]
 83%|████████▎ | 747/900 [34:29<15:12,  5.96s/it]
 83%|████████▎ | 748/900 [34:29<11:04,  4.37s/it]
 83%|████████▎ | 749/900 [34:30<08:12,  3.26s/it]
 83%|████████▎ | 750/900 [34:31<06:12,  2.49s/it]
 83%|████████▎ | 751/900 [34:31<04:49,  1.94s/it]
 84%|████████▎ | 752/900 [34:32<03:52,  1.57s/it]
 84%|████████▎ | 753/900 [35:00<23:40,  9.66s/it]
 84%|████████▍ | 754/900 [35:01<16:57,  6.97s/it]
 84%|████████▍ | 755/900 [35:02<12:16,  5.08s/it]
 84%|████████▍ | 756/900 [35:02<08:59,  3.75s/it]
 84%|████████▍ | 757/900 [35:03<06:43,  2.82s/it]
 84%|████████▍ | 758/900 [35:04<05:07,  2.17s/it]
 84%|████████▍ | 759/900 [35:04<04:02,  1.72s/it]
 84%|████████▍ | 760/900 [35:05<03:16,  1.40s/it]
 85%|████████▍ | 761/900 [35:25<16:22,  7.07s/it]
 85%|████████▍ | 762/900 [35:26<11:50,  5.15s/it]
 85%|████████▍ | 763/900 [35:27<08:40,  3.80s/it]
 85%|████████▍ | 764/900 [35:27<06:28,  2.86s/it]
 85%|████████▌ | 765/900 [35:28<04:56,  2.20s/it]
 85%|████████▌ | 766/900 [35:29<03:51,  1.73s/it]
 85%|████████▌ | 767/900 [35:29<03:08,  1.42s/it]
 85%|████████▌ | 768/900 [35:30<02:38,  1.20s/it]
 85%|████████▌ | 769/900 [36:24<36:49, 16.87s/it]
 86%|████████▌ | 770/900 [36:24<26:00, 12.01s/it]
 86%|████████▌ | 771/900 [36:25<18:29,  8.60s/it]
 86%|████████▌ | 772/900 [36:26<13:17,  6.23s/it]
 86%|████████▌ | 773/900 [36:26<09:38,  4.56s/it]
 86%|████████▌ | 774/900 [36:27<07:06,  3.39s/it]
 86%|████████▌ | 775/900 [36:27<05:21,  2.57s/it]
 86%|████████▌ | 776/900 [36:28<04:09,  2.01s/it]
 86%|████████▋ | 777/900 [36:46<13:37,  6.65s/it]
 86%|████████▋ | 778/900 [36:46<09:51,  4.85s/it]
 87%|████████▋ | 779/900 [36:47<07:13,  3.58s/it]
 87%|████████▋ | 780/900 [36:48<05:23,  2.70s/it]
 87%|████████▋ | 781/900 [36:48<04:07,  2.08s/it]
 87%|████████▋ | 782/900 [36:49<03:14,  1.65s/it]
 87%|████████▋ | 783/900 [36:50<02:37,  1.35s/it]
 87%|████████▋ | 784/900 [36:50<02:11,  1.13s/it]
 87%|████████▋ | 785/900 [37:09<12:36,  6.58s/it]
 87%|████████▋ | 786/900 [37:10<09:06,  4.80s/it]
 87%|████████▋ | 787/900 [37:11<06:40,  3.55s/it]
 88%|████████▊ | 788/900 [37:11<04:59,  2.68s/it]
 88%|████████▊ | 789/900 [37:12<03:49,  2.07s/it]
 88%|████████▊ | 790/900 [37:13<03:00,  1.64s/it]
 88%|████████▊ | 791/900 [37:13<02:26,  1.34s/it]
 88%|████████▊ | 792/900 [37:14<02:02,  1.14s/it]
 88%|████████▊ | 793/900 [37:26<07:59,  4.48s/it]
 88%|████████▊ | 794/900 [37:27<05:52,  3.33s/it]
 88%|████████▊ | 795/900 [37:28<04:25,  2.53s/it]
 88%|████████▊ | 796/900 [37:28<03:24,  1.96s/it]
 89%|████████▊ | 797/900 [37:29<02:42,  1.57s/it]
 89%|████████▊ | 798/900 [37:30<02:12,  1.30s/it]
 89%|████████▉ | 799/900 [37:30<01:53,  1.12s/it]
 89%|████████▉ | 800/900 [37:31<01:38,  1.02it/s]
 89%|████████▉ | 801/900 [37:45<08:08,  4.93s/it]
 89%|████████▉ | 802/900 [37:46<05:57,  3.65s/it]
 89%|████████▉ | 803/900 [37:46<04:27,  2.76s/it]
 89%|████████▉ | 804/900 [37:47<03:24,  2.13s/it]
 89%|████████▉ | 805/900 [37:48<02:40,  1.69s/it]
 90%|████████▉ | 806/900 [37:48<02:09,  1.37s/it]
 90%|████████▉ | 807/900 [37:49<01:48,  1.16s/it]
 90%|████████▉ | 808/900 [37:50<01:33,  1.02s/it]
 90%|████████▉ | 809/900 [38:07<08:52,  5.86s/it]
 90%|█████████ | 810/900 [38:07<06:27,  4.30s/it]
 90%|█████████ | 811/900 [38:08<04:46,  3.22s/it]
 90%|█████████ | 812/900 [38:09<03:36,  2.46s/it]
 90%|█████████ | 813/900 [38:10<02:47,  1.92s/it]
 90%|█████████ | 814/900 [38:10<02:13,  1.55s/it]
 91%|█████████ | 815/900 [38:11<01:49,  1.28s/it]
 91%|█████████ | 816/900 [38:12<01:31,  1.09s/it]
 91%|█████████ | 817/900 [38:30<08:55,  6.46s/it]
 91%|█████████ | 818/900 [38:31<06:27,  4.72s/it]
 91%|█████████ | 819/900 [38:32<04:43,  3.50s/it]
 91%|█████████ | 820/900 [38:32<03:31,  2.65s/it]
 91%|█████████ | 821/900 [38:33<02:42,  2.06s/it]
 91%|█████████▏| 822/900 [38:34<02:07,  1.64s/it]
 91%|█████████▏| 823/900 [38:34<01:43,  1.34s/it]
 92%|█████████▏| 824/900 [38:35<01:27,  1.15s/it]
 92%|█████████▏| 825/900 [39:00<10:24,  8.33s/it]
 92%|█████████▏| 826/900 [39:01<07:26,  6.04s/it]
 92%|█████████▏| 827/900 [39:02<05:23,  4.43s/it]
 92%|█████████▏| 828/900 [39:02<03:57,  3.30s/it]
 92%|█████████▏| 829/900 [39:03<02:58,  2.51s/it]
 92%|█████████▏| 830/900 [39:04<02:17,  1.96s/it]
 92%|█████████▏| 831/900 [39:04<01:49,  1.58s/it]
 92%|█████████▏| 832/900 [39:05<01:29,  1.31s/it]
 93%|█████████▎| 833/900 [39:27<08:31,  7.63s/it]
 93%|█████████▎| 834/900 [39:28<06:06,  5.55s/it]
 93%|█████████▎| 835/900 [39:29<04:25,  4.09s/it]
 93%|█████████▎| 836/900 [39:29<03:15,  3.06s/it]
 93%|█████████▎| 837/900 [39:30<02:27,  2.34s/it]
 93%|█████████▎| 838/900 [39:31<01:53,  1.84s/it]
 93%|█████████▎| 839/900 [39:31<01:30,  1.48s/it]
 93%|█████████▎| 840/900 [39:32<01:14,  1.23s/it]
 93%|█████████▎| 841/900 [39:56<07:52,  8.00s/it]
 94%|█████████▎| 842/900 [39:57<05:39,  5.85s/it]
 94%|█████████▎| 843/900 [39:57<04:04,  4.29s/it]
 94%|█████████▍| 844/900 [39:58<02:58,  3.19s/it]
 94%|█████████▍| 845/900 [39:59<02:13,  2.42s/it]
 94%|█████████▍| 846/900 [39:59<01:42,  1.89s/it]
 94%|█████████▍| 847/900 [40:00<01:20,  1.51s/it]
 94%|█████████▍| 848/900 [40:00<01:05,  1.25s/it]
 94%|█████████▍| 849/900 [40:13<04:02,  4.75s/it]
 94%|█████████▍| 850/900 [40:14<02:55,  3.51s/it]
 95%|█████████▍| 851/900 [40:15<02:10,  2.65s/it]
 95%|█████████▍| 852/900 [40:15<01:38,  2.05s/it]
 95%|█████████▍| 853/900 [40:16<01:17,  1.65s/it]
 95%|█████████▍| 854/900 [40:17<01:01,  1.34s/it]
 95%|█████████▌| 855/900 [40:17<00:50,  1.13s/it]
 95%|█████████▌| 856/900 [40:18<00:42,  1.03it/s]
 95%|█████████▌| 857/900 [40:31<03:19,  4.64s/it]
 95%|█████████▌| 858/900 [40:32<02:24,  3.45s/it]
 95%|█████████▌| 859/900 [40:33<01:47,  2.63s/it]
 96%|█████████▌| 860/900 [40:33<01:22,  2.06s/it]
 96%|█████████▌| 861/900 [40:34<01:04,  1.65s/it]
 96%|█████████▌| 862/900 [40:35<00:51,  1.36s/it]
 96%|█████████▌| 863/900 [40:35<00:42,  1.16s/it]
 96%|█████████▌| 864/900 [40:36<00:36,  1.01s/it]
 96%|█████████▌| 865/900 [40:50<02:51,  4.91s/it]
 96%|█████████▌| 866/900 [40:51<02:03,  3.64s/it]
 96%|█████████▋| 867/900 [40:51<01:30,  2.74s/it]
 96%|█████████▋| 868/900 [40:52<01:07,  2.12s/it]
 97%|█████████▋| 869/900 [40:53<00:52,  1.69s/it]
 97%|█████████▋| 870/900 [40:53<00:41,  1.39s/it]
 97%|█████████▋| 871/900 [40:54<00:34,  1.18s/it]
 97%|█████████▋| 872/900 [40:55<00:28,  1.03s/it]
 97%|█████████▋| 873/900 [41:05<01:44,  3.86s/it]
 97%|█████████▋| 874/900 [41:06<01:15,  2.90s/it]
 97%|█████████▋| 875/900 [41:06<00:55,  2.23s/it]
 97%|█████████▋| 876/900 [41:07<00:42,  1.76s/it]
 97%|█████████▋| 877/900 [41:08<00:33,  1.44s/it]
 98%|█████████▊| 878/900 [41:09<00:27,  1.23s/it]
 98%|█████████▊| 879/900 [41:09<00:22,  1.06s/it]
 98%|█████████▊| 880/900 [41:10<00:18,  1.06it/s]
 98%|█████████▊| 881/900 [41:47<03:42, 11.72s/it]
 98%|█████████▊| 882/900 [41:47<02:31,  8.41s/it]
 98%|█████████▊| 883/900 [41:48<01:43,  6.09s/it]
 98%|█████████▊| 884/900 [41:49<01:11,  4.46s/it]
 98%|█████████▊| 885/900 [41:50<00:49,  3.33s/it]
 98%|█████████▊| 886/900 [41:50<00:35,  2.54s/it]
 99%|█████████▊| 887/900 [41:51<00:25,  1.98s/it]
 99%|█████████▊| 888/900 [41:52<00:19,  1.59s/it]
 99%|█████████▉| 889/900 [42:07<01:02,  5.66s/it]
 99%|█████████▉| 890/900 [42:07<00:41,  4.16s/it]
 99%|█████████▉| 891/900 [42:08<00:28,  3.11s/it]
 99%|█████████▉| 892/900 [42:09<00:19,  2.38s/it]
 99%|█████████▉| 893/900 [42:09<00:13,  1.87s/it]
 99%|█████████▉| 894/900 [42:10<00:09,  1.52s/it]
 99%|█████████▉| 895/900 [42:11<00:06,  1.27s/it]
100%|█████████▉| 896/900 [42:11<00:04,  1.10s/it]
100%|█████████▉| 897/900 [42:24<00:14,  4.67s/it]
100%|█████████▉| 898/900 [42:25<00:06,  3.46s/it]
100%|█████████▉| 899/900 [42:26<00:02,  2.62s/it]
100%|█████████▉| 899/900 [42:27<00:02,  2.83s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/log_1_env0.json.
+FruitsOnionToPlateTask_1 complete: task_name: FruitsOnionToPlateTask, run_name: FruitsOnionToPlateTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the onion on the plate, attributes: ['semantics', 'vague', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.748942846166011, 'joint_sparc_mean': -14.187090952170015, 'ee_isj': 6232.791192977513, 'joint_isj': 257016.26562089782, 'ee_path_length': 8.675135764099817, 'joint_rmse_mean': 0.9028157099291108, 'ee_speed_max': 0.660879909992218, 'ee_speed_mean': 0.13626879453659058}, events: {'OBJECT_OUT_OF_SCENE': 1, 'OBJECT_MOVED': 1, 'TARGET_OBJECT_DROPPED': 13, 'GRIPPER_FULLY_CLOSED': 12, 'OBJECT_BUMPED': 8, 'GRIPPER_HIT_OBJECT': 1}, instruction_type: default, timing: {'policy_inference_s': 1952.8, 'policy_inference_avg_ms': 2169.8, 'env_step_s': 587.04, 'env_step_avg_ms': 652.3, 'video_write_s': 6.275, 'video_write_avg_ms': 7.0, 'wall_total_s': 2546.115, 'it_per_sec': 0.35}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=redonion) (step 1/2), harness_episode_id: 3877f5d5665d48cf9271583ba239ccff-1
+[RoboLab] Running FruitsOnionToPlateTask_2: 'Put the onion on the plate' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:49<12:28:52, 49.98s/it]
  0%|          | 2/900 [00:50<5:13:37, 20.96s/it] 
  0%|          | 3/900 [00:51<2:54:36, 11.68s/it]
  0%|          | 4/900 [00:51<1:49:16,  7.32s/it]
  1%|          | 5/900 [00:52<1:13:10,  4.91s/it]
  1%|          | 6/900 [00:53<51:22,  3.45s/it]  
  1%|          | 7/900 [00:53<37:34,  2.52s/it]
  1%|          | 8/900 [00:54<28:31,  1.92s/it]
  1%|          | 9/900 [01:02<59:04,  3.98s/it]
  1%|          | 10/900 [01:03<43:42,  2.95s/it]
  1%|          | 11/900 [01:04<33:09,  2.24s/it]
  1%|▏         | 12/900 [01:04<26:01,  1.76s/it]
  1%|▏         | 13/900 [01:05<21:01,  1.42s/it]
  2%|▏         | 14/900 [01:06<17:27,  1.18s/it]
  2%|▏         | 15/900 [01:06<14:58,  1.02s/it]
  2%|▏         | 16/900 [01:07<13:15,  1.11it/s]
  2%|▏         | 17/900 [01:19<1:03:16,  4.30s/it]
  2%|▏         | 18/900 [01:20<47:07,  3.21s/it]  
  2%|▏         | 19/900 [01:20<35:44,  2.43s/it]
  2%|▏         | 20/900 [01:21<27:44,  1.89s/it]
  2%|▏         | 21/900 [01:22<22:12,  1.52s/it]
  2%|▏         | 22/900 [01:22<18:16,  1.25s/it]
  3%|▎         | 23/900 [01:23<15:37,  1.07s/it]
  3%|▎         | 24/900 [01:24<13:42,  1.06it/s]
  3%|▎         | 25/900 [01:31<44:01,  3.02s/it]
  3%|▎         | 26/900 [01:32<33:36,  2.31s/it]
  3%|▎         | 27/900 [01:33<26:17,  1.81s/it]
  3%|▎         | 28/900 [01:33<21:21,  1.47s/it]
  3%|▎         | 29/900 [01:34<17:41,  1.22s/it]
  3%|▎         | 30/900 [01:35<15:09,  1.05s/it]
  3%|▎         | 31/900 [01:35<13:22,  1.08it/s]
  4%|▎         | 32/900 [01:36<12:19,  1.17it/s]
  4%|▎         | 33/900 [01:41<31:57,  2.21s/it]
  4%|▍         | 34/900 [01:42<25:06,  1.74s/it]
  4%|▍         | 35/900 [01:43<20:20,  1.41s/it]
  4%|▍         | 36/900 [01:43<16:55,  1.18s/it]
  4%|▍         | 37/900 [01:44<14:36,  1.02s/it]
  4%|▍         | 38/900 [01:45<12:58,  1.11it/s]
  4%|▍         | 39/900 [01:45<11:46,  1.22it/s]
  4%|▍         | 40/900 [01:46<10:56,  1.31it/s]
  5%|▍         | 41/900 [02:04<1:23:59,  5.87s/it]
  5%|▍         | 42/900 [02:04<1:01:39,  4.31s/it]
  5%|▍         | 43/900 [02:05<46:05,  3.23s/it]  
  5%|▍         | 44/900 [02:06<35:07,  2.46s/it]
  5%|▌         | 45/900 [02:06<27:18,  1.92s/it]
  5%|▌         | 46/900 [02:07<21:46,  1.53s/it]
  5%|▌         | 47/900 [02:08<17:54,  1.26s/it]
  5%|▌         | 48/900 [02:08<15:15,  1.07s/it]
  5%|▌         | 49/900 [02:16<44:20,  3.13s/it]
  6%|▌         | 50/900 [02:17<33:42,  2.38s/it]
  6%|▌         | 51/900 [02:17<26:20,  1.86s/it]
  6%|▌         | 52/900 [02:18<21:09,  1.50s/it]
  6%|▌         | 53/900 [02:19<17:31,  1.24s/it]
  6%|▌         | 54/900 [02:19<14:57,  1.06s/it]
  6%|▌         | 55/900 [02:20<13:08,  1.07it/s]
  6%|▌         | 56/900 [02:21<11:56,  1.18it/s]
  6%|▋         | 57/900 [02:42<1:37:42,  6.95s/it]
  6%|▋         | 58/900 [02:42<1:10:59,  5.06s/it]
  7%|▋         | 59/900 [02:43<52:22,  3.74s/it]  
  7%|▋         | 60/900 [02:44<39:26,  2.82s/it]
  7%|▋         | 61/900 [02:44<30:16,  2.17s/it]
  7%|▋         | 62/900 [02:45<23:49,  1.71s/it]
  7%|▋         | 63/900 [02:46<19:17,  1.38s/it]
  7%|▋         | 64/900 [02:46<16:10,  1.16s/it]
  7%|▋         | 65/900 [02:52<36:01,  2.59s/it]
  7%|▋         | 66/900 [02:53<27:53,  2.01s/it]
  7%|▋         | 67/900 [02:54<22:08,  1.59s/it]
  8%|▊         | 68/900 [02:54<18:08,  1.31s/it]
  8%|▊         | 69/900 [02:55<15:14,  1.10s/it]
  8%|▊         | 70/900 [02:55<13:13,  1.05it/s]
  8%|▊         | 71/900 [02:56<11:48,  1.17it/s]
  8%|▊         | 72/900 [02:57<10:50,  1.27it/s]
  8%|▊         | 73/900 [03:09<57:13,  4.15s/it]
  8%|▊         | 74/900 [03:09<42:39,  3.10s/it]
  8%|▊         | 75/900 [03:10<32:32,  2.37s/it]
  8%|▊         | 76/900 [03:11<25:29,  1.86s/it]
  9%|▊         | 77/900 [03:11<20:29,  1.49s/it]
  9%|▊         | 78/900 [03:12<17:03,  1.25s/it]
  9%|▉         | 79/900 [03:13<14:41,  1.07s/it]
  9%|▉         | 80/900 [03:13<13:06,  1.04it/s]
  9%|▉         | 81/900 [03:19<32:47,  2.40s/it]
  9%|▉         | 82/900 [03:20<25:47,  1.89s/it]
  9%|▉         | 83/900 [03:20<20:41,  1.52s/it]
  9%|▉         | 84/900 [03:21<17:12,  1.26s/it]
  9%|▉         | 85/900 [03:22<14:43,  1.08s/it]
 10%|▉         | 86/900 [03:22<12:59,  1.04it/s]
 10%|▉         | 87/900 [03:23<11:44,  1.15it/s]
 10%|▉         | 88/900 [03:24<10:52,  1.24it/s]
 10%|▉         | 89/900 [03:41<1:17:42,  5.75s/it]
 10%|█         | 90/900 [03:42<56:56,  4.22s/it]  
 10%|█         | 91/900 [03:42<42:23,  3.14s/it]
 10%|█         | 92/900 [03:43<32:15,  2.40s/it]
 10%|█         | 93/900 [03:44<25:05,  1.87s/it]
 10%|█         | 94/900 [03:44<20:07,  1.50s/it]
 11%|█         | 95/900 [03:45<16:39,  1.24s/it]
 11%|█         | 96/900 [03:45<14:11,  1.06s/it]
 11%|█         | 97/900 [03:52<34:25,  2.57s/it]
 11%|█         | 98/900 [03:52<26:38,  1.99s/it]
 11%|█         | 99/900 [03:53<21:08,  1.58s/it]
 11%|█         | 100/900 [03:53<17:16,  1.30s/it]
 11%|█         | 101/900 [03:54<14:39,  1.10s/it]
 11%|█▏        | 102/900 [03:55<12:54,  1.03it/s]
 11%|█▏        | 103/900 [03:55<11:43,  1.13it/s]
 12%|█▏        | 104/900 [03:56<10:57,  1.21it/s]
 12%|█▏        | 105/900 [04:04<38:33,  2.91s/it]
 12%|█▏        | 106/900 [04:05<29:32,  2.23s/it]
 12%|█▏        | 107/900 [04:05<23:31,  1.78s/it]
 12%|█▏        | 108/900 [04:06<19:05,  1.45s/it]
 12%|█▏        | 109/900 [04:07<15:57,  1.21s/it]
 12%|█▏        | 110/900 [04:07<13:46,  1.05s/it]
 12%|█▏        | 111/900 [04:08<12:15,  1.07it/s]
 12%|█▏        | 112/900 [04:09<11:13,  1.17it/s]
 13%|█▎        | 113/900 [04:19<48:34,  3.70s/it]
 13%|█▎        | 114/900 [04:20<36:40,  2.80s/it]
 13%|█▎        | 115/900 [04:20<28:20,  2.17s/it]
 13%|█▎        | 116/900 [04:21<22:31,  1.72s/it]
 13%|█▎        | 117/900 [04:22<18:27,  1.41s/it]
 13%|█▎        | 118/900 [04:22<15:34,  1.20s/it]
 13%|█▎        | 119/900 [04:23<13:34,  1.04s/it]
 13%|█▎        | 120/900 [04:24<12:04,  1.08it/s]
 13%|█▎        | 121/900 [04:45<1:32:27,  7.12s/it]
 14%|█▎        | 122/900 [04:46<1:07:17,  5.19s/it]
 14%|█▎        | 123/900 [04:47<49:41,  3.84s/it]  
 14%|█▍        | 124/900 [04:47<37:22,  2.89s/it]
 14%|█▍        | 125/900 [04:48<28:50,  2.23s/it]
 14%|█▍        | 126/900 [04:49<22:51,  1.77s/it]
 14%|█▍        | 127/900 [04:49<18:41,  1.45s/it]
 14%|█▍        | 128/900 [04:50<15:37,  1.21s/it]
 14%|█▍        | 129/900 [04:58<42:00,  3.27s/it]
 14%|█▍        | 130/900 [04:59<31:56,  2.49s/it]
 15%|█▍        | 131/900 [05:00<24:52,  1.94s/it]
 15%|█▍        | 132/900 [05:00<19:57,  1.56s/it]
 15%|█▍        | 133/900 [05:01<16:30,  1.29s/it]
 15%|█▍        | 134/900 [05:02<14:07,  1.11s/it]
 15%|█▌        | 135/900 [05:02<12:29,  1.02it/s]
 15%|█▌        | 136/900 [05:03<11:16,  1.13it/s]
 15%|█▌        | 137/900 [05:10<35:36,  2.80s/it]
 15%|█▌        | 138/900 [05:11<27:27,  2.16s/it]
 15%|█▌        | 139/900 [05:12<21:56,  1.73s/it]
 16%|█▌        | 140/900 [05:12<18:07,  1.43s/it]
 16%|█▌        | 141/900 [05:13<15:15,  1.21s/it]
 16%|█▌        | 142/900 [05:14<13:14,  1.05s/it]
 16%|█▌        | 143/900 [05:14<11:47,  1.07it/s]
 16%|█▌        | 144/900 [05:15<10:45,  1.17it/s]
 16%|█▌        | 145/900 [05:30<1:03:30,  5.05s/it]
 16%|█▌        | 146/900 [05:31<47:00,  3.74s/it]  
 16%|█▋        | 147/900 [05:31<35:30,  2.83s/it]
 16%|█▋        | 148/900 [05:32<27:26,  2.19s/it]
 17%|█▋        | 149/900 [05:33<21:43,  1.74s/it]
 17%|█▋        | 150/900 [05:33<17:43,  1.42s/it]
 17%|█▋        | 151/900 [05:34<15:07,  1.21s/it]
 17%|█▋        | 152/900 [05:35<13:10,  1.06s/it]
 17%|█▋        | 153/900 [05:51<1:09:58,  5.62s/it]
 17%|█▋        | 154/900 [05:52<51:33,  4.15s/it]  
 17%|█▋        | 155/900 [05:52<38:33,  3.11s/it]
 17%|█▋        | 156/900 [05:53<29:24,  2.37s/it]
 17%|█▋        | 157/900 [05:54<23:03,  1.86s/it]
 18%|█▊        | 158/900 [05:54<18:34,  1.50s/it]
 18%|█▊        | 159/900 [05:55<15:24,  1.25s/it]
 18%|█▊        | 160/900 [05:56<13:13,  1.07s/it]
 18%|█▊        | 161/900 [06:21<1:42:49,  8.35s/it]
 18%|█▊        | 162/900 [06:22<1:14:26,  6.05s/it]
 18%|█▊        | 163/900 [06:22<54:27,  4.43s/it]  
 18%|█▊        | 164/900 [06:23<40:29,  3.30s/it]
 18%|█▊        | 165/900 [06:24<30:42,  2.51s/it]
 18%|█▊        | 166/900 [06:24<23:53,  1.95s/it]
 19%|█▊        | 167/900 [06:25<19:07,  1.57s/it]
 19%|█▊        | 168/900 [06:26<15:52,  1.30s/it]
 19%|█▉        | 169/900 [06:45<1:21:53,  6.72s/it]
 19%|█▉        | 170/900 [06:46<59:43,  4.91s/it]  
 19%|█▉        | 171/900 [06:46<44:09,  3.63s/it]
 19%|█▉        | 172/900 [06:47<33:19,  2.75s/it]
 19%|█▉        | 173/900 [06:48<25:50,  2.13s/it]
 19%|█▉        | 174/900 [06:48<20:35,  1.70s/it]
 19%|█▉        | 175/900 [06:49<16:51,  1.39s/it]
 20%|█▉        | 176/900 [06:50<14:13,  1.18s/it]
 20%|█▉        | 177/900 [07:00<46:37,  3.87s/it]
 20%|█▉        | 178/900 [07:01<35:05,  2.92s/it]
 20%|█▉        | 179/900 [07:01<26:57,  2.24s/it]
 20%|██        | 180/900 [07:02<21:22,  1.78s/it]
 20%|██        | 181/900 [07:03<17:26,  1.45s/it]
 20%|██        | 182/900 [07:03<14:38,  1.22s/it]
 20%|██        | 183/900 [07:04<12:41,  1.06s/it]
 20%|██        | 184/900 [07:05<11:18,  1.06it/s]
 21%|██        | 185/900 [07:14<41:15,  3.46s/it]
 21%|██        | 186/900 [07:15<31:14,  2.63s/it]
 21%|██        | 187/900 [07:15<24:13,  2.04s/it]
 21%|██        | 188/900 [07:16<19:19,  1.63s/it]
 21%|██        | 189/900 [07:17<15:56,  1.35s/it]
 21%|██        | 190/900 [07:17<13:27,  1.14s/it]
 21%|██        | 191/900 [07:18<11:45,  1.00it/s]
 21%|██▏       | 192/900 [07:19<10:33,  1.12it/s]
 21%|██▏       | 193/900 [07:27<36:58,  3.14s/it]
 22%|██▏       | 194/900 [07:28<28:09,  2.39s/it]
 22%|██▏       | 195/900 [07:28<22:08,  1.88s/it]
 22%|██▏       | 196/900 [07:29<17:51,  1.52s/it]
 22%|██▏       | 197/900 [07:30<14:48,  1.26s/it]
 22%|██▏       | 198/900 [07:30<12:38,  1.08s/it]
 22%|██▏       | 199/900 [07:31<11:13,  1.04it/s]
 22%|██▏       | 200/900 [07:32<10:10,  1.15it/s]
 22%|██▏       | 201/900 [07:42<42:51,  3.68s/it]
 22%|██▏       | 202/900 [07:43<32:11,  2.77s/it]
 23%|██▎       | 203/900 [07:43<24:43,  2.13s/it]
 23%|██▎       | 204/900 [07:44<19:29,  1.68s/it]
 23%|██▎       | 205/900 [07:45<15:52,  1.37s/it]
 23%|██▎       | 206/900 [07:45<13:17,  1.15s/it]
 23%|██▎       | 207/900 [07:46<11:29,  1.00it/s]
 23%|██▎       | 208/900 [07:47<10:12,  1.13it/s]
 23%|██▎       | 209/900 [07:59<51:17,  4.45s/it]
 23%|██▎       | 210/900 [08:00<38:04,  3.31s/it]
 23%|██▎       | 211/900 [08:01<28:47,  2.51s/it]
 24%|██▎       | 212/900 [08:01<22:20,  1.95s/it]
 24%|██▎       | 213/900 [08:02<17:47,  1.55s/it]
 24%|██▍       | 214/900 [08:02<14:39,  1.28s/it]
 24%|██▍       | 215/900 [08:03<12:27,  1.09s/it]
 24%|██▍       | 216/900 [08:04<10:55,  1.04it/s]
 24%|██▍       | 217/900 [08:16<48:54,  4.30s/it]
 24%|██▍       | 218/900 [08:16<36:17,  3.19s/it]
 24%|██▍       | 219/900 [08:17<27:30,  2.42s/it]
 24%|██▍       | 220/900 [08:18<21:22,  1.89s/it]
 25%|██▍       | 221/900 [08:18<17:13,  1.52s/it]
 25%|██▍       | 222/900 [08:19<14:13,  1.26s/it]
 25%|██▍       | 223/900 [08:20<12:08,  1.08s/it]
 25%|██▍       | 224/900 [08:20<10:36,  1.06it/s]
 25%|██▌       | 225/900 [08:21<10:04,  1.12it/s]
 25%|██▌       | 226/900 [08:22<09:17,  1.21it/s]
 25%|██▌       | 227/900 [08:22<08:40,  1.29it/s]
 25%|██▌       | 228/900 [08:23<08:16,  1.35it/s]
 25%|██▌       | 229/900 [08:24<07:56,  1.41it/s]
 26%|██▌       | 230/900 [08:24<07:41,  1.45it/s]
 26%|██▌       | 231/900 [08:25<07:29,  1.49it/s]
 26%|██▌       | 232/900 [08:26<07:19,  1.52it/s]
 26%|██▌       | 233/900 [08:26<07:32,  1.47it/s]
 26%|██▌       | 234/900 [08:27<07:20,  1.51it/s]
 26%|██▌       | 235/900 [08:28<07:14,  1.53it/s]
 26%|██▌       | 236/900 [08:28<07:13,  1.53it/s]
 26%|██▋       | 237/900 [08:29<07:11,  1.54it/s]
 26%|██▋       | 238/900 [08:30<07:08,  1.54it/s]
 27%|██▋       | 239/900 [08:30<07:07,  1.55it/s]
 27%|██▋       | 240/900 [08:31<07:08,  1.54it/s]
 27%|██▋       | 241/900 [08:32<07:39,  1.43it/s]
 27%|██▋       | 242/900 [08:32<07:35,  1.44it/s]
 27%|██▋       | 243/900 [08:33<07:29,  1.46it/s]
 27%|██▋       | 244/900 [08:34<07:26,  1.47it/s]
 27%|██▋       | 245/900 [08:34<07:17,  1.50it/s]
 27%|██▋       | 246/900 [08:35<07:11,  1.52it/s]
 27%|██▋       | 247/900 [08:36<07:03,  1.54it/s]
 28%|██▊       | 248/900 [08:36<07:11,  1.51it/s]
 28%|██▊       | 249/900 [08:38<09:50,  1.10it/s]
 28%|██▊       | 250/900 [08:38<08:57,  1.21it/s]
 28%|██▊       | 251/900 [08:39<08:17,  1.31it/s]
 28%|██▊       | 252/900 [08:40<07:49,  1.38it/s]
 28%|██▊       | 253/900 [08:40<07:34,  1.42it/s]
 28%|██▊       | 254/900 [08:41<07:29,  1.44it/s]
 28%|██▊       | 255/900 [08:42<07:15,  1.48it/s]
 28%|██▊       | 256/900 [08:42<07:09,  1.50it/s]
 29%|██▊       | 257/900 [08:43<07:23,  1.45it/s]
 29%|██▊       | 258/900 [08:44<07:12,  1.48it/s]
 29%|██▉       | 259/900 [08:44<07:05,  1.51it/s]
 29%|██▉       | 260/900 [08:45<06:59,  1.53it/s]
 29%|██▉       | 261/900 [08:46<06:55,  1.54it/s]
 29%|██▉       | 262/900 [08:46<06:51,  1.55it/s]
 29%|██▉       | 263/900 [08:47<06:49,  1.55it/s]
 29%|██▉       | 264/900 [08:47<06:44,  1.57it/s]
 29%|██▉       | 265/900 [08:48<07:10,  1.47it/s]
 30%|██▉       | 266/900 [08:49<07:01,  1.50it/s]
 30%|██▉       | 267/900 [08:50<06:56,  1.52it/s]
 30%|██▉       | 268/900 [08:50<06:54,  1.53it/s]
 30%|██▉       | 269/900 [08:51<06:46,  1.55it/s]
 30%|███       | 270/900 [08:51<06:42,  1.57it/s]
 30%|███       | 271/900 [08:52<06:39,  1.57it/s]
 30%|███       | 272/900 [08:53<06:44,  1.55it/s]
 30%|███       | 273/900 [08:53<07:07,  1.47it/s]
 30%|███       | 274/900 [08:54<06:58,  1.50it/s]
 31%|███       | 275/900 [08:55<06:52,  1.52it/s]
 31%|███       | 276/900 [08:55<06:50,  1.52it/s]
 31%|███       | 277/900 [08:56<06:46,  1.53it/s]
 31%|███       | 278/900 [08:57<06:42,  1.54it/s]
 31%|███       | 279/900 [08:57<06:43,  1.54it/s]
 31%|███       | 280/900 [08:58<06:41,  1.54it/s]
 31%|███       | 281/900 [09:12<49:27,  4.79s/it]
 31%|███▏      | 282/900 [09:13<36:46,  3.57s/it]
 31%|███▏      | 283/900 [09:14<27:43,  2.70s/it]
 32%|███▏      | 284/900 [09:14<21:18,  2.08s/it]
 32%|███▏      | 285/900 [09:15<16:49,  1.64s/it]
 32%|███▏      | 286/900 [09:16<13:42,  1.34s/it]
 32%|███▏      | 287/900 [09:16<11:31,  1.13s/it]
 32%|███▏      | 288/900 [09:17<09:59,  1.02it/s]
 32%|███▏      | 289/900 [09:18<09:51,  1.03it/s]
 32%|███▏      | 290/900 [09:19<08:46,  1.16it/s]
 32%|███▏      | 291/900 [09:19<08:05,  1.25it/s]
 32%|███▏      | 292/900 [09:20<07:34,  1.34it/s]
 33%|███▎      | 293/900 [09:20<07:12,  1.40it/s]
 33%|███▎      | 294/900 [09:21<06:57,  1.45it/s]
 33%|███▎      | 295/900 [09:22<06:46,  1.49it/s]
 33%|███▎      | 296/900 [09:22<06:38,  1.51it/s]
 33%|███▎      | 297/900 [09:23<06:52,  1.46it/s]
 33%|███▎      | 298/900 [09:24<06:42,  1.50it/s]
 33%|███▎      | 299/900 [09:24<06:37,  1.51it/s]
 33%|███▎      | 300/900 [09:25<06:33,  1.52it/s]
 33%|███▎      | 301/900 [09:26<06:33,  1.52it/s]
 34%|███▎      | 302/900 [09:26<06:29,  1.53it/s]
 34%|███▎      | 303/900 [09:27<06:26,  1.54it/s]
 34%|███▍      | 304/900 [09:28<06:26,  1.54it/s]
 34%|███▍      | 305/900 [09:29<07:17,  1.36it/s]
 34%|███▍      | 306/900 [09:29<07:03,  1.40it/s]
 34%|███▍      | 307/900 [09:30<06:53,  1.44it/s]
 34%|███▍      | 308/900 [09:30<06:44,  1.46it/s]
 34%|███▍      | 309/900 [09:31<06:40,  1.47it/s]
 34%|███▍      | 310/900 [09:32<06:35,  1.49it/s]
 35%|███▍      | 311/900 [09:32<06:27,  1.52it/s]
 35%|███▍      | 312/900 [09:33<06:21,  1.54it/s]
 35%|███▍      | 313/900 [09:34<06:39,  1.47it/s]
 35%|███▍      | 314/900 [09:34<06:28,  1.51it/s]
 35%|███▌      | 315/900 [09:35<06:19,  1.54it/s]
 35%|███▌      | 316/900 [09:36<06:15,  1.56it/s]
 35%|███▌      | 317/900 [09:36<06:12,  1.56it/s]
 35%|███▌      | 318/900 [09:37<06:16,  1.55it/s]
 35%|███▌      | 319/900 [09:38<06:16,  1.54it/s]
 36%|███▌      | 320/900 [09:38<06:16,  1.54it/s]
 36%|███▌      | 321/900 [09:39<06:47,  1.42it/s]
 36%|███▌      | 322/900 [09:40<06:37,  1.45it/s]
 36%|███▌      | 323/900 [09:40<06:31,  1.47it/s]
 36%|███▌      | 324/900 [09:41<06:26,  1.49it/s]
 36%|███▌      | 325/900 [09:42<06:19,  1.52it/s]
 36%|███▌      | 326/900 [09:42<06:15,  1.53it/s]
 36%|███▋      | 327/900 [09:43<06:12,  1.54it/s]
 36%|███▋      | 328/900 [09:44<06:10,  1.54it/s]
 37%|███▋      | 329/900 [09:44<06:25,  1.48it/s]
 37%|███▋      | 330/900 [09:45<06:20,  1.50it/s]
 37%|███▋      | 331/900 [09:46<06:18,  1.50it/s]
 37%|███▋      | 332/900 [09:46<06:15,  1.51it/s]
 37%|███▋      | 333/900 [09:47<06:12,  1.52it/s]
 37%|███▋      | 334/900 [09:48<06:13,  1.51it/s]
 37%|███▋      | 335/900 [09:48<06:17,  1.50it/s]
 37%|███▋      | 336/900 [09:49<06:10,  1.52it/s]
 37%|███▋      | 337/900 [09:50<06:22,  1.47it/s]
 38%|███▊      | 338/900 [09:50<06:11,  1.51it/s]
 38%|███▊      | 339/900 [09:51<06:05,  1.53it/s]
 38%|███▊      | 340/900 [09:52<06:02,  1.54it/s]
 38%|███▊      | 341/900 [09:52<06:02,  1.54it/s]
 38%|███▊      | 342/900 [09:53<06:03,  1.53it/s]
 38%|███▊      | 343/900 [09:54<05:59,  1.55it/s]
 38%|███▊      | 344/900 [09:54<05:55,  1.56it/s]
 38%|███▊      | 345/900 [09:55<06:08,  1.51it/s]
 38%|███▊      | 346/900 [09:56<06:04,  1.52it/s]
 39%|███▊      | 347/900 [09:56<06:03,  1.52it/s]
 39%|███▊      | 348/900 [09:57<06:02,  1.52it/s]
 39%|███▉      | 349/900 [09:58<06:05,  1.51it/s]
 39%|███▉      | 350/900 [09:58<05:59,  1.53it/s]
 39%|███▉      | 351/900 [09:59<05:55,  1.54it/s]
 39%|███▉      | 352/900 [09:59<05:52,  1.55it/s]
 39%|███▉      | 353/900 [10:00<06:09,  1.48it/s]
 39%|███▉      | 354/900 [10:01<06:01,  1.51it/s]
 39%|███▉      | 355/900 [10:01<06:01,  1.51it/s]
 40%|███▉      | 356/900 [10:02<06:00,  1.51it/s]
 40%|███▉      | 357/900 [10:03<05:57,  1.52it/s]
 40%|███▉      | 358/900 [10:03<05:51,  1.54it/s]
 40%|███▉      | 359/900 [10:04<05:51,  1.54it/s]
 40%|████      | 360/900 [10:05<05:49,  1.54it/s]
 40%|████      | 361/900 [10:13<25:42,  2.86s/it]
 40%|████      | 362/900 [10:13<19:40,  2.20s/it]
 40%|████      | 363/900 [10:14<15:27,  1.73s/it]
 40%|████      | 364/900 [10:15<12:32,  1.40s/it]
 41%|████      | 365/900 [10:15<10:27,  1.17s/it]
 41%|████      | 366/900 [10:16<09:02,  1.02s/it]
 41%|████      | 367/900 [10:17<08:05,  1.10it/s]
 41%|████      | 368/900 [10:17<07:23,  1.20it/s]
 41%|████      | 369/900 [10:18<07:21,  1.20it/s]
 41%|████      | 370/900 [10:19<06:54,  1.28it/s]
 41%|████      | 371/900 [10:19<06:38,  1.33it/s]
 41%|████▏     | 372/900 [10:20<06:25,  1.37it/s]
 41%|████▏     | 373/900 [10:21<06:16,  1.40it/s]
 42%|████▏     | 374/900 [10:21<06:09,  1.43it/s]
 42%|████▏     | 375/900 [10:22<06:04,  1.44it/s]
 42%|████▏     | 376/900 [10:23<05:59,  1.46it/s]
 42%|████▏     | 377/900 [10:24<06:09,  1.42it/s]
 42%|████▏     | 378/900 [10:24<06:00,  1.45it/s]
 42%|████▏     | 379/900 [10:25<05:58,  1.45it/s]
 42%|████▏     | 380/900 [10:26<05:51,  1.48it/s]
 42%|████▏     | 381/900 [10:26<05:54,  1.46it/s]
 42%|████▏     | 382/900 [10:27<05:47,  1.49it/s]
 43%|████▎     | 383/900 [10:28<05:45,  1.49it/s]
 43%|████▎     | 384/900 [10:28<05:44,  1.50it/s]
 43%|████▎     | 385/900 [10:29<06:18,  1.36it/s]
 43%|████▎     | 386/900 [10:30<06:07,  1.40it/s]
 43%|████▎     | 387/900 [10:30<06:02,  1.42it/s]
 43%|████▎     | 388/900 [10:31<05:53,  1.45it/s]
 43%|████▎     | 389/900 [10:32<05:50,  1.46it/s]
 43%|████▎     | 390/900 [10:32<05:43,  1.49it/s]
 43%|████▎     | 391/900 [10:33<05:41,  1.49it/s]
 44%|████▎     | 392/900 [10:34<05:34,  1.52it/s]
 44%|████▎     | 393/900 [10:34<05:50,  1.45it/s]
 44%|████▍     | 394/900 [10:35<05:40,  1.48it/s]
 44%|████▍     | 395/900 [10:36<05:34,  1.51it/s]
 44%|████▍     | 396/900 [10:36<05:32,  1.52it/s]
 44%|████▍     | 397/900 [10:37<05:28,  1.53it/s]
 44%|████▍     | 398/900 [10:38<05:23,  1.55it/s]
 44%|████▍     | 399/900 [10:38<05:21,  1.56it/s]
 44%|████▍     | 400/900 [10:39<05:19,  1.56it/s]
 45%|████▍     | 401/900 [10:40<05:37,  1.48it/s]
 45%|████▍     | 402/900 [10:40<05:30,  1.51it/s]
 45%|████▍     | 403/900 [10:41<05:24,  1.53it/s]
 45%|████▍     | 404/900 [10:42<05:20,  1.55it/s]
 45%|████▌     | 405/900 [10:42<05:20,  1.54it/s]
 45%|████▌     | 406/900 [10:43<05:21,  1.53it/s]
 45%|████▌     | 407/900 [10:44<05:23,  1.53it/s]
 45%|████▌     | 408/900 [10:44<05:23,  1.52it/s]
 45%|████▌     | 409/900 [10:46<06:58,  1.17it/s]
 46%|████▌     | 410/900 [10:46<06:28,  1.26it/s]
 46%|████▌     | 411/900 [10:47<06:08,  1.33it/s]
 46%|████▌     | 412/900 [10:47<05:52,  1.39it/s]
 46%|████▌     | 413/900 [10:48<05:42,  1.42it/s]
 46%|████▌     | 414/900 [10:49<05:35,  1.45it/s]
 46%|████▌     | 415/900 [10:49<05:27,  1.48it/s]
 46%|████▌     | 416/900 [10:50<05:21,  1.51it/s]
 46%|████▋     | 417/900 [10:51<05:35,  1.44it/s]
 46%|████▋     | 418/900 [10:52<05:27,  1.47it/s]
 47%|████▋     | 419/900 [10:52<05:23,  1.49it/s]
 47%|████▋     | 420/900 [10:53<05:20,  1.50it/s]
 47%|████▋     | 421/900 [10:53<05:13,  1.53it/s]
 47%|████▋     | 422/900 [10:54<05:11,  1.53it/s]
 47%|████▋     | 423/900 [10:55<05:08,  1.55it/s]
 47%|████▋     | 424/900 [10:55<05:09,  1.54it/s]
 47%|████▋     | 425/900 [10:56<05:24,  1.46it/s]
 47%|████▋     | 426/900 [10:57<05:17,  1.49it/s]
 47%|████▋     | 427/900 [10:57<05:12,  1.51it/s]
 48%|████▊     | 428/900 [10:58<05:07,  1.53it/s]
 48%|████▊     | 429/900 [10:59<05:04,  1.55it/s]
 48%|████▊     | 430/900 [10:59<05:01,  1.56it/s]
 48%|████▊     | 431/900 [11:00<04:59,  1.57it/s]
 48%|████▊     | 432/900 [11:01<04:56,  1.58it/s]
 48%|████▊     | 433/900 [11:01<05:12,  1.49it/s]
 48%|████▊     | 434/900 [11:02<05:07,  1.52it/s]
 48%|████▊     | 435/900 [11:03<05:03,  1.53it/s]
 48%|████▊     | 436/900 [11:03<05:01,  1.54it/s]
 49%|████▊     | 437/900 [11:04<04:57,  1.56it/s]
 49%|████▊     | 438/900 [11:05<04:56,  1.56it/s]
 49%|████▉     | 439/900 [11:05<04:55,  1.56it/s]
 49%|████▉     | 440/900 [11:06<04:58,  1.54it/s]
 49%|████▉     | 441/900 [11:30<59:13,  7.74s/it]
 49%|████▉     | 442/900 [11:31<42:48,  5.61s/it]
 49%|████▉     | 443/900 [11:31<31:22,  4.12s/it]
 49%|████▉     | 444/900 [11:32<23:24,  3.08s/it]
 49%|████▉     | 445/900 [11:33<17:48,  2.35s/it]
 50%|████▉     | 446/900 [11:33<13:55,  1.84s/it]
 50%|████▉     | 447/900 [11:34<11:11,  1.48s/it]
 50%|████▉     | 448/900 [11:35<09:13,  1.22s/it]
 50%|████▉     | 449/900 [11:36<08:32,  1.14s/it]
 50%|█████     | 450/900 [11:36<07:29,  1.00it/s]
 50%|█████     | 451/900 [11:37<06:41,  1.12it/s]
 50%|█████     | 452/900 [11:38<06:07,  1.22it/s]
 50%|█████     | 453/900 [11:38<05:41,  1.31it/s]
 50%|█████     | 454/900 [11:39<05:22,  1.38it/s]
 51%|█████     | 455/900 [11:39<05:13,  1.42it/s]
 51%|█████     | 456/900 [11:40<05:05,  1.45it/s]
 51%|█████     | 457/900 [11:41<05:20,  1.38it/s]
 51%|█████     | 458/900 [11:42<05:09,  1.43it/s]
 51%|█████     | 459/900 [11:42<05:00,  1.47it/s]
 51%|█████     | 460/900 [11:43<04:53,  1.50it/s]
 51%|█████     | 461/900 [11:43<04:49,  1.52it/s]
 51%|█████▏    | 462/900 [11:44<04:45,  1.53it/s]
 51%|█████▏    | 463/900 [11:45<04:40,  1.56it/s]
 52%|█████▏    | 464/900 [11:45<04:37,  1.57it/s]
 52%|█████▏    | 465/900 [11:46<04:54,  1.48it/s]
 52%|█████▏    | 466/900 [11:47<04:47,  1.51it/s]
 52%|█████▏    | 467/900 [11:47<04:44,  1.52it/s]
 52%|█████▏    | 468/900 [11:48<04:39,  1.55it/s]
 52%|█████▏    | 469/900 [11:49<04:36,  1.56it/s]
 52%|█████▏    | 470/900 [11:49<04:34,  1.57it/s]
 52%|█████▏    | 471/900 [11:50<04:31,  1.58it/s]
 52%|█████▏    | 472/900 [11:50<04:29,  1.59it/s]
 53%|█████▎    | 473/900 [11:51<04:43,  1.51it/s]
 53%|█████▎    | 474/900 [11:52<04:36,  1.54it/s]
 53%|█████▎    | 475/900 [11:52<04:30,  1.57it/s]
 53%|█████▎    | 476/900 [11:53<04:28,  1.58it/s]
 53%|█████▎    | 477/900 [11:54<04:31,  1.56it/s]
 53%|█████▎    | 478/900 [11:54<04:29,  1.56it/s]
 53%|█████▎    | 479/900 [11:55<04:35,  1.53it/s]
 53%|█████▎    | 480/900 [11:56<04:33,  1.53it/s]
 53%|█████▎    | 481/900 [11:57<04:53,  1.43it/s]
 54%|█████▎    | 482/900 [11:57<04:47,  1.45it/s]
 54%|█████▎    | 483/900 [11:58<04:37,  1.50it/s]
 54%|█████▍    | 484/900 [11:58<04:31,  1.53it/s]
 54%|█████▍    | 485/900 [11:59<04:27,  1.55it/s]
 54%|█████▍    | 486/900 [12:00<04:26,  1.55it/s]
 54%|█████▍    | 487/900 [12:00<04:24,  1.56it/s]
 54%|█████▍    | 488/900 [12:01<04:23,  1.56it/s]
 54%|█████▍    | 489/900 [12:02<04:39,  1.47it/s]
 54%|█████▍    | 490/900 [12:02<04:32,  1.50it/s]
 55%|█████▍    | 491/900 [12:03<04:28,  1.52it/s]
 55%|█████▍    | 492/900 [12:04<04:23,  1.55it/s]
 55%|█████▍    | 493/900 [12:04<04:22,  1.55it/s]
 55%|█████▍    | 494/900 [12:05<04:19,  1.56it/s]
 55%|█████▌    | 495/900 [12:06<04:17,  1.57it/s]
 55%|█████▌    | 496/900 [12:06<04:18,  1.56it/s]
 55%|█████▌    | 497/900 [12:07<04:32,  1.48it/s]
 55%|█████▌    | 498/900 [12:08<04:27,  1.50it/s]
 55%|█████▌    | 499/900 [12:08<04:25,  1.51it/s]
 56%|█████▌    | 500/900 [12:09<05:36,  1.19it/s]
 56%|█████▌    | 501/900 [12:10<05:15,  1.27it/s]
 56%|█████▌    | 502/900 [12:11<04:55,  1.35it/s]
 56%|█████▌    | 503/900 [12:11<04:42,  1.40it/s]
 56%|█████▌    | 504/900 [12:12<04:33,  1.45it/s]
 56%|█████▌    | 505/900 [12:13<04:39,  1.41it/s]
 56%|█████▌    | 506/900 [12:13<04:28,  1.47it/s]
 56%|█████▋    | 507/900 [12:14<04:23,  1.49it/s]
 56%|█████▋    | 508/900 [12:15<04:16,  1.53it/s]
 57%|█████▋    | 509/900 [12:15<04:11,  1.55it/s]
 57%|█████▋    | 510/900 [12:16<04:09,  1.56it/s]
 57%|█████▋    | 511/900 [12:17<04:06,  1.58it/s]
 57%|█████▋    | 512/900 [12:17<04:07,  1.57it/s]
 57%|█████▋    | 513/900 [12:18<04:30,  1.43it/s]
 57%|█████▋    | 514/900 [12:19<04:27,  1.45it/s]
 57%|█████▋    | 515/900 [12:19<04:24,  1.46it/s]
 57%|█████▋    | 516/900 [12:20<04:23,  1.46it/s]
 57%|█████▋    | 517/900 [12:21<04:19,  1.48it/s]
 58%|█████▊    | 518/900 [12:21<04:15,  1.50it/s]
 58%|█████▊    | 519/900 [12:22<04:10,  1.52it/s]
 58%|█████▊    | 520/900 [12:23<04:06,  1.54it/s]
 58%|█████▊    | 521/900 [12:23<04:20,  1.45it/s]
 58%|█████▊    | 522/900 [12:24<04:14,  1.49it/s]
 58%|█████▊    | 523/900 [12:25<04:07,  1.52it/s]
 58%|█████▊    | 524/900 [12:25<04:03,  1.55it/s]
 58%|█████▊    | 525/900 [12:26<03:59,  1.56it/s]
 58%|█████▊    | 526/900 [12:27<03:57,  1.57it/s]
 59%|█████▊    | 527/900 [12:27<03:56,  1.58it/s]
 59%|█████▊    | 528/900 [12:28<03:54,  1.59it/s]
 59%|█████▉    | 529/900 [12:29<05:14,  1.18it/s]
 59%|█████▉    | 530/900 [12:30<04:50,  1.27it/s]
 59%|█████▉    | 531/900 [12:30<04:37,  1.33it/s]
 59%|█████▉    | 532/900 [12:31<04:27,  1.37it/s]
 59%|█████▉    | 533/900 [12:32<04:19,  1.41it/s]
 59%|█████▉    | 534/900 [12:32<04:13,  1.44it/s]
 59%|█████▉    | 535/900 [12:33<04:07,  1.47it/s]
 60%|█████▉    | 536/900 [12:34<04:02,  1.50it/s]
 60%|█████▉    | 537/900 [12:35<04:17,  1.41it/s]
 60%|█████▉    | 538/900 [12:35<04:12,  1.44it/s]
 60%|█████▉    | 539/900 [12:36<04:05,  1.47it/s]
 60%|██████    | 540/900 [12:37<04:01,  1.49it/s]
 60%|██████    | 541/900 [12:37<04:05,  1.46it/s]
 60%|██████    | 542/900 [12:38<04:03,  1.47it/s]
 60%|██████    | 543/900 [12:39<04:00,  1.49it/s]
 60%|██████    | 544/900 [12:39<03:55,  1.51it/s]
 61%|██████    | 545/900 [12:40<04:09,  1.42it/s]
 61%|██████    | 546/900 [12:41<04:02,  1.46it/s]
 61%|██████    | 547/900 [12:41<03:56,  1.49it/s]
 61%|██████    | 548/900 [12:42<03:52,  1.52it/s]
 61%|██████    | 549/900 [12:43<03:48,  1.53it/s]
 61%|██████    | 550/900 [12:43<03:46,  1.55it/s]
 61%|██████    | 551/900 [12:44<03:42,  1.57it/s]
 61%|██████▏   | 552/900 [12:44<03:42,  1.56it/s]
 61%|██████▏   | 553/900 [12:46<04:33,  1.27it/s]
 62%|██████▏   | 554/900 [12:46<04:14,  1.36it/s]
 62%|██████▏   | 555/900 [12:47<04:03,  1.42it/s]
 62%|██████▏   | 556/900 [12:47<03:53,  1.47it/s]
 62%|██████▏   | 557/900 [12:48<03:47,  1.51it/s]
 62%|██████▏   | 558/900 [12:49<03:43,  1.53it/s]
 62%|██████▏   | 559/900 [12:49<03:41,  1.54it/s]
 62%|██████▏   | 560/900 [12:50<03:38,  1.56it/s]
 62%|██████▏   | 561/900 [12:51<04:05,  1.38it/s]
 62%|██████▏   | 562/900 [12:52<03:56,  1.43it/s]
 63%|██████▎   | 563/900 [12:52<03:50,  1.47it/s]
 63%|██████▎   | 564/900 [12:53<03:43,  1.50it/s]
 63%|██████▎   | 565/900 [12:53<03:39,  1.53it/s]
 63%|██████▎   | 566/900 [12:54<03:35,  1.55it/s]
 63%|██████▎   | 567/900 [12:55<03:37,  1.53it/s]
 63%|██████▎   | 568/900 [12:55<03:36,  1.53it/s]
 63%|██████▎   | 569/900 [12:56<03:48,  1.45it/s]
 63%|██████▎   | 570/900 [12:57<03:45,  1.47it/s]
 63%|██████▎   | 571/900 [12:57<03:39,  1.50it/s]
 64%|██████▎   | 572/900 [12:58<03:35,  1.52it/s]
 64%|██████▎   | 573/900 [12:59<03:32,  1.54it/s]
 64%|██████▍   | 574/900 [12:59<03:30,  1.55it/s]
 64%|██████▍   | 575/900 [13:00<03:27,  1.56it/s]
 64%|██████▍   | 576/900 [13:01<03:25,  1.57it/s]
 64%|██████▍   | 577/900 [13:01<03:36,  1.49it/s]
 64%|██████▍   | 578/900 [13:02<03:33,  1.51it/s]
 64%|██████▍   | 579/900 [13:03<03:31,  1.52it/s]
 64%|██████▍   | 580/900 [13:03<03:30,  1.52it/s]
 65%|██████▍   | 581/900 [13:04<03:29,  1.53it/s]
 65%|██████▍   | 582/900 [13:05<03:27,  1.54it/s]
 65%|██████▍   | 583/900 [13:05<03:24,  1.55it/s]
 65%|██████▍   | 584/900 [13:06<03:22,  1.56it/s]
 65%|██████▌   | 585/900 [13:07<03:32,  1.48it/s]
 65%|██████▌   | 586/900 [13:07<03:29,  1.50it/s]
 65%|██████▌   | 587/900 [13:08<03:26,  1.51it/s]
 65%|██████▌   | 588/900 [13:09<03:26,  1.51it/s]
 65%|██████▌   | 589/900 [13:09<03:24,  1.52it/s]
 66%|██████▌   | 590/900 [13:10<03:22,  1.53it/s]
 66%|██████▌   | 591/900 [13:10<03:19,  1.55it/s]
 66%|██████▌   | 592/900 [13:11<03:18,  1.55it/s]
 66%|██████▌   | 593/900 [13:12<03:29,  1.46it/s]
 66%|██████▌   | 594/900 [13:13<03:25,  1.49it/s]
 66%|██████▌   | 595/900 [13:13<03:21,  1.51it/s]
 66%|██████▌   | 596/900 [13:14<03:18,  1.53it/s]
 66%|██████▋   | 597/900 [13:14<03:15,  1.55it/s]
 66%|██████▋   | 598/900 [13:15<03:15,  1.54it/s]
 67%|██████▋   | 599/900 [13:16<03:15,  1.54it/s]
 67%|██████▋   | 600/900 [13:16<03:14,  1.54it/s]
 67%|██████▋   | 601/900 [13:17<03:26,  1.45it/s]
 67%|██████▋   | 602/900 [13:18<03:21,  1.48it/s]
 67%|██████▋   | 603/900 [13:18<03:19,  1.49it/s]
 67%|██████▋   | 604/900 [13:19<03:15,  1.51it/s]
 67%|██████▋   | 605/900 [13:20<03:15,  1.51it/s]
 67%|██████▋   | 606/900 [13:20<03:12,  1.53it/s]
 67%|██████▋   | 607/900 [13:21<03:08,  1.55it/s]
 68%|██████▊   | 608/900 [13:22<03:06,  1.57it/s]
 68%|██████▊   | 609/900 [13:22<03:16,  1.48it/s]
 68%|██████▊   | 610/900 [13:23<03:13,  1.50it/s]
 68%|██████▊   | 611/900 [13:24<03:12,  1.50it/s]
 68%|██████▊   | 612/900 [13:24<03:10,  1.51it/s]
 68%|██████▊   | 613/900 [13:25<03:07,  1.53it/s]
 68%|██████▊   | 614/900 [13:26<03:05,  1.54it/s]
 68%|██████▊   | 615/900 [13:26<03:03,  1.55it/s]
 68%|██████▊   | 616/900 [13:27<03:01,  1.56it/s]
 69%|██████▊   | 617/900 [13:28<03:12,  1.47it/s]
 69%|██████▊   | 618/900 [13:28<03:08,  1.49it/s]
 69%|██████▉   | 619/900 [13:29<03:03,  1.53it/s]
 69%|██████▉   | 620/900 [13:30<03:01,  1.54it/s]
 69%|██████▉   | 621/900 [13:30<02:57,  1.57it/s]
 69%|██████▉   | 622/900 [13:31<02:57,  1.57it/s]
 69%|██████▉   | 623/900 [13:32<02:58,  1.55it/s]
 69%|██████▉   | 624/900 [13:32<03:02,  1.51it/s]
 69%|██████▉   | 625/900 [13:33<03:07,  1.46it/s]
 70%|██████▉   | 626/900 [13:34<03:02,  1.50it/s]
 70%|██████▉   | 627/900 [13:34<03:01,  1.50it/s]
 70%|██████▉   | 628/900 [13:35<02:57,  1.53it/s]
 70%|██████▉   | 629/900 [13:36<02:57,  1.52it/s]
 70%|███████   | 630/900 [13:36<02:57,  1.52it/s]
 70%|███████   | 631/900 [13:37<02:56,  1.52it/s]
 70%|███████   | 632/900 [13:37<02:54,  1.54it/s]
 70%|███████   | 633/900 [13:38<03:03,  1.45it/s]
 70%|███████   | 634/900 [13:39<02:58,  1.49it/s]
 71%|███████   | 635/900 [13:40<02:54,  1.52it/s]
 71%|███████   | 636/900 [13:40<02:54,  1.51it/s]
 71%|███████   | 637/900 [13:41<02:54,  1.51it/s]
 71%|███████   | 638/900 [13:42<02:52,  1.52it/s]
 71%|███████   | 639/900 [13:42<02:51,  1.52it/s]
 71%|███████   | 640/900 [13:43<02:51,  1.52it/s]
 71%|███████   | 641/900 [13:44<03:00,  1.43it/s]
 71%|███████▏  | 642/900 [13:44<02:57,  1.45it/s]
 71%|███████▏  | 643/900 [13:45<02:53,  1.48it/s]
 72%|███████▏  | 644/900 [13:46<02:50,  1.51it/s]
 72%|███████▏  | 645/900 [13:46<02:46,  1.53it/s]
 72%|███████▏  | 646/900 [13:47<02:45,  1.53it/s]
 72%|███████▏  | 647/900 [13:47<02:44,  1.54it/s]
 72%|███████▏  | 648/900 [13:48<02:43,  1.54it/s]
 72%|███████▏  | 649/900 [13:49<02:50,  1.47it/s]
 72%|███████▏  | 650/900 [13:50<02:46,  1.50it/s]
 72%|███████▏  | 651/900 [13:50<02:48,  1.48it/s]
 72%|███████▏  | 652/900 [13:51<02:48,  1.47it/s]
 73%|███████▎  | 653/900 [13:52<02:45,  1.50it/s]
 73%|███████▎  | 654/900 [13:52<02:43,  1.50it/s]
 73%|███████▎  | 655/900 [13:53<02:42,  1.51it/s]
 73%|███████▎  | 656/900 [13:54<02:41,  1.51it/s]
 73%|███████▎  | 657/900 [13:54<02:48,  1.45it/s]
 73%|███████▎  | 658/900 [13:55<02:42,  1.49it/s]
 73%|███████▎  | 659/900 [13:56<02:38,  1.52it/s]
 73%|███████▎  | 660/900 [13:56<02:36,  1.54it/s]
 73%|███████▎  | 661/900 [13:57<02:34,  1.54it/s]
 74%|███████▎  | 662/900 [13:57<02:34,  1.54it/s]
 74%|███████▎  | 663/900 [13:58<02:37,  1.51it/s]
 74%|███████▍  | 664/900 [13:59<02:33,  1.53it/s]
 74%|███████▍  | 665/900 [14:00<02:40,  1.46it/s]
 74%|███████▍  | 666/900 [14:00<02:37,  1.48it/s]
 74%|███████▍  | 667/900 [14:01<02:37,  1.48it/s]
 74%|███████▍  | 668/900 [14:02<02:35,  1.49it/s]
 74%|███████▍  | 669/900 [14:02<02:33,  1.51it/s]
 74%|███████▍  | 670/900 [14:03<02:30,  1.53it/s]
 75%|███████▍  | 671/900 [14:03<02:27,  1.55it/s]
 75%|███████▍  | 672/900 [14:04<02:28,  1.54it/s]
 75%|███████▍  | 673/900 [14:05<02:36,  1.45it/s]
 75%|███████▍  | 674/900 [14:06<02:33,  1.47it/s]
 75%|███████▌  | 675/900 [14:06<02:30,  1.50it/s]
 75%|███████▌  | 676/900 [14:07<02:27,  1.52it/s]
 75%|███████▌  | 677/900 [14:07<02:25,  1.53it/s]
 75%|███████▌  | 678/900 [14:08<02:23,  1.55it/s]
 75%|███████▌  | 679/900 [14:09<02:22,  1.55it/s]
 76%|███████▌  | 680/900 [14:09<02:22,  1.54it/s]
 76%|███████▌  | 681/900 [14:10<02:29,  1.46it/s]
 76%|███████▌  | 682/900 [14:11<02:27,  1.48it/s]
 76%|███████▌  | 683/900 [14:11<02:24,  1.50it/s]
 76%|███████▌  | 684/900 [14:12<02:22,  1.52it/s]
 76%|███████▌  | 685/900 [14:13<02:21,  1.52it/s]
 76%|███████▌  | 686/900 [14:13<02:17,  1.55it/s]
 76%|███████▋  | 687/900 [14:14<02:17,  1.55it/s]
 76%|███████▋  | 688/900 [14:15<02:15,  1.57it/s]
 77%|███████▋  | 689/900 [14:16<02:35,  1.35it/s]
 77%|███████▋  | 690/900 [14:16<02:29,  1.41it/s]
 77%|███████▋  | 691/900 [14:17<02:24,  1.45it/s]
 77%|███████▋  | 692/900 [14:18<02:22,  1.46it/s]
 77%|███████▋  | 693/900 [14:18<02:21,  1.46it/s]
 77%|███████▋  | 694/900 [14:19<02:18,  1.49it/s]
 77%|███████▋  | 695/900 [14:20<02:17,  1.49it/s]
 77%|███████▋  | 696/900 [14:20<02:14,  1.52it/s]
 77%|███████▋  | 697/900 [14:22<03:09,  1.07it/s]
 78%|███████▊  | 698/900 [14:22<02:50,  1.18it/s]
 78%|███████▊  | 699/900 [14:23<02:36,  1.28it/s]
 78%|███████▊  | 700/900 [14:24<02:26,  1.36it/s]
 78%|███████▊  | 701/900 [14:24<02:21,  1.41it/s]
 78%|███████▊  | 702/900 [14:25<02:15,  1.47it/s]
 78%|███████▊  | 703/900 [14:26<02:11,  1.50it/s]
 78%|███████▊  | 704/900 [14:26<02:08,  1.52it/s]
 78%|███████▊  | 705/900 [14:27<02:14,  1.45it/s]
 78%|███████▊  | 706/900 [14:28<02:10,  1.49it/s]
 79%|███████▊  | 707/900 [14:28<02:07,  1.51it/s]
 79%|███████▊  | 708/900 [14:29<02:06,  1.52it/s]
 79%|███████▉  | 709/900 [14:30<02:04,  1.54it/s]
 79%|███████▉  | 710/900 [14:30<02:02,  1.55it/s]
 79%|███████▉  | 711/900 [14:31<02:00,  1.57it/s]
 79%|███████▉  | 712/900 [14:31<01:59,  1.57it/s]
 79%|███████▉  | 713/900 [14:32<02:07,  1.47it/s]
 79%|███████▉  | 714/900 [14:33<02:04,  1.50it/s]
 79%|███████▉  | 715/900 [14:33<02:01,  1.52it/s]
 80%|███████▉  | 716/900 [14:34<02:00,  1.53it/s]
 80%|███████▉  | 717/900 [14:35<02:00,  1.51it/s]
 80%|███████▉  | 718/900 [14:35<02:00,  1.51it/s]
 80%|███████▉  | 719/900 [14:36<01:58,  1.53it/s]
 80%|████████  | 720/900 [14:37<01:57,  1.53it/s]
 80%|████████  | 721/900 [14:38<02:04,  1.44it/s]
 80%|████████  | 722/900 [14:38<02:00,  1.47it/s]
 80%|████████  | 723/900 [14:39<01:58,  1.49it/s]
 80%|████████  | 724/900 [14:39<01:57,  1.50it/s]
 81%|████████  | 725/900 [14:40<01:56,  1.50it/s]
 81%|████████  | 726/900 [14:41<01:54,  1.52it/s]
 81%|████████  | 727/900 [14:41<01:55,  1.50it/s]
 81%|████████  | 728/900 [14:42<01:53,  1.51it/s]
 81%|████████  | 729/900 [14:43<02:08,  1.33it/s]
 81%|████████  | 730/900 [14:44<02:01,  1.40it/s]
 81%|████████  | 731/900 [14:44<01:57,  1.44it/s]
 81%|████████▏ | 732/900 [14:45<01:56,  1.44it/s]
 81%|████████▏ | 733/900 [14:46<01:55,  1.45it/s]
 82%|████████▏ | 734/900 [14:46<01:53,  1.46it/s]
 82%|████████▏ | 735/900 [14:47<01:51,  1.48it/s]
 82%|████████▏ | 736/900 [14:48<01:50,  1.49it/s]
 82%|████████▏ | 737/900 [14:49<01:55,  1.41it/s]
 82%|████████▏ | 738/900 [14:49<01:53,  1.43it/s]
 82%|████████▏ | 739/900 [14:50<01:50,  1.46it/s]
 82%|████████▏ | 740/900 [14:51<01:49,  1.46it/s]
 82%|████████▏ | 741/900 [14:51<01:47,  1.48it/s]
 82%|████████▏ | 742/900 [14:52<01:46,  1.48it/s]
 83%|████████▎ | 743/900 [14:53<01:45,  1.49it/s]
 83%|████████▎ | 744/900 [14:53<01:42,  1.51it/s]
 83%|████████▎ | 745/900 [14:54<01:45,  1.47it/s]
 83%|████████▎ | 746/900 [14:55<01:42,  1.50it/s]
 83%|████████▎ | 747/900 [14:55<01:40,  1.52it/s]
 83%|████████▎ | 748/900 [14:56<01:39,  1.53it/s]
 83%|████████▎ | 749/900 [14:56<01:38,  1.54it/s]
 83%|████████▎ | 750/900 [14:57<01:38,  1.53it/s]
 83%|████████▎ | 751/900 [14:58<01:37,  1.53it/s]
 84%|████████▎ | 752/900 [14:58<01:37,  1.52it/s]
 84%|████████▎ | 753/900 [14:59<01:45,  1.39it/s]
 84%|████████▍ | 754/900 [15:00<01:42,  1.43it/s]
 84%|████████▍ | 755/900 [15:01<01:39,  1.45it/s]
 84%|████████▍ | 756/900 [15:01<01:37,  1.48it/s]
 84%|████████▍ | 757/900 [15:02<01:34,  1.51it/s]
 84%|████████▍ | 758/900 [15:02<01:32,  1.54it/s]
 84%|████████▍ | 759/900 [15:03<01:32,  1.52it/s]
 84%|████████▍ | 760/900 [15:04<01:32,  1.51it/s]
 85%|████████▍ | 761/900 [15:05<01:34,  1.47it/s]
 85%|████████▍ | 762/900 [15:05<01:32,  1.49it/s]
 85%|████████▍ | 763/900 [15:06<01:30,  1.51it/s]
 85%|████████▍ | 764/900 [15:06<01:28,  1.54it/s]
 85%|████████▌ | 765/900 [15:07<01:27,  1.55it/s]
 85%|████████▌ | 766/900 [15:08<01:25,  1.56it/s]
 85%|████████▌ | 767/900 [15:08<01:24,  1.57it/s]
 85%|████████▌ | 768/900 [15:09<01:24,  1.56it/s]
 85%|████████▌ | 769/900 [15:10<01:30,  1.45it/s]
 86%|████████▌ | 770/900 [15:10<01:27,  1.48it/s]
 86%|████████▌ | 771/900 [15:11<01:25,  1.51it/s]
 86%|████████▌ | 772/900 [15:12<01:24,  1.52it/s]
 86%|████████▌ | 773/900 [15:12<01:23,  1.53it/s]
 86%|████████▌ | 774/900 [15:13<01:22,  1.54it/s]
 86%|████████▌ | 775/900 [15:14<01:20,  1.54it/s]
 86%|████████▌ | 776/900 [15:14<01:22,  1.51it/s]
 86%|████████▋ | 777/900 [15:15<01:37,  1.26it/s]
 86%|████████▋ | 778/900 [15:16<01:31,  1.33it/s]
 87%|████████▋ | 779/900 [15:17<01:27,  1.38it/s]
 87%|████████▋ | 780/900 [15:17<01:23,  1.43it/s]
 87%|████████▋ | 781/900 [15:18<01:21,  1.47it/s]
 87%|████████▋ | 782/900 [15:19<01:18,  1.50it/s]
 87%|████████▋ | 783/900 [15:19<01:17,  1.51it/s]
 87%|████████▋ | 784/900 [15:20<01:15,  1.53it/s]
 87%|████████▋ | 785/900 [15:21<01:18,  1.47it/s]
 87%|████████▋ | 786/900 [15:21<01:16,  1.49it/s]
 87%|████████▋ | 787/900 [15:22<01:14,  1.51it/s]
 88%|████████▊ | 788/900 [15:23<01:12,  1.54it/s]
 88%|████████▊ | 789/900 [15:23<01:12,  1.53it/s]
 88%|████████▊ | 790/900 [15:24<01:11,  1.54it/s]
 88%|████████▊ | 791/900 [15:25<01:10,  1.55it/s]
 88%|████████▊ | 792/900 [15:25<01:10,  1.54it/s]
 88%|████████▊ | 793/900 [15:26<01:17,  1.37it/s]
 88%|████████▊ | 794/900 [15:27<01:14,  1.43it/s]
 88%|████████▊ | 795/900 [15:27<01:11,  1.47it/s]
 88%|████████▊ | 796/900 [15:28<01:09,  1.49it/s]
 89%|████████▊ | 797/900 [15:29<01:08,  1.51it/s]
 89%|████████▊ | 798/900 [15:29<01:07,  1.52it/s]
 89%|████████▉ | 799/900 [15:30<01:05,  1.54it/s]
 89%|████████▉ | 800/900 [15:31<01:04,  1.55it/s]
 89%|████████▉ | 801/900 [15:31<01:07,  1.48it/s]
 89%|████████▉ | 802/900 [15:32<01:05,  1.51it/s]
 89%|████████▉ | 803/900 [15:33<01:04,  1.51it/s]
 89%|████████▉ | 804/900 [15:33<01:04,  1.50it/s]
 89%|████████▉ | 805/900 [15:34<01:04,  1.47it/s]
 90%|████████▉ | 806/900 [15:35<01:03,  1.49it/s]
 90%|████████▉ | 807/900 [15:35<01:03,  1.48it/s]
 90%|████████▉ | 808/900 [15:36<01:01,  1.50it/s]
 90%|████████▉ | 809/900 [15:37<01:05,  1.39it/s]
 90%|█████████ | 810/900 [15:38<01:03,  1.41it/s]
 90%|█████████ | 811/900 [15:38<01:02,  1.42it/s]
 90%|█████████ | 812/900 [15:39<01:00,  1.45it/s]
 90%|█████████ | 813/900 [15:40<00:58,  1.49it/s]
 90%|█████████ | 814/900 [15:40<00:56,  1.51it/s]
 91%|█████████ | 815/900 [15:41<00:56,  1.51it/s]
 91%|█████████ | 816/900 [15:42<00:55,  1.52it/s]
 91%|█████████ | 817/900 [15:42<00:57,  1.44it/s]
 91%|█████████ | 818/900 [15:43<00:56,  1.46it/s]
 91%|█████████ | 819/900 [15:44<00:54,  1.50it/s]
 91%|█████████ | 820/900 [15:44<00:52,  1.52it/s]
 91%|█████████ | 821/900 [15:45<00:51,  1.54it/s]
 91%|█████████▏| 822/900 [15:45<00:49,  1.56it/s]
 91%|█████████▏| 823/900 [15:46<00:48,  1.57it/s]
 92%|█████████▏| 824/900 [15:47<00:48,  1.56it/s]
 92%|█████████▏| 825/900 [15:48<00:51,  1.47it/s]
 92%|█████████▏| 826/900 [15:48<00:49,  1.50it/s]
 92%|█████████▏| 827/900 [15:49<00:47,  1.52it/s]
 92%|█████████▏| 828/900 [15:49<00:46,  1.54it/s]
 92%|█████████▏| 829/900 [15:50<00:45,  1.56it/s]
 92%|█████████▏| 830/900 [15:51<00:44,  1.57it/s]
 92%|█████████▏| 831/900 [15:51<00:44,  1.54it/s]
 92%|█████████▏| 832/900 [15:52<00:45,  1.51it/s]
 93%|█████████▎| 833/900 [15:53<00:46,  1.45it/s]
 93%|█████████▎| 834/900 [15:53<00:44,  1.48it/s]
 93%|█████████▎| 835/900 [15:54<00:43,  1.51it/s]
 93%|█████████▎| 836/900 [15:55<00:41,  1.53it/s]
 93%|█████████▎| 837/900 [15:55<00:40,  1.54it/s]
 93%|█████████▎| 838/900 [15:56<00:39,  1.56it/s]
 93%|█████████▎| 839/900 [15:57<00:39,  1.56it/s]
 93%|█████████▎| 840/900 [15:57<00:39,  1.51it/s]
 93%|█████████▎| 841/900 [15:58<00:41,  1.41it/s]
 94%|█████████▎| 842/900 [15:59<00:40,  1.45it/s]
 94%|█████████▎| 843/900 [15:59<00:38,  1.46it/s]
 94%|█████████▍| 844/900 [16:00<00:38,  1.46it/s]
 94%|█████████▍| 845/900 [16:01<00:36,  1.50it/s]
 94%|█████████▍| 846/900 [16:01<00:35,  1.51it/s]
 94%|█████████▍| 847/900 [16:02<00:34,  1.53it/s]
 94%|█████████▍| 848/900 [16:03<00:33,  1.55it/s]
 94%|█████████▍| 849/900 [16:03<00:34,  1.47it/s]
 94%|█████████▍| 850/900 [16:04<00:33,  1.47it/s]
 95%|█████████▍| 851/900 [16:05<00:32,  1.50it/s]
 95%|█████████▍| 852/900 [16:05<00:31,  1.51it/s]
 95%|█████████▍| 853/900 [16:06<00:30,  1.53it/s]
 95%|█████████▍| 854/900 [16:07<00:29,  1.55it/s]
 95%|█████████▌| 855/900 [16:07<00:29,  1.55it/s]
 95%|█████████▌| 856/900 [16:08<00:28,  1.55it/s]
 95%|█████████▌| 857/900 [16:09<00:28,  1.50it/s]
 95%|█████████▌| 858/900 [16:09<00:27,  1.51it/s]
 95%|█████████▌| 859/900 [16:10<00:27,  1.52it/s]
 96%|█████████▌| 860/900 [16:11<00:26,  1.53it/s]
 96%|█████████▌| 861/900 [16:11<00:25,  1.54it/s]
 96%|█████████▌| 862/900 [16:12<00:24,  1.55it/s]
 96%|█████████▌| 863/900 [16:13<00:23,  1.56it/s]
 96%|█████████▌| 864/900 [16:13<00:22,  1.57it/s]
 96%|█████████▌| 865/900 [16:14<00:23,  1.48it/s]
 96%|█████████▌| 866/900 [16:15<00:22,  1.50it/s]
 96%|█████████▋| 867/900 [16:15<00:21,  1.52it/s]
 96%|█████████▋| 868/900 [16:16<00:20,  1.54it/s]
 97%|█████████▋| 869/900 [16:16<00:20,  1.52it/s]
 97%|█████████▋| 870/900 [16:17<00:19,  1.53it/s]
 97%|█████████▋| 871/900 [16:18<00:18,  1.54it/s]
 97%|█████████▋| 872/900 [16:18<00:17,  1.57it/s]
 97%|█████████▋| 873/900 [16:19<00:18,  1.48it/s]
 97%|█████████▋| 874/900 [16:20<00:17,  1.50it/s]
 97%|█████████▋| 875/900 [16:20<00:16,  1.48it/s]
 97%|█████████▋| 876/900 [16:21<00:15,  1.51it/s]
 97%|█████████▋| 877/900 [16:22<00:15,  1.53it/s]
 98%|█████████▊| 878/900 [16:22<00:14,  1.52it/s]
 98%|█████████▊| 879/900 [16:23<00:13,  1.54it/s]
 98%|█████████▊| 880/900 [16:24<00:12,  1.56it/s]
 98%|█████████▊| 881/900 [16:24<00:12,  1.49it/s]
 98%|█████████▊| 882/900 [16:25<00:11,  1.52it/s]
 98%|█████████▊| 883/900 [16:26<00:11,  1.53it/s]
 98%|█████████▊| 884/900 [16:26<00:10,  1.51it/s]
 98%|█████████▊| 885/900 [16:27<00:09,  1.52it/s]
 98%|█████████▊| 886/900 [16:28<00:09,  1.54it/s]
 99%|█████████▊| 887/900 [16:28<00:08,  1.56it/s]
 99%|█████████▊| 888/900 [16:29<00:07,  1.57it/s]
 99%|█████████▉| 889/900 [16:30<00:07,  1.46it/s]
 99%|█████████▉| 890/900 [16:30<00:06,  1.50it/s]
 99%|█████████▉| 891/900 [16:31<00:05,  1.53it/s]
 99%|█████████▉| 892/900 [16:32<00:05,  1.54it/s]
 99%|█████████▉| 893/900 [16:32<00:04,  1.52it/s]
 99%|█████████▉| 894/900 [16:33<00:03,  1.53it/s]
 99%|█████████▉| 895/900 [16:34<00:03,  1.52it/s]
100%|█████████▉| 896/900 [16:34<00:02,  1.52it/s]
100%|█████████▉| 897/900 [16:35<00:02,  1.44it/s]
100%|█████████▉| 898/900 [16:36<00:01,  1.46it/s]
100%|█████████▉| 899/900 [16:36<00:00,  1.49it/s]
100%|█████████▉| 899/900 [16:37<00:01,  1.11s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/log_2_env0.json.
+FruitsOnionToPlateTask_2 complete: task_name: FruitsOnionToPlateTask, run_name: FruitsOnionToPlateTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the onion on the plate, attributes: ['semantics', 'vague', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.123638032243289, 'joint_sparc_mean': -8.471198475911768, 'ee_isj': 2110.9847249511795, 'joint_isj': 30291.067476683733, 'ee_path_length': 2.8438768339633067, 'joint_rmse_mean': 0.9375001554955068, 'ee_speed_max': 0.6817964315414429, 'ee_speed_mean': 0.04476955533027649}, events: {'OBJECT_BUMPED': 5, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 1, 'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 1, 'wrong_objects_grabbed': ['clay_plates']}, instruction_type: default, timing: {'policy_inference_s': 421.645, 'policy_inference_avg_ms': 468.5, 'env_step_s': 569.103, 'env_step_avg_ms': 632.3, 'video_write_s': 6.259, 'video_write_avg_ms': 7.0, 'wall_total_s': 997.007, 'it_per_sec': 0.9}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=redonion) (step 1/2), harness_episode_id: d91994d85f0c4e6eb112eda36251704f-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-29T18:15:30Z [4,820,594ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:5
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.201751 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-29T18:15:34Z [4,824,844ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T18:15:34Z [4,824,844ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T18:15:34Z [4,824,854ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T18:15:34Z [4,824,854ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T18:15:34Z [4,824,863ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T18:15:34Z [4,824,870ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-29T18:15:34Z [4,824,889ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+[INFO]: Time taken for simulation start : 9.715402 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BlockStackingSpecifiedOrderTask               │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Stack the blocks in the order from bottom to top: red, blue, green, yellow │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BlockStackingSpecifiedOrderTaskSceneEnvCfg    │
+│  Attributes  : stacking, color, complex                      │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BlockStackingSpecifiedOrderTask_0: 'Stack the blocks in the order from bottom to top: red, blue, green, yellow' (run 0, 1 envs)
+
  0%|          | 0/1350 [00:00<?, ?it/s]
  0%|          | 1/1350 [00:32<12:05:04, 32.25s/it]
  0%|          | 2/1350 [00:32<5:01:25, 13.42s/it] 
  0%|          | 3/1350 [00:32<2:46:00,  7.39s/it]
  0%|          | 4/1350 [00:32<1:42:23,  4.56s/it]
  0%|          | 5/1350 [00:33<1:07:14,  3.00s/it]
  0%|          | 6/1350 [00:33<46:03,  2.06s/it]  
  1%|          | 7/1350 [00:33<32:36,  1.46s/it]
  1%|          | 8/1350 [00:33<23:48,  1.06s/it]
  1%|          | 9/1350 [00:49<2:04:49,  5.58s/it]
  1%|          | 10/1350 [00:49<1:27:46,  3.93s/it]
  1%|          | 11/1350 [00:49<1:02:24,  2.80s/it]
  1%|          | 12/1350 [00:50<44:55,  2.01s/it]  
  1%|          | 13/1350 [00:50<32:48,  1.47s/it]
  1%|          | 14/1350 [00:50<24:28,  1.10s/it]
  1%|          | 15/1350 [00:50<18:35,  1.20it/s]
  1%|          | 16/1350 [00:50<14:30,  1.53it/s]
  1%|▏         | 17/1350 [00:59<1:08:15,  3.07s/it]
  1%|▏         | 18/1350 [00:59<49:10,  2.22s/it]  
  1%|▏         | 19/1350 [01:00<35:52,  1.62s/it]
  1%|▏         | 20/1350 [01:00<26:35,  1.20s/it]
  2%|▏         | 21/1350 [01:00<20:06,  1.10it/s]
  2%|▏         | 22/1350 [01:00<15:41,  1.41it/s]
  2%|▏         | 23/1350 [01:01<12:29,  1.77it/s]
  2%|▏         | 24/1350 [01:01<10:14,  2.16it/s]
  2%|▏         | 25/1350 [01:17<1:56:03,  5.26s/it]
  2%|▏         | 26/1350 [01:17<1:22:40,  3.75s/it]
  2%|▏         | 27/1350 [01:18<59:18,  2.69s/it]  
  2%|▏         | 28/1350 [01:18<42:57,  1.95s/it]
  2%|▏         | 29/1350 [01:18<31:37,  1.44s/it]
  2%|▏         | 30/1350 [01:18<23:38,  1.07s/it]
  2%|▏         | 31/1350 [01:19<18:04,  1.22it/s]
  2%|▏         | 32/1350 [01:19<14:09,  1.55it/s]
  2%|▏         | 33/1350 [01:23<37:34,  1.71s/it]
  3%|▎         | 34/1350 [01:23<27:48,  1.27s/it]
  3%|▎         | 35/1350 [01:23<20:57,  1.05it/s]
  3%|▎         | 36/1350 [01:24<16:10,  1.35it/s]
  3%|▎         | 37/1350 [01:24<12:49,  1.71it/s]
  3%|▎         | 38/1350 [01:24<10:28,  2.09it/s]
  3%|▎         | 39/1350 [01:24<08:57,  2.44it/s]
  3%|▎         | 40/1350 [01:25<07:48,  2.80it/s]
  3%|▎         | 41/1350 [01:36<1:20:17,  3.68s/it]
  3%|▎         | 42/1350 [01:36<57:40,  2.65s/it]  
  3%|▎         | 43/1350 [01:37<41:48,  1.92s/it]
  3%|▎         | 44/1350 [01:37<30:41,  1.41s/it]
  3%|▎         | 45/1350 [01:37<22:55,  1.05s/it]
  3%|▎         | 46/1350 [01:37<17:31,  1.24it/s]
  3%|▎         | 47/1350 [01:37<13:43,  1.58it/s]
  4%|▎         | 48/1350 [01:38<11:04,  1.96it/s]
  4%|▎         | 49/1350 [02:04<2:58:19,  8.22s/it]
  4%|▎         | 50/1350 [02:04<2:06:13,  5.83s/it]
  4%|▍         | 51/1350 [02:04<1:29:46,  4.15s/it]
  4%|▍         | 52/1350 [02:05<1:04:16,  2.97s/it]
  4%|▍         | 53/1350 [02:05<46:25,  2.15s/it]  
  4%|▍         | 54/1350 [02:05<33:56,  1.57s/it]
  4%|▍         | 55/1350 [02:05<25:17,  1.17s/it]
  4%|▍         | 56/1350 [02:05<19:17,  1.12it/s]
  4%|▍         | 57/1350 [02:11<47:40,  2.21s/it]
  4%|▍         | 58/1350 [02:11<34:57,  1.62s/it]
  4%|▍         | 59/1350 [02:11<26:04,  1.21s/it]
  4%|▍         | 60/1350 [02:12<19:52,  1.08it/s]
  5%|▍         | 61/1350 [02:12<15:32,  1.38it/s]
  5%|▍         | 62/1350 [02:12<12:29,  1.72it/s]
  5%|▍         | 63/1350 [02:12<10:21,  2.07it/s]
  5%|▍         | 64/1350 [02:13<08:52,  2.42it/s]
  5%|▍         | 65/1350 [02:21<1:00:48,  2.84s/it]
  5%|▍         | 66/1350 [02:21<44:06,  2.06s/it]  
  5%|▍         | 67/1350 [02:22<32:25,  1.52s/it]
  5%|▌         | 68/1350 [02:22<24:09,  1.13s/it]
  5%|▌         | 69/1350 [02:22<18:21,  1.16it/s]
  5%|▌         | 70/1350 [02:22<14:18,  1.49it/s]
  5%|▌         | 71/1350 [02:22<11:29,  1.86it/s]
  5%|▌         | 72/1350 [02:23<09:29,  2.24it/s]
  5%|▌         | 73/1350 [02:29<47:34,  2.24s/it]
  5%|▌         | 74/1350 [02:29<34:49,  1.64s/it]
  6%|▌         | 75/1350 [02:30<25:53,  1.22s/it]
  6%|▌         | 76/1350 [02:30<19:38,  1.08it/s]
  6%|▌         | 77/1350 [02:30<15:15,  1.39it/s]
  6%|▌         | 78/1350 [02:30<12:12,  1.74it/s]
  6%|▌         | 79/1350 [02:31<10:05,  2.10it/s]
  6%|▌         | 80/1350 [02:31<08:36,  2.46it/s]
  6%|▌         | 81/1350 [02:38<51:25,  2.43s/it]
  6%|▌         | 82/1350 [02:38<37:30,  1.78s/it]
  6%|▌         | 83/1350 [02:38<27:49,  1.32s/it]
  6%|▌         | 84/1350 [02:39<21:02,  1.00it/s]
  6%|▋         | 85/1350 [02:39<16:15,  1.30it/s]
  6%|▋         | 86/1350 [02:39<12:55,  1.63it/s]
  6%|▋         | 87/1350 [02:39<10:38,  1.98it/s]
  7%|▋         | 88/1350 [02:40<08:59,  2.34it/s]
  7%|▋         | 89/1350 [02:45<38:26,  1.83s/it]
  7%|▋         | 90/1350 [02:45<28:34,  1.36s/it]
  7%|▋         | 91/1350 [02:45<21:38,  1.03s/it]
  7%|▋         | 92/1350 [02:46<16:43,  1.25it/s]
  7%|▋         | 93/1350 [02:46<13:18,  1.57it/s]
  7%|▋         | 94/1350 [02:46<10:53,  1.92it/s]
  7%|▋         | 95/1350 [02:46<09:09,  2.29it/s]
  7%|▋         | 96/1350 [02:47<07:56,  2.63it/s]
  7%|▋         | 97/1350 [02:54<50:32,  2.42s/it]
  7%|▋         | 98/1350 [02:54<36:56,  1.77s/it]
  7%|▋         | 99/1350 [02:54<27:23,  1.31s/it]
  7%|▋         | 100/1350 [02:54<20:46,  1.00it/s]
  7%|▋         | 101/1350 [02:55<16:04,  1.29it/s]
  8%|▊         | 102/1350 [02:55<12:50,  1.62it/s]
  8%|▊         | 103/1350 [02:55<10:33,  1.97it/s]
  8%|▊         | 104/1350 [02:56<08:56,  2.32it/s]
  8%|▊         | 105/1350 [03:07<1:17:26,  3.73s/it]
  8%|▊         | 106/1350 [03:07<55:45,  2.69s/it]  
  8%|▊         | 107/1350 [03:07<40:36,  1.96s/it]
  8%|▊         | 108/1350 [03:08<29:59,  1.45s/it]
  8%|▊         | 109/1350 [03:08<22:34,  1.09s/it]
  8%|▊         | 110/1350 [03:08<17:25,  1.19it/s]
  8%|▊         | 111/1350 [03:08<13:42,  1.51it/s]
  8%|▊         | 112/1350 [03:09<11:10,  1.85it/s]
  8%|▊         | 113/1350 [03:15<45:30,  2.21s/it]
  8%|▊         | 114/1350 [03:15<33:24,  1.62s/it]
  9%|▊         | 115/1350 [03:15<24:55,  1.21s/it]
  9%|▊         | 116/1350 [03:16<19:01,  1.08it/s]
  9%|▊         | 117/1350 [03:16<14:57,  1.37it/s]
  9%|▊         | 118/1350 [03:16<12:05,  1.70it/s]
  9%|▉         | 119/1350 [03:16<10:06,  2.03it/s]
  9%|▉         | 120/1350 [03:17<08:40,  2.36it/s]
  9%|▉         | 121/1350 [03:22<36:24,  1.78s/it]
  9%|▉         | 122/1350 [03:22<27:05,  1.32s/it]
  9%|▉         | 123/1350 [03:22<20:29,  1.00s/it]
  9%|▉         | 124/1350 [03:22<15:55,  1.28it/s]
  9%|▉         | 125/1350 [03:23<12:43,  1.60it/s]
  9%|▉         | 126/1350 [03:23<10:28,  1.95it/s]
  9%|▉         | 127/1350 [03:23<08:55,  2.28it/s]
  9%|▉         | 128/1350 [03:23<07:51,  2.59it/s]
 10%|▉         | 129/1350 [03:31<51:37,  2.54s/it]
 10%|▉         | 130/1350 [03:31<37:41,  1.85s/it]
 10%|▉         | 131/1350 [03:31<27:59,  1.38s/it]
 10%|▉         | 132/1350 [03:32<21:08,  1.04s/it]
 10%|▉         | 133/1350 [03:32<16:21,  1.24it/s]
 10%|▉         | 134/1350 [03:32<13:00,  1.56it/s]
 10%|█         | 135/1350 [03:33<10:39,  1.90it/s]
 10%|█         | 136/1350 [03:33<08:57,  2.26it/s]
 10%|█         | 137/1350 [03:45<1:20:50,  4.00s/it]
 10%|█         | 138/1350 [03:45<58:07,  2.88s/it]  
 10%|█         | 139/1350 [03:46<42:11,  2.09s/it]
 10%|█         | 140/1350 [03:46<31:09,  1.55s/it]
 10%|█         | 141/1350 [03:46<23:21,  1.16s/it]
 11%|█         | 142/1350 [03:46<17:54,  1.12it/s]
 11%|█         | 143/1350 [03:47<14:06,  1.43it/s]
 11%|█         | 144/1350 [03:47<11:22,  1.77it/s]
 11%|█         | 145/1350 [03:55<55:20,  2.76s/it]
 11%|█         | 146/1350 [03:55<40:14,  2.01s/it]
 11%|█         | 147/1350 [03:55<29:38,  1.48s/it]
 11%|█         | 148/1350 [03:56<22:16,  1.11s/it]
 11%|█         | 149/1350 [03:56<17:07,  1.17it/s]
 11%|█         | 150/1350 [03:56<13:33,  1.48it/s]
 11%|█         | 151/1350 [03:56<11:01,  1.81it/s]
 11%|█▏        | 152/1350 [03:57<09:15,  2.16it/s]
 11%|█▏        | 153/1350 [04:02<41:37,  2.09s/it]
 11%|█▏        | 154/1350 [04:03<30:36,  1.54s/it]
 11%|█▏        | 155/1350 [04:03<22:52,  1.15s/it]
 12%|█▏        | 156/1350 [04:03<17:24,  1.14it/s]
 12%|█▏        | 157/1350 [04:03<13:35,  1.46it/s]
 12%|█▏        | 158/1350 [04:04<10:54,  1.82it/s]
 12%|█▏        | 159/1350 [04:04<09:02,  2.20it/s]
 12%|█▏        | 160/1350 [04:04<07:41,  2.58it/s]
 12%|█▏        | 161/1350 [04:10<41:02,  2.07s/it]
 12%|█▏        | 162/1350 [04:10<30:04,  1.52s/it]
 12%|█▏        | 163/1350 [04:11<22:30,  1.14s/it]
 12%|█▏        | 164/1350 [04:11<17:08,  1.15it/s]
 12%|█▏        | 165/1350 [04:11<13:24,  1.47it/s]
 12%|█▏        | 166/1350 [04:11<10:48,  1.83it/s]
 12%|█▏        | 167/1350 [04:12<08:55,  2.21it/s]
 12%|█▏        | 168/1350 [04:12<07:36,  2.59it/s]
 13%|█▎        | 169/1350 [04:25<1:25:29,  4.34s/it]
 13%|█▎        | 170/1350 [04:26<1:01:06,  3.11s/it]
 13%|█▎        | 171/1350 [04:26<44:05,  2.24s/it]  
 13%|█▎        | 172/1350 [04:26<32:10,  1.64s/it]
 13%|█▎        | 173/1350 [04:26<23:50,  1.22s/it]
 13%|█▎        | 174/1350 [04:26<18:00,  1.09it/s]
 13%|█▎        | 175/1350 [04:27<13:55,  1.41it/s]
 13%|█▎        | 176/1350 [04:27<11:05,  1.76it/s]
 13%|█▎        | 177/1350 [04:41<1:28:52,  4.55s/it]
 13%|█▎        | 178/1350 [04:41<1:03:32,  3.25s/it]
 13%|█▎        | 179/1350 [04:41<45:47,  2.35s/it]  
 13%|█▎        | 180/1350 [04:41<33:21,  1.71s/it]
 13%|█▎        | 181/1350 [04:42<24:40,  1.27s/it]
 13%|█▎        | 182/1350 [04:42<18:35,  1.05it/s]
 14%|█▎        | 183/1350 [04:42<14:20,  1.36it/s]
 14%|█▎        | 184/1350 [04:42<11:22,  1.71it/s]
 14%|█▎        | 185/1350 [04:50<54:04,  2.79s/it]
 14%|█▍        | 186/1350 [04:51<39:09,  2.02s/it]
 14%|█▍        | 187/1350 [04:51<28:43,  1.48s/it]
 14%|█▍        | 188/1350 [04:51<21:26,  1.11s/it]
 14%|█▍        | 189/1350 [04:51<16:20,  1.18it/s]
 14%|█▍        | 190/1350 [04:51<12:46,  1.51it/s]
 14%|█▍        | 191/1350 [04:52<10:16,  1.88it/s]
 14%|█▍        | 192/1350 [04:52<08:34,  2.25it/s]
 14%|█▍        | 193/1350 [04:58<39:07,  2.03s/it]
 14%|█▍        | 194/1350 [04:58<28:39,  1.49s/it]
 14%|█▍        | 195/1350 [04:58<21:22,  1.11s/it]
 15%|█▍        | 196/1350 [04:58<16:14,  1.18it/s]
 15%|█▍        | 197/1350 [04:59<12:40,  1.52it/s]
 15%|█▍        | 198/1350 [04:59<10:09,  1.89it/s]
 15%|█▍        | 199/1350 [04:59<08:31,  2.25it/s]
 15%|█▍        | 200/1350 [04:59<07:20,  2.61it/s]
 15%|█▍        | 201/1350 [05:06<45:12,  2.36s/it]
 15%|█▍        | 202/1350 [05:06<33:07,  1.73s/it]
 15%|█▌        | 203/1350 [05:07<24:39,  1.29s/it]
 15%|█▌        | 204/1350 [05:07<18:42,  1.02it/s]
 15%|█▌        | 205/1350 [05:07<14:34,  1.31it/s]
 15%|█▌        | 206/1350 [05:08<11:39,  1.64it/s]
 15%|█▌        | 207/1350 [05:08<09:36,  1.98it/s]
 15%|█▌        | 208/1350 [05:08<08:11,  2.32it/s]
 15%|█▌        | 209/1350 [05:14<41:40,  2.19s/it]
 16%|█▌        | 210/1350 [05:15<30:36,  1.61s/it]
 16%|█▌        | 211/1350 [05:15<22:51,  1.20s/it]
 16%|█▌        | 212/1350 [05:15<17:25,  1.09it/s]
 16%|█▌        | 213/1350 [05:15<13:36,  1.39it/s]
 16%|█▌        | 214/1350 [05:16<10:55,  1.73it/s]
 16%|█▌        | 215/1350 [05:16<09:03,  2.09it/s]
 16%|█▌        | 216/1350 [05:16<07:45,  2.44it/s]
 16%|█▌        | 217/1350 [05:24<48:07,  2.55s/it]
 16%|█▌        | 218/1350 [05:24<35:09,  1.86s/it]
 16%|█▌        | 219/1350 [05:24<26:04,  1.38s/it]
 16%|█▋        | 220/1350 [05:24<19:40,  1.05s/it]
 16%|█▋        | 221/1350 [05:25<15:12,  1.24it/s]
 16%|█▋        | 222/1350 [05:25<12:04,  1.56it/s]
 17%|█▋        | 223/1350 [05:25<09:53,  1.90it/s]
 17%|█▋        | 224/1350 [05:25<08:22,  2.24it/s]
 17%|█▋        | 225/1350 [05:33<46:43,  2.49s/it]
 17%|█▋        | 226/1350 [05:33<34:08,  1.82s/it]
 17%|█▋        | 227/1350 [05:33<25:22,  1.36s/it]
 17%|█▋        | 228/1350 [05:33<19:12,  1.03s/it]
 17%|█▋        | 229/1350 [05:34<14:53,  1.25it/s]
 17%|█▋        | 230/1350 [05:34<11:52,  1.57it/s]
 17%|█▋        | 231/1350 [05:34<09:46,  1.91it/s]
 17%|█▋        | 232/1350 [05:35<08:15,  2.26it/s]
 17%|█▋        | 233/1350 [05:45<1:04:20,  3.46s/it]
 17%|█▋        | 234/1350 [05:45<46:28,  2.50s/it]  
 17%|█▋        | 235/1350 [05:46<33:57,  1.83s/it]
 17%|█▋        | 236/1350 [05:46<25:11,  1.36s/it]
 18%|█▊        | 237/1350 [05:46<19:06,  1.03s/it]
 18%|█▊        | 238/1350 [05:46<14:49,  1.25it/s]
 18%|█▊        | 239/1350 [05:47<11:48,  1.57it/s]
 18%|█▊        | 240/1350 [05:47<09:42,  1.91it/s]
 18%|█▊        | 241/1350 [06:12<2:26:15,  7.91s/it]
 18%|█▊        | 242/1350 [06:12<1:43:44,  5.62s/it]
 18%|█▊        | 243/1350 [06:13<1:13:58,  4.01s/it]
 18%|█▊        | 244/1350 [06:13<53:11,  2.89s/it]  
 18%|█▊        | 245/1350 [06:13<38:39,  2.10s/it]
 18%|█▊        | 246/1350 [06:13<28:29,  1.55s/it]
 18%|█▊        | 247/1350 [06:14<21:19,  1.16s/it]
 18%|█▊        | 248/1350 [06:14<16:19,  1.13it/s]
 18%|█▊        | 249/1350 [06:33<1:56:18,  6.34s/it]
 19%|█▊        | 250/1350 [06:33<1:22:48,  4.52s/it]
 19%|█▊        | 251/1350 [06:33<59:23,  3.24s/it]  
 19%|█▊        | 252/1350 [06:34<42:59,  2.35s/it]
 19%|█▊        | 253/1350 [06:34<31:33,  1.73s/it]
 19%|█▉        | 254/1350 [06:34<23:33,  1.29s/it]
 19%|█▉        | 255/1350 [06:34<17:55,  1.02it/s]
 19%|█▉        | 256/1350 [06:35<14:00,  1.30it/s]
 19%|█▉        | 257/1350 [06:43<56:25,  3.10s/it]
 19%|█▉        | 258/1350 [06:44<40:44,  2.24s/it]
 19%|█▉        | 259/1350 [06:44<29:52,  1.64s/it]
 19%|█▉        | 260/1350 [06:44<22:09,  1.22s/it]
 19%|█▉        | 261/1350 [06:44<16:44,  1.08it/s]
 19%|█▉        | 262/1350 [06:44<12:58,  1.40it/s]
 19%|█▉        | 263/1350 [06:45<10:21,  1.75it/s]
 20%|█▉        | 264/1350 [06:45<08:28,  2.13it/s]
 20%|█▉        | 265/1350 [06:51<40:01,  2.21s/it]
 20%|█▉        | 266/1350 [06:51<29:14,  1.62s/it]
 20%|█▉        | 267/1350 [06:52<21:41,  1.20s/it]
 20%|█▉        | 268/1350 [06:52<16:23,  1.10it/s]
 20%|█▉        | 269/1350 [06:52<12:40,  1.42it/s]
 20%|██        | 270/1350 [06:52<10:05,  1.78it/s]
 20%|██        | 271/1350 [06:53<08:17,  2.17it/s]
 20%|██        | 272/1350 [06:53<07:02,  2.55it/s]
 20%|██        | 273/1350 [07:02<55:36,  3.10s/it]
 20%|██        | 274/1350 [07:02<40:05,  2.24s/it]
 20%|██        | 275/1350 [07:03<29:13,  1.63s/it]
 20%|██        | 276/1350 [07:03<21:38,  1.21s/it]
 21%|██        | 277/1350 [07:03<16:22,  1.09it/s]
 21%|██        | 278/1350 [07:03<12:43,  1.40it/s]
 21%|██        | 279/1350 [07:04<10:09,  1.76it/s]
 21%|██        | 280/1350 [07:04<08:20,  2.14it/s]
 21%|██        | 281/1350 [07:11<43:37,  2.45s/it]
 21%|██        | 282/1350 [07:11<31:44,  1.78s/it]
 21%|██        | 283/1350 [07:11<23:24,  1.32s/it]
 21%|██        | 284/1350 [07:12<17:36,  1.01it/s]
 21%|██        | 285/1350 [07:12<13:31,  1.31it/s]
 21%|██        | 286/1350 [07:12<10:41,  1.66it/s]
 21%|██▏       | 287/1350 [07:12<08:42,  2.04it/s]
 21%|██▏       | 288/1350 [07:13<07:18,  2.42it/s]
 21%|██▏       | 289/1350 [07:22<54:20,  3.07s/it]
 21%|██▏       | 290/1350 [07:22<39:13,  2.22s/it]
 22%|██▏       | 291/1350 [07:22<28:39,  1.62s/it]
 22%|██▏       | 292/1350 [07:22<21:17,  1.21s/it]
 22%|██▏       | 293/1350 [07:23<16:05,  1.09it/s]
 22%|██▏       | 294/1350 [07:23<12:28,  1.41it/s]
 22%|██▏       | 295/1350 [07:23<09:55,  1.77it/s]
 22%|██▏       | 296/1350 [07:23<08:08,  2.16it/s]
 22%|██▏       | 297/1350 [07:32<51:42,  2.95s/it]
 22%|██▏       | 298/1350 [07:32<37:22,  2.13s/it]
 22%|██▏       | 299/1350 [07:33<27:22,  1.56s/it]
 22%|██▏       | 300/1350 [07:33<20:20,  1.16s/it]
 22%|██▏       | 301/1350 [07:33<15:27,  1.13it/s]
 22%|██▏       | 302/1350 [07:33<12:02,  1.45it/s]
 22%|██▏       | 303/1350 [07:34<09:37,  1.81it/s]
 23%|██▎       | 304/1350 [07:34<07:56,  2.20it/s]
 23%|██▎       | 305/1350 [07:42<48:15,  2.77s/it]
 23%|██▎       | 306/1350 [07:42<35:09,  2.02s/it]
 23%|██▎       | 307/1350 [07:42<26:00,  1.50s/it]
 23%|██▎       | 308/1350 [07:43<19:28,  1.12s/it]
 23%|██▎       | 309/1350 [07:43<14:55,  1.16it/s]
 23%|██▎       | 310/1350 [07:43<11:45,  1.47it/s]
 23%|██▎       | 311/1350 [07:43<09:32,  1.82it/s]
 23%|██▎       | 312/1350 [07:44<08:02,  2.15it/s]
 23%|██▎       | 313/1350 [07:50<39:52,  2.31s/it]
 23%|██▎       | 314/1350 [07:51<29:14,  1.69s/it]
 23%|██▎       | 315/1350 [07:51<21:44,  1.26s/it]
 23%|██▎       | 316/1350 [07:51<16:31,  1.04it/s]
 23%|██▎       | 317/1350 [07:51<12:52,  1.34it/s]
 24%|██▎       | 318/1350 [07:52<10:18,  1.67it/s]
 24%|██▎       | 319/1350 [07:52<08:30,  2.02it/s]
 24%|██▎       | 320/1350 [07:52<07:14,  2.37it/s]
 24%|██▍       | 321/1350 [07:58<37:06,  2.16s/it]
 24%|██▍       | 322/1350 [07:59<27:18,  1.59s/it]
 24%|██▍       | 323/1350 [07:59<20:26,  1.19s/it]
 24%|██▍       | 324/1350 [07:59<15:46,  1.08it/s]
 24%|██▍       | 325/1350 [07:59<12:21,  1.38it/s]
 24%|██▍       | 326/1350 [08:00<09:58,  1.71it/s]
 24%|██▍       | 327/1350 [08:00<08:17,  2.05it/s]
 24%|██▍       | 328/1350 [08:00<07:07,  2.39it/s]
 24%|██▍       | 329/1350 [08:08<44:07,  2.59s/it]
 24%|██▍       | 330/1350 [08:08<32:11,  1.89s/it]
 25%|██▍       | 331/1350 [08:08<23:50,  1.40s/it]
 25%|██▍       | 332/1350 [08:09<17:58,  1.06s/it]
 25%|██▍       | 333/1350 [08:09<13:52,  1.22it/s]
 25%|██▍       | 334/1350 [08:09<11:00,  1.54it/s]
 25%|██▍       | 335/1350 [08:09<08:59,  1.88it/s]
 25%|██▍       | 336/1350 [08:10<07:38,  2.21it/s]
 25%|██▍       | 337/1350 [08:16<39:02,  2.31s/it]
 25%|██▌       | 338/1350 [08:17<28:38,  1.70s/it]
 25%|██▌       | 339/1350 [08:17<21:19,  1.27s/it]
 25%|██▌       | 340/1350 [08:17<16:11,  1.04it/s]
 25%|██▌       | 341/1350 [08:17<12:36,  1.33it/s]
 25%|██▌       | 342/1350 [08:18<10:06,  1.66it/s]
 25%|██▌       | 343/1350 [08:18<08:21,  2.01it/s]
 25%|██▌       | 344/1350 [08:18<07:10,  2.34it/s]
 26%|██▌       | 345/1350 [08:27<48:33,  2.90s/it]
 26%|██▌       | 346/1350 [08:27<35:15,  2.11s/it]
 26%|██▌       | 347/1350 [08:27<25:58,  1.55s/it]
 26%|██▌       | 348/1350 [08:28<19:27,  1.17s/it]
 26%|██▌       | 349/1350 [08:28<14:52,  1.12it/s]
 26%|██▌       | 350/1350 [08:28<11:40,  1.43it/s]
 26%|██▌       | 351/1350 [08:28<09:29,  1.75it/s]
 26%|██▌       | 351/1350 [08:29<24:09,  1.45s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json.
+BlockStackingSpecifiedOrderTask_0 complete: task_name: BlockStackingSpecifiedOrderTask, run_name: BlockStackingSpecifiedOrderTask_0, run: 0, env_id: 0, policy: harness, instruction: Stack the blocks in the order from bottom to top: red, blue, green, yellow, attributes: ['stacking', 'color', 'complex'], success: True, episode_step: 352, duration: 23.466666666666665, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.436437075681223, 'joint_sparc_mean': -9.79669383511754, 'ee_isj': 2653.945983474523, 'joint_isj': 27001.646630297346, 'ee_path_length': 3.2874462787661525, 'joint_rmse_mean': 0.93891033089106, 'ee_speed_max': 0.627802312374115, 'ee_speed_mean': 0.13162589073181152}, events: {'GRIPPER_HIT_TABLE': 1, 'WRONG_OBJECT_GRABBED': 4, 'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 2, 'MULTIPLE_OBJECTS_GRABBED': 1, 'wrong_objects_grabbed': ['blue_block', 'green_block', 'blue_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 425.479, 'policy_inference_avg_ms': 1208.7, 'env_step_s': 80.256, 'env_step_avg_ms': 228.0, 'video_write_s': 3.313, 'video_write_avg_ms': 9.4, 'wall_total_s': 509.048, 'it_per_sec': 0.69}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: 0e0cb0ae9d574e96b805608ab46b7677-0
+[RoboLab] Running BlockStackingSpecifiedOrderTask_1: 'Stack the blocks in the order from bottom to top: red, blue, green, yellow' (run 1, 1 envs)
+
  0%|          | 0/1350 [00:00<?, ?it/s]
  0%|          | 1/1350 [00:26<10:06:27, 26.97s/it]
  0%|          | 2/1350 [00:27<4:12:33, 11.24s/it] 
  0%|          | 3/1350 [00:27<2:19:26,  6.21s/it]
  0%|          | 4/1350 [00:27<1:26:18,  3.85s/it]
  0%|          | 5/1350 [00:27<56:57,  2.54s/it]  
  0%|          | 6/1350 [00:28<39:15,  1.75s/it]
  1%|          | 7/1350 [00:28<28:02,  1.25s/it]
  1%|          | 8/1350 [00:28<20:41,  1.08it/s]
  1%|          | 9/1350 [00:36<1:10:16,  3.14s/it]
  1%|          | 10/1350 [00:36<50:08,  2.25s/it] 
  1%|          | 11/1350 [00:37<36:22,  1.63s/it]
  1%|          | 12/1350 [00:37<26:52,  1.21s/it]
  1%|          | 13/1350 [00:37<20:17,  1.10it/s]
  1%|          | 14/1350 [00:37<15:42,  1.42it/s]
  1%|          | 15/1350 [00:37<12:31,  1.78it/s]
  1%|          | 16/1350 [00:38<10:15,  2.17it/s]
  1%|▏         | 17/1350 [00:45<52:47,  2.38s/it]
  1%|▏         | 18/1350 [00:45<38:22,  1.73s/it]
  1%|▏         | 19/1350 [00:45<28:27,  1.28s/it]
  1%|▏         | 20/1350 [00:45<21:26,  1.03it/s]
  2%|▏         | 21/1350 [00:45<16:33,  1.34it/s]
  2%|▏         | 22/1350 [00:46<13:03,  1.69it/s]
  2%|▏         | 23/1350 [00:46<10:42,  2.07it/s]
  2%|▏         | 24/1350 [00:46<09:03,  2.44it/s]
  2%|▏         | 25/1350 [01:27<4:34:03, 12.41s/it]
  2%|▏         | 26/1350 [01:27<3:13:18,  8.76s/it]
  2%|▏         | 27/1350 [01:27<2:16:45,  6.20s/it]
  2%|▏         | 28/1350 [01:27<1:37:14,  4.41s/it]
  2%|▏         | 29/1350 [01:28<1:09:40,  3.16s/it]
  2%|▏         | 30/1350 [01:28<50:16,  2.29s/it]  
  2%|▏         | 31/1350 [01:28<36:41,  1.67s/it]
  2%|▏         | 32/1350 [01:28<27:14,  1.24s/it]
  2%|▏         | 33/1350 [01:37<1:14:14,  3.38s/it]
  3%|▎         | 34/1350 [01:37<53:33,  2.44s/it]  
  3%|▎         | 35/1350 [01:37<39:04,  1.78s/it]
  3%|▎         | 36/1350 [01:37<29:00,  1.32s/it]
  3%|▎         | 37/1350 [01:38<21:56,  1.00s/it]
  3%|▎         | 38/1350 [01:38<16:54,  1.29it/s]
  3%|▎         | 39/1350 [01:38<13:25,  1.63it/s]
  3%|▎         | 40/1350 [01:38<11:02,  1.98it/s]
  3%|▎         | 41/1350 [01:51<1:28:01,  4.03s/it]
  3%|▎         | 42/1350 [01:51<1:03:02,  2.89s/it]
  3%|▎         | 43/1350 [01:51<45:38,  2.10s/it]  
  3%|▎         | 44/1350 [01:51<33:25,  1.54s/it]
  3%|▎         | 45/1350 [01:52<24:51,  1.14s/it]
  3%|▎         | 46/1350 [01:52<18:50,  1.15it/s]
  3%|▎         | 47/1350 [01:52<14:41,  1.48it/s]
  4%|▎         | 48/1350 [01:52<11:46,  1.84it/s]
  4%|▎         | 49/1350 [02:33<4:34:52, 12.68s/it]
  4%|▎         | 50/1350 [02:33<3:13:45,  8.94s/it]
  4%|▍         | 51/1350 [02:34<2:17:00,  6.33s/it]
  4%|▍         | 52/1350 [02:34<1:37:21,  4.50s/it]
  4%|▍         | 53/1350 [02:34<1:09:36,  3.22s/it]
  4%|▍         | 54/1350 [02:34<50:09,  2.32s/it]  
  4%|▍         | 55/1350 [02:35<36:36,  1.70s/it]
  4%|▍         | 56/1350 [02:35<27:03,  1.25s/it]
  4%|▍         | 57/1350 [02:42<1:05:17,  3.03s/it]
  4%|▍         | 58/1350 [02:42<47:09,  2.19s/it]  
  4%|▍         | 59/1350 [02:42<34:28,  1.60s/it]
  4%|▍         | 60/1350 [02:43<25:34,  1.19s/it]
  5%|▍         | 61/1350 [02:43<19:22,  1.11it/s]
  5%|▍         | 62/1350 [02:43<15:01,  1.43it/s]
  5%|▍         | 63/1350 [02:43<11:58,  1.79it/s]
  5%|▍         | 64/1350 [02:44<09:51,  2.18it/s]
  5%|▍         | 65/1350 [03:14<3:23:15,  9.49s/it]
  5%|▍         | 66/1350 [03:14<2:23:38,  6.71s/it]
  5%|▍         | 67/1350 [03:15<1:41:56,  4.77s/it]
  5%|▌         | 68/1350 [03:15<1:12:46,  3.41s/it]
  5%|▌         | 69/1350 [03:15<52:22,  2.45s/it]  
  5%|▌         | 70/1350 [03:15<38:05,  1.79s/it]
  5%|▌         | 71/1350 [03:16<28:05,  1.32s/it]
  5%|▌         | 72/1350 [03:16<21:10,  1.01it/s]
  5%|▌         | 73/1350 [03:46<3:24:53,  9.63s/it]
  5%|▌         | 74/1350 [03:46<2:24:48,  6.81s/it]
  6%|▌         | 75/1350 [03:46<1:42:46,  4.84s/it]
  6%|▌         | 76/1350 [03:46<1:13:18,  3.45s/it]
  6%|▌         | 77/1350 [03:46<52:42,  2.48s/it]  
  6%|▌         | 78/1350 [03:47<38:20,  1.81s/it]
  6%|▌         | 79/1350 [03:47<28:15,  1.33s/it]
  6%|▌         | 80/1350 [03:47<21:14,  1.00s/it]
  6%|▌         | 81/1350 [03:57<1:17:13,  3.65s/it]
  6%|▌         | 82/1350 [03:57<55:29,  2.63s/it]  
  6%|▌         | 83/1350 [03:57<40:15,  1.91s/it]
  6%|▌         | 84/1350 [03:58<29:51,  1.41s/it]
  6%|▋         | 85/1350 [03:58<22:20,  1.06s/it]
  6%|▋         | 86/1350 [03:58<17:05,  1.23it/s]
  6%|▋         | 87/1350 [03:58<13:24,  1.57it/s]
  7%|▋         | 88/1350 [03:59<10:51,  1.94it/s]
  7%|▋         | 89/1350 [04:05<47:27,  2.26s/it]
  7%|▋         | 90/1350 [04:05<34:37,  1.65s/it]
  7%|▋         | 91/1350 [04:05<25:38,  1.22s/it]
  7%|▋         | 92/1350 [04:06<19:20,  1.08it/s]
  7%|▋         | 93/1350 [04:06<14:56,  1.40it/s]
  7%|▋         | 94/1350 [04:06<11:53,  1.76it/s]
  7%|▋         | 95/1350 [04:06<09:44,  2.15it/s]
  7%|▋         | 96/1350 [04:07<08:14,  2.54it/s]
  7%|▋         | 97/1350 [04:15<56:33,  2.71s/it]
  7%|▋         | 98/1350 [04:15<41:00,  1.97s/it]
  7%|▋         | 99/1350 [04:15<30:04,  1.44s/it]
  7%|▋         | 100/1350 [04:15<22:29,  1.08s/it]
  7%|▋         | 101/1350 [04:16<17:10,  1.21it/s]
  8%|▊         | 102/1350 [04:16<13:28,  1.54it/s]
  8%|▊         | 103/1350 [04:16<10:49,  1.92it/s]
  8%|▊         | 104/1350 [04:16<08:58,  2.31it/s]
  8%|▊         | 105/1350 [04:23<46:13,  2.23s/it]
  8%|▊         | 106/1350 [04:23<33:45,  1.63s/it]
  8%|▊         | 107/1350 [04:23<25:02,  1.21s/it]
  8%|▊         | 108/1350 [04:23<18:55,  1.09it/s]
  8%|▊         | 109/1350 [04:24<14:39,  1.41it/s]
  8%|▊         | 110/1350 [04:24<11:40,  1.77it/s]
  8%|▊         | 111/1350 [04:24<09:36,  2.15it/s]
  8%|▊         | 112/1350 [04:24<08:09,  2.53it/s]
  8%|▊         | 113/1350 [04:32<56:06,  2.72s/it]
  8%|▊         | 114/1350 [04:33<40:38,  1.97s/it]
  9%|▊         | 115/1350 [04:33<29:50,  1.45s/it]
  9%|▊         | 116/1350 [04:33<22:16,  1.08s/it]
  9%|▊         | 117/1350 [04:33<16:57,  1.21it/s]
  9%|▊         | 118/1350 [04:34<13:13,  1.55it/s]
  9%|▉         | 119/1350 [04:34<10:40,  1.92it/s]
  9%|▉         | 120/1350 [04:34<08:53,  2.31it/s]
  9%|▉         | 121/1350 [05:13<4:02:45, 11.85s/it]
  9%|▉         | 122/1350 [05:13<2:51:13,  8.37s/it]
  9%|▉         | 123/1350 [05:13<2:01:11,  5.93s/it]
  9%|▉         | 124/1350 [05:13<1:26:09,  4.22s/it]
  9%|▉         | 125/1350 [05:13<1:01:42,  3.02s/it]
  9%|▉         | 126/1350 [05:14<44:34,  2.18s/it]  
  9%|▉         | 127/1350 [05:14<32:34,  1.60s/it]
  9%|▉         | 128/1350 [05:14<24:12,  1.19s/it]
 10%|▉         | 129/1350 [05:21<1:01:33,  3.03s/it]
 10%|▉         | 130/1350 [05:22<44:25,  2.18s/it]  
 10%|▉         | 131/1350 [05:22<32:26,  1.60s/it]
 10%|▉         | 132/1350 [05:22<24:03,  1.19s/it]
 10%|▉         | 133/1350 [05:22<18:14,  1.11it/s]
 10%|▉         | 134/1350 [05:23<14:16,  1.42it/s]
 10%|█         | 135/1350 [05:23<11:32,  1.76it/s]
 10%|█         | 136/1350 [05:23<09:36,  2.11it/s]
 10%|█         | 137/1350 [05:36<1:25:19,  4.22s/it]
 10%|█         | 138/1350 [05:36<1:01:06,  3.03s/it]
 10%|█         | 139/1350 [05:37<44:06,  2.19s/it]  
 10%|█         | 140/1350 [05:37<32:14,  1.60s/it]
 10%|█         | 141/1350 [05:37<23:55,  1.19s/it]
 11%|█         | 142/1350 [05:37<18:06,  1.11it/s]
 11%|█         | 143/1350 [05:37<14:01,  1.43it/s]
 11%|█         | 144/1350 [05:38<11:11,  1.80it/s]
 11%|█         | 145/1350 [05:44<47:12,  2.35s/it]
 11%|█         | 146/1350 [05:44<34:22,  1.71s/it]
 11%|█         | 147/1350 [05:45<25:23,  1.27s/it]
 11%|█         | 148/1350 [05:45<19:06,  1.05it/s]
 11%|█         | 149/1350 [05:45<14:43,  1.36it/s]
 11%|█         | 150/1350 [05:45<11:38,  1.72it/s]
 11%|█         | 151/1350 [05:46<09:30,  2.10it/s]
 11%|█▏        | 152/1350 [05:46<08:00,  2.49it/s]
 11%|█▏        | 153/1350 [06:00<1:28:31,  4.44s/it]
 11%|█▏        | 154/1350 [06:00<1:03:19,  3.18s/it]
 11%|█▏        | 155/1350 [06:00<45:41,  2.29s/it]  
 12%|█▏        | 156/1350 [06:00<33:22,  1.68s/it]
 12%|█▏        | 157/1350 [06:01<24:44,  1.24s/it]
 12%|█▏        | 158/1350 [06:01<18:42,  1.06it/s]
 12%|█▏        | 159/1350 [06:01<14:29,  1.37it/s]
 12%|█▏        | 160/1350 [06:01<11:36,  1.71it/s]
 12%|█▏        | 161/1350 [06:09<55:25,  2.80s/it]
 12%|█▏        | 162/1350 [06:10<40:15,  2.03s/it]
 12%|█▏        | 163/1350 [06:10<29:35,  1.50s/it]
 12%|█▏        | 164/1350 [06:10<22:08,  1.12s/it]
 12%|█▏        | 165/1350 [06:10<16:55,  1.17it/s]
 12%|█▏        | 166/1350 [06:10<13:18,  1.48it/s]
 12%|█▏        | 167/1350 [06:11<10:45,  1.83it/s]
 12%|█▏        | 168/1350 [06:11<08:57,  2.20it/s]
 13%|█▎        | 169/1350 [06:22<1:09:16,  3.52s/it]
 13%|█▎        | 170/1350 [06:22<49:54,  2.54s/it]  
 13%|█▎        | 171/1350 [06:22<36:20,  1.85s/it]
 13%|█▎        | 172/1350 [06:22<26:51,  1.37s/it]
 13%|█▎        | 173/1350 [06:23<20:14,  1.03s/it]
 13%|█▎        | 174/1350 [06:23<15:34,  1.26it/s]
 13%|█▎        | 175/1350 [06:23<12:20,  1.59it/s]
 13%|█▎        | 176/1350 [06:23<10:02,  1.95it/s]
 13%|█▎        | 177/1350 [06:30<46:56,  2.40s/it]
 13%|█▎        | 178/1350 [06:30<34:16,  1.75s/it]
 13%|█▎        | 179/1350 [06:31<25:22,  1.30s/it]
 13%|█▎        | 180/1350 [06:31<19:09,  1.02it/s]
 13%|█▎        | 181/1350 [06:31<14:50,  1.31it/s]
 13%|█▎        | 182/1350 [06:31<11:50,  1.64it/s]
 14%|█▎        | 183/1350 [06:32<09:43,  2.00it/s]
 14%|█▎        | 184/1350 [06:32<08:12,  2.37it/s]
 14%|█▎        | 185/1350 [06:43<1:09:19,  3.57s/it]
 14%|█▍        | 186/1350 [06:43<49:54,  2.57s/it]  
 14%|█▍        | 187/1350 [06:43<36:19,  1.87s/it]
 14%|█▍        | 188/1350 [06:44<26:49,  1.39s/it]
 14%|█▍        | 189/1350 [06:44<20:13,  1.05s/it]
 14%|█▍        | 190/1350 [06:44<15:34,  1.24it/s]
 14%|█▍        | 191/1350 [06:44<12:20,  1.56it/s]
 14%|█▍        | 192/1350 [06:45<10:02,  1.92it/s]
 14%|█▍        | 193/1350 [07:00<1:35:34,  4.96s/it]
 14%|█▍        | 194/1350 [07:00<1:08:17,  3.54s/it]
 14%|█▍        | 195/1350 [07:00<49:09,  2.55s/it]  
 15%|█▍        | 196/1350 [07:01<35:47,  1.86s/it]
 15%|█▍        | 197/1350 [07:01<26:25,  1.37s/it]
 15%|█▍        | 198/1350 [07:01<19:54,  1.04s/it]
 15%|█▍        | 199/1350 [07:01<15:20,  1.25it/s]
 15%|█▍        | 200/1350 [07:02<12:07,  1.58it/s]
 15%|█▍        | 201/1350 [07:15<1:24:40,  4.42s/it]
 15%|█▍        | 202/1350 [07:15<1:00:40,  3.17s/it]
 15%|█▌        | 203/1350 [07:15<43:53,  2.30s/it]  
 15%|█▌        | 204/1350 [07:16<32:10,  1.68s/it]
 15%|█▌        | 205/1350 [07:16<23:59,  1.26s/it]
 15%|█▌        | 206/1350 [07:16<18:11,  1.05it/s]
 15%|█▌        | 207/1350 [07:16<14:06,  1.35it/s]
 15%|█▌        | 208/1350 [07:17<11:17,  1.69it/s]
 15%|█▌        | 209/1350 [07:24<49:09,  2.59s/it]
 16%|█▌        | 210/1350 [07:24<35:40,  1.88s/it]
 16%|█▌        | 211/1350 [07:24<26:16,  1.38s/it]
 16%|█▌        | 212/1350 [07:25<19:45,  1.04s/it]
 16%|█▌        | 213/1350 [07:25<15:07,  1.25it/s]
 16%|█▌        | 214/1350 [07:25<11:56,  1.59it/s]
 16%|█▌        | 215/1350 [07:25<09:43,  1.95it/s]
 16%|█▌        | 216/1350 [07:25<08:06,  2.33it/s]
 16%|█▌        | 217/1350 [07:32<42:50,  2.27s/it]
 16%|█▌        | 218/1350 [07:32<31:15,  1.66s/it]
 16%|█▌        | 219/1350 [07:32<23:08,  1.23s/it]
 16%|█▋        | 220/1350 [07:33<17:28,  1.08it/s]
 16%|█▋        | 221/1350 [07:33<13:29,  1.39it/s]
 16%|█▋        | 222/1350 [07:33<10:42,  1.76it/s]
 17%|█▋        | 223/1350 [07:33<08:45,  2.14it/s]
 17%|█▋        | 224/1350 [07:34<07:25,  2.53it/s]
 17%|█▋        | 225/1350 [08:12<3:43:51, 11.94s/it]
 17%|█▋        | 226/1350 [08:13<2:37:50,  8.43s/it]
 17%|█▋        | 227/1350 [08:13<1:51:40,  5.97s/it]
 17%|█▋        | 228/1350 [08:13<1:19:21,  4.24s/it]
 17%|█▋        | 229/1350 [08:13<56:45,  3.04s/it]  
 17%|█▋        | 230/1350 [08:14<40:58,  2.20s/it]
 17%|█▋        | 231/1350 [08:14<29:55,  1.60s/it]
 17%|█▋        | 232/1350 [08:14<22:12,  1.19s/it]
 17%|█▋        | 233/1350 [08:22<57:20,  3.08s/it]
 17%|█▋        | 234/1350 [08:22<41:23,  2.23s/it]
 17%|█▋        | 235/1350 [08:22<30:13,  1.63s/it]
 17%|█▋        | 236/1350 [08:22<22:24,  1.21s/it]
 18%|█▊        | 237/1350 [08:22<16:56,  1.10it/s]
 18%|█▊        | 238/1350 [08:23<13:06,  1.41it/s]
 18%|█▊        | 239/1350 [08:23<10:24,  1.78it/s]
 18%|█▊        | 240/1350 [08:23<08:38,  2.14it/s]
 18%|█▊        | 241/1350 [08:32<57:32,  3.11s/it]
 18%|█▊        | 242/1350 [08:33<41:33,  2.25s/it]
 18%|█▊        | 243/1350 [08:33<30:23,  1.65s/it]
 18%|█▊        | 244/1350 [08:33<22:37,  1.23s/it]
 18%|█▊        | 245/1350 [08:33<17:10,  1.07it/s]
 18%|█▊        | 246/1350 [08:34<13:20,  1.38it/s]
 18%|█▊        | 247/1350 [08:34<10:38,  1.73it/s]
 18%|█▊        | 248/1350 [08:34<08:44,  2.10it/s]
 18%|█▊        | 249/1350 [08:50<1:31:40,  5.00s/it]
 19%|█▊        | 250/1350 [08:50<1:05:20,  3.56s/it]
 19%|█▊        | 251/1350 [08:50<46:55,  2.56s/it]  
 19%|█▊        | 252/1350 [08:50<34:06,  1.86s/it]
 19%|█▊        | 253/1350 [08:51<25:05,  1.37s/it]
 19%|█▉        | 254/1350 [08:51<18:48,  1.03s/it]
 19%|█▉        | 255/1350 [08:51<14:24,  1.27it/s]
 19%|█▉        | 256/1350 [08:51<11:20,  1.61it/s]
 19%|█▉        | 257/1350 [08:59<47:31,  2.61s/it]
 19%|█▉        | 258/1350 [08:59<34:27,  1.89s/it]
 19%|█▉        | 259/1350 [08:59<25:19,  1.39s/it]
 19%|█▉        | 260/1350 [08:59<18:55,  1.04s/it]
 19%|█▉        | 261/1350 [08:59<14:27,  1.26it/s]
 19%|█▉        | 262/1350 [09:00<11:21,  1.60it/s]
 19%|█▉        | 263/1350 [09:00<09:10,  1.97it/s]
 20%|█▉        | 264/1350 [09:00<07:37,  2.37it/s]
 20%|█▉        | 265/1350 [09:20<1:51:28,  6.16s/it]
 20%|█▉        | 266/1350 [09:20<1:19:12,  4.38s/it]
 20%|█▉        | 267/1350 [09:20<56:37,  3.14s/it]  
 20%|█▉        | 268/1350 [09:20<40:49,  2.26s/it]
 20%|█▉        | 269/1350 [09:21<29:47,  1.65s/it]
 20%|██        | 270/1350 [09:21<22:03,  1.23s/it]
 20%|██        | 271/1350 [09:21<16:39,  1.08it/s]
 20%|██        | 272/1350 [09:21<12:52,  1.40it/s]
 20%|██        | 273/1350 [09:28<45:22,  2.53s/it]
 20%|██        | 274/1350 [09:28<32:57,  1.84s/it]
 20%|██        | 275/1350 [09:28<24:15,  1.35s/it]
 20%|██        | 276/1350 [09:29<18:11,  1.02s/it]
 21%|██        | 277/1350 [09:29<13:56,  1.28it/s]
 21%|██        | 278/1350 [09:29<10:58,  1.63it/s]
 21%|██        | 279/1350 [09:29<08:57,  1.99it/s]
 21%|██        | 280/1350 [09:30<07:30,  2.38it/s]
 21%|██        | 281/1350 [09:43<1:17:00,  4.32s/it]
 21%|██        | 282/1350 [09:43<55:09,  3.10s/it]  
 21%|██        | 283/1350 [09:44<39:54,  2.24s/it]
 21%|██        | 284/1350 [09:44<29:14,  1.65s/it]
 21%|██        | 285/1350 [09:44<21:44,  1.22s/it]
 21%|██        | 286/1350 [09:44<16:35,  1.07it/s]
 21%|██▏       | 287/1350 [09:45<12:52,  1.38it/s]
 21%|██▏       | 288/1350 [09:45<10:20,  1.71it/s]
 21%|██▏       | 289/1350 [09:58<1:19:42,  4.51s/it]
 21%|██▏       | 290/1350 [09:59<57:06,  3.23s/it]  
 22%|██▏       | 291/1350 [09:59<41:16,  2.34s/it]
 22%|██▏       | 292/1350 [09:59<30:10,  1.71s/it]
 22%|██▏       | 293/1350 [09:59<22:27,  1.28s/it]
 22%|██▏       | 294/1350 [10:00<17:00,  1.03it/s]
 22%|██▏       | 295/1350 [10:00<13:13,  1.33it/s]
 22%|██▏       | 296/1350 [10:00<10:33,  1.66it/s]
 22%|██▏       | 297/1350 [10:17<1:37:08,  5.53s/it]
 22%|██▏       | 298/1350 [10:18<1:09:16,  3.95s/it]
 22%|██▏       | 299/1350 [10:18<49:48,  2.84s/it]  
 22%|██▏       | 300/1350 [10:18<36:11,  2.07s/it]
 22%|██▏       | 301/1350 [10:18<26:39,  1.52s/it]
 22%|██▏       | 302/1350 [10:19<19:57,  1.14s/it]
 22%|██▏       | 303/1350 [10:19<15:17,  1.14it/s]
 23%|██▎       | 304/1350 [10:19<12:00,  1.45it/s]
 23%|██▎       | 305/1350 [10:33<1:19:13,  4.55s/it]
 23%|██▎       | 306/1350 [10:33<56:46,  3.26s/it]  
 23%|██▎       | 307/1350 [10:33<41:04,  2.36s/it]
 23%|██▎       | 308/1350 [10:33<30:04,  1.73s/it]
 23%|██▎       | 309/1350 [10:34<22:26,  1.29s/it]
 23%|██▎       | 310/1350 [10:34<17:04,  1.02it/s]
 23%|██▎       | 311/1350 [10:34<13:20,  1.30it/s]
 23%|██▎       | 312/1350 [10:34<10:41,  1.62it/s]
 23%|██▎       | 313/1350 [10:42<48:33,  2.81s/it]
 23%|██▎       | 314/1350 [10:43<35:07,  2.03s/it]
 23%|██▎       | 315/1350 [10:43<25:48,  1.50s/it]
 23%|██▎       | 316/1350 [10:43<19:14,  1.12s/it]
 23%|██▎       | 317/1350 [10:43<14:40,  1.17it/s]
 24%|██▎       | 318/1350 [10:44<11:29,  1.50it/s]
 24%|██▎       | 319/1350 [10:44<09:12,  1.87it/s]
 24%|██▎       | 320/1350 [10:44<07:37,  2.25it/s]
 24%|██▍       | 321/1350 [10:51<42:49,  2.50s/it]
 24%|██▍       | 322/1350 [10:52<31:08,  1.82s/it]
 24%|██▍       | 323/1350 [10:52<22:57,  1.34s/it]
 24%|██▍       | 324/1350 [10:52<17:14,  1.01s/it]
 24%|██▍       | 325/1350 [10:52<13:13,  1.29it/s]
 24%|██▍       | 326/1350 [10:52<10:26,  1.64it/s]
 24%|██▍       | 327/1350 [10:53<08:27,  2.02it/s]
 24%|██▍       | 328/1350 [10:53<07:05,  2.40it/s]
 24%|██▍       | 329/1350 [11:08<1:23:20,  4.90s/it]
 24%|██▍       | 330/1350 [11:08<59:26,  3.50s/it]  
 25%|██▍       | 331/1350 [11:09<42:44,  2.52s/it]
 25%|██▍       | 332/1350 [11:09<31:02,  1.83s/it]
 25%|██▍       | 333/1350 [11:09<22:50,  1.35s/it]
 25%|██▍       | 334/1350 [11:09<17:07,  1.01s/it]
 25%|██▍       | 335/1350 [11:10<13:08,  1.29it/s]
 25%|██▍       | 336/1350 [11:10<10:24,  1.62it/s]
 25%|██▍       | 337/1350 [11:18<46:03,  2.73s/it]
 25%|██▌       | 338/1350 [11:18<33:22,  1.98s/it]
 25%|██▌       | 339/1350 [11:18<24:39,  1.46s/it]
 25%|██▌       | 340/1350 [11:18<18:26,  1.10s/it]
 25%|██▌       | 341/1350 [11:18<14:04,  1.19it/s]
 25%|██▌       | 342/1350 [11:19<11:03,  1.52it/s]
 25%|██▌       | 343/1350 [11:19<08:56,  1.88it/s]
 25%|██▌       | 344/1350 [11:19<07:29,  2.24it/s]
 26%|██▌       | 345/1350 [11:35<1:26:02,  5.14s/it]
 26%|██▌       | 346/1350 [11:36<1:01:21,  3.67s/it]
 26%|██▌       | 347/1350 [11:36<44:06,  2.64s/it]  
 26%|██▌       | 348/1350 [11:36<32:00,  1.92s/it]
 26%|██▌       | 349/1350 [11:36<23:38,  1.42s/it]
 26%|██▌       | 350/1350 [11:36<17:46,  1.07s/it]
 26%|██▌       | 351/1350 [11:37<13:39,  1.22it/s]
 26%|██▌       | 352/1350 [11:37<10:43,  1.55it/s]
 26%|██▌       | 353/1350 [11:46<51:53,  3.12s/it]
 26%|██▌       | 354/1350 [11:46<37:27,  2.26s/it]
 26%|██▋       | 355/1350 [11:46<27:22,  1.65s/it]
 26%|██▋       | 356/1350 [11:47<20:20,  1.23s/it]
 26%|██▋       | 357/1350 [11:47<15:22,  1.08it/s]
 27%|██▋       | 358/1350 [11:47<11:56,  1.38it/s]
 27%|██▋       | 359/1350 [11:47<09:32,  1.73it/s]
 27%|██▋       | 360/1350 [11:48<07:54,  2.09it/s]
 27%|██▋       | 361/1350 [11:54<37:46,  2.29s/it]
 27%|██▋       | 362/1350 [11:54<27:42,  1.68s/it]
 27%|██▋       | 363/1350 [11:55<20:37,  1.25s/it]
 27%|██▋       | 364/1350 [11:55<15:44,  1.04it/s]
 27%|██▋       | 365/1350 [11:55<12:15,  1.34it/s]
 27%|██▋       | 366/1350 [11:55<09:50,  1.67it/s]
 27%|██▋       | 367/1350 [11:56<08:10,  2.00it/s]
 27%|██▋       | 368/1350 [11:56<06:58,  2.34it/s]
 27%|██▋       | 369/1350 [12:06<54:56,  3.36s/it]
 27%|██▋       | 370/1350 [12:06<39:43,  2.43s/it]
 27%|██▋       | 371/1350 [12:07<29:07,  1.79s/it]
 28%|██▊       | 372/1350 [12:07<21:42,  1.33s/it]
 28%|██▊       | 373/1350 [12:07<16:27,  1.01s/it]
 28%|██▊       | 374/1350 [12:07<12:46,  1.27it/s]
 28%|██▊       | 375/1350 [12:08<10:17,  1.58it/s]
 28%|██▊       | 376/1350 [12:08<08:29,  1.91it/s]
 28%|██▊       | 377/1350 [12:22<1:13:32,  4.54s/it]
 28%|██▊       | 378/1350 [12:22<52:45,  3.26s/it]  
 28%|██▊       | 379/1350 [12:22<38:16,  2.37s/it]
 28%|██▊       | 380/1350 [12:23<28:01,  1.73s/it]
 28%|██▊       | 381/1350 [12:23<20:53,  1.29s/it]
 28%|██▊       | 382/1350 [12:23<15:52,  1.02it/s]
 28%|██▊       | 383/1350 [12:23<12:23,  1.30it/s]
 28%|██▊       | 384/1350 [12:24<09:56,  1.62it/s]
 29%|██▊       | 385/1350 [12:31<43:39,  2.71s/it]
 29%|██▊       | 386/1350 [12:32<31:49,  1.98s/it]
 29%|██▊       | 387/1350 [12:32<23:29,  1.46s/it]
 29%|██▊       | 388/1350 [12:32<17:41,  1.10s/it]
 29%|██▉       | 389/1350 [12:32<13:36,  1.18it/s]
 29%|██▉       | 390/1350 [12:33<10:46,  1.48it/s]
 29%|██▉       | 391/1350 [12:33<08:45,  1.83it/s]
 29%|██▉       | 392/1350 [12:33<07:24,  2.16it/s]
 29%|██▉       | 393/1350 [12:41<43:29,  2.73s/it]
 29%|██▉       | 394/1350 [12:41<31:42,  1.99s/it]
 29%|██▉       | 395/1350 [12:42<23:26,  1.47s/it]
 29%|██▉       | 396/1350 [12:42<17:39,  1.11s/it]
 29%|██▉       | 397/1350 [12:42<13:34,  1.17it/s]
 29%|██▉       | 398/1350 [12:43<10:43,  1.48it/s]
 30%|██▉       | 399/1350 [12:43<08:46,  1.81it/s]
 30%|██▉       | 400/1350 [12:43<07:22,  2.15it/s]
 30%|██▉       | 401/1350 [12:55<1:02:52,  3.97s/it]
 30%|██▉       | 402/1350 [12:55<45:15,  2.86s/it]  
 30%|██▉       | 403/1350 [12:56<32:54,  2.09s/it]
 30%|██▉       | 404/1350 [12:56<24:18,  1.54s/it]
 30%|███       | 405/1350 [12:56<18:19,  1.16s/it]
 30%|███       | 406/1350 [12:57<14:08,  1.11it/s]
 30%|███       | 407/1350 [12:57<11:07,  1.41it/s]
 30%|███       | 408/1350 [12:57<09:01,  1.74it/s]
 30%|███       | 409/1350 [13:06<47:29,  3.03s/it]
 30%|███       | 410/1350 [13:06<34:18,  2.19s/it]
 30%|███       | 411/1350 [13:06<25:04,  1.60s/it]
 31%|███       | 412/1350 [13:07<18:36,  1.19s/it]
 31%|███       | 413/1350 [13:07<14:05,  1.11it/s]
 31%|███       | 414/1350 [13:07<10:55,  1.43it/s]
 31%|███       | 415/1350 [13:07<08:41,  1.79it/s]
 31%|███       | 416/1350 [13:07<07:10,  2.17it/s]
 31%|███       | 417/1350 [13:15<38:12,  2.46s/it]
 31%|███       | 418/1350 [13:15<27:47,  1.79s/it]
 31%|███       | 419/1350 [13:15<20:29,  1.32s/it]
 31%|███       | 420/1350 [13:15<15:23,  1.01it/s]
 31%|███       | 421/1350 [13:16<11:51,  1.31it/s]
 31%|███▏      | 422/1350 [13:16<09:22,  1.65it/s]
 31%|███▏      | 423/1350 [13:16<07:38,  2.02it/s]
 31%|███▏      | 424/1350 [13:16<06:27,  2.39it/s]
 31%|███▏      | 425/1350 [13:40<1:55:13,  7.47s/it]
 32%|███▏      | 426/1350 [13:40<1:21:38,  5.30s/it]
 32%|███▏      | 427/1350 [13:41<58:09,  3.78s/it]  
 32%|███▏      | 428/1350 [13:41<41:52,  2.73s/it]
 32%|███▏      | 429/1350 [13:41<30:23,  1.98s/it]
 32%|███▏      | 430/1350 [13:41<22:19,  1.46s/it]
 32%|███▏      | 431/1350 [13:42<16:40,  1.09s/it]
 32%|███▏      | 432/1350 [13:42<12:45,  1.20it/s]
 32%|███▏      | 433/1350 [13:50<44:12,  2.89s/it]
 32%|███▏      | 434/1350 [13:50<32:01,  2.10s/it]
 32%|███▏      | 435/1350 [13:50<23:30,  1.54s/it]
 32%|███▏      | 436/1350 [13:50<17:37,  1.16s/it]
 32%|███▏      | 437/1350 [13:51<13:25,  1.13it/s]
 32%|███▏      | 438/1350 [13:51<10:29,  1.45it/s]
 33%|███▎      | 439/1350 [13:51<08:25,  1.80it/s]
 33%|███▎      | 440/1350 [13:51<07:02,  2.15it/s]
 33%|███▎      | 441/1350 [14:05<1:07:47,  4.47s/it]
 33%|███▎      | 442/1350 [14:05<48:27,  3.20s/it]  
 33%|███▎      | 443/1350 [14:06<34:59,  2.32s/it]
 33%|███▎      | 444/1350 [14:06<25:32,  1.69s/it]
 33%|███▎      | 445/1350 [14:06<18:57,  1.26s/it]
 33%|███▎      | 446/1350 [14:06<14:23,  1.05it/s]
 33%|███▎      | 447/1350 [14:07<11:10,  1.35it/s]
 33%|███▎      | 448/1350 [14:07<08:54,  1.69it/s]
 33%|███▎      | 449/1350 [14:17<52:54,  3.52s/it]
 33%|███▎      | 450/1350 [14:17<38:14,  2.55s/it]
 33%|███▎      | 451/1350 [14:18<27:50,  1.86s/it]
 33%|███▎      | 452/1350 [14:18<20:35,  1.38s/it]
 34%|███▎      | 453/1350 [14:18<15:31,  1.04s/it]
 34%|███▎      | 454/1350 [14:18<11:56,  1.25it/s]
 34%|███▎      | 455/1350 [14:19<09:23,  1.59it/s]
 34%|███▍      | 456/1350 [14:19<07:37,  1.95it/s]
 34%|███▍      | 457/1350 [14:26<39:13,  2.64s/it]
 34%|███▍      | 458/1350 [14:27<28:33,  1.92s/it]
 34%|███▍      | 459/1350 [14:27<21:08,  1.42s/it]
 34%|███▍      | 460/1350 [14:27<15:57,  1.08s/it]
 34%|███▍      | 461/1350 [14:27<12:17,  1.21it/s]
 34%|███▍      | 462/1350 [14:28<09:47,  1.51it/s]
 34%|███▍      | 463/1350 [14:28<07:57,  1.86it/s]
 34%|███▍      | 464/1350 [14:28<06:43,  2.20it/s]
 34%|███▍      | 465/1350 [14:38<47:04,  3.19s/it]
 35%|███▍      | 466/1350 [14:38<34:08,  2.32s/it]
 35%|███▍      | 467/1350 [14:38<25:02,  1.70s/it]
 35%|███▍      | 468/1350 [14:39<18:43,  1.27s/it]
 35%|███▍      | 469/1350 [14:39<14:16,  1.03it/s]
 35%|███▍      | 470/1350 [14:39<11:10,  1.31it/s]
 35%|███▍      | 471/1350 [14:39<09:01,  1.62it/s]
 35%|███▍      | 472/1350 [14:40<07:28,  1.96it/s]
 35%|███▌      | 473/1350 [14:56<1:16:22,  5.23s/it]
 35%|███▌      | 474/1350 [14:56<54:35,  3.74s/it]  
 35%|███▌      | 475/1350 [14:57<39:20,  2.70s/it]
 35%|███▌      | 476/1350 [14:57<28:38,  1.97s/it]
 35%|███▌      | 477/1350 [14:57<21:13,  1.46s/it]
 35%|███▌      | 478/1350 [14:57<15:59,  1.10s/it]
 35%|███▌      | 479/1350 [14:58<12:18,  1.18it/s]
 36%|███▌      | 480/1350 [14:58<09:46,  1.48it/s]
 36%|███▌      | 481/1350 [15:06<43:07,  2.98s/it]
 36%|███▌      | 482/1350 [15:06<31:20,  2.17s/it]
 36%|███▌      | 483/1350 [15:07<23:07,  1.60s/it]
 36%|███▌      | 484/1350 [15:07<17:22,  1.20s/it]
 36%|███▌      | 485/1350 [15:07<13:17,  1.08it/s]
 36%|███▌      | 486/1350 [15:08<10:26,  1.38it/s]
 36%|███▌      | 487/1350 [15:08<08:24,  1.71it/s]
 36%|███▌      | 488/1350 [15:08<06:59,  2.05it/s]
 36%|███▌      | 489/1350 [15:16<39:40,  2.76s/it]
 36%|███▋      | 490/1350 [15:16<28:53,  2.02s/it]
 36%|███▋      | 491/1350 [15:17<21:18,  1.49s/it]
 36%|███▋      | 492/1350 [15:17<16:01,  1.12s/it]
 37%|███▋      | 493/1350 [15:17<12:22,  1.15it/s]
 37%|███▋      | 494/1350 [15:17<09:48,  1.45it/s]
 37%|███▋      | 495/1350 [15:18<07:58,  1.79it/s]
 37%|███▋      | 496/1350 [15:18<06:42,  2.12it/s]
 37%|███▋      | 497/1350 [15:26<40:03,  2.82s/it]
 37%|███▋      | 498/1350 [15:27<29:08,  2.05s/it]
 37%|███▋      | 499/1350 [15:27<21:29,  1.51s/it]
 37%|███▋      | 500/1350 [15:28<18:03,  1.27s/it]
 37%|███▋      | 501/1350 [15:28<13:43,  1.03it/s]
 37%|███▋      | 501/1350 [15:28<26:13,  1.85s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json.
+BlockStackingSpecifiedOrderTask_1 complete: task_name: BlockStackingSpecifiedOrderTask, run_name: BlockStackingSpecifiedOrderTask_1, run: 1, env_id: 0, policy: harness, instruction: Stack the blocks in the order from bottom to top: red, blue, green, yellow, attributes: ['stacking', 'color', 'complex'], success: True, episode_step: 502, duration: 33.46666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.770920207983739, 'joint_sparc_mean': -10.483228442866698, 'ee_isj': 3049.832877168622, 'joint_isj': 77034.44684317741, 'ee_path_length': 4.516405097076557, 'joint_rmse_mean': 1.1245072602792703, 'ee_speed_max': 0.6148935556411743, 'ee_speed_mean': 0.12771576642990112}, events: {'GRIPPER_FULLY_CLOSED': 2, 'GRIPPER_HIT_TABLE': 2, 'OBJECT_BUMPED': 6, 'GRIPPER_HIT_OBJECT': 4, 'WRONG_OBJECT_GRABBED': 5, 'wrong_objects_grabbed': ['blue_block', 'blue_block', 'blue_block', 'green_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 811.128, 'policy_inference_avg_ms': 1615.8, 'env_step_s': 112.097, 'env_step_avg_ms': 223.3, 'video_write_s': 5.119, 'video_write_avg_ms': 10.2, 'wall_total_s': 928.343, 'it_per_sec': 0.54}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: c5a10ea163f84c1c961738a6d4c511d7-1
+[RoboLab] Running BlockStackingSpecifiedOrderTask_2: 'Stack the blocks in the order from bottom to top: red, blue, green, yellow' (run 2, 1 envs)
+
  0%|          | 0/1350 [00:00<?, ?it/s]
  0%|          | 1/1350 [00:33<12:38:49, 33.75s/it]
  0%|          | 2/1350 [00:33<5:15:26, 14.04s/it] 
  0%|          | 3/1350 [00:34<2:53:40,  7.74s/it]
  0%|          | 4/1350 [00:34<1:47:03,  4.77s/it]
  0%|          | 5/1350 [00:34<1:10:13,  3.13s/it]
  0%|          | 6/1350 [00:34<48:03,  2.15s/it]  
  1%|          | 7/1350 [00:35<34:00,  1.52s/it]
  1%|          | 8/1350 [00:35<24:46,  1.11s/it]
  1%|          | 9/1350 [00:48<1:45:47,  4.73s/it]
  1%|          | 10/1350 [00:48<1:14:38,  3.34s/it]
  1%|          | 11/1350 [00:48<53:20,  2.39s/it]  
  1%|          | 12/1350 [00:48<38:39,  1.73s/it]
  1%|          | 13/1350 [00:48<28:29,  1.28s/it]
  1%|          | 14/1350 [00:49<21:28,  1.04it/s]
  1%|          | 15/1350 [00:49<16:29,  1.35it/s]
  1%|          | 16/1350 [00:49<13:06,  1.70it/s]
  1%|▏         | 17/1350 [00:55<50:49,  2.29s/it]
  1%|▏         | 18/1350 [00:56<37:06,  1.67s/it]
  1%|▏         | 19/1350 [00:56<27:28,  1.24s/it]
  1%|▏         | 20/1350 [00:56<20:41,  1.07it/s]
  2%|▏         | 21/1350 [00:56<15:59,  1.38it/s]
  2%|▏         | 22/1350 [00:57<12:39,  1.75it/s]
  2%|▏         | 23/1350 [00:57<10:24,  2.12it/s]
  2%|▏         | 24/1350 [00:57<08:50,  2.50it/s]
  2%|▏         | 25/1350 [01:04<55:08,  2.50s/it]
  2%|▏         | 26/1350 [01:05<40:09,  1.82s/it]
  2%|▏         | 27/1350 [01:05<29:41,  1.35s/it]
  2%|▏         | 28/1350 [01:05<22:20,  1.01s/it]
  2%|▏         | 29/1350 [01:05<17:08,  1.28it/s]
  2%|▏         | 30/1350 [01:06<13:29,  1.63it/s]
  2%|▏         | 31/1350 [01:06<10:58,  2.00it/s]
  2%|▏         | 32/1350 [01:06<09:21,  2.35it/s]
  2%|▏         | 33/1350 [01:35<3:14:39,  8.87s/it]
  3%|▎         | 34/1350 [01:35<2:17:50,  6.28s/it]
  3%|▎         | 35/1350 [01:35<1:38:01,  4.47s/it]
  3%|▎         | 36/1350 [01:35<1:10:07,  3.20s/it]
  3%|▎         | 37/1350 [01:36<50:39,  2.31s/it]  
  3%|▎         | 38/1350 [01:36<37:06,  1.70s/it]
  3%|▎         | 39/1350 [01:36<27:38,  1.27s/it]
  3%|▎         | 40/1350 [01:36<21:01,  1.04it/s]
  3%|▎         | 41/1350 [01:45<1:09:10,  3.17s/it]
  3%|▎         | 42/1350 [01:45<50:06,  2.30s/it]  
  3%|▎         | 43/1350 [01:45<36:48,  1.69s/it]
  3%|▎         | 44/1350 [01:46<27:24,  1.26s/it]
  3%|▎         | 45/1350 [01:46<20:51,  1.04it/s]
  3%|▎         | 46/1350 [01:46<16:16,  1.34it/s]
  3%|▎         | 47/1350 [01:46<13:03,  1.66it/s]
  4%|▎         | 48/1350 [01:47<10:49,  2.00it/s]
  4%|▎         | 49/1350 [02:00<1:33:55,  4.33s/it]
  4%|▎         | 50/1350 [02:00<1:07:25,  3.11s/it]
  4%|▍         | 51/1350 [02:00<48:50,  2.26s/it]  
  4%|▍         | 52/1350 [02:01<35:49,  1.66s/it]
  4%|▍         | 53/1350 [02:01<26:42,  1.24s/it]
  4%|▍         | 54/1350 [02:01<20:18,  1.06it/s]
  4%|▍         | 55/1350 [02:01<15:52,  1.36it/s]
  4%|▍         | 56/1350 [02:02<12:47,  1.69it/s]
  4%|▍         | 57/1350 [02:09<56:04,  2.60s/it]
  4%|▍         | 58/1350 [02:09<40:53,  1.90s/it]
  4%|▍         | 59/1350 [02:09<30:16,  1.41s/it]
  4%|▍         | 60/1350 [02:10<22:47,  1.06s/it]
  5%|▍         | 61/1350 [02:10<17:34,  1.22it/s]
  5%|▍         | 62/1350 [02:10<13:58,  1.54it/s]
  5%|▍         | 63/1350 [02:10<11:28,  1.87it/s]
  5%|▍         | 64/1350 [02:11<09:38,  2.22it/s]
  5%|▍         | 65/1350 [02:28<2:00:04,  5.61s/it]
  5%|▍         | 66/1350 [02:29<1:25:39,  4.00s/it]
  5%|▍         | 67/1350 [02:29<1:01:34,  2.88s/it]
  5%|▌         | 68/1350 [02:29<44:45,  2.09s/it]  
  5%|▌         | 69/1350 [02:29<33:00,  1.55s/it]
  5%|▌         | 70/1350 [02:30<24:41,  1.16s/it]
  5%|▌         | 71/1350 [02:30<18:52,  1.13it/s]
  5%|▌         | 72/1350 [02:30<14:51,  1.43it/s]
  5%|▌         | 73/1350 [02:39<1:05:44,  3.09s/it]
  5%|▌         | 74/1350 [02:39<47:40,  2.24s/it]  
  6%|▌         | 75/1350 [02:39<35:01,  1.65s/it]
  6%|▌         | 76/1350 [02:40<26:07,  1.23s/it]
  6%|▌         | 77/1350 [02:40<19:54,  1.07it/s]
  6%|▌         | 78/1350 [02:40<15:32,  1.36it/s]
  6%|▌         | 79/1350 [02:40<12:32,  1.69it/s]
  6%|▌         | 80/1350 [02:41<10:25,  2.03it/s]
  6%|▌         | 81/1350 [02:48<54:42,  2.59s/it]
  6%|▌         | 82/1350 [02:48<39:53,  1.89s/it]
  6%|▌         | 83/1350 [02:49<29:29,  1.40s/it]
  6%|▌         | 84/1350 [02:49<22:15,  1.06s/it]
  6%|▋         | 85/1350 [02:49<17:11,  1.23it/s]
  6%|▋         | 86/1350 [02:49<13:39,  1.54it/s]
  6%|▋         | 87/1350 [02:50<11:11,  1.88it/s]
  7%|▋         | 88/1350 [02:50<09:31,  2.21it/s]
  7%|▋         | 89/1350 [02:55<40:06,  1.91s/it]
  7%|▋         | 90/1350 [02:56<29:40,  1.41s/it]
  7%|▋         | 91/1350 [02:56<22:20,  1.06s/it]
  7%|▋         | 92/1350 [02:56<17:11,  1.22it/s]
  7%|▋         | 93/1350 [02:56<13:33,  1.54it/s]
  7%|▋         | 94/1350 [02:57<11:03,  1.89it/s]
  7%|▋         | 95/1350 [02:57<09:15,  2.26it/s]
  7%|▋         | 96/1350 [02:57<07:59,  2.62it/s]
  7%|▋         | 97/1350 [03:06<1:00:39,  2.90s/it]
  7%|▋         | 98/1350 [03:06<44:02,  2.11s/it]  
  7%|▋         | 99/1350 [03:06<32:26,  1.56s/it]
  7%|▋         | 100/1350 [03:07<24:04,  1.16s/it]
  7%|▋         | 101/1350 [03:07<18:15,  1.14it/s]
  8%|▊         | 102/1350 [03:07<14:12,  1.46it/s]
  8%|▊         | 103/1350 [03:07<11:20,  1.83it/s]
  8%|▊         | 104/1350 [03:07<09:20,  2.22it/s]
  8%|▊         | 105/1350 [03:19<1:17:11,  3.72s/it]
  8%|▊         | 106/1350 [03:19<55:23,  2.67s/it]  
  8%|▊         | 107/1350 [03:19<40:07,  1.94s/it]
  8%|▊         | 108/1350 [03:19<29:28,  1.42s/it]
  8%|▊         | 109/1350 [03:20<22:00,  1.06s/it]
  8%|▊         | 110/1350 [03:20<16:47,  1.23it/s]
  8%|▊         | 111/1350 [03:20<13:10,  1.57it/s]
  8%|▊         | 112/1350 [03:20<10:38,  1.94it/s]
  8%|▊         | 113/1350 [04:02<4:24:35, 12.83s/it]
  8%|▊         | 114/1350 [04:02<3:06:29,  9.05s/it]
  9%|▊         | 115/1350 [04:02<2:11:51,  6.41s/it]
  9%|▊         | 116/1350 [04:03<1:33:40,  4.56s/it]
  9%|▊         | 117/1350 [04:03<1:06:55,  3.26s/it]
  9%|▊         | 118/1350 [04:03<48:13,  2.35s/it]  
  9%|▉         | 119/1350 [04:03<35:08,  1.71s/it]
  9%|▉         | 120/1350 [04:04<25:58,  1.27s/it]
  9%|▉         | 121/1350 [04:12<1:07:20,  3.29s/it]
  9%|▉         | 122/1350 [04:12<48:30,  2.37s/it]  
  9%|▉         | 123/1350 [04:12<35:22,  1.73s/it]
  9%|▉         | 124/1350 [04:12<26:11,  1.28s/it]
  9%|▉         | 125/1350 [04:12<19:46,  1.03it/s]
  9%|▉         | 126/1350 [04:13<15:22,  1.33it/s]
  9%|▉         | 127/1350 [04:13<12:10,  1.67it/s]
  9%|▉         | 128/1350 [04:13<09:59,  2.04it/s]
 10%|▉         | 129/1350 [04:19<42:20,  2.08s/it]
 10%|▉         | 130/1350 [04:19<30:59,  1.52s/it]
 10%|▉         | 131/1350 [04:19<23:05,  1.14s/it]
 10%|▉         | 132/1350 [04:20<17:33,  1.16it/s]
 10%|▉         | 133/1350 [04:20<13:39,  1.49it/s]
 10%|▉         | 134/1350 [04:20<10:56,  1.85it/s]
 10%|█         | 135/1350 [04:20<09:04,  2.23it/s]
 10%|█         | 136/1350 [04:21<07:47,  2.60it/s]
 10%|█         | 137/1350 [04:26<39:27,  1.95s/it]
 10%|█         | 138/1350 [04:26<28:57,  1.43s/it]
 10%|█         | 139/1350 [04:27<21:36,  1.07s/it]
 10%|█         | 140/1350 [04:27<16:30,  1.22it/s]
 10%|█         | 141/1350 [04:27<12:54,  1.56it/s]
 11%|█         | 142/1350 [04:27<10:24,  1.93it/s]
 11%|█         | 143/1350 [04:28<08:43,  2.31it/s]
 11%|█         | 144/1350 [04:28<07:32,  2.67it/s]
 11%|█         | 145/1350 [04:33<33:21,  1.66s/it]
 11%|█         | 146/1350 [04:33<24:53,  1.24s/it]
 11%|█         | 147/1350 [04:33<18:54,  1.06it/s]
 11%|█         | 148/1350 [04:33<14:42,  1.36it/s]
 11%|█         | 149/1350 [04:34<11:49,  1.69it/s]
 11%|█         | 150/1350 [04:34<09:43,  2.06it/s]
 11%|█         | 151/1350 [04:34<08:16,  2.41it/s]
 11%|█▏        | 152/1350 [04:34<07:15,  2.75it/s]
 11%|█▏        | 153/1350 [04:40<37:07,  1.86s/it]
 11%|█▏        | 154/1350 [04:40<27:27,  1.38s/it]
 11%|█▏        | 155/1350 [04:40<20:43,  1.04s/it]
 12%|█▏        | 156/1350 [04:40<16:00,  1.24it/s]
 12%|█▏        | 157/1350 [04:41<12:46,  1.56it/s]
 12%|█▏        | 158/1350 [04:41<10:29,  1.89it/s]
 12%|█▏        | 159/1350 [04:41<09:03,  2.19it/s]
 12%|█▏        | 160/1350 [04:41<07:53,  2.51it/s]
 12%|█▏        | 161/1350 [05:04<2:21:21,  7.13s/it]
 12%|█▏        | 162/1350 [05:05<1:40:25,  5.07s/it]
 12%|█▏        | 163/1350 [05:05<1:11:45,  3.63s/it]
 12%|█▏        | 164/1350 [05:05<51:42,  2.62s/it]  
 12%|█▏        | 165/1350 [05:05<37:43,  1.91s/it]
 12%|█▏        | 166/1350 [05:06<27:56,  1.42s/it]
 12%|█▏        | 167/1350 [05:06<21:01,  1.07s/it]
 12%|█▏        | 168/1350 [05:06<16:13,  1.21it/s]
 13%|█▎        | 169/1350 [05:13<54:22,  2.76s/it]
 13%|█▎        | 170/1350 [05:14<39:34,  2.01s/it]
 13%|█▎        | 171/1350 [05:14<29:16,  1.49s/it]
 13%|█▎        | 172/1350 [05:14<22:05,  1.13s/it]
 13%|█▎        | 173/1350 [05:14<17:04,  1.15it/s]
 13%|█▎        | 174/1350 [05:15<13:33,  1.44it/s]
 13%|█▎        | 175/1350 [05:15<11:12,  1.75it/s]
 13%|█▎        | 176/1350 [05:15<09:22,  2.09it/s]
 13%|█▎        | 177/1350 [05:21<39:58,  2.04s/it]
 13%|█▎        | 178/1350 [05:21<29:21,  1.50s/it]
 13%|█▎        | 179/1350 [05:21<21:55,  1.12s/it]
 13%|█▎        | 180/1350 [05:22<16:43,  1.17it/s]
 13%|█▎        | 181/1350 [05:22<13:03,  1.49it/s]
 13%|█▎        | 182/1350 [05:22<10:28,  1.86it/s]
 14%|█▎        | 183/1350 [05:22<08:40,  2.24it/s]
 14%|█▎        | 184/1350 [05:23<07:25,  2.62it/s]
 14%|█▎        | 185/1350 [05:44<2:09:24,  6.67s/it]
 14%|█▍        | 186/1350 [05:44<1:31:49,  4.73s/it]
 14%|█▍        | 187/1350 [05:44<1:05:33,  3.38s/it]
 14%|█▍        | 188/1350 [05:45<47:10,  2.44s/it]  
 14%|█▍        | 189/1350 [05:45<34:17,  1.77s/it]
 14%|█▍        | 190/1350 [05:45<25:17,  1.31s/it]
 14%|█▍        | 191/1350 [05:45<18:59,  1.02it/s]
 14%|█▍        | 192/1350 [05:46<14:33,  1.33it/s]
 14%|█▍        | 193/1350 [06:00<1:34:26,  4.90s/it]
 14%|█▍        | 194/1350 [06:00<1:07:21,  3.50s/it]
 14%|█▍        | 195/1350 [06:01<48:24,  2.52s/it]  
 15%|█▍        | 196/1350 [06:01<35:10,  1.83s/it]
 15%|█▍        | 197/1350 [06:01<25:55,  1.35s/it]
 15%|█▍        | 198/1350 [06:01<19:24,  1.01s/it]
 15%|█▍        | 199/1350 [06:01<14:52,  1.29it/s]
 15%|█▍        | 200/1350 [06:02<11:42,  1.64it/s]
 15%|█▍        | 201/1350 [06:10<53:19,  2.78s/it]
 15%|█▍        | 202/1350 [06:10<38:35,  2.02s/it]
 15%|█▌        | 203/1350 [06:10<28:16,  1.48s/it]
 15%|█▌        | 204/1350 [06:10<21:03,  1.10s/it]
 15%|█▌        | 205/1350 [06:10<16:00,  1.19it/s]
 15%|█▌        | 206/1350 [06:11<12:29,  1.53it/s]
 15%|█▌        | 207/1350 [06:11<10:02,  1.90it/s]
 15%|█▌        | 208/1350 [06:11<08:18,  2.29it/s]
 15%|█▌        | 209/1350 [06:17<39:32,  2.08s/it]
 16%|█▌        | 210/1350 [06:17<29:03,  1.53s/it]
 16%|█▌        | 211/1350 [06:18<21:47,  1.15s/it]
 16%|█▌        | 212/1350 [06:18<16:40,  1.14it/s]
 16%|█▌        | 213/1350 [06:18<13:07,  1.44it/s]
 16%|█▌        | 214/1350 [06:18<10:39,  1.78it/s]
 16%|█▌        | 215/1350 [06:19<08:54,  2.12it/s]
 16%|█▌        | 216/1350 [06:19<07:37,  2.48it/s]
 16%|█▌        | 217/1350 [06:28<59:46,  3.17s/it]
 16%|█▌        | 218/1350 [06:29<43:19,  2.30s/it]
 16%|█▌        | 219/1350 [06:29<31:45,  1.69s/it]
 16%|█▋        | 220/1350 [06:29<23:39,  1.26s/it]
 16%|█▋        | 221/1350 [06:29<17:58,  1.05it/s]
 16%|█▋        | 222/1350 [06:30<14:04,  1.34it/s]
 17%|█▋        | 223/1350 [06:30<11:22,  1.65it/s]
 17%|█▋        | 224/1350 [06:30<09:25,  1.99it/s]
 17%|█▋        | 225/1350 [06:46<1:34:57,  5.06s/it]
 17%|█▋        | 226/1350 [06:46<1:07:49,  3.62s/it]
 17%|█▋        | 227/1350 [06:46<48:48,  2.61s/it]  
 17%|█▋        | 228/1350 [06:47<35:31,  1.90s/it]
 17%|█▋        | 229/1350 [06:47<26:14,  1.40s/it]
 17%|█▋        | 230/1350 [06:47<19:44,  1.06s/it]
 17%|█▋        | 231/1350 [06:47<15:12,  1.23it/s]
 17%|█▋        | 232/1350 [06:48<12:01,  1.55it/s]
 17%|█▋        | 233/1350 [06:54<43:15,  2.32s/it]
 17%|█▋        | 234/1350 [06:54<31:39,  1.70s/it]
 17%|█▋        | 235/1350 [06:54<23:34,  1.27s/it]
 17%|█▋        | 236/1350 [06:55<17:55,  1.04it/s]
 18%|█▊        | 237/1350 [06:55<13:56,  1.33it/s]
 18%|█▊        | 238/1350 [06:55<11:07,  1.67it/s]
 18%|█▊        | 239/1350 [06:55<09:11,  2.01it/s]
 18%|█▊        | 240/1350 [06:56<07:49,  2.37it/s]
 18%|█▊        | 241/1350 [07:02<38:24,  2.08s/it]
 18%|█▊        | 242/1350 [07:02<28:07,  1.52s/it]
 18%|█▊        | 243/1350 [07:02<20:55,  1.13s/it]
 18%|█▊        | 244/1350 [07:02<15:53,  1.16it/s]
 18%|█▊        | 245/1350 [07:03<12:21,  1.49it/s]
 18%|█▊        | 246/1350 [07:03<09:53,  1.86it/s]
 18%|█▊        | 247/1350 [07:03<08:11,  2.25it/s]
 18%|█▊        | 248/1350 [07:03<06:58,  2.63it/s]
 18%|█▊        | 249/1350 [07:11<46:03,  2.51s/it]
 19%|█▊        | 250/1350 [07:11<33:29,  1.83s/it]
 19%|█▊        | 251/1350 [07:11<24:42,  1.35s/it]
 19%|█▊        | 252/1350 [07:11<18:33,  1.01s/it]
 19%|█▊        | 253/1350 [07:12<14:14,  1.28it/s]
 19%|█▉        | 254/1350 [07:12<11:13,  1.63it/s]
 19%|█▉        | 255/1350 [07:12<09:07,  2.00it/s]
 19%|█▉        | 256/1350 [07:12<07:37,  2.39it/s]
 19%|█▉        | 257/1350 [07:24<1:09:46,  3.83s/it]
 19%|█▉        | 258/1350 [07:24<50:02,  2.75s/it]  
 19%|█▉        | 259/1350 [07:25<36:12,  1.99s/it]
 19%|█▉        | 260/1350 [07:25<26:33,  1.46s/it]
 19%|█▉        | 261/1350 [07:25<19:48,  1.09s/it]
 19%|█▉        | 262/1350 [07:25<15:06,  1.20it/s]
 19%|█▉        | 263/1350 [07:26<11:48,  1.54it/s]
 20%|█▉        | 264/1350 [07:26<09:32,  1.90it/s]
 20%|█▉        | 265/1350 [07:35<57:12,  3.16s/it]
 20%|█▉        | 266/1350 [07:35<41:14,  2.28s/it]
 20%|█▉        | 267/1350 [07:36<30:03,  1.67s/it]
 20%|█▉        | 268/1350 [07:36<22:14,  1.23s/it]
 20%|█▉        | 269/1350 [07:36<16:45,  1.07it/s]
 20%|██        | 270/1350 [07:36<12:56,  1.39it/s]
 20%|██        | 271/1350 [07:36<10:16,  1.75it/s]
 20%|██        | 272/1350 [07:37<08:25,  2.13it/s]
 20%|██        | 273/1350 [07:44<43:28,  2.42s/it]
 20%|██        | 274/1350 [07:44<31:37,  1.76s/it]
 20%|██        | 275/1350 [07:44<23:19,  1.30s/it]
 20%|██        | 276/1350 [07:44<17:32,  1.02it/s]
 21%|██        | 277/1350 [07:45<13:28,  1.33it/s]
 21%|██        | 278/1350 [07:45<10:39,  1.68it/s]
 21%|██        | 279/1350 [07:45<08:45,  2.04it/s]
 21%|██        | 280/1350 [07:45<07:26,  2.40it/s]
 21%|██        | 281/1350 [07:55<55:06,  3.09s/it]
 21%|██        | 282/1350 [07:55<39:49,  2.24s/it]
 21%|██        | 283/1350 [07:55<29:09,  1.64s/it]
 21%|██        | 284/1350 [07:55<21:43,  1.22s/it]
 21%|██        | 285/1350 [07:56<16:30,  1.08it/s]
 21%|██        | 286/1350 [07:56<12:51,  1.38it/s]
 21%|██▏       | 287/1350 [07:56<10:19,  1.72it/s]
 21%|██▏       | 288/1350 [07:56<08:32,  2.07it/s]
 21%|██▏       | 289/1350 [08:12<1:27:43,  4.96s/it]
 21%|██▏       | 290/1350 [08:12<1:02:40,  3.55s/it]
 22%|██▏       | 291/1350 [08:12<45:08,  2.56s/it]  
 22%|██▏       | 292/1350 [08:12<32:52,  1.86s/it]
 22%|██▏       | 293/1350 [08:13<24:17,  1.38s/it]
 22%|██▏       | 294/1350 [08:13<18:17,  1.04s/it]
 22%|██▏       | 295/1350 [08:13<14:05,  1.25it/s]
 22%|██▏       | 296/1350 [08:13<11:10,  1.57it/s]
 22%|██▏       | 297/1350 [08:22<55:02,  3.14s/it]
 22%|██▏       | 298/1350 [08:23<39:49,  2.27s/it]
 22%|██▏       | 299/1350 [08:23<29:09,  1.66s/it]
 22%|██▏       | 300/1350 [08:23<21:36,  1.23s/it]
 22%|██▏       | 301/1350 [08:23<16:17,  1.07it/s]
 22%|██▏       | 302/1350 [08:24<12:36,  1.38it/s]
 22%|██▏       | 303/1350 [08:24<10:02,  1.74it/s]
 23%|██▎       | 304/1350 [08:24<08:12,  2.12it/s]
 23%|██▎       | 305/1350 [08:35<1:04:13,  3.69s/it]
 23%|██▎       | 306/1350 [08:35<46:05,  2.65s/it]  
 23%|██▎       | 307/1350 [08:36<33:23,  1.92s/it]
 23%|██▎       | 308/1350 [08:36<24:32,  1.41s/it]
 23%|██▎       | 309/1350 [08:36<18:20,  1.06s/it]
 23%|██▎       | 310/1350 [08:36<14:00,  1.24it/s]
 23%|██▎       | 311/1350 [08:37<10:57,  1.58it/s]
 23%|██▎       | 312/1350 [08:37<08:52,  1.95it/s]
 23%|██▎       | 313/1350 [08:46<52:53,  3.06s/it]
 23%|██▎       | 314/1350 [08:46<38:15,  2.22s/it]
 23%|██▎       | 315/1350 [08:46<28:04,  1.63s/it]
 23%|██▎       | 316/1350 [08:47<20:56,  1.21s/it]
 23%|██▎       | 317/1350 [08:47<15:54,  1.08it/s]
 24%|██▎       | 318/1350 [08:47<12:22,  1.39it/s]
 24%|██▎       | 319/1350 [08:47<09:55,  1.73it/s]
 24%|██▎       | 320/1350 [08:48<08:11,  2.10it/s]
 24%|██▍       | 321/1350 [08:56<50:06,  2.92s/it]
 24%|██▍       | 322/1350 [08:56<36:22,  2.12s/it]
 24%|██▍       | 323/1350 [08:57<26:46,  1.56s/it]
 24%|██▍       | 324/1350 [08:57<20:01,  1.17s/it]
 24%|██▍       | 325/1350 [08:57<15:17,  1.12it/s]
 24%|██▍       | 326/1350 [08:57<11:58,  1.42it/s]
 24%|██▍       | 327/1350 [08:58<09:40,  1.76it/s]
 24%|██▍       | 328/1350 [08:58<08:04,  2.11it/s]
 24%|██▍       | 329/1350 [09:07<51:36,  3.03s/it]
 24%|██▍       | 330/1350 [09:07<37:23,  2.20s/it]
 25%|██▍       | 331/1350 [09:08<27:28,  1.62s/it]
 25%|██▍       | 332/1350 [09:08<20:31,  1.21s/it]
 25%|██▍       | 333/1350 [09:08<15:39,  1.08it/s]
 25%|██▍       | 334/1350 [09:08<12:14,  1.38it/s]
 25%|██▍       | 335/1350 [09:09<09:51,  1.72it/s]
 25%|██▍       | 336/1350 [09:09<08:09,  2.07it/s]
 25%|██▍       | 337/1350 [09:37<2:28:28,  8.79s/it]
 25%|██▌       | 338/1350 [09:37<1:45:08,  6.23s/it]
 25%|██▌       | 339/1350 [09:37<1:14:50,  4.44s/it]
 25%|██▌       | 340/1350 [09:38<53:37,  3.19s/it]  
 25%|██▌       | 341/1350 [09:38<38:46,  2.31s/it]
 25%|██▌       | 342/1350 [09:38<28:23,  1.69s/it]
 25%|██▌       | 343/1350 [09:39<21:08,  1.26s/it]
 25%|██▌       | 344/1350 [09:39<16:16,  1.03it/s]
 26%|██▌       | 345/1350 [09:48<55:38,  3.32s/it]
 26%|██▌       | 346/1350 [09:48<40:15,  2.41s/it]
 26%|██▌       | 347/1350 [09:48<29:26,  1.76s/it]
 26%|██▌       | 348/1350 [09:48<21:52,  1.31s/it]
 26%|██▌       | 349/1350 [09:49<16:35,  1.01it/s]
 26%|██▌       | 350/1350 [09:49<12:52,  1.29it/s]
 26%|██▌       | 351/1350 [09:49<10:19,  1.61it/s]
 26%|██▌       | 352/1350 [09:49<08:32,  1.95it/s]
 26%|██▌       | 353/1350 [09:57<45:45,  2.75s/it]
 26%|██▌       | 354/1350 [09:58<33:16,  2.00s/it]
 26%|██▋       | 355/1350 [09:58<24:31,  1.48s/it]
 26%|██▋       | 356/1350 [09:58<18:24,  1.11s/it]
 26%|██▋       | 357/1350 [09:58<14:09,  1.17it/s]
 27%|██▋       | 358/1350 [09:59<11:09,  1.48it/s]
 27%|██▋       | 359/1350 [09:59<09:03,  1.82it/s]
 27%|██▋       | 360/1350 [09:59<07:35,  2.17it/s]
 27%|██▋       | 361/1350 [10:19<1:43:34,  6.28s/it]
 27%|██▋       | 362/1350 [10:19<1:13:42,  4.48s/it]
 27%|██▋       | 363/1350 [10:20<52:50,  3.21s/it]  
 27%|██▋       | 364/1350 [10:20<38:13,  2.33s/it]
 27%|██▋       | 365/1350 [10:20<28:01,  1.71s/it]
 27%|██▋       | 366/1350 [10:20<20:51,  1.27s/it]
 27%|██▋       | 367/1350 [10:21<15:52,  1.03it/s]
 27%|██▋       | 368/1350 [10:21<12:23,  1.32it/s]
 27%|██▋       | 369/1350 [10:32<1:03:17,  3.87s/it]
 27%|██▋       | 370/1350 [10:32<45:23,  2.78s/it]  
 27%|██▋       | 371/1350 [10:33<32:52,  2.01s/it]
 28%|██▊       | 372/1350 [10:33<24:07,  1.48s/it]
 28%|██▊       | 373/1350 [10:33<17:58,  1.10s/it]
 28%|██▊       | 374/1350 [10:33<13:42,  1.19it/s]
 28%|██▊       | 375/1350 [10:33<10:42,  1.52it/s]
 28%|██▊       | 376/1350 [10:34<08:35,  1.89it/s]
 28%|██▊       | 377/1350 [10:41<40:01,  2.47s/it]
 28%|██▊       | 378/1350 [10:41<29:05,  1.80s/it]
 28%|██▊       | 379/1350 [10:41<21:28,  1.33s/it]
 28%|██▊       | 380/1350 [10:41<16:12,  1.00s/it]
 28%|██▊       | 381/1350 [10:42<12:25,  1.30it/s]
 28%|██▊       | 382/1350 [10:42<09:48,  1.65it/s]
 28%|██▊       | 383/1350 [10:42<07:58,  2.02it/s]
 28%|██▊       | 384/1350 [10:42<06:40,  2.41it/s]
 29%|██▊       | 385/1350 [11:19<3:02:06, 11.32s/it]
 29%|██▊       | 386/1350 [11:19<2:08:26,  7.99s/it]
 29%|██▊       | 387/1350 [11:19<1:30:54,  5.66s/it]
 29%|██▊       | 388/1350 [11:20<1:04:40,  4.03s/it]
 29%|██▉       | 389/1350 [11:20<46:20,  2.89s/it]  
 29%|██▉       | 390/1350 [11:20<33:30,  2.09s/it]
 29%|██▉       | 391/1350 [11:20<24:30,  1.53s/it]
 29%|██▉       | 392/1350 [11:21<18:15,  1.14s/it]
 29%|██▉       | 393/1350 [11:42<1:53:38,  7.13s/it]
 29%|██▉       | 394/1350 [11:42<1:20:34,  5.06s/it]
 29%|██▉       | 395/1350 [11:42<57:26,  3.61s/it]  
 29%|██▉       | 396/1350 [11:42<41:16,  2.60s/it]
 29%|██▉       | 397/1350 [11:43<29:56,  1.89s/it]
 29%|██▉       | 398/1350 [11:43<22:02,  1.39s/it]
 30%|██▉       | 399/1350 [11:43<16:29,  1.04s/it]
 30%|██▉       | 400/1350 [11:43<12:38,  1.25it/s]
 30%|██▉       | 401/1350 [11:54<58:42,  3.71s/it]
 30%|██▉       | 402/1350 [11:54<42:10,  2.67s/it]
 30%|██▉       | 403/1350 [11:54<30:34,  1.94s/it]
 30%|██▉       | 404/1350 [11:55<22:27,  1.42s/it]
 30%|███       | 405/1350 [11:55<16:47,  1.07s/it]
 30%|███       | 406/1350 [11:55<12:50,  1.23it/s]
 30%|███       | 407/1350 [11:55<10:04,  1.56it/s]
 30%|███       | 408/1350 [11:55<08:13,  1.91it/s]
 30%|███       | 409/1350 [12:09<1:11:31,  4.56s/it]
 30%|███       | 410/1350 [12:10<51:12,  3.27s/it]  
 30%|███       | 411/1350 [12:10<36:57,  2.36s/it]
 31%|███       | 412/1350 [12:10<27:01,  1.73s/it]
 31%|███       | 413/1350 [12:10<20:04,  1.29s/it]
 31%|███       | 414/1350 [12:11<15:12,  1.03it/s]
 31%|███       | 415/1350 [12:11<11:47,  1.32it/s]
 31%|███       | 416/1350 [12:11<09:26,  1.65it/s]
 31%|███       | 417/1350 [12:27<1:20:26,  5.17s/it]
 31%|███       | 418/1350 [12:27<57:23,  3.69s/it]  
 31%|███       | 419/1350 [12:28<41:15,  2.66s/it]
 31%|███       | 420/1350 [12:28<30:00,  1.94s/it]
 31%|███       | 421/1350 [12:28<22:06,  1.43s/it]
 31%|███▏      | 422/1350 [12:28<16:31,  1.07s/it]
 31%|███▏      | 423/1350 [12:28<12:39,  1.22it/s]
 31%|███▏      | 424/1350 [12:29<09:54,  1.56it/s]
 31%|███▏      | 425/1350 [12:37<46:12,  3.00s/it]
 32%|███▏      | 426/1350 [12:37<33:32,  2.18s/it]
 32%|███▏      | 427/1350 [12:38<24:35,  1.60s/it]
 32%|███▏      | 428/1350 [12:38<18:21,  1.19s/it]
 32%|███▏      | 429/1350 [12:38<13:53,  1.10it/s]
 32%|███▏      | 430/1350 [12:38<10:44,  1.43it/s]
 32%|███▏      | 431/1350 [12:39<08:33,  1.79it/s]
 32%|███▏      | 432/1350 [12:39<07:02,  2.18it/s]
 32%|███▏      | 433/1350 [12:47<40:07,  2.63s/it]
 32%|███▏      | 434/1350 [12:47<29:12,  1.91s/it]
 32%|███▏      | 435/1350 [12:47<21:35,  1.42s/it]
 32%|███▏      | 436/1350 [12:47<16:15,  1.07s/it]
 32%|███▏      | 437/1350 [12:48<12:30,  1.22it/s]
 32%|███▏      | 438/1350 [12:48<09:55,  1.53it/s]
 33%|███▎      | 439/1350 [12:48<08:05,  1.87it/s]
 33%|███▎      | 440/1350 [12:48<06:47,  2.23it/s]
 33%|███▎      | 441/1350 [12:56<39:06,  2.58s/it]
 33%|███▎      | 442/1350 [12:56<28:30,  1.88s/it]
 33%|███▎      | 443/1350 [12:56<21:04,  1.39s/it]
 33%|███▎      | 444/1350 [12:57<15:53,  1.05s/it]
 33%|███▎      | 445/1350 [12:57<12:17,  1.23it/s]
 33%|███▎      | 446/1350 [12:57<09:46,  1.54it/s]
 33%|███▎      | 447/1350 [12:57<08:00,  1.88it/s]
 33%|███▎      | 448/1350 [12:58<06:47,  2.21it/s]
 33%|███▎      | 449/1350 [13:25<2:06:43,  8.44s/it]
 33%|███▎      | 450/1350 [13:25<1:29:47,  5.99s/it]
 33%|███▎      | 451/1350 [13:25<1:03:57,  4.27s/it]
 33%|███▎      | 452/1350 [13:26<45:54,  3.07s/it]  
 34%|███▎      | 453/1350 [13:26<33:15,  2.22s/it]
 34%|███▎      | 454/1350 [13:26<24:24,  1.63s/it]
 34%|███▎      | 455/1350 [13:26<18:14,  1.22s/it]
 34%|███▍      | 456/1350 [13:27<13:55,  1.07it/s]
 34%|███▍      | 457/1350 [13:35<48:18,  3.25s/it]
 34%|███▍      | 458/1350 [13:36<34:54,  2.35s/it]
 34%|███▍      | 459/1350 [13:36<25:33,  1.72s/it]
 34%|███▍      | 460/1350 [13:36<19:01,  1.28s/it]
 34%|███▍      | 461/1350 [13:36<14:28,  1.02it/s]
 34%|███▍      | 462/1350 [13:37<11:17,  1.31it/s]
 34%|███▍      | 463/1350 [13:37<09:03,  1.63it/s]
 34%|███▍      | 464/1350 [13:37<07:29,  1.97it/s]
 34%|███▍      | 465/1350 [13:49<58:03,  3.94s/it]
 35%|███▍      | 466/1350 [13:49<41:44,  2.83s/it]
 35%|███▍      | 467/1350 [13:50<30:18,  2.06s/it]
 35%|███▍      | 468/1350 [13:50<22:25,  1.53s/it]
 35%|███▍      | 469/1350 [13:50<16:48,  1.14s/it]
 35%|███▍      | 470/1350 [13:50<12:52,  1.14it/s]
 35%|███▍      | 471/1350 [13:51<10:08,  1.44it/s]
 35%|███▍      | 472/1350 [13:51<08:12,  1.78it/s]
 35%|███▌      | 473/1350 [14:00<47:57,  3.28s/it]
 35%|███▌      | 474/1350 [14:01<34:39,  2.37s/it]
 35%|███▌      | 475/1350 [14:01<25:21,  1.74s/it]
 35%|███▌      | 476/1350 [14:01<18:52,  1.30s/it]
 35%|███▌      | 477/1350 [14:01<14:19,  1.02it/s]
 35%|███▌      | 478/1350 [14:02<11:09,  1.30it/s]
 35%|███▌      | 478/1350 [14:02<25:37,  1.76s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json.
+BlockStackingSpecifiedOrderTask_2 complete: task_name: BlockStackingSpecifiedOrderTask, run_name: BlockStackingSpecifiedOrderTask_2, run: 2, env_id: 0, policy: harness, instruction: Stack the blocks in the order from bottom to top: red, blue, green, yellow, attributes: ['stacking', 'color', 'complex'], success: True, episode_step: 479, duration: 31.933333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -10.194706421464737, 'joint_sparc_mean': -12.112759873758048, 'ee_isj': 3201.0471593460106, 'joint_isj': 51283.63270687388, 'ee_path_length': 4.0802969121569905, 'joint_rmse_mean': 0.9628458551924669, 'ee_speed_max': 0.6405256390571594, 'ee_speed_mean': 0.12071051448583603}, events: {'GRIPPER_HIT_TABLE': 2, 'WRONG_OBJECT_GRABBED': 8, 'GRIPPER_HIT_OBJECT': 4, 'MULTIPLE_OBJECTS_GRABBED': 1, 'OBJECT_BUMPED': 3, 'wrong_objects_grabbed': ['blue_block', 'red_block', 'blue_block', 'blue_block', 'green_block', 'yellow_block', 'yellow_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 729.373, 'policy_inference_avg_ms': 1522.7, 'env_step_s': 108.413, 'env_step_avg_ms': 226.3, 'video_write_s': 4.567, 'video_write_avg_ms': 9.5, 'wall_total_s': 842.353, 'it_per_sec': 0.57}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: f0936e9ca80d43b98a70111b9a3c78be-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-29T18:54:35Z [7,166,140ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:5
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.227780 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-29T18:54:38Z [7,168,789ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-29T18:54:38Z [7,168,892ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T18:54:38Z [7,168,892ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T18:54:38Z [7,168,901ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T18:54:38Z [7,168,901ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T18:54:38Z [7,168,910ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T18:54:38Z [7,168,918ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-29T18:54:38Z [7,169,263ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((609))' not available in the MDL representation.
+2026-10-29T18:54:38Z [7,169,263ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((609))' not available in the MDL representation.
+2026-10-29T18:54:39Z [7,169,300ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((623))' not available in the MDL representation.
+2026-10-29T18:54:39Z [7,169,300ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((623))' not available in the MDL representation.
+2026-10-29T18:54:39Z [7,169,379ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((650))' not available in the MDL representation.
+2026-10-29T18:54:39Z [7,169,380ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((650))' not available in the MDL representation.
+2026-10-29T18:54:39Z [7,169,398ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((657))' not available in the MDL representation.
+2026-10-29T18:54:39Z [7,169,399ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((657))' not available in the MDL representation.
+2026-10-29T18:54:39Z [7,169,522ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((713))' not available in the MDL representation.
+2026-10-29T18:54:39Z [7,169,522ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((713))' not available in the MDL representation.
+2026-10-29T18:54:39Z [7,169,606ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((756))' not available in the MDL representation.
+2026-10-29T18:54:39Z [7,169,606ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((756))' not available in the MDL representation.
+2026-10-29T18:54:39Z [7,170,215ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((609))' not available in the MDL representation.
+2026-10-29T18:54:39Z [7,170,215ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((609))' not available in the MDL representation.
+2026-10-29T18:54:39Z [7,170,216ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((623))' not available in the MDL representation.
+2026-10-29T18:54:39Z [7,170,217ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((623))' not available in the MDL representation.
+2026-10-29T18:54:39Z [7,170,218ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((650))' not available in the MDL representation.
+2026-10-29T18:54:39Z [7,170,219ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((650))' not available in the MDL representation.
+2026-10-29T18:54:39Z [7,170,219ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((657))' not available in the MDL representation.
+2026-10-29T18:54:39Z [7,170,220ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((657))' not available in the MDL representation.
+2026-10-29T18:54:39Z [7,170,223ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((713))' not available in the MDL representation.
+2026-10-29T18:54:39Z [7,170,223ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((713))' not available in the MDL representation.
+2026-10-29T18:54:39Z [7,170,225ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((756))' not available in the MDL representation.
+2026-10-29T18:54:39Z [7,170,225ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((756))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.963541 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ReorientRedMugTask                            │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the red mug upright so that the opening is facing upwards. │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ReorientRedMugTaskSceneEnvCfg                 │
+│  Attributes  : reorientation, color, moderate                │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running ReorientRedMugTask_0: 'Put the red mug upright so that the opening is facing upwards.' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:31<7:48:59, 31.30s/it]
  0%|          | 2/900 [00:31<3:15:36, 13.07s/it]
  0%|          | 3/900 [00:31<1:48:12,  7.24s/it]
  0%|          | 4/900 [00:32<1:07:09,  4.50s/it]
  1%|          | 5/900 [00:32<44:27,  2.98s/it]  
  1%|          | 6/900 [00:32<30:48,  2.07s/it]
  1%|          | 7/900 [00:33<22:10,  1.49s/it]
  1%|          | 8/900 [00:33<16:28,  1.11s/it]
  1%|          | 9/900 [00:42<53:21,  3.59s/it]
  1%|          | 10/900 [00:42<38:09,  2.57s/it]
  1%|          | 11/900 [00:43<27:48,  1.88s/it]
  1%|▏         | 12/900 [00:43<20:38,  1.39s/it]
  1%|▏         | 13/900 [00:43<15:41,  1.06s/it]
  2%|▏         | 14/900 [00:43<12:14,  1.21it/s]
  2%|▏         | 15/900 [00:44<09:51,  1.50it/s]
  2%|▏         | 16/900 [00:44<08:10,  1.80it/s]
  2%|▏         | 17/900 [00:50<30:10,  2.05s/it]
  2%|▏         | 18/900 [00:50<22:25,  1.53s/it]
  2%|▏         | 19/900 [00:50<16:57,  1.15s/it]
  2%|▏         | 20/900 [00:50<13:07,  1.12it/s]
  2%|▏         | 21/900 [00:51<10:27,  1.40it/s]
  2%|▏         | 22/900 [00:51<08:36,  1.70it/s]
  3%|▎         | 23/900 [00:51<07:19,  2.00it/s]
  3%|▎         | 24/900 [00:52<06:24,  2.28it/s]
  3%|▎         | 25/900 [01:02<48:35,  3.33s/it]
  3%|▎         | 26/900 [01:02<35:15,  2.42s/it]
  3%|▎         | 27/900 [01:02<25:56,  1.78s/it]
  3%|▎         | 28/900 [01:03<19:26,  1.34s/it]
  3%|▎         | 29/900 [01:03<14:53,  1.03s/it]
  3%|▎         | 30/900 [01:03<11:40,  1.24it/s]
  3%|▎         | 31/900 [01:03<09:25,  1.54it/s]
  4%|▎         | 32/900 [01:04<07:53,  1.83it/s]
  4%|▎         | 33/900 [01:11<35:22,  2.45s/it]
  4%|▍         | 34/900 [01:11<26:00,  1.80s/it]
  4%|▍         | 35/900 [01:11<19:27,  1.35s/it]
  4%|▍         | 36/900 [01:12<14:52,  1.03s/it]
  4%|▍         | 37/900 [01:12<11:38,  1.24it/s]
  4%|▍         | 38/900 [01:12<09:25,  1.52it/s]
  4%|▍         | 39/900 [01:12<07:49,  1.83it/s]
  4%|▍         | 40/900 [01:13<06:43,  2.13it/s]
  5%|▍         | 41/900 [01:19<31:35,  2.21s/it]
  5%|▍         | 42/900 [01:19<23:21,  1.63s/it]
  5%|▍         | 43/900 [01:20<17:36,  1.23s/it]
  5%|▍         | 44/900 [01:20<13:35,  1.05it/s]
  5%|▌         | 45/900 [01:20<10:47,  1.32it/s]
  5%|▌         | 46/900 [01:20<08:50,  1.61it/s]
  5%|▌         | 47/900 [01:21<07:33,  1.88it/s]
  5%|▌         | 48/900 [01:21<06:37,  2.14it/s]
  5%|▌         | 49/900 [01:30<40:37,  2.86s/it]
  6%|▌         | 50/900 [01:30<29:38,  2.09s/it]
  6%|▌         | 51/900 [01:30<21:58,  1.55s/it]
  6%|▌         | 52/900 [01:30<16:36,  1.17s/it]
  6%|▌         | 53/900 [01:31<12:52,  1.10it/s]
  6%|▌         | 54/900 [01:31<10:15,  1.37it/s]
  6%|▌         | 55/900 [01:31<08:22,  1.68it/s]
  6%|▌         | 56/900 [01:32<07:06,  1.98it/s]
  6%|▋         | 57/900 [01:44<57:22,  4.08s/it]
  6%|▋         | 58/900 [01:44<41:25,  2.95s/it]
  7%|▋         | 59/900 [01:45<30:15,  2.16s/it]
  7%|▋         | 60/900 [01:45<22:27,  1.60s/it]
  7%|▋         | 61/900 [01:45<17:01,  1.22s/it]
  7%|▋         | 62/900 [01:46<13:10,  1.06it/s]
  7%|▋         | 63/900 [01:46<10:30,  1.33it/s]
  7%|▋         | 64/900 [01:46<08:36,  1.62it/s]
  7%|▋         | 65/900 [01:52<32:02,  2.30s/it]
  7%|▋         | 66/900 [01:53<23:38,  1.70s/it]
  7%|▋         | 67/900 [01:53<17:43,  1.28s/it]
  8%|▊         | 68/900 [01:53<13:37,  1.02it/s]
  8%|▊         | 69/900 [01:54<10:44,  1.29it/s]
  8%|▊         | 70/900 [01:54<08:44,  1.58it/s]
  8%|▊         | 71/900 [01:54<07:20,  1.88it/s]
  8%|▊         | 72/900 [01:54<06:24,  2.15it/s]
  8%|▊         | 73/900 [01:59<22:06,  1.60s/it]
  8%|▊         | 74/900 [01:59<16:49,  1.22s/it]
  8%|▊         | 75/900 [01:59<13:05,  1.05it/s]
  8%|▊         | 76/900 [02:00<10:27,  1.31it/s]
  9%|▊         | 77/900 [02:00<08:37,  1.59it/s]
  9%|▊         | 78/900 [02:00<07:20,  1.86it/s]
  9%|▉         | 79/900 [02:01<06:25,  2.13it/s]
  9%|▉         | 80/900 [02:01<05:46,  2.37it/s]
  9%|▉         | 81/900 [02:07<27:15,  2.00s/it]
  9%|▉         | 82/900 [02:07<20:26,  1.50s/it]
  9%|▉         | 83/900 [02:07<15:38,  1.15s/it]
  9%|▉         | 84/900 [02:08<12:16,  1.11it/s]
  9%|▉         | 85/900 [02:08<09:55,  1.37it/s]
 10%|▉         | 86/900 [02:08<08:15,  1.64it/s]
 10%|▉         | 87/900 [02:09<07:05,  1.91it/s]
 10%|▉         | 88/900 [02:09<06:15,  2.16it/s]
 10%|▉         | 89/900 [02:24<1:04:18,  4.76s/it]
 10%|█         | 90/900 [02:24<46:18,  3.43s/it]  
 10%|█         | 91/900 [02:24<33:44,  2.50s/it]
 10%|█         | 92/900 [02:25<24:55,  1.85s/it]
 10%|█         | 93/900 [02:25<18:43,  1.39s/it]
 10%|█         | 94/900 [02:25<14:24,  1.07s/it]
 11%|█         | 95/900 [02:26<11:21,  1.18it/s]
 11%|█         | 96/900 [02:26<09:12,  1.46it/s]
 11%|█         | 97/900 [02:31<26:43,  2.00s/it]
 11%|█         | 98/900 [02:31<19:58,  1.49s/it]
 11%|█         | 99/900 [02:32<15:14,  1.14s/it]
 11%|█         | 100/900 [02:32<11:53,  1.12it/s]
 11%|█         | 101/900 [02:32<09:35,  1.39it/s]
 11%|█▏        | 102/900 [02:33<07:58,  1.67it/s]
 11%|█▏        | 103/900 [02:33<06:49,  1.95it/s]
 12%|█▏        | 104/900 [02:33<06:03,  2.19it/s]
 12%|█▏        | 105/900 [02:39<28:48,  2.17s/it]
 12%|█▏        | 106/900 [02:40<21:24,  1.62s/it]
 12%|█▏        | 107/900 [02:40<16:13,  1.23s/it]
 12%|█▏        | 108/900 [02:40<12:36,  1.05it/s]
 12%|█▏        | 109/900 [02:41<10:04,  1.31it/s]
 12%|█▏        | 110/900 [02:41<08:17,  1.59it/s]
 12%|█▏        | 111/900 [02:41<07:02,  1.87it/s]
 12%|█▏        | 112/900 [02:42<06:09,  2.13it/s]
 13%|█▎        | 113/900 [02:56<59:37,  4.55s/it]
 13%|█▎        | 114/900 [02:56<42:56,  3.28s/it]
 13%|█▎        | 115/900 [02:56<31:16,  2.39s/it]
 13%|█▎        | 116/900 [02:57<23:05,  1.77s/it]
 13%|█▎        | 117/900 [02:57<17:23,  1.33s/it]
 13%|█▎        | 118/900 [02:57<13:23,  1.03s/it]
 13%|█▎        | 119/900 [02:58<10:35,  1.23it/s]
 13%|█▎        | 120/900 [02:58<08:39,  1.50it/s]
 13%|█▎        | 121/900 [03:05<32:54,  2.53s/it]
 14%|█▎        | 122/900 [03:05<24:16,  1.87s/it]
 14%|█▎        | 123/900 [03:06<18:14,  1.41s/it]
 14%|█▍        | 124/900 [03:06<13:59,  1.08s/it]
 14%|█▍        | 125/900 [03:06<11:00,  1.17it/s]
 14%|█▍        | 126/900 [03:06<08:58,  1.44it/s]
 14%|█▍        | 127/900 [03:07<07:34,  1.70it/s]
 14%|█▍        | 128/900 [03:07<06:32,  1.97it/s]
 14%|█▍        | 129/900 [03:13<28:55,  2.25s/it]
 14%|█▍        | 130/900 [03:14<21:28,  1.67s/it]
 15%|█▍        | 131/900 [03:14<16:12,  1.27s/it]
 15%|█▍        | 132/900 [03:14<12:32,  1.02it/s]
 15%|█▍        | 133/900 [03:15<09:58,  1.28it/s]
 15%|█▍        | 134/900 [03:15<08:10,  1.56it/s]
 15%|█▌        | 135/900 [03:15<06:56,  1.84it/s]
 15%|█▌        | 136/900 [03:16<06:03,  2.10it/s]
 15%|█▌        | 137/900 [03:22<28:48,  2.27s/it]
 15%|█▌        | 138/900 [03:23<22:10,  1.75s/it]
 15%|█▌        | 139/900 [03:23<16:41,  1.32s/it]
 16%|█▌        | 140/900 [03:23<12:51,  1.02s/it]
 16%|█▌        | 141/900 [03:24<10:10,  1.24it/s]
 16%|█▌        | 142/900 [03:24<08:19,  1.52it/s]
 16%|█▌        | 143/900 [03:24<07:01,  1.80it/s]
 16%|█▌        | 144/900 [03:25<06:06,  2.06it/s]
 16%|█▌        | 145/900 [03:38<56:23,  4.48s/it]
 16%|█▌        | 146/900 [03:39<40:38,  3.23s/it]
 16%|█▋        | 147/900 [03:39<29:37,  2.36s/it]
 16%|█▋        | 148/900 [03:39<21:53,  1.75s/it]
 17%|█▋        | 149/900 [03:40<16:29,  1.32s/it]
 17%|█▋        | 150/900 [03:40<12:41,  1.02s/it]
 17%|█▋        | 151/900 [03:40<10:02,  1.24it/s]
 17%|█▋        | 152/900 [03:41<08:11,  1.52it/s]
 17%|█▋        | 153/900 [04:12<2:01:58,  9.80s/it]
 17%|█▋        | 154/900 [04:12<1:26:26,  6.95s/it]
 17%|█▋        | 155/900 [04:12<1:01:36,  4.96s/it]
 17%|█▋        | 156/900 [04:13<44:14,  3.57s/it]  
 17%|█▋        | 157/900 [04:13<32:07,  2.59s/it]
 18%|█▊        | 158/900 [04:13<23:42,  1.92s/it]
 18%|█▊        | 159/900 [04:14<17:50,  1.44s/it]
 18%|█▊        | 160/900 [04:14<13:42,  1.11s/it]
 18%|█▊        | 161/900 [04:23<44:22,  3.60s/it]
 18%|█▊        | 162/900 [04:24<32:16,  2.62s/it]
 18%|█▊        | 163/900 [04:24<23:50,  1.94s/it]
 18%|█▊        | 164/900 [04:24<17:56,  1.46s/it]
 18%|█▊        | 165/900 [04:25<13:48,  1.13s/it]
 18%|█▊        | 166/900 [04:25<10:51,  1.13it/s]
 19%|█▊        | 167/900 [04:25<08:47,  1.39it/s]
 19%|█▊        | 168/900 [04:26<07:21,  1.66it/s]
 19%|█▉        | 169/900 [04:33<33:18,  2.73s/it]
 19%|█▉        | 170/900 [04:34<24:28,  2.01s/it]
 19%|█▉        | 171/900 [04:34<18:17,  1.51s/it]
 19%|█▉        | 172/900 [04:34<13:57,  1.15s/it]
 19%|█▉        | 173/900 [04:35<10:56,  1.11it/s]
 19%|█▉        | 174/900 [04:35<08:48,  1.37it/s]
 19%|█▉        | 175/900 [04:35<07:17,  1.66it/s]
 20%|█▉        | 176/900 [04:36<06:14,  1.93it/s]
 20%|█▉        | 177/900 [04:49<52:01,  4.32s/it]
 20%|█▉        | 178/900 [04:49<37:31,  3.12s/it]
 20%|█▉        | 179/900 [04:50<27:21,  2.28s/it]
 20%|██        | 180/900 [04:50<20:19,  1.69s/it]
 20%|██        | 181/900 [04:50<15:21,  1.28s/it]
 20%|██        | 182/900 [04:50<11:51,  1.01it/s]
 20%|██        | 183/900 [04:51<09:24,  1.27it/s]
 20%|██        | 184/900 [04:51<07:41,  1.55it/s]
 21%|██        | 185/900 [05:07<1:02:40,  5.26s/it]
 21%|██        | 186/900 [05:07<44:57,  3.78s/it]  
 21%|██        | 187/900 [05:08<32:33,  2.74s/it]
 21%|██        | 188/900 [05:08<23:53,  2.01s/it]
 21%|██        | 189/900 [05:08<17:49,  1.50s/it]
 21%|██        | 190/900 [05:09<13:35,  1.15s/it]
 21%|██        | 191/900 [05:09<10:38,  1.11it/s]
 21%|██▏       | 192/900 [05:09<08:36,  1.37it/s]
 21%|██▏       | 193/900 [05:18<36:56,  3.13s/it]
 22%|██▏       | 194/900 [05:18<26:57,  2.29s/it]
 22%|██▏       | 195/900 [05:19<19:58,  1.70s/it]
 22%|██▏       | 196/900 [05:19<15:06,  1.29s/it]
 22%|██▏       | 197/900 [05:19<11:40,  1.00it/s]
 22%|██▏       | 198/900 [05:20<09:16,  1.26it/s]
 22%|██▏       | 199/900 [05:20<07:36,  1.54it/s]
 22%|██▏       | 200/900 [05:20<06:27,  1.81it/s]
 22%|██▏       | 201/900 [05:29<35:15,  3.03s/it]
 22%|██▏       | 202/900 [05:30<25:47,  2.22s/it]
 23%|██▎       | 203/900 [05:30<19:08,  1.65s/it]
 23%|██▎       | 204/900 [05:30<14:28,  1.25s/it]
 23%|██▎       | 205/900 [05:30<11:15,  1.03it/s]
 23%|██▎       | 206/900 [05:31<08:58,  1.29it/s]
 23%|██▎       | 207/900 [05:31<07:25,  1.56it/s]
 23%|██▎       | 208/900 [05:31<06:22,  1.81it/s]
 23%|██▎       | 209/900 [05:39<29:15,  2.54s/it]
 23%|██▎       | 210/900 [05:39<21:33,  1.87s/it]
 23%|██▎       | 211/900 [05:39<16:11,  1.41s/it]
 24%|██▎       | 212/900 [05:40<12:23,  1.08s/it]
 24%|██▎       | 213/900 [05:40<09:43,  1.18it/s]
 24%|██▍       | 214/900 [05:40<07:52,  1.45it/s]
 24%|██▍       | 215/900 [05:41<06:34,  1.74it/s]
 24%|██▍       | 216/900 [05:41<05:39,  2.02it/s]
 24%|██▍       | 217/900 [05:49<32:59,  2.90s/it]
 24%|██▍       | 218/900 [05:50<24:09,  2.13s/it]
 24%|██▍       | 219/900 [05:50<17:59,  1.58s/it]
 24%|██▍       | 220/900 [05:50<13:38,  1.20s/it]
 25%|██▍       | 221/900 [05:51<10:35,  1.07it/s]
 25%|██▍       | 222/900 [05:51<08:27,  1.34it/s]
 25%|██▍       | 223/900 [05:51<06:58,  1.62it/s]
 25%|██▍       | 224/900 [05:52<05:56,  1.90it/s]
 25%|██▌       | 225/900 [06:13<1:17:04,  6.85s/it]
 25%|██▌       | 226/900 [06:13<54:55,  4.89s/it]  
 25%|██▌       | 227/900 [06:14<39:28,  3.52s/it]
 25%|██▌       | 228/900 [06:14<28:41,  2.56s/it]
 25%|██▌       | 229/900 [06:14<21:07,  1.89s/it]
 26%|██▌       | 230/900 [06:15<15:49,  1.42s/it]
 26%|██▌       | 231/900 [06:15<12:06,  1.09s/it]
 26%|██▌       | 232/900 [06:15<09:32,  1.17it/s]
 26%|██▌       | 233/900 [06:24<34:37,  3.11s/it]
 26%|██▌       | 234/900 [06:24<25:18,  2.28s/it]
 26%|██▌       | 235/900 [06:24<18:46,  1.69s/it]
 26%|██▌       | 236/900 [06:25<14:12,  1.28s/it]
 26%|██▋       | 237/900 [06:25<11:00,  1.00it/s]
 26%|██▋       | 238/900 [06:25<08:45,  1.26it/s]
 27%|██▋       | 239/900 [06:26<07:10,  1.54it/s]
 27%|██▋       | 240/900 [06:26<06:04,  1.81it/s]
 27%|██▋       | 241/900 [06:38<42:41,  3.89s/it]
 27%|██▋       | 242/900 [06:38<30:55,  2.82s/it]
 27%|██▋       | 243/900 [06:38<22:40,  2.07s/it]
 27%|██▋       | 244/900 [06:39<16:54,  1.55s/it]
 27%|██▋       | 245/900 [06:39<12:52,  1.18s/it]
 27%|██▋       | 246/900 [06:39<10:03,  1.08it/s]
 27%|██▋       | 247/900 [06:40<08:04,  1.35it/s]
 28%|██▊       | 248/900 [06:40<06:41,  1.63it/s]
 28%|██▊       | 249/900 [06:48<30:29,  2.81s/it]
 28%|██▊       | 250/900 [06:48<22:21,  2.06s/it]
 28%|██▊       | 251/900 [06:49<16:40,  1.54s/it]
 28%|██▊       | 252/900 [06:49<12:42,  1.18s/it]
 28%|██▊       | 253/900 [06:49<09:55,  1.09it/s]
 28%|██▊       | 254/900 [06:50<07:58,  1.35it/s]
 28%|██▊       | 255/900 [06:50<06:34,  1.63it/s]
 28%|██▊       | 256/900 [06:50<05:36,  1.91it/s]
 29%|██▊       | 257/900 [06:59<33:20,  3.11s/it]
 29%|██▊       | 258/900 [07:00<24:16,  2.27s/it]
 29%|██▉       | 259/900 [07:00<17:53,  1.68s/it]
 29%|██▉       | 260/900 [07:00<13:25,  1.26s/it]
 29%|██▉       | 261/900 [07:00<10:19,  1.03it/s]
 29%|██▉       | 262/900 [07:01<08:09,  1.30it/s]
 29%|██▉       | 263/900 [07:01<06:36,  1.60it/s]
 29%|██▉       | 264/900 [07:01<05:32,  1.91it/s]
 29%|██▉       | 265/900 [07:11<34:34,  3.27s/it]
 30%|██▉       | 266/900 [07:11<25:05,  2.37s/it]
 30%|██▉       | 267/900 [07:12<18:27,  1.75s/it]
 30%|██▉       | 268/900 [07:12<13:49,  1.31s/it]
 30%|██▉       | 269/900 [07:12<10:35,  1.01s/it]
 30%|███       | 270/900 [07:12<08:18,  1.26it/s]
 30%|███       | 271/900 [07:13<06:44,  1.55it/s]
 30%|███       | 272/900 [07:13<05:37,  1.86it/s]
 30%|███       | 273/900 [07:28<49:59,  4.78s/it]
 30%|███       | 274/900 [07:28<35:52,  3.44s/it]
 31%|███       | 275/900 [07:28<26:00,  2.50s/it]
 31%|███       | 276/900 [07:29<19:05,  1.84s/it]
 31%|███       | 277/900 [07:29<14:17,  1.38s/it]
 31%|███       | 278/900 [07:29<10:54,  1.05s/it]
 31%|███       | 279/900 [07:30<08:35,  1.20it/s]
 31%|███       | 280/900 [07:30<06:55,  1.49it/s]
 31%|███       | 281/900 [07:41<39:29,  3.83s/it]
 31%|███▏      | 282/900 [07:41<28:30,  2.77s/it]
 31%|███▏      | 283/900 [07:42<20:49,  2.03s/it]
 32%|███▏      | 284/900 [07:42<15:28,  1.51s/it]
 32%|███▏      | 285/900 [07:42<11:43,  1.14s/it]
 32%|███▏      | 286/900 [07:43<09:05,  1.13it/s]
 32%|███▏      | 287/900 [07:43<07:15,  1.41it/s]
 32%|███▏      | 288/900 [07:43<05:58,  1.71it/s]
 32%|███▏      | 289/900 [08:02<1:03:09,  6.20s/it]
 32%|███▏      | 290/900 [08:03<45:02,  4.43s/it]  
 32%|███▏      | 291/900 [08:03<32:21,  3.19s/it]
 32%|███▏      | 292/900 [08:03<23:29,  2.32s/it]
 33%|███▎      | 293/900 [08:04<17:18,  1.71s/it]
 33%|███▎      | 294/900 [08:04<13:02,  1.29s/it]
 33%|███▎      | 295/900 [08:04<09:59,  1.01it/s]
 33%|███▎      | 296/900 [08:04<07:52,  1.28it/s]
 33%|███▎      | 297/900 [08:20<51:10,  5.09s/it]
 33%|███▎      | 298/900 [08:20<36:38,  3.65s/it]
 33%|███▎      | 299/900 [08:20<26:29,  2.64s/it]
 33%|███▎      | 300/900 [08:21<19:23,  1.94s/it]
 33%|███▎      | 301/900 [08:21<14:25,  1.45s/it]
 34%|███▎      | 302/900 [08:21<10:58,  1.10s/it]
 34%|███▎      | 303/900 [08:21<08:32,  1.16it/s]
 34%|███▍      | 304/900 [08:22<06:51,  1.45it/s]
 34%|███▍      | 305/900 [08:32<35:27,  3.58s/it]
 34%|███▍      | 306/900 [08:32<25:39,  2.59s/it]
 34%|███▍      | 307/900 [08:33<18:47,  1.90s/it]
 34%|███▍      | 308/900 [08:33<14:00,  1.42s/it]
 34%|███▍      | 309/900 [08:33<10:40,  1.08s/it]
 34%|███▍      | 310/900 [08:33<08:19,  1.18it/s]
 35%|███▍      | 311/900 [08:34<06:42,  1.46it/s]
 35%|███▍      | 312/900 [08:34<05:34,  1.76it/s]
 35%|███▍      | 313/900 [08:42<28:21,  2.90s/it]
 35%|███▍      | 314/900 [08:43<20:40,  2.12s/it]
 35%|███▌      | 315/900 [08:43<15:17,  1.57s/it]
 35%|███▌      | 316/900 [08:43<11:32,  1.19s/it]
 35%|███▌      | 317/900 [08:44<08:56,  1.09it/s]
 35%|███▌      | 318/900 [08:44<07:05,  1.37it/s]
 35%|███▌      | 319/900 [08:44<05:48,  1.67it/s]
 36%|███▌      | 320/900 [08:44<04:54,  1.97it/s]
 36%|███▌      | 321/900 [09:04<59:41,  6.19s/it]
 36%|███▌      | 322/900 [09:04<42:33,  4.42s/it]
 36%|███▌      | 323/900 [09:04<30:35,  3.18s/it]
 36%|███▌      | 324/900 [09:05<22:13,  2.32s/it]
 36%|███▌      | 325/900 [09:05<16:23,  1.71s/it]
 36%|███▌      | 326/900 [09:05<12:17,  1.28s/it]
 36%|███▋      | 327/900 [09:06<09:28,  1.01it/s]
 36%|███▋      | 328/900 [09:06<07:27,  1.28it/s]
 37%|███▋      | 329/900 [09:18<39:55,  4.19s/it]
 37%|███▋      | 330/900 [09:18<28:45,  3.03s/it]
 37%|███▋      | 331/900 [09:19<20:58,  2.21s/it]
 37%|███▋      | 332/900 [09:19<15:32,  1.64s/it]
 37%|███▋      | 333/900 [09:19<11:42,  1.24s/it]
 37%|███▋      | 334/900 [09:20<09:01,  1.05it/s]
 37%|███▋      | 335/900 [09:20<07:08,  1.32it/s]
 37%|███▋      | 336/900 [09:20<05:49,  1.61it/s]
 37%|███▋      | 337/900 [09:28<25:17,  2.70s/it]
 38%|███▊      | 338/900 [09:28<18:29,  1.97s/it]
 38%|███▊      | 339/900 [09:28<13:45,  1.47s/it]
 38%|███▊      | 340/900 [09:29<10:26,  1.12s/it]
 38%|███▊      | 341/900 [09:29<08:06,  1.15it/s]
 38%|███▊      | 342/900 [09:29<06:29,  1.43it/s]
 38%|███▊      | 343/900 [09:30<05:21,  1.73it/s]
 38%|███▊      | 344/900 [09:30<04:34,  2.02it/s]
 38%|███▊      | 345/900 [09:46<47:45,  5.16s/it]
 38%|███▊      | 346/900 [09:46<34:11,  3.70s/it]
 39%|███▊      | 347/900 [09:47<24:43,  2.68s/it]
 39%|███▊      | 348/900 [09:47<18:07,  1.97s/it]
 39%|███▉      | 349/900 [09:47<13:28,  1.47s/it]
 39%|███▉      | 350/900 [09:47<10:13,  1.11s/it]
 39%|███▉      | 351/900 [09:48<07:56,  1.15it/s]
 39%|███▉      | 352/900 [09:48<06:20,  1.44it/s]
 39%|███▉      | 353/900 [09:56<25:09,  2.76s/it]
 39%|███▉      | 354/900 [09:56<18:22,  2.02s/it]
 39%|███▉      | 355/900 [09:56<13:38,  1.50s/it]
 40%|███▉      | 356/900 [09:56<10:18,  1.14s/it]
 40%|███▉      | 357/900 [09:57<08:01,  1.13it/s]
 40%|███▉      | 358/900 [09:57<06:27,  1.40it/s]
 40%|███▉      | 359/900 [09:57<05:18,  1.70it/s]
 40%|████      | 360/900 [09:58<04:30,  2.00it/s]
 40%|████      | 361/900 [10:07<27:42,  3.08s/it]
 40%|████      | 362/900 [10:07<20:09,  2.25s/it]
 40%|████      | 363/900 [10:07<14:51,  1.66s/it]
 40%|████      | 364/900 [10:08<11:11,  1.25s/it]
 41%|████      | 365/900 [10:08<08:36,  1.03it/s]
 41%|████      | 366/900 [10:08<06:48,  1.31it/s]
 41%|████      | 367/900 [10:09<05:32,  1.60it/s]
 41%|████      | 368/900 [10:09<04:39,  1.91it/s]
 41%|████      | 369/900 [11:17<3:04:35, 20.86s/it]
 41%|████      | 370/900 [11:17<2:09:45, 14.69s/it]
 41%|████      | 371/900 [11:18<1:31:26, 10.37s/it]
 41%|████▏     | 372/900 [11:18<1:04:39,  7.35s/it]
 41%|████▏     | 373/900 [11:18<45:56,  5.23s/it]  
 42%|████▏     | 374/900 [11:19<32:52,  3.75s/it]
 42%|████▏     | 375/900 [11:19<23:44,  2.71s/it]
 42%|████▏     | 376/900 [11:19<17:22,  1.99s/it]
 42%|████▏     | 377/900 [11:28<34:02,  3.91s/it]
 42%|████▏     | 378/900 [11:28<24:32,  2.82s/it]
 42%|████▏     | 379/900 [11:28<17:57,  2.07s/it]
 42%|████▏     | 380/900 [11:28<13:19,  1.54s/it]
 42%|████▏     | 381/900 [11:29<10:04,  1.16s/it]
 42%|████▏     | 382/900 [11:29<07:48,  1.11it/s]
 43%|████▎     | 383/900 [11:29<06:13,  1.38it/s]
 43%|████▎     | 384/900 [11:30<05:07,  1.68it/s]
 43%|████▎     | 385/900 [11:30<04:54,  1.75it/s]
 43%|████▎     | 386/900 [11:30<04:12,  2.03it/s]
 43%|████▎     | 387/900 [11:31<03:43,  2.29it/s]
 43%|████▎     | 388/900 [11:31<03:22,  2.53it/s]
 43%|████▎     | 389/900 [11:31<03:07,  2.72it/s]
 43%|████▎     | 390/900 [11:32<02:57,  2.88it/s]
 43%|████▎     | 391/900 [11:32<02:49,  3.01it/s]
 44%|████▎     | 392/900 [11:32<02:43,  3.10it/s]
 44%|████▎     | 393/900 [11:33<03:09,  2.68it/s]
 44%|████▍     | 394/900 [11:33<02:57,  2.84it/s]
 44%|████▍     | 395/900 [11:33<02:49,  2.98it/s]
 44%|████▍     | 396/900 [11:34<02:42,  3.10it/s]
 44%|████▍     | 397/900 [11:34<02:37,  3.20it/s]
 44%|████▍     | 398/900 [11:34<02:33,  3.27it/s]
 44%|████▍     | 399/900 [11:35<02:31,  3.31it/s]
 44%|████▍     | 400/900 [11:35<02:30,  3.33it/s]
 45%|████▍     | 401/900 [11:43<20:57,  2.52s/it]
 45%|████▍     | 402/900 [11:43<15:22,  1.85s/it]
 45%|████▍     | 403/900 [11:43<11:27,  1.38s/it]
 45%|████▍     | 404/900 [11:43<08:43,  1.06s/it]
 45%|████▌     | 405/900 [11:44<06:49,  1.21it/s]
 45%|████▌     | 406/900 [11:44<05:29,  1.50it/s]
 45%|████▌     | 407/900 [11:44<04:33,  1.80it/s]
 45%|████▌     | 408/900 [11:45<03:54,  2.10it/s]
 45%|████▌     | 409/900 [11:45<04:11,  1.95it/s]
 46%|████▌     | 410/900 [11:45<03:40,  2.23it/s]
 46%|████▌     | 411/900 [11:46<03:17,  2.47it/s]
 46%|████▌     | 412/900 [11:46<03:03,  2.66it/s]
 46%|████▌     | 413/900 [11:46<02:50,  2.86it/s]
 46%|████▌     | 414/900 [11:47<02:41,  3.02it/s]
 46%|████▌     | 415/900 [11:47<02:35,  3.12it/s]
 46%|████▌     | 416/900 [11:47<02:31,  3.19it/s]
 46%|████▋     | 417/900 [11:48<02:46,  2.91it/s]
 46%|████▋     | 418/900 [11:48<02:38,  3.04it/s]
 47%|████▋     | 419/900 [11:48<02:32,  3.15it/s]
 47%|████▋     | 420/900 [11:49<02:28,  3.23it/s]
 47%|████▋     | 421/900 [11:49<02:26,  3.26it/s]
 47%|████▋     | 422/900 [11:49<02:26,  3.27it/s]
 47%|████▋     | 423/900 [11:49<02:24,  3.30it/s]
 47%|████▋     | 424/900 [11:50<02:24,  3.30it/s]
 47%|████▋     | 425/900 [11:57<18:24,  2.33s/it]
 47%|████▋     | 426/900 [11:57<13:33,  1.72s/it]
 47%|████▋     | 427/900 [11:57<10:09,  1.29s/it]
 48%|████▊     | 428/900 [11:58<07:46,  1.01it/s]
 48%|████▊     | 429/900 [11:58<06:07,  1.28it/s]
 48%|████▊     | 430/900 [11:58<04:58,  1.57it/s]
 48%|████▊     | 431/900 [11:59<04:10,  1.87it/s]
 48%|████▊     | 432/900 [11:59<03:35,  2.17it/s]
 48%|████▊     | 433/900 [11:59<03:29,  2.23it/s]
 48%|████▊     | 434/900 [12:00<03:07,  2.48it/s]
 48%|████▊     | 435/900 [12:00<02:52,  2.69it/s]
 48%|████▊     | 436/900 [12:00<02:42,  2.86it/s]
 49%|████▊     | 437/900 [12:00<02:36,  2.96it/s]
 49%|████▊     | 438/900 [12:01<02:31,  3.04it/s]
 49%|████▉     | 439/900 [12:01<02:27,  3.13it/s]
 49%|████▉     | 440/900 [12:01<02:23,  3.20it/s]
 49%|████▉     | 441/900 [12:02<03:20,  2.29it/s]
 49%|████▉     | 442/900 [12:02<03:00,  2.54it/s]
 49%|████▉     | 443/900 [12:03<02:46,  2.74it/s]
 49%|████▉     | 444/900 [12:03<02:37,  2.90it/s]
 49%|████▉     | 445/900 [12:03<02:29,  3.04it/s]
 50%|████▉     | 446/900 [12:04<02:24,  3.15it/s]
 50%|████▉     | 447/900 [12:04<02:21,  3.20it/s]
 50%|████▉     | 448/900 [12:04<02:19,  3.24it/s]
 50%|████▉     | 449/900 [12:20<37:03,  4.93s/it]
 50%|█████     | 450/900 [12:20<26:32,  3.54s/it]
 50%|█████     | 451/900 [12:20<19:11,  2.57s/it]
 50%|█████     | 452/900 [12:21<14:03,  1.88s/it]
 50%|█████     | 453/900 [12:21<10:28,  1.41s/it]
 50%|█████     | 454/900 [12:21<07:58,  1.07s/it]
 51%|█████     | 455/900 [12:22<06:13,  1.19it/s]
 51%|█████     | 456/900 [12:22<04:59,  1.48it/s]
 51%|█████     | 457/900 [12:32<24:37,  3.34s/it]
 51%|█████     | 458/900 [12:32<17:52,  2.43s/it]
 51%|█████     | 459/900 [12:32<13:08,  1.79s/it]
 51%|█████     | 460/900 [12:32<09:49,  1.34s/it]
 51%|█████     | 461/900 [12:33<07:30,  1.03s/it]
 51%|█████▏    | 462/900 [12:33<05:53,  1.24it/s]
 51%|█████▏    | 463/900 [12:33<04:44,  1.53it/s]
 52%|█████▏    | 464/900 [12:34<03:56,  1.84it/s]
 52%|█████▏    | 465/900 [12:47<32:03,  4.42s/it]
 52%|█████▏    | 466/900 [12:47<23:01,  3.18s/it]
 52%|█████▏    | 467/900 [12:48<16:42,  2.32s/it]
 52%|█████▏    | 468/900 [12:48<12:17,  1.71s/it]
 52%|█████▏    | 469/900 [12:48<09:12,  1.28s/it]
 52%|█████▏    | 470/900 [12:48<07:03,  1.02it/s]
 52%|█████▏    | 471/900 [12:49<05:32,  1.29it/s]
 52%|█████▏    | 472/900 [12:49<04:29,  1.59it/s]
 53%|█████▎    | 473/900 [13:08<44:01,  6.19s/it]
 53%|█████▎    | 474/900 [13:09<31:22,  4.42s/it]
 53%|█████▎    | 475/900 [13:09<22:30,  3.18s/it]
 53%|█████▎    | 476/900 [13:09<16:20,  2.31s/it]
 53%|█████▎    | 477/900 [13:09<12:01,  1.71s/it]
 53%|█████▎    | 478/900 [13:10<09:01,  1.28s/it]
 53%|█████▎    | 479/900 [13:10<06:54,  1.01it/s]
 53%|█████▎    | 480/900 [13:10<05:26,  1.29it/s]
 53%|█████▎    | 481/900 [13:21<25:39,  3.67s/it]
 54%|█████▎    | 482/900 [13:21<18:32,  2.66s/it]
 54%|█████▎    | 483/900 [13:21<13:33,  1.95s/it]
 54%|█████▍    | 484/900 [13:22<10:04,  1.45s/it]
 54%|█████▍    | 485/900 [13:22<07:38,  1.11s/it]
 54%|█████▍    | 486/900 [13:22<05:56,  1.16it/s]
 54%|█████▍    | 487/900 [13:22<04:46,  1.44it/s]
 54%|█████▍    | 488/900 [13:23<03:57,  1.73it/s]
 54%|█████▍    | 489/900 [13:32<20:43,  3.02s/it]
 54%|█████▍    | 490/900 [13:32<15:07,  2.21s/it]
 55%|█████▍    | 491/900 [13:32<11:13,  1.65s/it]
 55%|█████▍    | 492/900 [13:32<08:30,  1.25s/it]
 55%|█████▍    | 493/900 [13:33<06:35,  1.03it/s]
 55%|█████▍    | 494/900 [13:33<05:13,  1.29it/s]
 55%|█████▌    | 495/900 [13:33<04:16,  1.58it/s]
 55%|█████▌    | 496/900 [13:34<03:37,  1.85it/s]
 55%|█████▌    | 497/900 [13:47<29:30,  4.39s/it]
 55%|█████▌    | 498/900 [13:47<21:13,  3.17s/it]
 55%|█████▌    | 499/900 [13:48<15:27,  2.31s/it]
 56%|█████▌    | 500/900 [13:48<12:17,  1.84s/it]
 56%|█████▌    | 501/900 [13:49<09:12,  1.39s/it]
 56%|█████▌    | 502/900 [13:49<07:04,  1.07s/it]
 56%|█████▌    | 503/900 [13:49<05:33,  1.19it/s]
 56%|█████▌    | 504/900 [13:50<04:30,  1.47it/s]
 56%|█████▌    | 505/900 [14:06<35:36,  5.41s/it]
 56%|█████▌    | 506/900 [14:07<25:29,  3.88s/it]
 56%|█████▋    | 507/900 [14:07<18:26,  2.81s/it]
 56%|█████▋    | 508/900 [14:07<13:28,  2.06s/it]
 57%|█████▋    | 509/900 [14:07<10:01,  1.54s/it]
 57%|█████▋    | 510/900 [14:08<07:37,  1.17s/it]
 57%|█████▋    | 511/900 [14:08<05:55,  1.09it/s]
 57%|█████▋    | 512/900 [14:08<04:44,  1.36it/s]
 57%|█████▋    | 513/900 [14:20<26:14,  4.07s/it]
 57%|█████▋    | 514/900 [14:21<18:55,  2.94s/it]
 57%|█████▋    | 515/900 [14:21<13:49,  2.16s/it]
 57%|█████▋    | 516/900 [14:21<10:15,  1.60s/it]
 57%|█████▋    | 517/900 [14:22<07:47,  1.22s/it]
 58%|█████▊    | 518/900 [14:22<06:03,  1.05it/s]
 58%|█████▊    | 519/900 [14:22<04:50,  1.31it/s]
 58%|█████▊    | 520/900 [14:23<03:59,  1.59it/s]
 58%|█████▊    | 521/900 [14:39<33:08,  5.25s/it]
 58%|█████▊    | 522/900 [14:39<23:44,  3.77s/it]
 58%|█████▊    | 523/900 [14:39<17:09,  2.73s/it]
 58%|█████▊    | 524/900 [14:39<12:35,  2.01s/it]
 58%|█████▊    | 525/900 [14:40<09:23,  1.50s/it]
 58%|█████▊    | 526/900 [14:40<07:10,  1.15s/it]
 59%|█████▊    | 527/900 [14:40<05:36,  1.11it/s]
 59%|█████▊    | 528/900 [14:41<04:32,  1.36it/s]
 59%|█████▉    | 529/900 [14:51<22:10,  3.59s/it]
 59%|█████▉    | 530/900 [14:51<16:05,  2.61s/it]
 59%|█████▉    | 531/900 [14:52<11:51,  1.93s/it]
 59%|█████▉    | 532/900 [14:52<08:52,  1.45s/it]
 59%|█████▉    | 533/900 [14:52<06:47,  1.11s/it]
 59%|█████▉    | 534/900 [14:53<05:20,  1.14it/s]
 59%|█████▉    | 535/900 [14:53<04:19,  1.41it/s]
 60%|█████▉    | 536/900 [14:53<03:36,  1.68it/s]
 60%|█████▉    | 537/900 [15:09<31:31,  5.21s/it]
 60%|█████▉    | 538/900 [15:10<22:35,  3.74s/it]
 60%|█████▉    | 539/900 [15:10<16:20,  2.72s/it]
 60%|██████    | 540/900 [15:10<11:59,  2.00s/it]
 60%|██████    | 541/900 [15:11<08:56,  1.49s/it]
 60%|██████    | 542/900 [15:11<06:48,  1.14s/it]
 60%|██████    | 543/900 [15:11<05:19,  1.12it/s]
 60%|██████    | 544/900 [15:12<04:17,  1.38it/s]
 61%|██████    | 545/900 [15:19<16:27,  2.78s/it]
 61%|██████    | 546/900 [15:19<12:03,  2.05s/it]
 61%|██████    | 547/900 [15:20<08:59,  1.53s/it]
 61%|██████    | 548/900 [15:20<06:51,  1.17s/it]
 61%|██████    | 549/900 [15:20<05:21,  1.09it/s]
 61%|██████    | 550/900 [15:21<04:19,  1.35it/s]
 61%|██████    | 551/900 [15:21<03:36,  1.61it/s]
 61%|██████▏   | 552/900 [15:21<03:04,  1.88it/s]
 61%|██████▏   | 553/900 [15:35<24:52,  4.30s/it]
 62%|██████▏   | 554/900 [15:35<17:54,  3.11s/it]
 62%|██████▏   | 555/900 [15:35<13:04,  2.27s/it]
 62%|██████▏   | 556/900 [15:36<09:41,  1.69s/it]
 62%|██████▏   | 557/900 [15:36<07:18,  1.28s/it]
 62%|██████▏   | 558/900 [15:36<05:39,  1.01it/s]
 62%|██████▏   | 559/900 [15:36<04:30,  1.26it/s]
 62%|██████▏   | 560/900 [15:37<03:41,  1.54it/s]
 62%|██████▏   | 561/900 [15:54<32:34,  5.76s/it]
 62%|██████▏   | 562/900 [15:55<23:17,  4.13s/it]
 63%|██████▎   | 563/900 [15:55<16:49,  3.00s/it]
 63%|██████▎   | 564/900 [15:55<12:17,  2.20s/it]
 63%|██████▎   | 565/900 [15:56<09:07,  1.63s/it]
 63%|██████▎   | 566/900 [15:56<06:55,  1.24s/it]
 63%|██████▎   | 567/900 [15:56<05:22,  1.03it/s]
 63%|██████▎   | 568/900 [15:57<04:16,  1.29it/s]
 63%|██████▎   | 569/900 [16:05<16:10,  2.93s/it]
 63%|██████▎   | 570/900 [16:05<11:50,  2.15s/it]
 63%|██████▎   | 571/900 [16:05<08:49,  1.61s/it]
 64%|██████▎   | 572/900 [16:06<06:41,  1.22s/it]
 64%|██████▎   | 573/900 [16:06<05:13,  1.04it/s]
 64%|██████▍   | 574/900 [16:06<04:10,  1.30it/s]
 64%|██████▍   | 575/900 [16:07<03:26,  1.58it/s]
 64%|██████▍   | 576/900 [16:07<02:55,  1.85it/s]
 64%|██████▍   | 577/900 [16:16<16:22,  3.04s/it]
 64%|██████▍   | 578/900 [16:16<11:56,  2.23s/it]
 64%|██████▍   | 579/900 [16:17<08:50,  1.65s/it]
 64%|██████▍   | 580/900 [16:17<06:40,  1.25s/it]
 65%|██████▍   | 581/900 [16:17<05:10,  1.03it/s]
 65%|██████▍   | 582/900 [16:18<04:08,  1.28it/s]
 65%|██████▍   | 583/900 [16:18<03:23,  1.56it/s]
 65%|██████▍   | 584/900 [16:18<02:52,  1.84it/s]
 65%|██████▌   | 585/900 [17:25<1:47:36, 20.50s/it]
 65%|██████▌   | 586/900 [17:26<1:15:35, 14.44s/it]
 65%|██████▌   | 587/900 [17:26<53:13, 10.20s/it]  
 65%|██████▌   | 588/900 [17:26<37:38,  7.24s/it]
 65%|██████▌   | 589/900 [17:27<26:46,  5.16s/it]
 66%|██████▌   | 590/900 [17:27<19:11,  3.71s/it]
 66%|██████▌   | 591/900 [17:27<13:53,  2.70s/it]
 66%|██████▌   | 592/900 [17:27<10:11,  1.99s/it]
 66%|██████▌   | 593/900 [17:36<19:36,  3.83s/it]
 66%|██████▌   | 594/900 [17:36<14:10,  2.78s/it]
 66%|██████▌   | 595/900 [17:36<10:22,  2.04s/it]
 66%|██████▌   | 596/900 [17:37<07:43,  1.52s/it]
 66%|██████▋   | 597/900 [17:37<05:52,  1.16s/it]
 66%|██████▋   | 598/900 [17:37<04:34,  1.10it/s]
 67%|██████▋   | 599/900 [17:38<03:40,  1.37it/s]
 67%|██████▋   | 600/900 [17:38<03:02,  1.64it/s]
 67%|██████▋   | 601/900 [17:47<15:39,  3.14s/it]
 67%|██████▋   | 602/900 [17:47<11:24,  2.30s/it]
 67%|██████▋   | 603/900 [17:48<08:26,  1.70s/it]
 67%|██████▋   | 604/900 [17:48<06:22,  1.29s/it]
 67%|██████▋   | 605/900 [17:48<04:55,  1.00s/it]
 67%|██████▋   | 606/900 [17:49<03:54,  1.25it/s]
 67%|██████▋   | 607/900 [17:49<03:12,  1.52it/s]
 68%|██████▊   | 608/900 [17:49<02:43,  1.79it/s]
 68%|██████▊   | 609/900 [18:08<28:46,  5.93s/it]
 68%|██████▊   | 610/900 [18:08<20:33,  4.25s/it]
 68%|██████▊   | 611/900 [18:08<14:48,  3.07s/it]
 68%|██████▊   | 612/900 [18:09<10:48,  2.25s/it]
 68%|██████▊   | 613/900 [18:09<08:00,  1.67s/it]
 68%|██████▊   | 614/900 [18:09<06:04,  1.27s/it]
 68%|██████▊   | 615/900 [18:10<04:43,  1.01it/s]
 68%|██████▊   | 616/900 [18:10<03:47,  1.25it/s]
 69%|██████▊   | 617/900 [18:54<1:05:29, 13.89s/it]
 69%|██████▊   | 618/900 [18:55<46:07,  9.81s/it]  
 69%|██████▉   | 619/900 [18:55<32:37,  6.97s/it]
 69%|██████▉   | 620/900 [18:55<23:12,  4.97s/it]
 69%|██████▉   | 621/900 [18:56<16:38,  3.58s/it]
 69%|██████▉   | 622/900 [18:56<12:03,  2.60s/it]
 69%|██████▉   | 623/900 [18:56<08:50,  1.92s/it]
 69%|██████▉   | 624/900 [18:57<06:36,  1.44s/it]
 69%|██████▉   | 625/900 [19:07<18:30,  4.04s/it]
 70%|██████▉   | 626/900 [19:07<13:20,  2.92s/it]
 70%|██████▉   | 627/900 [19:07<09:44,  2.14s/it]
 70%|██████▉   | 628/900 [19:08<07:13,  1.59s/it]
 70%|██████▉   | 629/900 [19:08<05:28,  1.21s/it]
 70%|███████   | 630/900 [19:08<04:14,  1.06it/s]
 70%|███████   | 631/900 [19:09<03:22,  1.33it/s]
 70%|███████   | 632/900 [19:09<02:46,  1.61it/s]
 70%|███████   | 633/900 [19:21<17:31,  3.94s/it]
 70%|███████   | 634/900 [19:21<12:38,  2.85s/it]
 71%|███████   | 635/900 [19:21<09:14,  2.09s/it]
 71%|███████   | 636/900 [19:22<06:52,  1.56s/it]
 71%|███████   | 637/900 [19:22<05:13,  1.19s/it]
 71%|███████   | 638/900 [19:22<04:03,  1.07it/s]
 71%|███████   | 639/900 [19:23<03:14,  1.34it/s]
 71%|███████   | 640/900 [19:23<02:41,  1.61it/s]
 71%|███████   | 641/900 [19:44<28:47,  6.67s/it]
 71%|███████▏  | 642/900 [19:44<20:29,  4.76s/it]
 71%|███████▏  | 643/900 [19:44<14:41,  3.43s/it]
 72%|███████▏  | 644/900 [19:45<10:39,  2.50s/it]
 72%|███████▏  | 645/900 [19:45<07:50,  1.84s/it]
 72%|███████▏  | 646/900 [19:45<05:51,  1.38s/it]
 72%|███████▏  | 647/900 [19:46<04:29,  1.07s/it]
 72%|███████▏  | 648/900 [19:46<03:31,  1.19it/s]
 72%|███████▏  | 649/900 [19:46<02:58,  1.41it/s]
 72%|███████▏  | 650/900 [19:47<02:28,  1.69it/s]
 72%|███████▏  | 651/900 [19:47<02:07,  1.96it/s]
 72%|███████▏  | 652/900 [19:47<01:52,  2.20it/s]
 73%|███████▎  | 653/900 [19:48<01:42,  2.41it/s]
 73%|███████▎  | 654/900 [19:48<01:35,  2.59it/s]
 73%|███████▎  | 655/900 [19:48<01:29,  2.74it/s]
 73%|███████▎  | 656/900 [19:49<01:26,  2.83it/s]
 73%|███████▎  | 657/900 [20:17<35:38,  8.80s/it]
 73%|███████▎  | 658/900 [20:17<25:14,  6.26s/it]
 73%|███████▎  | 659/900 [20:18<17:58,  4.48s/it]
 73%|███████▎  | 660/900 [20:18<12:56,  3.23s/it]
 73%|███████▎  | 661/900 [20:18<09:24,  2.36s/it]
 74%|███████▎  | 662/900 [20:19<06:56,  1.75s/it]
 74%|███████▎  | 663/900 [20:19<05:13,  1.32s/it]
 74%|███████▍  | 664/900 [20:19<04:01,  1.02s/it]
 74%|███████▍  | 665/900 [20:35<20:55,  5.34s/it]
 74%|███████▍  | 666/900 [20:35<14:57,  3.83s/it]
 74%|███████▍  | 667/900 [20:35<10:48,  2.78s/it]
 74%|███████▍  | 668/900 [20:36<07:53,  2.04s/it]
 74%|███████▍  | 669/900 [20:36<05:53,  1.53s/it]
 74%|███████▍  | 670/900 [20:36<04:28,  1.17s/it]
 75%|███████▍  | 671/900 [20:37<03:28,  1.10it/s]
 75%|███████▍  | 672/900 [20:37<02:46,  1.37it/s]
 75%|███████▍  | 673/900 [20:53<20:26,  5.40s/it]
 75%|███████▍  | 674/900 [20:54<14:36,  3.88s/it]
 75%|███████▌  | 675/900 [20:54<10:32,  2.81s/it]
 75%|███████▌  | 676/900 [20:54<07:42,  2.06s/it]
 75%|███████▌  | 677/900 [20:55<05:43,  1.54s/it]
 75%|███████▌  | 678/900 [20:55<04:20,  1.17s/it]
 75%|███████▌  | 679/900 [20:55<03:22,  1.09it/s]
 76%|███████▌  | 680/900 [20:56<02:42,  1.35it/s]
 76%|███████▌  | 681/900 [21:20<28:53,  7.92s/it]
 76%|███████▌  | 682/900 [21:21<20:29,  5.64s/it]
 76%|███████▌  | 683/900 [21:21<14:37,  4.04s/it]
 76%|███████▌  | 684/900 [21:21<10:32,  2.93s/it]
 76%|███████▌  | 685/900 [21:22<07:40,  2.14s/it]
 76%|███████▌  | 686/900 [21:22<05:41,  1.60s/it]
 76%|███████▋  | 687/900 [21:22<04:18,  1.21s/it]
 76%|███████▋  | 688/900 [21:22<03:20,  1.06it/s]
 77%|███████▋  | 689/900 [21:44<24:40,  7.02s/it]
 77%|███████▋  | 690/900 [21:44<17:32,  5.01s/it]
 77%|███████▋  | 691/900 [21:44<12:33,  3.61s/it]
 77%|███████▋  | 692/900 [21:45<09:05,  2.62s/it]
 77%|███████▋  | 693/900 [21:45<06:39,  1.93s/it]
 77%|███████▋  | 694/900 [21:45<04:58,  1.45s/it]
 77%|███████▋  | 695/900 [21:46<03:48,  1.11s/it]
 77%|███████▋  | 696/900 [21:46<02:59,  1.14it/s]
 77%|███████▋  | 697/900 [21:47<02:41,  1.25it/s]
 78%|███████▊  | 698/900 [21:47<02:12,  1.53it/s]
 78%|███████▊  | 699/900 [21:47<01:51,  1.80it/s]
 78%|███████▊  | 700/900 [21:48<01:37,  2.05it/s]
 78%|███████▊  | 701/900 [21:48<01:27,  2.28it/s]
 78%|███████▊  | 702/900 [21:48<01:19,  2.48it/s]
 78%|███████▊  | 703/900 [21:49<01:14,  2.64it/s]
 78%|███████▊  | 704/900 [21:49<01:11,  2.75it/s]
 78%|███████▊  | 705/900 [22:02<13:35,  4.18s/it]
 78%|███████▊  | 706/900 [22:02<09:47,  3.03s/it]
 79%|███████▊  | 707/900 [22:03<07:08,  2.22s/it]
 79%|███████▊  | 708/900 [22:03<05:16,  1.65s/it]
 79%|███████▉  | 709/900 [22:03<04:00,  1.26s/it]
 79%|███████▉  | 710/900 [22:04<03:05,  1.02it/s]
 79%|███████▉  | 711/900 [22:04<02:27,  1.28it/s]
 79%|███████▉  | 712/900 [22:04<02:00,  1.55it/s]
 79%|███████▉  | 713/900 [22:20<15:50,  5.08s/it]
 79%|███████▉  | 714/900 [22:20<11:20,  3.66s/it]
 79%|███████▉  | 715/900 [22:20<08:11,  2.66s/it]
 80%|███████▉  | 716/900 [22:21<06:00,  1.96s/it]
 80%|███████▉  | 717/900 [22:21<04:28,  1.47s/it]
 80%|███████▉  | 718/900 [22:21<03:24,  1.12s/it]
 80%|███████▉  | 719/900 [22:22<02:40,  1.13it/s]
 80%|████████  | 720/900 [22:22<02:08,  1.40it/s]
 80%|████████  | 721/900 [22:42<19:40,  6.59s/it]
 80%|████████  | 722/900 [22:43<13:59,  4.72s/it]
 80%|████████  | 723/900 [22:43<10:01,  3.40s/it]
 80%|████████  | 724/900 [22:43<07:15,  2.47s/it]
 81%|████████  | 725/900 [22:44<05:19,  1.83s/it]
 81%|████████  | 726/900 [22:44<03:59,  1.38s/it]
 81%|████████  | 727/900 [22:44<03:03,  1.06s/it]
 81%|████████  | 728/900 [22:45<02:24,  1.19it/s]
 81%|████████  | 729/900 [23:17<29:31, 10.36s/it]
 81%|████████  | 730/900 [23:17<20:49,  7.35s/it]
 81%|████████  | 731/900 [23:18<14:46,  5.24s/it]
 81%|████████▏ | 732/900 [23:18<10:32,  3.77s/it]
 81%|████████▏ | 733/900 [23:18<07:36,  2.73s/it]
 82%|████████▏ | 734/900 [23:19<05:33,  2.01s/it]
 82%|████████▏ | 735/900 [23:19<04:08,  1.51s/it]
 82%|████████▏ | 736/900 [23:19<03:09,  1.15s/it]
 82%|████████▏ | 737/900 [23:33<13:18,  4.90s/it]
 82%|████████▏ | 738/900 [23:33<09:31,  3.53s/it]
 82%|████████▏ | 739/900 [23:34<06:53,  2.57s/it]
 82%|████████▏ | 740/900 [23:34<05:02,  1.89s/it]
 82%|████████▏ | 741/900 [23:34<03:45,  1.42s/it]
 82%|████████▏ | 742/900 [23:35<02:52,  1.09s/it]
 83%|████████▎ | 743/900 [23:35<02:14,  1.17it/s]
 83%|████████▎ | 744/900 [23:35<01:48,  1.44it/s]
 83%|████████▎ | 745/900 [23:36<01:36,  1.61it/s]
 83%|████████▎ | 746/900 [23:36<01:21,  1.88it/s]
 83%|████████▎ | 747/900 [23:36<01:12,  2.12it/s]
 83%|████████▎ | 748/900 [23:37<01:04,  2.34it/s]
 83%|████████▎ | 749/900 [23:37<00:59,  2.52it/s]
 83%|████████▎ | 750/900 [23:37<00:55,  2.68it/s]
 83%|████████▎ | 751/900 [23:38<00:53,  2.80it/s]
 84%|████████▎ | 752/900 [23:38<00:51,  2.89it/s]
 84%|████████▎ | 753/900 [23:48<07:43,  3.15s/it]
 84%|████████▍ | 754/900 [23:48<05:36,  2.31s/it]
 84%|████████▍ | 755/900 [23:48<04:08,  1.71s/it]
 84%|████████▍ | 756/900 [23:49<03:06,  1.30s/it]
 84%|████████▍ | 757/900 [23:49<02:23,  1.00s/it]
 84%|████████▍ | 758/900 [23:49<01:53,  1.25it/s]
 84%|████████▍ | 759/900 [23:50<01:32,  1.52it/s]
 84%|████████▍ | 760/900 [23:50<01:17,  1.80it/s]
 85%|████████▍ | 761/900 [24:01<08:24,  3.63s/it]
 85%|████████▍ | 762/900 [24:01<06:04,  2.64s/it]
 85%|████████▍ | 763/900 [24:01<04:25,  1.94s/it]
 85%|████████▍ | 764/900 [24:02<03:17,  1.46s/it]
 85%|████████▌ | 765/900 [24:02<02:30,  1.11s/it]
 85%|████████▌ | 766/900 [24:02<01:57,  1.15it/s]
 85%|████████▌ | 767/900 [24:03<01:34,  1.41it/s]
 85%|████████▌ | 768/900 [24:03<01:18,  1.68it/s]
 85%|████████▌ | 769/900 [24:40<25:07, 11.51s/it]
 86%|████████▌ | 770/900 [24:40<17:39,  8.15s/it]
 86%|████████▌ | 771/900 [24:41<12:27,  5.80s/it]
 86%|████████▌ | 772/900 [24:41<08:51,  4.16s/it]
 86%|████████▌ | 773/900 [24:41<06:21,  3.01s/it]
 86%|████████▌ | 774/900 [24:42<04:37,  2.20s/it]
 86%|████████▌ | 775/900 [24:42<03:24,  1.63s/it]
 86%|████████▌ | 776/900 [24:42<02:33,  1.24s/it]
 86%|████████▋ | 777/900 [24:58<11:26,  5.58s/it]
 86%|████████▋ | 778/900 [24:58<08:08,  4.00s/it]
 87%|████████▋ | 779/900 [24:59<05:50,  2.89s/it]
 87%|████████▋ | 780/900 [24:59<04:14,  2.12s/it]
 87%|████████▋ | 781/900 [24:59<03:07,  1.58s/it]
 87%|████████▋ | 782/900 [24:59<02:21,  1.20s/it]
 87%|████████▋ | 783/900 [25:00<01:49,  1.07it/s]
 87%|████████▋ | 784/900 [25:00<01:26,  1.34it/s]
 87%|████████▋ | 785/900 [25:10<06:57,  3.63s/it]
 87%|████████▋ | 786/900 [25:11<05:00,  2.64s/it]
 87%|████████▋ | 787/900 [25:11<03:38,  1.93s/it]
 88%|████████▊ | 788/900 [25:11<02:41,  1.44s/it]
 88%|████████▊ | 788/900 [25:12<03:34,  1.92s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/log_0_env0.json.
+ReorientRedMugTask_0 complete: task_name: ReorientRedMugTask, run_name: ReorientRedMugTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the red mug upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: True, episode_step: 789, duration: 52.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -10.685254401632209, 'joint_sparc_mean': -13.02121140084798, 'ee_isj': 27250.285148810206, 'joint_isj': 645803.990566901, 'ee_path_length': 8.29175484903239, 'joint_rmse_mean': 1.6455846938500165, 'ee_speed_max': 2.2019200325012207, 'ee_speed_mean': 0.14847742021083832}, events: {'GRIPPER_FULLY_CLOSED': 10, 'WRONG_OBJECT_GRABBED': 9, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 18, 'GRIPPER_HIT_TABLE': 1, 'wrong_objects_grabbed': ['red_mug', 'red_mug', 'red_mug', 'red_mug', 'red_mug', 'red_mug', 'red_mug', 'red_mug', 'red_mug']}, instruction_type: default, timing: {'policy_inference_s': 1272.332, 'policy_inference_avg_ms': 1612.6, 'env_step_s': 232.685, 'env_step_avg_ms': 294.9, 'video_write_s': 6.577, 'video_write_avg_ms': 8.3, 'wall_total_s': 1511.593, 'it_per_sec': 0.52}, score: 1.0, reason: Completed subtask 'reorient_red_mug' 1/1, harness_episode_id: 2ffd562ca0ff48d88ab151cb7db222a3-0
+[RoboLab] Running ReorientRedMugTask_1: 'Put the red mug upright so that the opening is facing upwards.' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:31<7:44:46, 31.02s/it]
  0%|          | 2/900 [00:31<3:13:48, 12.95s/it]
  0%|          | 3/900 [00:31<1:47:11,  7.17s/it]
  0%|          | 4/900 [00:31<1:06:32,  4.46s/it]
  1%|          | 5/900 [00:32<44:03,  2.95s/it]  
  1%|          | 6/900 [00:32<30:29,  2.05s/it]
  1%|          | 7/900 [00:32<21:54,  1.47s/it]
  1%|          | 8/900 [00:33<16:17,  1.10s/it]
  1%|          | 9/900 [00:39<42:08,  2.84s/it]
  1%|          | 10/900 [00:40<30:25,  2.05s/it]
  1%|          | 11/900 [00:40<22:23,  1.51s/it]
  1%|▏         | 12/900 [00:40<16:52,  1.14s/it]
  1%|▏         | 13/900 [00:40<13:03,  1.13it/s]
  2%|▏         | 14/900 [00:41<10:24,  1.42it/s]
  2%|▏         | 15/900 [00:41<08:32,  1.73it/s]
  2%|▏         | 16/900 [00:41<07:15,  2.03it/s]
  2%|▏         | 17/900 [01:09<2:06:20,  8.59s/it]
  2%|▏         | 18/900 [01:09<1:29:34,  6.09s/it]
  2%|▏         | 19/900 [01:09<1:03:51,  4.35s/it]
  2%|▏         | 20/900 [01:10<45:53,  3.13s/it]  
  2%|▏         | 21/900 [01:10<33:21,  2.28s/it]
  2%|▏         | 22/900 [01:10<24:34,  1.68s/it]
  3%|▎         | 23/900 [01:10<18:26,  1.26s/it]
  3%|▎         | 24/900 [01:11<14:09,  1.03it/s]
  3%|▎         | 25/900 [01:38<2:08:23,  8.80s/it]
  3%|▎         | 26/900 [01:38<1:31:06,  6.25s/it]
  3%|▎         | 27/900 [01:38<1:04:57,  4.46s/it]
  3%|▎         | 28/900 [01:39<46:40,  3.21s/it]  
  3%|▎         | 29/900 [01:39<33:54,  2.34s/it]
  3%|▎         | 30/900 [01:39<24:59,  1.72s/it]
  3%|▎         | 31/900 [01:40<18:43,  1.29s/it]
  4%|▎         | 32/900 [01:40<14:21,  1.01it/s]
  4%|▎         | 33/900 [02:05<1:59:25,  8.26s/it]
  4%|▍         | 34/900 [02:05<1:24:43,  5.87s/it]
  4%|▍         | 35/900 [02:06<1:00:30,  4.20s/it]
  4%|▍         | 36/900 [02:06<43:34,  3.03s/it]  
  4%|▍         | 37/900 [02:06<31:43,  2.21s/it]
  4%|▍         | 38/900 [02:07<23:36,  1.64s/it]
  4%|▍         | 39/900 [02:07<17:54,  1.25s/it]
  4%|▍         | 40/900 [02:07<13:57,  1.03it/s]
  5%|▍         | 41/900 [02:17<53:55,  3.77s/it]
  5%|▍         | 42/900 [02:18<39:02,  2.73s/it]
  5%|▍         | 43/900 [02:18<28:39,  2.01s/it]
  5%|▍         | 44/900 [02:18<21:22,  1.50s/it]
  5%|▌         | 45/900 [02:19<16:17,  1.14s/it]
  5%|▌         | 46/900 [02:19<12:42,  1.12it/s]
  5%|▌         | 47/900 [02:19<10:11,  1.39it/s]
  5%|▌         | 48/900 [02:20<08:26,  1.68it/s]
  5%|▌         | 49/900 [02:49<2:10:37,  9.21s/it]
  6%|▌         | 50/900 [02:49<1:32:45,  6.55s/it]
  6%|▌         | 51/900 [02:50<1:06:17,  4.68s/it]
  6%|▌         | 52/900 [02:50<47:43,  3.38s/it]  
  6%|▌         | 53/900 [02:50<34:42,  2.46s/it]
  6%|▌         | 54/900 [02:51<25:38,  1.82s/it]
  6%|▌         | 55/900 [02:51<19:16,  1.37s/it]
  6%|▌         | 56/900 [02:51<14:51,  1.06s/it]
  6%|▋         | 57/900 [02:57<33:51,  2.41s/it]
  6%|▋         | 58/900 [02:57<25:05,  1.79s/it]
  7%|▋         | 59/900 [02:57<18:55,  1.35s/it]
  7%|▋         | 60/900 [02:58<14:34,  1.04s/it]
  7%|▋         | 61/900 [02:58<11:31,  1.21it/s]
  7%|▋         | 62/900 [02:58<09:23,  1.49it/s]
  7%|▋         | 63/900 [02:59<07:55,  1.76it/s]
  7%|▋         | 64/900 [02:59<06:53,  2.02it/s]
  7%|▋         | 65/900 [03:06<32:56,  2.37s/it]
  7%|▋         | 66/900 [03:06<24:16,  1.75s/it]
  7%|▋         | 67/900 [03:06<18:10,  1.31s/it]
  8%|▊         | 68/900 [03:07<13:54,  1.00s/it]
  8%|▊         | 69/900 [03:07<10:54,  1.27it/s]
  8%|▊         | 70/900 [03:07<08:48,  1.57it/s]
  8%|▊         | 71/900 [03:08<07:20,  1.88it/s]
  8%|▊         | 72/900 [03:08<06:19,  2.18it/s]
  8%|▊         | 73/900 [03:18<44:50,  3.25s/it]
  8%|▊         | 74/900 [03:18<32:33,  2.36s/it]
  8%|▊         | 75/900 [03:18<23:57,  1.74s/it]
  8%|▊         | 76/900 [03:19<17:56,  1.31s/it]
  9%|▊         | 77/900 [03:19<13:43,  1.00s/it]
  9%|▊         | 78/900 [03:19<10:47,  1.27it/s]
  9%|▉         | 79/900 [03:19<08:44,  1.57it/s]
  9%|▉         | 80/900 [03:20<07:18,  1.87it/s]
  9%|▉         | 81/900 [03:51<2:13:46,  9.80s/it]
  9%|▉         | 82/900 [03:51<1:34:43,  6.95s/it]
  9%|▉         | 83/900 [03:52<1:07:22,  4.95s/it]
  9%|▉         | 84/900 [03:52<48:18,  3.55s/it]  
  9%|▉         | 85/900 [03:52<34:57,  2.57s/it]
 10%|▉         | 86/900 [03:53<25:36,  1.89s/it]
 10%|▉         | 87/900 [03:53<19:04,  1.41s/it]
 10%|▉         | 88/900 [03:53<14:30,  1.07s/it]
 10%|▉         | 89/900 [04:01<43:57,  3.25s/it]
 10%|█         | 90/900 [04:02<31:55,  2.36s/it]
 10%|█         | 91/900 [04:02<23:28,  1.74s/it]
 10%|█         | 92/900 [04:02<17:35,  1.31s/it]
 10%|█         | 93/900 [04:03<13:30,  1.00s/it]
 10%|█         | 94/900 [04:03<10:36,  1.27it/s]
 11%|█         | 95/900 [04:03<08:44,  1.54it/s]
 11%|█         | 96/900 [04:04<07:23,  1.81it/s]
 11%|█         | 97/900 [04:09<28:20,  2.12s/it]
 11%|█         | 98/900 [04:10<21:06,  1.58s/it]
 11%|█         | 99/900 [04:10<16:02,  1.20s/it]
 11%|█         | 100/900 [04:10<12:30,  1.07it/s]
 11%|█         | 101/900 [04:11<10:03,  1.32it/s]
 11%|█▏        | 102/900 [04:11<08:20,  1.59it/s]
 11%|█▏        | 103/900 [04:11<07:10,  1.85it/s]
 12%|█▏        | 104/900 [04:12<06:20,  2.09it/s]
 12%|█▏        | 105/900 [04:23<50:33,  3.82s/it]
 12%|█▏        | 106/900 [04:24<36:40,  2.77s/it]
 12%|█▏        | 107/900 [04:24<26:59,  2.04s/it]
 12%|█▏        | 108/900 [04:24<20:09,  1.53s/it]
 12%|█▏        | 109/900 [04:25<15:25,  1.17s/it]
 12%|█▏        | 110/900 [04:25<12:04,  1.09it/s]
 12%|█▏        | 111/900 [04:25<09:42,  1.35it/s]
 12%|█▏        | 112/900 [04:26<08:05,  1.62it/s]
 13%|█▎        | 113/900 [04:32<29:35,  2.26s/it]
 13%|█▎        | 114/900 [04:32<22:05,  1.69s/it]
 13%|█▎        | 115/900 [04:32<16:44,  1.28s/it]
 13%|█▎        | 116/900 [04:33<13:00,  1.00it/s]
 13%|█▎        | 117/900 [04:33<10:22,  1.26it/s]
 13%|█▎        | 118/900 [04:33<08:29,  1.53it/s]
 13%|█▎        | 119/900 [04:34<07:13,  1.80it/s]
 13%|█▎        | 120/900 [04:34<06:19,  2.05it/s]
 13%|█▎        | 121/900 [04:46<51:19,  3.95s/it]
 14%|█▎        | 122/900 [04:46<37:07,  2.86s/it]
 14%|█▎        | 123/900 [04:47<27:14,  2.10s/it]
 14%|█▍        | 124/900 [04:47<20:20,  1.57s/it]
 14%|█▍        | 125/900 [04:47<15:29,  1.20s/it]
 14%|█▍        | 126/900 [04:48<12:07,  1.06it/s]
 14%|█▍        | 127/900 [04:48<09:44,  1.32it/s]
 14%|█▍        | 128/900 [04:48<08:03,  1.60it/s]
 14%|█▍        | 129/900 [04:55<29:52,  2.32s/it]
 14%|█▍        | 130/900 [04:55<22:11,  1.73s/it]
 15%|█▍        | 131/900 [04:55<16:47,  1.31s/it]
 15%|█▍        | 132/900 [04:56<13:00,  1.02s/it]
 15%|█▍        | 133/900 [04:56<10:21,  1.23it/s]
 15%|█▍        | 134/900 [04:56<08:31,  1.50it/s]
 15%|█▌        | 135/900 [04:57<07:12,  1.77it/s]
 15%|█▌        | 136/900 [04:57<06:17,  2.02it/s]
 15%|█▌        | 137/900 [05:05<34:13,  2.69s/it]
 15%|█▌        | 138/900 [05:05<25:12,  1.98s/it]
 15%|█▌        | 139/900 [05:05<18:54,  1.49s/it]
 16%|█▌        | 140/900 [05:06<14:33,  1.15s/it]
 16%|█▌        | 141/900 [05:06<11:27,  1.10it/s]
 16%|█▌        | 142/900 [05:06<09:20,  1.35it/s]
 16%|█▌        | 143/900 [05:07<07:45,  1.63it/s]
 16%|█▌        | 144/900 [05:07<06:43,  1.87it/s]
 16%|█▌        | 145/900 [05:14<31:33,  2.51s/it]
 16%|█▌        | 146/900 [05:15<23:19,  1.86s/it]
 16%|█▋        | 147/900 [05:15<17:31,  1.40s/it]
 16%|█▋        | 148/900 [05:15<13:30,  1.08s/it]
 17%|█▋        | 149/900 [05:16<10:42,  1.17it/s]
 17%|█▋        | 150/900 [05:16<08:40,  1.44it/s]
 17%|█▋        | 151/900 [05:16<07:14,  1.72it/s]
 17%|█▋        | 152/900 [05:16<06:14,  2.00it/s]
 17%|█▋        | 153/900 [05:35<1:14:50,  6.01s/it]
 17%|█▋        | 154/900 [05:36<53:31,  4.31s/it]  
 17%|█▋        | 155/900 [05:36<38:35,  3.11s/it]
 17%|█▋        | 156/900 [05:36<28:09,  2.27s/it]
 17%|█▋        | 157/900 [05:37<20:54,  1.69s/it]
 18%|█▊        | 158/900 [05:37<15:50,  1.28s/it]
 18%|█▊        | 159/900 [05:37<12:17,  1.00it/s]
 18%|█▊        | 160/900 [05:38<09:48,  1.26it/s]
 18%|█▊        | 161/900 [06:17<2:33:56, 12.50s/it]
 18%|█▊        | 162/900 [06:18<1:48:46,  8.84s/it]
 18%|█▊        | 163/900 [06:18<1:17:13,  6.29s/it]
 18%|█▊        | 164/900 [06:18<55:10,  4.50s/it]  
 18%|█▊        | 165/900 [06:19<39:44,  3.24s/it]
 18%|█▊        | 166/900 [06:19<28:58,  2.37s/it]
 19%|█▊        | 167/900 [06:19<21:26,  1.76s/it]
 19%|█▊        | 168/900 [06:20<16:12,  1.33s/it]
 19%|█▉        | 169/900 [06:40<1:26:12,  7.08s/it]
 19%|█▉        | 170/900 [06:41<1:01:29,  5.05s/it]
 19%|█▉        | 171/900 [06:41<44:13,  3.64s/it]  
 19%|█▉        | 172/900 [06:41<32:08,  2.65s/it]
 19%|█▉        | 173/900 [06:42<23:38,  1.95s/it]
 19%|█▉        | 174/900 [06:42<17:44,  1.47s/it]
 19%|█▉        | 175/900 [06:42<13:36,  1.13s/it]
 20%|█▉        | 176/900 [06:43<10:44,  1.12it/s]
 20%|█▉        | 177/900 [06:53<46:42,  3.88s/it]
 20%|█▉        | 178/900 [06:54<33:42,  2.80s/it]
 20%|█▉        | 179/900 [06:54<24:36,  2.05s/it]
 20%|██        | 180/900 [06:54<18:16,  1.52s/it]
 20%|██        | 181/900 [06:55<13:55,  1.16s/it]
 20%|██        | 182/900 [06:55<10:48,  1.11it/s]
 20%|██        | 183/900 [06:55<08:38,  1.38it/s]
 20%|██        | 184/900 [06:55<07:06,  1.68it/s]
 21%|██        | 185/900 [07:05<37:42,  3.16s/it]
 21%|██        | 186/900 [07:05<27:24,  2.30s/it]
 21%|██        | 187/900 [07:05<20:11,  1.70s/it]
 21%|██        | 188/900 [07:06<15:09,  1.28s/it]
 21%|██        | 189/900 [07:06<11:37,  1.02it/s]
 21%|██        | 190/900 [07:06<09:09,  1.29it/s]
 21%|██        | 191/900 [07:06<07:25,  1.59it/s]
 21%|██▏       | 192/900 [07:07<06:15,  1.88it/s]
 21%|██▏       | 193/900 [07:14<29:59,  2.55s/it]
 22%|██▏       | 194/900 [07:14<22:01,  1.87s/it]
 22%|██▏       | 195/900 [07:15<16:26,  1.40s/it]
 22%|██▏       | 196/900 [07:15<12:31,  1.07s/it]
 22%|██▏       | 197/900 [07:15<09:47,  1.20it/s]
 22%|██▏       | 198/900 [07:15<07:51,  1.49it/s]
 22%|██▏       | 199/900 [07:16<06:31,  1.79it/s]
 22%|██▏       | 200/900 [07:16<05:36,  2.08it/s]
 22%|██▏       | 201/900 [07:32<58:39,  5.04s/it]
 22%|██▏       | 202/900 [07:32<42:04,  3.62s/it]
 23%|██▎       | 203/900 [07:32<30:23,  2.62s/it]
 23%|██▎       | 204/900 [07:33<22:14,  1.92s/it]
 23%|██▎       | 205/900 [07:33<16:31,  1.43s/it]
 23%|██▎       | 206/900 [07:33<12:32,  1.08s/it]
 23%|██▎       | 207/900 [07:33<09:44,  1.19it/s]
 23%|██▎       | 208/900 [07:34<07:47,  1.48it/s]
 23%|██▎       | 209/900 [07:48<56:11,  4.88s/it]
 23%|██▎       | 210/900 [07:49<40:16,  3.50s/it]
 23%|██▎       | 211/900 [07:49<29:07,  2.54s/it]
 24%|██▎       | 212/900 [07:49<21:23,  1.87s/it]
 24%|██▎       | 213/900 [07:50<16:00,  1.40s/it]
 24%|██▍       | 214/900 [07:50<12:14,  1.07s/it]
 24%|██▍       | 215/900 [07:50<09:36,  1.19it/s]
 24%|██▍       | 216/900 [07:50<07:45,  1.47it/s]
 24%|██▍       | 217/900 [08:29<2:18:42, 12.19s/it]
 24%|██▍       | 218/900 [08:30<1:38:00,  8.62s/it]
 24%|██▍       | 219/900 [08:30<1:09:33,  6.13s/it]
 24%|██▍       | 220/900 [08:30<49:38,  4.38s/it]  
 25%|██▍       | 221/900 [08:31<35:44,  3.16s/it]
 25%|██▍       | 222/900 [08:31<26:00,  2.30s/it]
 25%|██▍       | 223/900 [08:31<19:11,  1.70s/it]
 25%|██▍       | 224/900 [08:32<14:26,  1.28s/it]
 25%|██▌       | 225/900 [08:45<56:03,  4.98s/it]
 25%|██▌       | 226/900 [08:46<40:13,  3.58s/it]
 25%|██▌       | 227/900 [08:46<29:09,  2.60s/it]
 25%|██▌       | 228/900 [08:46<21:25,  1.91s/it]
 25%|██▌       | 229/900 [08:46<16:00,  1.43s/it]
 26%|██▌       | 230/900 [08:47<12:14,  1.10s/it]
 26%|██▌       | 231/900 [08:47<09:37,  1.16it/s]
 26%|██▌       | 232/900 [08:47<07:44,  1.44it/s]
 26%|██▌       | 233/900 [08:55<31:06,  2.80s/it]
 26%|██▌       | 234/900 [08:55<22:43,  2.05s/it]
 26%|██▌       | 235/900 [08:56<16:50,  1.52s/it]
 26%|██▌       | 236/900 [08:56<12:43,  1.15s/it]
 26%|██▋       | 237/900 [08:56<09:51,  1.12it/s]
 26%|██▋       | 238/900 [08:57<07:51,  1.41it/s]
 27%|██▋       | 239/900 [08:57<06:28,  1.70it/s]
 27%|██▋       | 240/900 [08:57<05:36,  1.96it/s]
 27%|██▋       | 241/900 [09:12<53:53,  4.91s/it]
 27%|██▋       | 242/900 [09:13<38:47,  3.54s/it]
 27%|██▋       | 243/900 [09:13<28:10,  2.57s/it]
 27%|██▋       | 244/900 [09:13<20:45,  1.90s/it]
 27%|██▋       | 245/900 [09:14<15:34,  1.43s/it]
 27%|██▋       | 246/900 [09:14<11:58,  1.10s/it]
 27%|██▋       | 247/900 [09:14<09:27,  1.15it/s]
 28%|██▊       | 248/900 [09:15<07:40,  1.42it/s]
 28%|██▊       | 249/900 [09:25<39:44,  3.66s/it]
 28%|██▊       | 250/900 [09:26<28:50,  2.66s/it]
 28%|██▊       | 251/900 [09:26<21:15,  1.96s/it]
 28%|██▊       | 252/900 [09:26<15:53,  1.47s/it]
 28%|██▊       | 253/900 [09:27<12:07,  1.12s/it]
 28%|██▊       | 254/900 [09:27<09:29,  1.13it/s]
 28%|██▊       | 255/900 [09:27<07:39,  1.40it/s]
 28%|██▊       | 256/900 [09:27<06:24,  1.67it/s]
 29%|██▊       | 257/900 [09:35<28:33,  2.67s/it]
 29%|██▊       | 258/900 [09:35<21:00,  1.96s/it]
 29%|██▉       | 259/900 [09:36<15:41,  1.47s/it]
 29%|██▉       | 260/900 [09:36<11:59,  1.12s/it]
 29%|██▉       | 261/900 [09:36<09:25,  1.13it/s]
 29%|██▉       | 262/900 [09:37<07:35,  1.40it/s]
 29%|██▉       | 263/900 [09:37<06:18,  1.68it/s]
 29%|██▉       | 264/900 [09:37<05:23,  1.97it/s]
 29%|██▉       | 265/900 [09:49<42:41,  4.03s/it]
 30%|██▉       | 266/900 [09:50<30:52,  2.92s/it]
 30%|██▉       | 267/900 [09:50<22:36,  2.14s/it]
 30%|██▉       | 268/900 [09:50<16:50,  1.60s/it]
 30%|██▉       | 269/900 [09:51<12:45,  1.21s/it]
 30%|███       | 270/900 [09:51<09:55,  1.06it/s]
 30%|███       | 271/900 [09:51<07:57,  1.32it/s]
 30%|███       | 272/900 [09:52<06:35,  1.59it/s]
 30%|███       | 273/900 [10:01<33:55,  3.25s/it]
 30%|███       | 274/900 [10:01<24:43,  2.37s/it]
 31%|███       | 275/900 [10:02<18:17,  1.76s/it]
 31%|███       | 276/900 [10:02<13:46,  1.32s/it]
 31%|███       | 277/900 [10:02<10:37,  1.02s/it]
 31%|███       | 278/900 [10:03<08:26,  1.23it/s]
 31%|███       | 279/900 [10:03<06:52,  1.50it/s]
 31%|███       | 280/900 [10:03<05:49,  1.77it/s]
 31%|███       | 281/900 [10:12<31:28,  3.05s/it]
 31%|███▏      | 282/900 [10:13<23:01,  2.23s/it]
 31%|███▏      | 283/900 [10:13<17:15,  1.68s/it]
 32%|███▏      | 284/900 [10:13<13:04,  1.27s/it]
 32%|███▏      | 285/900 [10:14<10:08,  1.01it/s]
 32%|███▏      | 286/900 [10:14<08:09,  1.25it/s]
 32%|███▏      | 287/900 [10:14<06:45,  1.51it/s]
 32%|███▏      | 288/900 [10:15<05:52,  1.73it/s]
 32%|███▏      | 289/900 [10:31<53:27,  5.25s/it]
 32%|███▏      | 290/900 [10:31<38:21,  3.77s/it]
 32%|███▏      | 291/900 [10:31<27:48,  2.74s/it]
 32%|███▏      | 292/900 [10:32<20:25,  2.02s/it]
 33%|███▎      | 293/900 [10:32<15:16,  1.51s/it]
 33%|███▎      | 294/900 [10:32<11:40,  1.16s/it]
 33%|███▎      | 295/900 [10:33<09:07,  1.11it/s]
 33%|███▎      | 296/900 [10:33<07:22,  1.37it/s]
 33%|███▎      | 297/900 [10:43<36:15,  3.61s/it]
 33%|███▎      | 298/900 [10:44<26:20,  2.62s/it]
 33%|███▎      | 299/900 [10:44<19:23,  1.94s/it]
 33%|███▎      | 300/900 [10:44<14:33,  1.46s/it]
 33%|███▎      | 301/900 [10:45<11:09,  1.12s/it]
 34%|███▎      | 302/900 [10:45<08:46,  1.14it/s]
 34%|███▎      | 303/900 [10:45<07:06,  1.40it/s]
 34%|███▍      | 304/900 [10:46<05:56,  1.67it/s]
 34%|███▍      | 305/900 [10:53<25:09,  2.54s/it]
 34%|███▍      | 306/900 [10:53<18:30,  1.87s/it]
 34%|███▍      | 307/900 [10:53<13:51,  1.40s/it]
 34%|███▍      | 308/900 [10:54<10:33,  1.07s/it]
 34%|███▍      | 309/900 [10:54<08:13,  1.20it/s]
 34%|███▍      | 310/900 [10:54<06:36,  1.49it/s]
 35%|███▍      | 311/900 [10:55<05:27,  1.80it/s]
 35%|███▍      | 312/900 [10:55<04:39,  2.10it/s]
 35%|███▍      | 313/900 [11:04<29:26,  3.01s/it]
 35%|███▍      | 314/900 [11:04<21:24,  2.19s/it]
 35%|███▌      | 315/900 [11:04<15:48,  1.62s/it]
 35%|███▌      | 316/900 [11:05<11:54,  1.22s/it]
 35%|███▌      | 317/900 [11:05<09:10,  1.06it/s]
 35%|███▌      | 318/900 [11:05<07:14,  1.34it/s]
 35%|███▌      | 319/900 [11:05<05:54,  1.64it/s]
 36%|███▌      | 320/900 [11:06<04:57,  1.95it/s]
 36%|███▌      | 321/900 [11:15<31:27,  3.26s/it]
 36%|███▌      | 322/900 [11:16<22:49,  2.37s/it]
 36%|███▌      | 323/900 [11:16<16:47,  1.75s/it]
 36%|███▌      | 324/900 [11:16<12:33,  1.31s/it]
 36%|███▌      | 325/900 [11:17<09:37,  1.00s/it]
 36%|███▌      | 326/900 [11:17<07:33,  1.27it/s]
 36%|███▋      | 327/900 [11:17<06:07,  1.56it/s]
 36%|███▋      | 328/900 [11:17<05:06,  1.86it/s]
 37%|███▋      | 329/900 [11:46<1:24:18,  8.86s/it]
 37%|███▋      | 330/900 [11:46<59:44,  6.29s/it]  
 37%|███▋      | 331/900 [11:46<42:35,  4.49s/it]
 37%|███▋      | 332/900 [11:47<30:38,  3.24s/it]
 37%|███▋      | 333/900 [11:47<22:15,  2.36s/it]
 37%|███▋      | 334/900 [11:47<16:27,  1.74s/it]
 37%|███▋      | 335/900 [11:48<12:21,  1.31s/it]
 37%|███▋      | 336/900 [11:48<09:29,  1.01s/it]
 37%|███▋      | 337/900 [12:05<56:11,  5.99s/it]
 38%|███▊      | 338/900 [12:06<40:06,  4.28s/it]
 38%|███▊      | 339/900 [12:06<28:54,  3.09s/it]
 38%|███▊      | 340/900 [12:06<21:04,  2.26s/it]
 38%|███▊      | 341/900 [12:07<15:35,  1.67s/it]
 38%|███▊      | 342/900 [12:07<11:43,  1.26s/it]
 38%|███▊      | 343/900 [12:07<09:02,  1.03it/s]
 38%|███▊      | 344/900 [12:08<07:11,  1.29it/s]
 38%|███▊      | 345/900 [12:22<43:38,  4.72s/it]
 38%|███▊      | 346/900 [12:22<31:19,  3.39s/it]
 39%|███▊      | 347/900 [12:22<22:44,  2.47s/it]
 39%|███▊      | 348/900 [12:22<16:46,  1.82s/it]
 39%|███▊      | 348/900 [12:23<19:39,  2.14s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/log_1_env0.json.
+ReorientRedMugTask_1 complete: task_name: ReorientRedMugTask, run_name: ReorientRedMugTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the red mug upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: True, episode_step: 349, duration: 23.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.5528562207767305, 'joint_sparc_mean': -8.881918398083636, 'ee_isj': 1608.5343242085678, 'joint_isj': 55523.88498083449, 'ee_path_length': 3.0576367255285137, 'joint_rmse_mean': 0.7849316667311576, 'ee_speed_max': 0.37453025579452515, 'ee_speed_mean': 0.11920166015625}, events: {'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 3, 'OBJECT_BUMPED': 6, 'OBJECT_OUT_OF_SCENE': 1, 'wrong_objects_grabbed': ['red_mug', 'red_mug', 'red_mug']}, instruction_type: default, timing: {'policy_inference_s': 637.324, 'policy_inference_avg_ms': 1826.1, 'env_step_s': 103.001, 'env_step_avg_ms': 295.1, 'video_write_s': 2.872, 'video_write_avg_ms': 8.2, 'wall_total_s': 743.196, 'it_per_sec': 0.47}, score: 1.0, reason: Completed subtask 'reorient_red_mug' 1/1, harness_episode_id: 586ab4b4e36a44fda08a0aa8739cec5f-1
+[RoboLab] Running ReorientRedMugTask_2: 'Put the red mug upright so that the opening is facing upwards.' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:28<7:11:35, 28.80s/it]
  0%|          | 2/900 [00:29<3:00:10, 12.04s/it]
  0%|          | 3/900 [00:29<1:39:46,  6.67s/it]
  0%|          | 4/900 [00:29<1:02:02,  4.15s/it]
  1%|          | 5/900 [00:29<41:14,  2.76s/it]  
  1%|          | 6/900 [00:30<28:48,  1.93s/it]
  1%|          | 7/900 [00:30<20:46,  1.40s/it]
  1%|          | 8/900 [00:30<15:30,  1.04s/it]
  1%|          | 9/900 [00:36<34:30,  2.32s/it]
  1%|          | 10/900 [00:36<25:16,  1.70s/it]
  1%|          | 11/900 [00:36<18:55,  1.28s/it]
  1%|▏         | 12/900 [00:36<14:31,  1.02it/s]
  1%|▏         | 13/900 [00:37<11:30,  1.29it/s]
  2%|▏         | 14/900 [00:37<09:18,  1.59it/s]
  2%|▏         | 15/900 [00:37<07:44,  1.91it/s]
  2%|▏         | 16/900 [00:38<06:41,  2.20it/s]
  2%|▏         | 17/900 [00:49<55:51,  3.80s/it]
  2%|▏         | 18/900 [00:49<40:17,  2.74s/it]
  2%|▏         | 19/900 [00:50<29:24,  2.00s/it]
  2%|▏         | 20/900 [00:50<21:49,  1.49s/it]
  2%|▏         | 21/900 [00:50<16:32,  1.13s/it]
  2%|▏         | 22/900 [00:51<12:50,  1.14it/s]
  3%|▎         | 23/900 [00:51<10:15,  1.43it/s]
  3%|▎         | 24/900 [00:51<08:24,  1.73it/s]
  3%|▎         | 25/900 [00:56<27:20,  1.88s/it]
  3%|▎         | 26/900 [00:56<20:25,  1.40s/it]
  3%|▎         | 27/900 [00:57<15:33,  1.07s/it]
  3%|▎         | 28/900 [00:57<12:08,  1.20it/s]
  3%|▎         | 29/900 [00:57<09:44,  1.49it/s]
  3%|▎         | 30/900 [00:58<08:04,  1.80it/s]
  3%|▎         | 31/900 [00:58<06:52,  2.11it/s]
  4%|▎         | 32/900 [00:58<06:01,  2.40it/s]
  4%|▎         | 33/900 [01:06<38:22,  2.66s/it]
  4%|▍         | 34/900 [01:06<28:04,  1.94s/it]
  4%|▍         | 35/900 [01:07<20:51,  1.45s/it]
  4%|▍         | 36/900 [01:07<15:50,  1.10s/it]
  4%|▍         | 37/900 [01:07<12:18,  1.17it/s]
  4%|▍         | 38/900 [01:07<09:52,  1.45it/s]
  4%|▍         | 39/900 [01:08<08:08,  1.76it/s]
  4%|▍         | 40/900 [01:08<06:54,  2.08it/s]
  5%|▍         | 41/900 [01:19<51:12,  3.58s/it]
  5%|▍         | 42/900 [01:19<37:02,  2.59s/it]
  5%|▍         | 43/900 [01:19<27:07,  1.90s/it]
  5%|▍         | 44/900 [01:20<20:11,  1.42s/it]
  5%|▌         | 45/900 [01:20<15:20,  1.08s/it]
  5%|▌         | 46/900 [01:20<11:59,  1.19it/s]
  5%|▌         | 47/900 [01:21<09:41,  1.47it/s]
  5%|▌         | 48/900 [01:21<08:06,  1.75it/s]
  5%|▌         | 49/900 [01:35<1:04:34,  4.55s/it]
  6%|▌         | 50/900 [01:35<46:27,  3.28s/it]  
  6%|▌         | 51/900 [01:35<33:46,  2.39s/it]
  6%|▌         | 52/900 [01:36<24:58,  1.77s/it]
  6%|▌         | 53/900 [01:36<18:49,  1.33s/it]
  6%|▌         | 54/900 [01:36<14:32,  1.03s/it]
  6%|▌         | 55/900 [01:37<11:30,  1.22it/s]
  6%|▌         | 56/900 [01:37<09:21,  1.50it/s]
  6%|▋         | 57/900 [01:45<38:45,  2.76s/it]
  6%|▋         | 58/900 [01:45<28:25,  2.03s/it]
  7%|▋         | 59/900 [01:45<21:14,  1.52s/it]
  7%|▋         | 60/900 [01:46<16:13,  1.16s/it]
  7%|▋         | 61/900 [01:46<12:42,  1.10it/s]
  7%|▋         | 62/900 [01:46<10:14,  1.36it/s]
  7%|▋         | 63/900 [01:47<08:28,  1.65it/s]
  7%|▋         | 64/900 [01:47<07:13,  1.93it/s]
  7%|▋         | 65/900 [01:55<38:30,  2.77s/it]
  7%|▋         | 66/900 [01:55<28:19,  2.04s/it]
  7%|▋         | 67/900 [01:55<21:06,  1.52s/it]
  8%|▊         | 68/900 [01:56<15:59,  1.15s/it]
  8%|▊         | 69/900 [01:56<12:24,  1.12it/s]
  8%|▊         | 70/900 [01:56<09:52,  1.40it/s]
  8%|▊         | 71/900 [01:57<08:06,  1.70it/s]
  8%|▊         | 72/900 [01:57<06:54,  2.00it/s]
  8%|▊         | 73/900 [02:17<1:25:59,  6.24s/it]
  8%|▊         | 74/900 [02:17<1:01:21,  4.46s/it]
  8%|▊         | 75/900 [02:17<44:07,  3.21s/it]  
  8%|▊         | 76/900 [02:17<32:04,  2.34s/it]
  9%|▊         | 77/900 [02:18<23:38,  1.72s/it]
  9%|▊         | 78/900 [02:18<17:46,  1.30s/it]
  9%|▉         | 79/900 [02:18<13:36,  1.01it/s]
  9%|▉         | 80/900 [02:19<10:43,  1.27it/s]
  9%|▉         | 81/900 [02:29<51:20,  3.76s/it]
  9%|▉         | 81/900 [02:30<25:19,  1.86s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/log_2_env0.json.
+ReorientRedMugTask_2 complete: task_name: ReorientRedMugTask, run_name: ReorientRedMugTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the red mug upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: True, episode_step: 82, duration: 5.466666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.880975775902336, 'joint_sparc_mean': -5.064870189742645, 'ee_isj': 223.7914578617581, 'joint_isj': 65649.17446847193, 'ee_path_length': 0.5935285111575559, 'joint_rmse_mean': 0.9795165959746975, 'ee_speed_max': 0.313252717256546, 'ee_speed_mean': 0.0991564616560936}, events: {'GRIPPER_FULLY_CLOSED': 1, 'WRONG_OBJECT_GRABBED': 2, 'GRIPPER_HIT_OBJECT': 1, 'wrong_objects_grabbed': ['red_mug', 'red_mug']}, instruction_type: default, timing: {'policy_inference_s': 125.811, 'policy_inference_avg_ms': 1534.3, 'env_step_s': 23.268, 'env_step_avg_ms': 283.8, 'video_write_s': 1.141, 'video_write_avg_ms': 13.9, 'wall_total_s': 150.22, 'it_per_sec': 0.55}, score: 1.0, reason: Completed subtask 'reorient_red_mug' 1/1, harness_episode_id: 40dc0d34ec0a45689b86279b4650462b-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-29T19:35:48Z [9,638,360ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:5
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.179566 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-29T19:35:51Z [9,641,823ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T19:35:51Z [9,641,824ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T19:35:51Z [9,641,832ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T19:35:51Z [9,641,833ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T19:35:51Z [9,641,841ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T19:35:51Z [9,641,848ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-29T19:35:52Z [9,642,767ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((899))' not available in the MDL representation.
+2026-10-29T19:35:52Z [9,642,767ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((899))' not available in the MDL representation.
+2026-10-29T19:35:52Z [9,643,179ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((943))' not available in the MDL representation.
+2026-10-29T19:35:52Z [9,643,180ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((943))' not available in the MDL representation.
+2026-10-29T19:35:52Z [9,643,225ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((970))' not available in the MDL representation.
+2026-10-29T19:35:52Z [9,643,225ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((970))' not available in the MDL representation.
+2026-10-29T19:35:53Z [9,643,926ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((899))' not available in the MDL representation.
+2026-10-29T19:35:53Z [9,643,926ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((899))' not available in the MDL representation.
+2026-10-29T19:35:53Z [9,643,929ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((943))' not available in the MDL representation.
+2026-10-29T19:35:53Z [9,643,929ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((943))' not available in the MDL representation.
+2026-10-29T19:35:53Z [9,643,930ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((970))' not available in the MDL representation.
+2026-10-29T19:35:53Z [9,643,931ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((970))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 5.498296 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BananaThenRubiksCubeTask                      │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : put the banana then the cube in the bowl      │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BananaThenRubiksCubeTaskSceneEnvCfg           │
+│  Attributes  : conjunction, simple                           │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BananaThenRubiksCubeTask_0: 'put the banana then the cube in the bowl' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:31<7:52:47, 31.55s/it]
  0%|          | 2/900 [00:31<3:16:23, 13.12s/it]
  0%|          | 3/900 [00:31<1:48:03,  7.23s/it]
  0%|          | 4/900 [00:32<1:06:34,  4.46s/it]
  1%|          | 5/900 [00:32<43:41,  2.93s/it]  
  1%|          | 6/900 [00:32<29:52,  2.01s/it]
  1%|          | 7/900 [00:32<21:09,  1.42s/it]
  1%|          | 8/900 [00:33<15:26,  1.04s/it]
  1%|          | 9/900 [00:41<51:55,  3.50s/it]
  1%|          | 10/900 [00:42<36:51,  2.48s/it]
  1%|          | 11/900 [00:42<26:32,  1.79s/it]
  1%|▏         | 12/900 [00:42<19:24,  1.31s/it]
  1%|▏         | 13/900 [00:42<14:29,  1.02it/s]
  2%|▏         | 14/900 [00:43<11:02,  1.34it/s]
  2%|▏         | 15/900 [00:43<08:41,  1.70it/s]
  2%|▏         | 16/900 [00:43<07:00,  2.10it/s]
  2%|▏         | 17/900 [00:54<55:46,  3.79s/it]
  2%|▏         | 18/900 [00:55<39:54,  2.72s/it]
  2%|▏         | 19/900 [00:55<28:48,  1.96s/it]
  2%|▏         | 20/900 [00:55<21:04,  1.44s/it]
  2%|▏         | 21/900 [00:55<15:41,  1.07s/it]
  2%|▏         | 22/900 [00:56<11:58,  1.22it/s]
  3%|▎         | 23/900 [00:56<09:22,  1.56it/s]
  3%|▎         | 24/900 [00:56<07:29,  1.95it/s]
  3%|▎         | 25/900 [01:03<35:42,  2.45s/it]
  3%|▎         | 26/900 [01:03<25:54,  1.78s/it]
  3%|▎         | 27/900 [01:03<19:04,  1.31s/it]
  3%|▎         | 28/900 [01:04<14:19,  1.01it/s]
  3%|▎         | 29/900 [01:04<11:04,  1.31it/s]
  3%|▎         | 30/900 [01:04<08:47,  1.65it/s]
  3%|▎         | 31/900 [01:04<07:11,  2.02it/s]
  4%|▎         | 32/900 [01:05<06:05,  2.38it/s]
  4%|▎         | 33/900 [01:15<47:38,  3.30s/it]
  4%|▍         | 34/900 [01:15<34:24,  2.38s/it]
  4%|▍         | 35/900 [01:15<25:05,  1.74s/it]
  4%|▍         | 36/900 [01:15<18:35,  1.29s/it]
  4%|▍         | 37/900 [01:16<14:02,  1.02it/s]
  4%|▍         | 38/900 [01:16<10:51,  1.32it/s]
  4%|▍         | 39/900 [01:16<08:38,  1.66it/s]
  4%|▍         | 40/900 [01:16<07:07,  2.01it/s]
  5%|▍         | 41/900 [01:48<2:19:35,  9.75s/it]
  5%|▍         | 42/900 [01:48<1:38:38,  6.90s/it]
  5%|▍         | 43/900 [01:48<1:10:01,  4.90s/it]
  5%|▍         | 44/900 [01:48<49:59,  3.50s/it]  
  5%|▌         | 45/900 [01:49<36:00,  2.53s/it]
  5%|▌         | 46/900 [01:49<26:10,  1.84s/it]
  5%|▌         | 47/900 [01:49<19:19,  1.36s/it]
  5%|▌         | 48/900 [01:49<14:30,  1.02s/it]
  5%|▌         | 49/900 [01:55<34:21,  2.42s/it]
  6%|▌         | 50/900 [01:55<25:02,  1.77s/it]
  6%|▌         | 51/900 [01:56<18:31,  1.31s/it]
  6%|▌         | 52/900 [01:56<13:57,  1.01it/s]
  6%|▌         | 53/900 [01:56<10:47,  1.31it/s]
  6%|▌         | 54/900 [01:56<08:34,  1.64it/s]
  6%|▌         | 55/900 [01:56<07:00,  2.01it/s]
  6%|▌         | 56/900 [01:57<05:54,  2.38it/s]
  6%|▋         | 57/900 [02:08<50:35,  3.60s/it]
  6%|▋         | 58/900 [02:08<36:23,  2.59s/it]
  7%|▋         | 59/900 [02:08<26:29,  1.89s/it]
  7%|▋         | 60/900 [02:08<19:33,  1.40s/it]
  7%|▋         | 61/900 [02:09<14:42,  1.05s/it]
  7%|▋         | 62/900 [02:09<11:19,  1.23it/s]
  7%|▋         | 63/900 [02:09<08:57,  1.56it/s]
  7%|▋         | 64/900 [02:09<07:18,  1.90it/s]
  7%|▋         | 65/900 [02:21<52:29,  3.77s/it]
  7%|▋         | 66/900 [02:21<37:43,  2.71s/it]
  7%|▋         | 67/900 [02:21<27:21,  1.97s/it]
  8%|▊         | 68/900 [02:22<20:08,  1.45s/it]
  8%|▊         | 69/900 [02:22<15:05,  1.09s/it]
  8%|▊         | 70/900 [02:22<11:31,  1.20it/s]
  8%|▊         | 71/900 [02:22<09:01,  1.53it/s]
  8%|▊         | 72/900 [02:22<07:17,  1.89it/s]
  8%|▊         | 73/900 [02:33<48:06,  3.49s/it]
  8%|▊         | 74/900 [02:33<34:37,  2.52s/it]
  8%|▊         | 75/900 [02:33<25:11,  1.83s/it]
  8%|▊         | 76/900 [02:34<18:35,  1.35s/it]
  9%|▊         | 77/900 [02:34<13:57,  1.02s/it]
  9%|▊         | 78/900 [02:34<10:44,  1.28it/s]
  9%|▉         | 79/900 [02:34<08:31,  1.60it/s]
  9%|▉         | 80/900 [02:35<06:58,  1.96it/s]
  9%|▉         | 81/900 [02:58<1:42:28,  7.51s/it]
  9%|▉         | 82/900 [02:59<1:12:37,  5.33s/it]
  9%|▉         | 83/900 [02:59<51:44,  3.80s/it]  
  9%|▉         | 84/900 [02:59<37:10,  2.73s/it]
  9%|▉         | 85/900 [02:59<27:00,  1.99s/it]
 10%|▉         | 86/900 [03:00<19:54,  1.47s/it]
 10%|▉         | 87/900 [03:00<14:55,  1.10s/it]
 10%|▉         | 88/900 [03:00<11:24,  1.19it/s]
 10%|▉         | 89/900 [03:07<36:16,  2.68s/it]
 10%|█         | 90/900 [03:07<26:21,  1.95s/it]
 10%|█         | 91/900 [03:08<19:23,  1.44s/it]
 10%|█         | 92/900 [03:08<14:31,  1.08s/it]
 10%|█         | 93/900 [03:08<11:06,  1.21it/s]
 10%|█         | 94/900 [03:08<08:45,  1.53it/s]
 11%|█         | 95/900 [03:09<07:05,  1.89it/s]
 11%|█         | 96/900 [03:09<05:54,  2.27it/s]
 11%|█         | 97/900 [03:16<33:12,  2.48s/it]
 11%|█         | 98/900 [03:16<24:09,  1.81s/it]
 11%|█         | 99/900 [03:17<17:50,  1.34s/it]
 11%|█         | 100/900 [03:17<13:25,  1.01s/it]
 11%|█         | 101/900 [03:17<10:20,  1.29it/s]
 11%|█▏        | 102/900 [03:17<08:10,  1.63it/s]
 11%|█▏        | 103/900 [03:17<06:39,  2.00it/s]
 12%|█▏        | 104/900 [03:18<05:35,  2.37it/s]
 12%|█▏        | 105/900 [03:55<2:33:35, 11.59s/it]
 12%|█▏        | 106/900 [03:56<1:48:19,  8.19s/it]
 12%|█▏        | 107/900 [03:56<1:16:41,  5.80s/it]
 12%|█▏        | 108/900 [03:56<54:33,  4.13s/it]  
 12%|█▏        | 109/900 [03:56<39:06,  2.97s/it]
 12%|█▏        | 110/900 [03:57<28:16,  2.15s/it]
 12%|█▏        | 111/900 [03:57<20:43,  1.58s/it]
 12%|█▏        | 112/900 [03:57<15:27,  1.18s/it]
 13%|█▎        | 113/900 [04:04<36:55,  2.81s/it]
 13%|█▎        | 114/900 [04:04<26:47,  2.05s/it]
 13%|█▎        | 115/900 [04:04<19:41,  1.51s/it]
 13%|█▎        | 116/900 [04:04<14:45,  1.13s/it]
 13%|█▎        | 117/900 [04:05<11:14,  1.16it/s]
 13%|█▎        | 118/900 [04:05<08:47,  1.48it/s]
 13%|█▎        | 119/900 [04:05<07:06,  1.83it/s]
 13%|█▎        | 120/900 [04:05<05:55,  2.20it/s]
 13%|█▎        | 121/900 [04:11<24:20,  1.87s/it]
 14%|█▎        | 122/900 [04:11<17:58,  1.39s/it]
 14%|█▎        | 123/900 [04:11<13:29,  1.04s/it]
 14%|█▍        | 124/900 [04:11<10:22,  1.25it/s]
 14%|█▍        | 125/900 [04:12<08:10,  1.58it/s]
 14%|█▍        | 126/900 [04:12<06:38,  1.94it/s]
 14%|█▍        | 127/900 [04:12<05:34,  2.31it/s]
 14%|█▍        | 128/900 [04:12<04:50,  2.66it/s]
 14%|█▍        | 129/900 [04:19<27:46,  2.16s/it]
 14%|█▍        | 130/900 [04:19<20:22,  1.59s/it]
 15%|█▍        | 131/900 [04:19<15:11,  1.19s/it]
 15%|█▍        | 132/900 [04:19<11:33,  1.11it/s]
 15%|█▍        | 133/900 [04:20<09:00,  1.42it/s]
 15%|█▍        | 134/900 [04:20<07:14,  1.76it/s]
 15%|█▌        | 135/900 [04:20<05:59,  2.13it/s]
 15%|█▌        | 136/900 [04:20<05:07,  2.48it/s]
 15%|█▌        | 137/900 [04:26<27:12,  2.14s/it]
 15%|█▌        | 138/900 [04:27<20:00,  1.58s/it]
 15%|█▌        | 139/900 [04:27<14:54,  1.18s/it]
 16%|█▌        | 140/900 [04:27<11:21,  1.12it/s]
 16%|█▌        | 141/900 [04:27<08:49,  1.43it/s]
 16%|█▌        | 142/900 [04:28<07:05,  1.78it/s]
 16%|█▌        | 143/900 [04:28<05:52,  2.15it/s]
 16%|█▌        | 144/900 [04:28<05:02,  2.50it/s]
 16%|█▌        | 145/900 [04:34<25:24,  2.02s/it]
 16%|█▌        | 146/900 [04:34<18:40,  1.49s/it]
 16%|█▋        | 147/900 [04:34<13:57,  1.11s/it]
 16%|█▋        | 148/900 [04:35<10:40,  1.17it/s]
 17%|█▋        | 149/900 [04:35<08:22,  1.49it/s]
 17%|█▋        | 150/900 [04:35<06:47,  1.84it/s]
 17%|█▋        | 151/900 [04:35<05:42,  2.19it/s]
 17%|█▋        | 152/900 [04:36<04:55,  2.53it/s]
 17%|█▋        | 153/900 [04:51<59:44,  4.80s/it]
 17%|█▋        | 154/900 [04:51<42:41,  3.43s/it]
 17%|█▋        | 155/900 [04:51<30:45,  2.48s/it]
 17%|█▋        | 156/900 [04:52<22:24,  1.81s/it]
 17%|█▋        | 157/900 [04:52<16:32,  1.34s/it]
 18%|█▊        | 158/900 [04:52<12:26,  1.01s/it]
 18%|█▊        | 159/900 [04:52<09:34,  1.29it/s]
 18%|█▊        | 160/900 [04:52<07:33,  1.63it/s]
 18%|█▊        | 161/900 [04:58<26:55,  2.19s/it]
 18%|█▊        | 162/900 [04:59<19:41,  1.60s/it]
 18%|█▊        | 163/900 [04:59<14:37,  1.19s/it]
 18%|█▊        | 164/900 [04:59<11:09,  1.10it/s]
 18%|█▊        | 165/900 [04:59<08:41,  1.41it/s]
 18%|█▊        | 166/900 [05:00<06:56,  1.76it/s]
 19%|█▊        | 167/900 [05:00<05:43,  2.14it/s]
 19%|█▊        | 168/900 [05:00<04:52,  2.50it/s]
 19%|█▉        | 169/900 [05:05<20:30,  1.68s/it]
 19%|█▉        | 170/900 [05:05<15:14,  1.25s/it]
 19%|█▉        | 171/900 [05:05<11:33,  1.05it/s]
 19%|█▉        | 172/900 [05:05<08:57,  1.35it/s]
 19%|█▉        | 173/900 [05:06<07:08,  1.70it/s]
 19%|█▉        | 174/900 [05:06<05:50,  2.07it/s]
 19%|█▉        | 175/900 [05:06<04:57,  2.44it/s]
 20%|█▉        | 176/900 [05:06<04:21,  2.77it/s]
 20%|█▉        | 177/900 [05:12<21:31,  1.79s/it]
 20%|█▉        | 178/900 [05:12<15:56,  1.32s/it]
 20%|█▉        | 179/900 [05:12<12:01,  1.00s/it]
 20%|██        | 180/900 [05:12<09:16,  1.29it/s]
 20%|██        | 181/900 [05:12<07:22,  1.62it/s]
 20%|██        | 182/900 [05:13<06:02,  1.98it/s]
 20%|██        | 183/900 [05:13<05:06,  2.34it/s]
 20%|██        | 184/900 [05:13<04:26,  2.68it/s]
 21%|██        | 185/900 [05:59<2:44:58, 13.84s/it]
 21%|██        | 186/900 [05:59<1:56:11,  9.76s/it]
 21%|██        | 187/900 [05:59<1:22:04,  6.91s/it]
 21%|██        | 188/900 [05:59<58:14,  4.91s/it]  
 21%|██        | 189/900 [05:59<41:34,  3.51s/it]
 21%|██        | 190/900 [06:00<29:54,  2.53s/it]
 21%|██        | 191/900 [06:00<21:46,  1.84s/it]
 21%|██▏       | 192/900 [06:00<16:03,  1.36s/it]
 21%|██▏       | 193/900 [06:08<39:21,  3.34s/it]
 22%|██▏       | 194/900 [06:08<28:21,  2.41s/it]
 22%|██▏       | 195/900 [06:09<20:39,  1.76s/it]
 22%|██▏       | 196/900 [06:09<15:15,  1.30s/it]
 22%|██▏       | 197/900 [06:09<11:31,  1.02it/s]
 22%|██▏       | 198/900 [06:09<08:52,  1.32it/s]
 22%|██▏       | 199/900 [06:10<07:01,  1.66it/s]
 22%|██▏       | 200/900 [06:10<05:43,  2.04it/s]
 22%|██▏       | 201/900 [06:18<31:41,  2.72s/it]
 22%|██▏       | 202/900 [06:18<23:00,  1.98s/it]
 23%|██▎       | 203/900 [06:18<16:54,  1.46s/it]
 23%|██▎       | 204/900 [06:18<12:40,  1.09s/it]
 23%|██▎       | 205/900 [06:19<09:41,  1.20it/s]
 23%|██▎       | 206/900 [06:19<07:34,  1.53it/s]
 23%|██▎       | 207/900 [06:19<06:06,  1.89it/s]
 23%|██▎       | 208/900 [06:19<05:04,  2.27it/s]
 23%|██▎       | 209/900 [06:27<28:22,  2.46s/it]
 23%|██▎       | 210/900 [06:27<20:40,  1.80s/it]
 23%|██▎       | 211/900 [06:27<15:19,  1.33s/it]
 24%|██▎       | 212/900 [06:27<11:33,  1.01s/it]
 24%|██▎       | 213/900 [06:28<08:55,  1.28it/s]
 24%|██▍       | 214/900 [06:28<07:04,  1.61it/s]
 24%|██▍       | 215/900 [06:28<05:46,  1.98it/s]
 24%|██▍       | 216/900 [06:28<04:53,  2.33it/s]
 24%|██▍       | 217/900 [06:34<23:25,  2.06s/it]
 24%|██▍       | 218/900 [06:34<17:13,  1.51s/it]
 24%|██▍       | 219/900 [06:35<12:52,  1.13s/it]
 24%|██▍       | 220/900 [06:35<09:50,  1.15it/s]
 25%|██▍       | 221/900 [06:35<07:44,  1.46it/s]
 25%|██▍       | 222/900 [06:35<06:15,  1.80it/s]
 25%|██▍       | 223/900 [06:36<05:13,  2.16it/s]
 25%|██▍       | 224/900 [06:36<04:29,  2.51it/s]
 25%|██▌       | 225/900 [07:10<1:59:15, 10.60s/it]
 25%|██▌       | 226/900 [07:11<1:24:11,  7.49s/it]
 25%|██▌       | 227/900 [07:11<59:42,  5.32s/it]  
 25%|██▌       | 228/900 [07:11<42:32,  3.80s/it]
 25%|██▌       | 229/900 [07:11<30:32,  2.73s/it]
 26%|██▌       | 230/900 [07:12<22:08,  1.98s/it]
 26%|██▌       | 231/900 [07:12<16:17,  1.46s/it]
 26%|██▌       | 232/900 [07:12<12:10,  1.09s/it]
 26%|██▌       | 233/900 [07:27<57:08,  5.14s/it]
 26%|██▌       | 234/900 [07:27<40:45,  3.67s/it]
 26%|██▌       | 235/900 [07:27<29:17,  2.64s/it]
 26%|██▌       | 236/900 [07:27<21:12,  1.92s/it]
 26%|██▋       | 237/900 [07:28<15:32,  1.41s/it]
 26%|██▋       | 238/900 [07:28<11:38,  1.06s/it]
 27%|██▋       | 239/900 [07:28<08:53,  1.24it/s]
 27%|██▋       | 240/900 [07:28<06:55,  1.59it/s]
 27%|██▋       | 241/900 [07:36<30:13,  2.75s/it]
 27%|██▋       | 242/900 [07:36<21:51,  1.99s/it]
 27%|██▋       | 243/900 [07:36<15:59,  1.46s/it]
 27%|██▋       | 244/900 [07:37<11:53,  1.09s/it]
 27%|██▋       | 245/900 [07:37<09:01,  1.21it/s]
 27%|██▋       | 246/900 [07:37<07:01,  1.55it/s]
 27%|██▋       | 247/900 [07:37<05:36,  1.94it/s]
 28%|██▊       | 248/900 [07:37<04:37,  2.35it/s]
 28%|██▊       | 249/900 [07:46<30:30,  2.81s/it]
 28%|██▊       | 250/900 [07:46<22:02,  2.04s/it]
 28%|██▊       | 251/900 [07:46<16:07,  1.49s/it]
 28%|██▊       | 252/900 [07:46<11:58,  1.11s/it]
 28%|██▊       | 253/900 [07:47<09:05,  1.19it/s]
 28%|██▊       | 254/900 [07:47<07:03,  1.52it/s]
 28%|██▊       | 255/900 [07:47<05:38,  1.90it/s]
 28%|██▊       | 256/900 [07:47<04:39,  2.31it/s]
 29%|██▊       | 257/900 [07:56<30:41,  2.86s/it]
 29%|██▊       | 258/900 [07:56<22:10,  2.07s/it]
 29%|██▉       | 259/900 [07:56<16:12,  1.52s/it]
 29%|██▉       | 260/900 [07:57<12:01,  1.13s/it]
 29%|██▉       | 261/900 [07:57<09:07,  1.17it/s]
 29%|██▉       | 262/900 [07:57<07:05,  1.50it/s]
 29%|██▉       | 263/900 [07:57<05:45,  1.84it/s]
 29%|██▉       | 264/900 [07:58<04:48,  2.20it/s]
 29%|██▉       | 265/900 [08:07<32:03,  3.03s/it]
 30%|██▉       | 266/900 [08:07<23:05,  2.19s/it]
 30%|██▉       | 267/900 [08:07<16:50,  1.60s/it]
 30%|██▉       | 268/900 [08:07<12:28,  1.18s/it]
 30%|██▉       | 269/900 [08:07<09:26,  1.11it/s]
 30%|███       | 270/900 [08:08<07:20,  1.43it/s]
 30%|███       | 271/900 [08:08<05:51,  1.79it/s]
 30%|███       | 272/900 [08:08<04:49,  2.17it/s]
 30%|███       | 273/900 [08:20<40:53,  3.91s/it]
 30%|███       | 274/900 [08:20<29:15,  2.80s/it]
 31%|███       | 275/900 [08:21<21:09,  2.03s/it]
 31%|███       | 276/900 [08:21<15:27,  1.49s/it]
 31%|███       | 277/900 [08:21<11:29,  1.11s/it]
 31%|███       | 278/900 [08:21<08:44,  1.19it/s]
 31%|███       | 279/900 [08:21<06:47,  1.52it/s]
 31%|███       | 280/900 [08:22<05:25,  1.91it/s]
 31%|███       | 281/900 [08:30<30:03,  2.91s/it]
 31%|███▏      | 282/900 [08:30<21:43,  2.11s/it]
 31%|███▏      | 283/900 [08:31<15:53,  1.55s/it]
 32%|███▏      | 284/900 [08:31<11:48,  1.15s/it]
 32%|███▏      | 285/900 [08:31<08:56,  1.15it/s]
 32%|███▏      | 286/900 [08:31<06:54,  1.48it/s]
 32%|███▏      | 287/900 [08:31<05:29,  1.86it/s]
 32%|███▏      | 288/900 [08:32<04:29,  2.27it/s]
 32%|███▏      | 289/900 [08:42<33:53,  3.33s/it]
 32%|███▏      | 290/900 [08:42<24:20,  2.39s/it]
 32%|███▏      | 291/900 [08:42<17:39,  1.74s/it]
 32%|███▏      | 292/900 [08:42<12:59,  1.28s/it]
 33%|███▎      | 293/900 [08:43<09:44,  1.04it/s]
 33%|███▎      | 294/900 [08:43<07:27,  1.35it/s]
 33%|███▎      | 295/900 [08:43<05:52,  1.72it/s]
 33%|███▎      | 296/900 [08:43<04:46,  2.11it/s]
 33%|███▎      | 297/900 [08:53<32:42,  3.25s/it]
 33%|███▎      | 298/900 [08:53<23:30,  2.34s/it]
 33%|███▎      | 299/900 [08:53<17:04,  1.71s/it]
 33%|███▎      | 300/900 [08:54<12:35,  1.26s/it]
 33%|███▎      | 301/900 [08:54<09:27,  1.06it/s]
 34%|███▎      | 302/900 [08:54<07:16,  1.37it/s]
 34%|███▎      | 303/900 [08:54<05:44,  1.73it/s]
 34%|███▍      | 304/900 [08:55<04:39,  2.13it/s]
 34%|███▍      | 305/900 [09:02<26:37,  2.68s/it]
 34%|███▍      | 306/900 [09:03<19:18,  1.95s/it]
 34%|███▍      | 307/900 [09:03<14:11,  1.44s/it]
 34%|███▍      | 308/900 [09:03<10:34,  1.07s/it]
 34%|███▍      | 309/900 [09:03<08:01,  1.23it/s]
 34%|███▍      | 310/900 [09:04<06:15,  1.57it/s]
 35%|███▍      | 311/900 [09:04<05:01,  1.95it/s]
 35%|███▍      | 312/900 [09:04<04:09,  2.36it/s]
 35%|███▍      | 313/900 [09:16<38:58,  3.98s/it]
 35%|███▍      | 314/900 [09:16<27:52,  2.85s/it]
 35%|███▌      | 315/900 [09:17<20:07,  2.06s/it]
 35%|███▌      | 316/900 [09:17<14:43,  1.51s/it]
 35%|███▌      | 317/900 [09:17<10:57,  1.13s/it]
 35%|███▌      | 318/900 [09:17<08:18,  1.17it/s]
 35%|███▌      | 319/900 [09:18<06:26,  1.50it/s]
 36%|███▌      | 320/900 [09:18<05:08,  1.88it/s]
 36%|███▌      | 321/900 [09:30<38:09,  3.95s/it]
 36%|███▌      | 322/900 [09:30<27:17,  2.83s/it]
 36%|███▌      | 323/900 [09:30<19:41,  2.05s/it]
 36%|███▌      | 324/900 [09:30<14:22,  1.50s/it]
 36%|███▌      | 325/900 [09:31<10:40,  1.11s/it]
 36%|███▌      | 326/900 [09:31<08:05,  1.18it/s]
 36%|███▋      | 327/900 [09:31<06:17,  1.52it/s]
 36%|███▋      | 328/900 [09:31<05:00,  1.90it/s]
 37%|███▋      | 329/900 [09:39<26:28,  2.78s/it]
 37%|███▋      | 330/900 [09:40<19:07,  2.01s/it]
 37%|███▋      | 331/900 [09:40<13:58,  1.47s/it]
 37%|███▋      | 332/900 [09:40<10:23,  1.10s/it]
 37%|███▋      | 333/900 [09:40<07:52,  1.20it/s]
 37%|███▋      | 334/900 [09:40<06:07,  1.54it/s]
 37%|███▋      | 335/900 [09:41<04:55,  1.91it/s]
 37%|███▋      | 336/900 [09:41<04:04,  2.31it/s]
 37%|███▋      | 337/900 [09:51<32:16,  3.44s/it]
 38%|███▊      | 338/900 [09:52<23:09,  2.47s/it]
 38%|███▊      | 339/900 [09:52<16:46,  1.79s/it]
 38%|███▊      | 340/900 [09:52<12:19,  1.32s/it]
 38%|███▊      | 341/900 [09:52<09:11,  1.01it/s]
 38%|███▊      | 342/900 [09:52<07:00,  1.33it/s]
 38%|███▊      | 343/900 [09:53<05:29,  1.69it/s]
 38%|███▊      | 344/900 [09:53<04:25,  2.10it/s]
 38%|███▊      | 345/900 [10:06<40:33,  4.39s/it]
 38%|███▊      | 346/900 [10:07<28:56,  3.13s/it]
 39%|███▊      | 347/900 [10:07<20:49,  2.26s/it]
 39%|███▊      | 348/900 [10:07<15:09,  1.65s/it]
 39%|███▉      | 349/900 [10:07<11:11,  1.22s/it]
 39%|███▉      | 350/900 [10:07<08:24,  1.09it/s]
 39%|███▉      | 351/900 [10:08<06:27,  1.42it/s]
 39%|███▉      | 352/900 [10:08<05:05,  1.79it/s]
 39%|███▉      | 353/900 [10:15<22:27,  2.46s/it]
 39%|███▉      | 354/900 [10:15<16:16,  1.79s/it]
 39%|███▉      | 355/900 [10:15<11:57,  1.32s/it]
 40%|███▉      | 356/900 [10:15<08:56,  1.01it/s]
 40%|███▉      | 357/900 [10:16<06:49,  1.33it/s]
 40%|███▉      | 358/900 [10:16<05:20,  1.69it/s]
 40%|███▉      | 359/900 [10:16<04:19,  2.09it/s]
 40%|████      | 360/900 [10:16<03:36,  2.50it/s]
 40%|████      | 361/900 [10:29<35:47,  3.98s/it]
 40%|████      | 362/900 [10:29<25:34,  2.85s/it]
 40%|████      | 363/900 [10:29<18:26,  2.06s/it]
 40%|████      | 364/900 [10:29<13:27,  1.51s/it]
 41%|████      | 365/900 [10:29<09:58,  1.12s/it]
 41%|████      | 366/900 [10:30<07:32,  1.18it/s]
 41%|████      | 367/900 [10:30<05:49,  1.52it/s]
 41%|████      | 368/900 [10:30<04:37,  1.92it/s]
 41%|████      | 369/900 [10:40<30:08,  3.41s/it]
 41%|████      | 370/900 [10:40<21:37,  2.45s/it]
 41%|████      | 371/900 [10:41<15:40,  1.78s/it]
 41%|████▏     | 372/900 [10:41<11:31,  1.31s/it]
 41%|████▏     | 373/900 [10:41<08:36,  1.02it/s]
 42%|████▏     | 374/900 [10:41<06:34,  1.33it/s]
 42%|████▏     | 375/900 [10:41<05:09,  1.70it/s]
 42%|████▏     | 376/900 [10:42<04:09,  2.10it/s]
 42%|████▏     | 377/900 [10:54<35:12,  4.04s/it]
 42%|████▏     | 378/900 [10:54<25:09,  2.89s/it]
 42%|████▏     | 379/900 [10:54<18:07,  2.09s/it]
 42%|████▏     | 380/900 [10:55<13:12,  1.52s/it]
 42%|████▏     | 381/900 [10:55<09:46,  1.13s/it]
 42%|████▏     | 382/900 [10:55<07:22,  1.17it/s]
 43%|████▎     | 383/900 [10:55<05:41,  1.51it/s]
 43%|████▎     | 384/900 [10:56<04:31,  1.90it/s]
 43%|████▎     | 385/900 [11:04<24:01,  2.80s/it]
 43%|████▎     | 386/900 [11:04<17:20,  2.02s/it]
 43%|████▎     | 387/900 [11:04<12:39,  1.48s/it]
 43%|████▎     | 388/900 [11:04<09:23,  1.10s/it]
 43%|████▎     | 389/900 [11:04<07:06,  1.20it/s]
 43%|████▎     | 390/900 [11:05<05:33,  1.53it/s]
 43%|████▎     | 391/900 [11:05<04:28,  1.90it/s]
 44%|████▎     | 392/900 [11:05<03:44,  2.27it/s]
 44%|████▎     | 393/900 [11:13<22:36,  2.68s/it]
 44%|████▍     | 394/900 [11:13<16:22,  1.94s/it]
 44%|████▍     | 395/900 [11:14<12:01,  1.43s/it]
 44%|████▍     | 396/900 [11:14<08:59,  1.07s/it]
 44%|████▍     | 397/900 [11:14<06:53,  1.22it/s]
 44%|████▍     | 398/900 [11:14<05:24,  1.54it/s]
 44%|████▍     | 399/900 [11:15<04:23,  1.90it/s]
 44%|████▍     | 400/900 [11:15<03:41,  2.26it/s]
 45%|████▍     | 401/900 [11:23<23:13,  2.79s/it]
 45%|████▍     | 402/900 [11:23<16:48,  2.03s/it]
 45%|████▍     | 403/900 [11:23<12:19,  1.49s/it]
 45%|████▍     | 404/900 [11:24<09:12,  1.11s/it]
 45%|████▌     | 405/900 [11:24<07:00,  1.18it/s]
 45%|████▌     | 406/900 [11:24<05:28,  1.51it/s]
 45%|████▌     | 407/900 [11:24<04:23,  1.87it/s]
 45%|████▌     | 408/900 [11:25<03:38,  2.25it/s]
 45%|████▌     | 409/900 [11:34<26:33,  3.25s/it]
 46%|████▌     | 410/900 [11:35<19:07,  2.34s/it]
 46%|████▌     | 411/900 [11:35<13:56,  1.71s/it]
 46%|████▌     | 412/900 [11:35<10:19,  1.27s/it]
 46%|████▌     | 413/900 [11:35<07:47,  1.04it/s]
 46%|████▌     | 414/900 [11:36<06:01,  1.34it/s]
 46%|████▌     | 415/900 [11:36<04:47,  1.69it/s]
 46%|████▌     | 416/900 [11:36<03:55,  2.06it/s]
 46%|████▋     | 417/900 [12:04<1:10:09,  8.72s/it]
 46%|████▋     | 418/900 [12:04<49:35,  6.17s/it]  
 47%|████▋     | 419/900 [12:05<35:12,  4.39s/it]
 47%|████▋     | 420/900 [12:05<25:11,  3.15s/it]
 47%|████▋     | 421/900 [12:05<18:10,  2.28s/it]
 47%|████▋     | 422/900 [12:05<13:15,  1.66s/it]
 47%|████▋     | 423/900 [12:05<09:50,  1.24s/it]
 47%|████▋     | 424/900 [12:06<07:27,  1.06it/s]
 47%|████▋     | 425/900 [12:21<40:18,  5.09s/it]
 47%|████▋     | 426/900 [12:21<28:44,  3.64s/it]
 47%|████▋     | 427/900 [12:21<20:39,  2.62s/it]
 48%|████▊     | 428/900 [12:21<15:01,  1.91s/it]
 48%|████▊     | 429/900 [12:21<11:03,  1.41s/it]
 48%|████▊     | 430/900 [12:22<08:17,  1.06s/it]
 48%|████▊     | 431/900 [12:22<06:20,  1.23it/s]
 48%|████▊     | 432/900 [12:22<05:01,  1.55it/s]
 48%|████▊     | 433/900 [12:32<25:24,  3.26s/it]
 48%|████▊     | 434/900 [12:32<18:19,  2.36s/it]
 48%|████▊     | 435/900 [12:32<13:21,  1.72s/it]
 48%|████▊     | 436/900 [12:32<09:52,  1.28s/it]
 49%|████▊     | 437/900 [12:33<07:27,  1.03it/s]
 49%|████▊     | 438/900 [12:33<05:46,  1.33it/s]
 49%|████▉     | 439/900 [12:33<04:34,  1.68it/s]
 49%|████▉     | 440/900 [12:33<03:44,  2.05it/s]
 49%|████▉     | 441/900 [12:41<20:36,  2.69s/it]
 49%|████▉     | 442/900 [12:41<14:56,  1.96s/it]
 49%|████▉     | 443/900 [12:42<10:59,  1.44s/it]
 49%|████▉     | 444/900 [12:42<08:12,  1.08s/it]
 49%|████▉     | 445/900 [12:42<06:16,  1.21it/s]
 50%|████▉     | 446/900 [12:42<04:54,  1.54it/s]
 50%|████▉     | 447/900 [12:43<03:58,  1.90it/s]
 50%|████▉     | 448/900 [12:43<03:19,  2.27it/s]
 50%|████▉     | 449/900 [12:50<19:39,  2.62s/it]
 50%|█████     | 450/900 [12:51<14:18,  1.91s/it]
 50%|█████     | 451/900 [12:51<10:32,  1.41s/it]
 50%|█████     | 452/900 [12:51<07:53,  1.06s/it]
 50%|█████     | 453/900 [12:51<06:00,  1.24it/s]
 50%|█████     | 454/900 [12:52<04:40,  1.59it/s]
 51%|█████     | 455/900 [12:52<03:44,  1.98it/s]
 51%|█████     | 456/900 [12:52<03:05,  2.39it/s]
 51%|█████     | 457/900 [13:07<35:32,  4.81s/it]
 51%|█████     | 458/900 [13:07<25:18,  3.44s/it]
 51%|█████     | 459/900 [13:08<18:08,  2.47s/it]
 51%|█████     | 460/900 [13:08<13:08,  1.79s/it]
 51%|█████     | 461/900 [13:08<09:39,  1.32s/it]
 51%|█████▏    | 462/900 [13:08<07:13,  1.01it/s]
 51%|█████▏    | 463/900 [13:08<05:30,  1.32it/s]
 52%|█████▏    | 464/900 [13:09<04:18,  1.69it/s]
 52%|█████▏    | 465/900 [13:18<22:30,  3.10s/it]
 52%|█████▏    | 466/900 [13:18<16:12,  2.24s/it]
 52%|█████▏    | 467/900 [13:18<11:47,  1.63s/it]
 52%|█████▏    | 468/900 [13:18<08:43,  1.21s/it]
 52%|█████▏    | 469/900 [13:19<06:34,  1.09it/s]
 52%|█████▏    | 470/900 [13:19<05:04,  1.41it/s]
 52%|█████▏    | 471/900 [13:19<04:00,  1.78it/s]
 52%|█████▏    | 472/900 [13:19<03:15,  2.19it/s]
 53%|█████▎    | 473/900 [13:28<21:40,  3.05s/it]
 53%|█████▎    | 474/900 [13:28<15:35,  2.20s/it]
 53%|█████▎    | 475/900 [13:29<11:20,  1.60s/it]
 53%|█████▎    | 476/900 [13:29<08:22,  1.19s/it]
 53%|█████▎    | 477/900 [13:29<06:18,  1.12it/s]
 53%|█████▎    | 478/900 [13:29<04:51,  1.45it/s]
 53%|█████▎    | 479/900 [13:30<03:50,  1.82it/s]
 53%|█████▎    | 480/900 [13:30<03:07,  2.24it/s]
 53%|█████▎    | 481/900 [13:39<22:12,  3.18s/it]
 54%|█████▎    | 482/900 [13:40<15:57,  2.29s/it]
 54%|█████▎    | 483/900 [13:40<11:35,  1.67s/it]
 54%|█████▍    | 484/900 [13:40<08:32,  1.23s/it]
 54%|█████▍    | 485/900 [13:40<06:23,  1.08it/s]
 54%|█████▍    | 486/900 [13:40<04:54,  1.40it/s]
 54%|█████▍    | 487/900 [13:41<03:52,  1.78it/s]
 54%|█████▍    | 488/900 [13:41<03:09,  2.17it/s]
 54%|█████▍    | 489/900 [13:58<38:20,  5.60s/it]
 54%|█████▍    | 490/900 [13:59<27:12,  3.98s/it]
 55%|█████▍    | 491/900 [13:59<19:25,  2.85s/it]
 55%|█████▍    | 492/900 [13:59<14:00,  2.06s/it]
 55%|█████▍    | 493/900 [13:59<10:12,  1.50s/it]
 55%|█████▍    | 494/900 [13:59<07:33,  1.12s/it]
 55%|█████▌    | 495/900 [14:00<05:42,  1.18it/s]
 55%|█████▌    | 496/900 [14:00<04:24,  1.53it/s]
 55%|█████▌    | 497/900 [14:18<39:28,  5.88s/it]
 55%|█████▌    | 498/900 [14:18<28:03,  4.19s/it]
 55%|█████▌    | 499/900 [14:18<20:00,  2.99s/it]
 56%|█████▌    | 500/900 [14:19<15:17,  2.29s/it]
 56%|█████▌    | 501/900 [14:19<11:06,  1.67s/it]
 56%|█████▌    | 502/900 [14:20<08:13,  1.24s/it]
 56%|█████▌    | 503/900 [14:20<06:11,  1.07it/s]
 56%|█████▌    | 504/900 [14:20<04:47,  1.38it/s]
 56%|█████▌    | 505/900 [14:28<18:32,  2.82s/it]
 56%|█████▌    | 506/900 [14:28<13:26,  2.05s/it]
 56%|█████▋    | 507/900 [14:28<09:50,  1.50s/it]
 56%|█████▋    | 508/900 [14:28<07:18,  1.12s/it]
 57%|█████▋    | 509/900 [14:29<05:32,  1.18it/s]
 57%|█████▋    | 510/900 [14:29<04:18,  1.51it/s]
 57%|█████▋    | 511/900 [14:29<03:26,  1.88it/s]
 57%|█████▋    | 512/900 [14:29<02:50,  2.27it/s]
 57%|█████▋    | 513/900 [14:41<23:48,  3.69s/it]
 57%|█████▋    | 514/900 [14:41<17:04,  2.65s/it]
 57%|█████▋    | 515/900 [14:41<12:21,  1.93s/it]
 57%|█████▋    | 516/900 [14:41<09:02,  1.41s/it]
 57%|█████▋    | 517/900 [14:41<06:43,  1.05s/it]
 58%|█████▊    | 518/900 [14:42<05:06,  1.25it/s]
 58%|█████▊    | 519/900 [14:42<03:57,  1.61it/s]
 58%|█████▊    | 520/900 [14:42<03:09,  2.01it/s]
 58%|█████▊    | 521/900 [14:54<24:31,  3.88s/it]
 58%|█████▊    | 522/900 [14:54<17:31,  2.78s/it]
 58%|█████▊    | 523/900 [14:54<12:38,  2.01s/it]
 58%|█████▊    | 524/900 [14:54<09:13,  1.47s/it]
 58%|█████▊    | 525/900 [14:55<06:50,  1.09s/it]
 58%|█████▊    | 526/900 [14:55<05:10,  1.20it/s]
 59%|█████▊    | 527/900 [14:55<04:01,  1.54it/s]
 59%|█████▊    | 528/900 [14:55<03:14,  1.92it/s]
 59%|█████▉    | 529/900 [15:03<16:20,  2.64s/it]
 59%|█████▉    | 530/900 [15:03<11:49,  1.92s/it]
 59%|█████▉    | 531/900 [15:03<08:39,  1.41s/it]
 59%|█████▉    | 532/900 [15:04<06:25,  1.05s/it]
 59%|█████▉    | 533/900 [15:04<04:53,  1.25it/s]
 59%|█████▉    | 534/900 [15:04<03:49,  1.60it/s]
 59%|█████▉    | 535/900 [15:04<03:05,  1.97it/s]
 60%|█████▉    | 536/900 [15:05<02:35,  2.35it/s]
 60%|█████▉    | 537/900 [15:14<19:41,  3.25s/it]
 60%|█████▉    | 538/900 [15:15<14:07,  2.34s/it]
 60%|█████▉    | 539/900 [15:15<10:14,  1.70s/it]
 60%|██████    | 540/900 [15:15<07:31,  1.25s/it]
 60%|██████    | 541/900 [15:15<05:38,  1.06it/s]
 60%|██████    | 542/900 [15:15<04:19,  1.38it/s]
 60%|██████    | 543/900 [15:16<03:23,  1.75it/s]
 60%|██████    | 544/900 [15:16<02:44,  2.16it/s]
 61%|██████    | 545/900 [15:34<34:19,  5.80s/it]
 61%|██████    | 546/900 [15:34<24:20,  4.13s/it]
 61%|██████    | 547/900 [15:35<17:22,  2.95s/it]
 61%|██████    | 548/900 [15:35<12:30,  2.13s/it]
 61%|██████    | 549/900 [15:35<09:06,  1.56s/it]
 61%|██████    | 550/900 [15:35<06:43,  1.15s/it]
 61%|██████    | 551/900 [15:35<05:04,  1.15it/s]
 61%|██████▏   | 552/900 [15:36<03:54,  1.49it/s]
 61%|██████▏   | 553/900 [15:45<18:31,  3.20s/it]
 62%|██████▏   | 554/900 [15:45<13:18,  2.31s/it]
 62%|██████▏   | 555/900 [15:45<09:39,  1.68s/it]
 62%|██████▏   | 556/900 [15:45<07:06,  1.24s/it]
 62%|██████▏   | 557/900 [15:46<05:18,  1.08it/s]
 62%|██████▏   | 558/900 [15:46<04:04,  1.40it/s]
 62%|██████▏   | 559/900 [15:46<03:12,  1.77it/s]
 62%|██████▏   | 560/900 [15:46<02:38,  2.15it/s]
 62%|██████▏   | 561/900 [15:56<18:27,  3.27s/it]
 62%|██████▏   | 562/900 [15:56<13:17,  2.36s/it]
 63%|██████▎   | 563/900 [15:57<09:41,  1.72s/it]
 63%|██████▎   | 564/900 [15:57<07:10,  1.28s/it]
 63%|██████▎   | 565/900 [15:57<05:24,  1.03it/s]
 63%|██████▎   | 566/900 [15:57<04:09,  1.34it/s]
 63%|██████▎   | 567/900 [15:57<03:17,  1.69it/s]
 63%|██████▎   | 568/900 [15:58<02:40,  2.06it/s]
 63%|██████▎   | 569/900 [16:05<14:29,  2.63s/it]
 63%|██████▎   | 570/900 [16:06<10:28,  1.91s/it]
 63%|██████▎   | 571/900 [16:06<07:42,  1.41s/it]
 64%|██████▎   | 572/900 [16:06<05:46,  1.06s/it]
 64%|██████▎   | 573/900 [16:06<04:25,  1.23it/s]
 64%|██████▍   | 574/900 [16:07<03:29,  1.56it/s]
 64%|██████▍   | 575/900 [16:07<02:50,  1.90it/s]
 64%|██████▍   | 576/900 [16:07<02:23,  2.26it/s]
 64%|██████▍   | 577/900 [16:19<20:52,  3.88s/it]
 64%|██████▍   | 578/900 [16:19<14:58,  2.79s/it]
 64%|██████▍   | 579/900 [16:19<10:49,  2.02s/it]
 64%|██████▍   | 580/900 [16:20<07:55,  1.49s/it]
 65%|██████▍   | 581/900 [16:20<05:55,  1.11s/it]
 65%|██████▍   | 582/900 [16:20<04:31,  1.17it/s]
 65%|██████▍   | 583/900 [16:20<03:31,  1.50it/s]
 65%|██████▍   | 584/900 [16:21<02:49,  1.86it/s]
 65%|██████▌   | 585/900 [16:33<21:44,  4.14s/it]
 65%|██████▌   | 586/900 [16:33<15:33,  2.97s/it]
 65%|██████▌   | 587/900 [16:34<11:14,  2.15s/it]
 65%|██████▌   | 588/900 [16:34<08:12,  1.58s/it]
 65%|██████▌   | 589/900 [16:34<06:05,  1.18s/it]
 66%|██████▌   | 590/900 [16:34<04:37,  1.12it/s]
 66%|██████▌   | 591/900 [16:35<03:35,  1.44it/s]
 66%|██████▌   | 592/900 [16:35<02:51,  1.79it/s]
 66%|██████▌   | 593/900 [16:50<25:18,  4.95s/it]
 66%|██████▌   | 594/900 [16:50<17:59,  3.53s/it]
 66%|██████▌   | 595/900 [16:50<12:53,  2.54s/it]
 66%|██████▌   | 596/900 [16:51<09:19,  1.84s/it]
 66%|██████▋   | 597/900 [16:51<06:49,  1.35s/it]
 66%|██████▋   | 598/900 [16:51<05:04,  1.01s/it]
 67%|██████▋   | 599/900 [16:51<03:51,  1.30it/s]
 67%|██████▋   | 600/900 [16:52<03:01,  1.65it/s]
 67%|██████▋   | 601/900 [17:01<16:14,  3.26s/it]
 67%|██████▋   | 602/900 [17:01<11:39,  2.35s/it]
 67%|██████▋   | 603/900 [17:01<08:27,  1.71s/it]
 67%|██████▋   | 604/900 [17:02<06:13,  1.26s/it]
 67%|██████▋   | 605/900 [17:02<04:39,  1.06it/s]
 67%|██████▋   | 606/900 [17:02<03:34,  1.37it/s]
 67%|██████▋   | 607/900 [17:02<02:48,  1.74it/s]
 68%|██████▊   | 608/900 [17:02<02:15,  2.15it/s]
 68%|██████▊   | 609/900 [17:36<49:45, 10.26s/it]
 68%|██████▊   | 610/900 [17:36<35:01,  7.24s/it]
 68%|██████▊   | 611/900 [17:36<24:44,  5.14s/it]
 68%|██████▊   | 612/900 [17:36<17:34,  3.66s/it]
 68%|██████▊   | 613/900 [17:36<12:34,  2.63s/it]
 68%|██████▊   | 614/900 [17:37<09:06,  1.91s/it]
 68%|██████▊   | 615/900 [17:37<06:40,  1.41s/it]
 68%|██████▊   | 616/900 [17:37<04:58,  1.05s/it]
 69%|██████▊   | 617/900 [17:47<17:35,  3.73s/it]
 69%|██████▊   | 618/900 [17:47<12:34,  2.67s/it]
 69%|██████▉   | 619/900 [17:48<09:03,  1.94s/it]
 69%|██████▉   | 620/900 [17:48<06:37,  1.42s/it]
 69%|██████▉   | 621/900 [17:48<04:54,  1.06s/it]
 69%|██████▉   | 622/900 [17:48<03:43,  1.24it/s]
 69%|██████▉   | 623/900 [17:48<02:53,  1.60it/s]
 69%|██████▉   | 624/900 [17:49<02:19,  1.98it/s]
 69%|██████▉   | 625/900 [18:03<20:44,  4.52s/it]
 70%|██████▉   | 626/900 [18:03<14:46,  3.24s/it]
 70%|██████▉   | 627/900 [18:03<10:37,  2.33s/it]
 70%|██████▉   | 628/900 [18:03<07:43,  1.70s/it]
 70%|██████▉   | 629/900 [18:03<05:42,  1.26s/it]
 70%|███████   | 630/900 [18:04<04:17,  1.05it/s]
 70%|███████   | 631/900 [18:04<03:18,  1.35it/s]
 70%|███████   | 632/900 [18:04<02:37,  1.70it/s]
 70%|███████   | 633/900 [18:15<15:44,  3.54s/it]
 70%|███████   | 634/900 [18:15<11:17,  2.55s/it]
 71%|███████   | 635/900 [18:15<08:11,  1.86s/it]
 71%|███████   | 636/900 [18:15<06:01,  1.37s/it]
 71%|███████   | 637/900 [18:16<04:30,  1.03s/it]
 71%|███████   | 638/900 [18:16<03:27,  1.26it/s]
 71%|███████   | 639/900 [18:16<02:43,  1.59it/s]
 71%|███████   | 640/900 [18:16<02:12,  1.96it/s]
 71%|███████   | 641/900 [18:25<12:52,  2.98s/it]
 71%|███████▏  | 642/900 [18:25<09:17,  2.16s/it]
 71%|███████▏  | 643/900 [18:25<06:47,  1.58s/it]
 72%|███████▏  | 644/900 [18:26<05:02,  1.18s/it]
 72%|███████▏  | 645/900 [18:26<03:48,  1.11it/s]
 72%|███████▏  | 646/900 [18:26<02:57,  1.43it/s]
 72%|███████▏  | 647/900 [18:26<02:22,  1.78it/s]
 72%|███████▏  | 648/900 [18:27<01:56,  2.16it/s]
 72%|███████▏  | 649/900 [18:40<18:38,  4.46s/it]
 72%|███████▏  | 650/900 [18:41<13:18,  3.19s/it]
 72%|███████▏  | 651/900 [18:41<09:35,  2.31s/it]
 72%|███████▏  | 652/900 [18:41<06:59,  1.69s/it]
 73%|███████▎  | 653/900 [18:41<05:10,  1.26s/it]
 73%|███████▎  | 654/900 [18:42<03:53,  1.05it/s]
 73%|███████▎  | 655/900 [18:42<03:00,  1.36it/s]
 73%|███████▎  | 656/900 [18:42<02:23,  1.70it/s]
 73%|███████▎  | 657/900 [18:54<16:33,  4.09s/it]
 73%|███████▎  | 658/900 [18:55<11:50,  2.93s/it]
 73%|███████▎  | 659/900 [18:55<08:32,  2.13s/it]
 73%|███████▎  | 660/900 [18:55<06:14,  1.56s/it]
 73%|███████▎  | 661/900 [18:55<04:37,  1.16s/it]
 74%|███████▎  | 662/900 [18:56<03:30,  1.13it/s]
 74%|███████▎  | 663/900 [18:56<02:43,  1.45it/s]
 74%|███████▍  | 664/900 [18:56<02:10,  1.81it/s]
 74%|███████▍  | 665/900 [19:13<21:34,  5.51s/it]
 74%|███████▍  | 666/900 [19:13<15:17,  3.92s/it]
 74%|███████▍  | 667/900 [19:14<10:54,  2.81s/it]
 74%|███████▍  | 668/900 [19:14<07:51,  2.03s/it]
 74%|███████▍  | 668/900 [19:14<06:40,  1.73s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/log_0_env0.json.
+BananaThenRubiksCubeTask_0 complete: task_name: BananaThenRubiksCubeTask, run_name: BananaThenRubiksCubeTask_0, run: 0, env_id: 0, policy: harness, instruction: put the banana then the cube in the bowl, attributes: ['conjunction', 'simple'], success: True, episode_step: 669, duration: 44.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.11313290124767, 'joint_sparc_mean': -11.342507528577736, 'ee_isj': 29373.96601516855, 'joint_isj': 3034114.896607838, 'ee_path_length': 8.037894258635049, 'joint_rmse_mean': 1.6518941677676282, 'ee_speed_max': 1.9759495258331299, 'ee_speed_mean': 0.17190296947956085}, events: {'GRIPPER_HIT_OBJECT': 2, 'WRONG_OBJECT_GRABBED': 10, 'GRIPPER_FULLY_CLOSED': 8, 'OBJECT_BUMPED': 8, 'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 8, 'wrong_objects_grabbed': ['rubiks_cube', 'rubiks_cube', 'rubiks_cube', 'rubiks_cube', 'rubiks_cube', 'rubiks_cube', 'rubiks_cube', 'rubiks_cube', 'rubiks_cube', 'rubiks_cube']}, instruction_type: default, timing: {'policy_inference_s': 1005.616, 'policy_inference_avg_ms': 1503.2, 'env_step_s': 142.55, 'env_step_avg_ms': 213.1, 'video_write_s': 6.034, 'video_write_avg_ms': 9.0, 'wall_total_s': 1154.2, 'it_per_sec': 0.58}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 8204b76a0b444b9b91ccc774522530e9-0
+[RoboLab] Running BananaThenRubiksCubeTask_1: 'put the banana then the cube in the bowl' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:35<8:45:11, 35.05s/it]
  0%|          | 2/900 [00:35<3:37:59, 14.57s/it]
  0%|          | 3/900 [00:35<1:59:46,  8.01s/it]
  0%|          | 4/900 [00:35<1:13:40,  4.93s/it]
  1%|          | 5/900 [00:35<48:12,  3.23s/it]  
  1%|          | 6/900 [00:36<32:51,  2.20s/it]
  1%|          | 7/900 [00:36<23:08,  1.55s/it]
  1%|          | 8/900 [00:36<16:46,  1.13s/it]
  1%|          | 9/900 [00:51<1:18:53,  5.31s/it]
  1%|          | 10/900 [00:51<55:26,  3.74s/it] 
  1%|          | 11/900 [00:51<39:25,  2.66s/it]
  1%|▏         | 12/900 [00:51<28:23,  1.92s/it]
  1%|▏         | 13/900 [00:51<20:43,  1.40s/it]
  2%|▏         | 14/900 [00:52<15:23,  1.04s/it]
  2%|▏         | 15/900 [00:52<11:42,  1.26it/s]
  2%|▏         | 16/900 [00:52<09:07,  1.61it/s]
  2%|▏         | 17/900 [01:03<52:46,  3.59s/it]
  2%|▏         | 18/900 [01:03<37:50,  2.57s/it]
  2%|▏         | 19/900 [01:03<27:21,  1.86s/it]
  2%|▏         | 20/900 [01:03<20:03,  1.37s/it]
  2%|▏         | 21/900 [01:03<14:56,  1.02s/it]
  2%|▏         | 22/900 [01:04<11:22,  1.29it/s]
  3%|▎         | 23/900 [01:04<08:57,  1.63it/s]
  3%|▎         | 24/900 [01:04<07:13,  2.02it/s]
  3%|▎         | 25/900 [01:25<1:37:01,  6.65s/it]
  3%|▎         | 26/900 [01:25<1:08:45,  4.72s/it]
  3%|▎         | 27/900 [01:26<49:03,  3.37s/it]  
  3%|▎         | 28/900 [01:26<35:19,  2.43s/it]
  3%|▎         | 29/900 [01:26<25:42,  1.77s/it]
  3%|▎         | 30/900 [01:26<18:59,  1.31s/it]
  3%|▎         | 31/900 [01:26<14:16,  1.01it/s]
  4%|▎         | 32/900 [01:27<11:01,  1.31it/s]
  4%|▎         | 33/900 [01:35<42:34,  2.95s/it]
  4%|▍         | 34/900 [01:35<30:45,  2.13s/it]
  4%|▍         | 35/900 [01:35<22:29,  1.56s/it]
  4%|▍         | 36/900 [01:35<16:44,  1.16s/it]
  4%|▍         | 37/900 [01:36<12:42,  1.13it/s]
  4%|▍         | 38/900 [01:36<09:52,  1.45it/s]
  4%|▍         | 39/900 [01:36<07:54,  1.81it/s]
  4%|▍         | 40/900 [01:36<06:33,  2.19it/s]
  5%|▍         | 41/900 [01:51<1:08:06,  4.76s/it]
  5%|▍         | 42/900 [01:51<48:37,  3.40s/it]  
  5%|▍         | 43/900 [01:52<35:05,  2.46s/it]
  5%|▍         | 44/900 [01:52<25:39,  1.80s/it]
  5%|▌         | 45/900 [01:52<18:56,  1.33s/it]
  5%|▌         | 46/900 [01:52<14:18,  1.01s/it]
  5%|▌         | 47/900 [01:53<11:04,  1.28it/s]
  5%|▌         | 48/900 [01:53<08:46,  1.62it/s]
  5%|▌         | 49/900 [01:59<33:40,  2.37s/it]
  6%|▌         | 50/900 [02:00<24:34,  1.73s/it]
  6%|▌         | 51/900 [02:00<18:12,  1.29s/it]
  6%|▌         | 52/900 [02:00<13:45,  1.03it/s]
  6%|▌         | 53/900 [02:00<10:39,  1.32it/s]
  6%|▌         | 54/900 [02:01<08:26,  1.67it/s]
  6%|▌         | 55/900 [02:01<06:52,  2.05it/s]
  6%|▌         | 56/900 [02:01<05:48,  2.42it/s]
  6%|▋         | 57/900 [02:07<30:48,  2.19s/it]
  6%|▋         | 58/900 [02:08<22:35,  1.61s/it]
  7%|▋         | 59/900 [02:08<16:48,  1.20s/it]
  7%|▋         | 60/900 [02:08<12:43,  1.10it/s]
  7%|▋         | 61/900 [02:08<09:54,  1.41it/s]
  7%|▋         | 62/900 [02:09<07:54,  1.77it/s]
  7%|▋         | 63/900 [02:09<06:31,  2.14it/s]
  7%|▋         | 64/900 [02:09<05:31,  2.52it/s]
  7%|▋         | 65/900 [02:29<1:25:47,  6.16s/it]
  7%|▋         | 66/900 [02:29<1:01:00,  4.39s/it]
  7%|▋         | 67/900 [02:29<43:39,  3.14s/it]  
  8%|▊         | 68/900 [02:29<31:30,  2.27s/it]
  8%|▊         | 69/900 [02:30<23:03,  1.66s/it]
  8%|▊         | 70/900 [02:30<17:08,  1.24s/it]
  8%|▊         | 71/900 [02:30<13:00,  1.06it/s]
  8%|▊         | 72/900 [02:30<10:06,  1.37it/s]
  8%|▊         | 73/900 [02:38<38:54,  2.82s/it]
  8%|▊         | 74/900 [02:38<28:16,  2.05s/it]
  8%|▊         | 75/900 [02:39<20:45,  1.51s/it]
  8%|▊         | 76/900 [02:39<15:38,  1.14s/it]
  9%|▊         | 77/900 [02:39<11:57,  1.15it/s]
  9%|▊         | 78/900 [02:39<09:23,  1.46it/s]
  9%|▉         | 79/900 [02:40<07:33,  1.81it/s]
  9%|▉         | 80/900 [02:40<06:17,  2.17it/s]
  9%|▉         | 81/900 [02:46<28:52,  2.12s/it]
  9%|▉         | 82/900 [02:46<21:11,  1.55s/it]
  9%|▉         | 83/900 [02:46<15:47,  1.16s/it]
  9%|▉         | 84/900 [02:47<12:02,  1.13it/s]
  9%|▉         | 85/900 [02:47<09:24,  1.44it/s]
 10%|▉         | 86/900 [02:47<07:33,  1.80it/s]
 10%|▉         | 87/900 [02:47<06:14,  2.17it/s]
 10%|▉         | 88/900 [02:48<05:18,  2.55it/s]
 10%|▉         | 89/900 [02:58<45:52,  3.39s/it]
 10%|█         | 90/900 [02:58<33:03,  2.45s/it]
 10%|█         | 91/900 [02:58<24:06,  1.79s/it]
 10%|█         | 92/900 [02:59<17:50,  1.32s/it]
 10%|█         | 93/900 [02:59<13:27,  1.00s/it]
 10%|█         | 94/900 [02:59<10:24,  1.29it/s]
 11%|█         | 95/900 [02:59<08:15,  1.63it/s]
 11%|█         | 96/900 [03:00<06:43,  1.99it/s]
 11%|█         | 97/900 [03:09<43:41,  3.26s/it]
 11%|█         | 98/900 [03:10<31:29,  2.36s/it]
 11%|█         | 99/900 [03:10<23:01,  1.72s/it]
 11%|█         | 100/900 [03:10<17:04,  1.28s/it]
 11%|█         | 101/900 [03:10<12:55,  1.03it/s]
 11%|█▏        | 102/900 [03:11<10:00,  1.33it/s]
 11%|█▏        | 103/900 [03:11<07:56,  1.67it/s]
 12%|█▏        | 104/900 [03:11<06:28,  2.05it/s]
 12%|█▏        | 105/900 [03:17<27:41,  2.09s/it]
 12%|█▏        | 106/900 [03:17<20:14,  1.53s/it]
 12%|█▏        | 107/900 [03:17<15:00,  1.14s/it]
 12%|█▏        | 108/900 [03:17<11:22,  1.16it/s]
 12%|█▏        | 109/900 [03:18<08:49,  1.50it/s]
 12%|█▏        | 110/900 [03:18<07:01,  1.88it/s]
 12%|█▏        | 111/900 [03:18<05:45,  2.28it/s]
 12%|█▏        | 112/900 [03:18<04:51,  2.70it/s]
 13%|█▎        | 113/900 [03:30<49:53,  3.80s/it]
 13%|█▎        | 114/900 [03:30<35:42,  2.73s/it]
 13%|█▎        | 115/900 [03:31<25:47,  1.97s/it]
 13%|█▎        | 116/900 [03:31<18:51,  1.44s/it]
 13%|█▎        | 117/900 [03:31<14:01,  1.07s/it]
 13%|█▎        | 118/900 [03:31<10:38,  1.23it/s]
 13%|█▎        | 119/900 [03:31<08:15,  1.58it/s]
 13%|█▎        | 120/900 [03:32<06:35,  1.97it/s]
 13%|█▎        | 121/900 [03:36<20:57,  1.61s/it]
 14%|█▎        | 122/900 [03:36<15:27,  1.19s/it]
 14%|█▎        | 123/900 [03:36<11:37,  1.11it/s]
 14%|█▍        | 124/900 [03:36<08:56,  1.45it/s]
 14%|█▍        | 125/900 [03:37<07:04,  1.83it/s]
 14%|█▍        | 126/900 [03:37<05:45,  2.24it/s]
 14%|█▍        | 127/900 [03:37<04:50,  2.66it/s]
 14%|█▍        | 128/900 [03:37<04:11,  3.07it/s]
 14%|█▍        | 129/900 [03:49<46:18,  3.60s/it]
 14%|█▍        | 130/900 [03:49<33:11,  2.59s/it]
 15%|█▍        | 131/900 [03:49<24:01,  1.87s/it]
 15%|█▍        | 132/900 [03:49<17:36,  1.38s/it]
 15%|█▍        | 133/900 [03:49<13:08,  1.03s/it]
 15%|█▍        | 134/900 [03:50<09:59,  1.28it/s]
 15%|█▌        | 135/900 [03:50<07:49,  1.63it/s]
 15%|█▌        | 136/900 [03:50<06:17,  2.02it/s]
 15%|█▌        | 137/900 [04:00<40:24,  3.18s/it]
 15%|█▌        | 138/900 [04:00<29:03,  2.29s/it]
 15%|█▌        | 139/900 [04:00<21:07,  1.67s/it]
 16%|█▌        | 140/900 [04:00<15:34,  1.23s/it]
 16%|█▌        | 141/900 [04:00<11:41,  1.08it/s]
 16%|█▌        | 142/900 [04:01<08:58,  1.41it/s]
 16%|█▌        | 143/900 [04:01<07:05,  1.78it/s]
 16%|█▌        | 144/900 [04:01<05:45,  2.19it/s]
 16%|█▌        | 145/900 [04:09<33:15,  2.64s/it]
 16%|█▌        | 146/900 [04:09<24:07,  1.92s/it]
 16%|█▋        | 147/900 [04:09<17:44,  1.41s/it]
 16%|█▋        | 148/900 [04:09<13:17,  1.06s/it]
 17%|█▋        | 149/900 [04:10<10:10,  1.23it/s]
 17%|█▋        | 150/900 [04:10<07:57,  1.57it/s]
 17%|█▋        | 151/900 [04:10<06:25,  1.94it/s]
 17%|█▋        | 152/900 [04:10<05:19,  2.34it/s]
 17%|█▋        | 153/900 [04:15<20:32,  1.65s/it]
 17%|█▋        | 154/900 [04:15<15:12,  1.22s/it]
 17%|█▋        | 155/900 [04:15<11:31,  1.08it/s]
 17%|█▋        | 156/900 [04:16<08:57,  1.39it/s]
 17%|█▋        | 157/900 [04:16<07:07,  1.74it/s]
 18%|█▊        | 158/900 [04:16<05:52,  2.10it/s]
 18%|█▊        | 159/900 [04:16<04:58,  2.48it/s]
 18%|█▊        | 160/900 [04:17<04:21,  2.83it/s]
 18%|█▊        | 161/900 [04:31<56:01,  4.55s/it]
 18%|█▊        | 162/900 [04:31<40:01,  3.25s/it]
 18%|█▊        | 163/900 [04:31<28:50,  2.35s/it]
 18%|█▊        | 164/900 [04:32<21:03,  1.72s/it]
 18%|█▊        | 165/900 [04:32<15:34,  1.27s/it]
 18%|█▊        | 166/900 [04:32<11:46,  1.04it/s]
 19%|█▊        | 167/900 [04:32<09:05,  1.34it/s]
 19%|█▊        | 168/900 [04:33<07:13,  1.69it/s]
 19%|█▉        | 169/900 [04:40<33:21,  2.74s/it]
 19%|█▉        | 170/900 [04:41<24:12,  1.99s/it]
 19%|█▉        | 171/900 [04:41<17:47,  1.46s/it]
 19%|█▉        | 172/900 [04:41<13:18,  1.10s/it]
 19%|█▉        | 173/900 [04:41<10:09,  1.19it/s]
 19%|█▉        | 174/900 [04:41<07:57,  1.52it/s]
 19%|█▉        | 175/900 [04:42<06:24,  1.88it/s]
 20%|█▉        | 176/900 [04:42<05:21,  2.25it/s]
 20%|█▉        | 177/900 [04:50<33:09,  2.75s/it]
 20%|█▉        | 178/900 [04:50<23:59,  1.99s/it]
 20%|█▉        | 179/900 [04:51<17:35,  1.46s/it]
 20%|██        | 180/900 [04:51<13:07,  1.09s/it]
 20%|██        | 181/900 [04:51<10:00,  1.20it/s]
 20%|██        | 182/900 [04:51<07:50,  1.53it/s]
 20%|██        | 183/900 [04:51<06:18,  1.90it/s]
 20%|██        | 184/900 [04:52<05:12,  2.29it/s]
 21%|██        | 185/900 [04:57<24:11,  2.03s/it]
 21%|██        | 186/900 [04:58<17:43,  1.49s/it]
 21%|██        | 187/900 [04:58<13:10,  1.11s/it]
 21%|██        | 188/900 [04:58<09:59,  1.19it/s]
 21%|██        | 189/900 [04:58<07:45,  1.53it/s]
 21%|██        | 190/900 [04:59<06:12,  1.91it/s]
 21%|██        | 191/900 [04:59<05:07,  2.31it/s]
 21%|██▏       | 192/900 [04:59<04:23,  2.69it/s]
 21%|██▏       | 193/900 [05:17<1:05:59,  5.60s/it]
 22%|██▏       | 194/900 [05:17<46:57,  3.99s/it]  
 22%|██▏       | 195/900 [05:17<33:34,  2.86s/it]
 22%|██▏       | 196/900 [05:17<24:13,  2.06s/it]
 22%|██▏       | 197/900 [05:18<17:42,  1.51s/it]
 22%|██▏       | 198/900 [05:18<13:08,  1.12s/it]
 22%|██▏       | 199/900 [05:18<09:55,  1.18it/s]
 22%|██▏       | 200/900 [05:18<07:42,  1.51it/s]
 22%|██▏       | 201/900 [05:30<46:58,  4.03s/it]
 22%|██▏       | 202/900 [05:30<33:34,  2.89s/it]
 23%|██▎       | 203/900 [05:31<24:11,  2.08s/it]
 23%|██▎       | 204/900 [05:31<17:38,  1.52s/it]
 23%|██▎       | 205/900 [05:31<13:04,  1.13s/it]
 23%|██▎       | 206/900 [05:31<09:52,  1.17it/s]
 23%|██▎       | 207/900 [05:31<07:38,  1.51it/s]
 23%|██▎       | 208/900 [05:32<06:05,  1.89it/s]
 23%|██▎       | 209/900 [05:38<25:56,  2.25s/it]
 23%|██▎       | 210/900 [05:38<18:55,  1.65s/it]
 23%|██▎       | 211/900 [05:38<14:01,  1.22s/it]
 24%|██▎       | 212/900 [05:39<10:37,  1.08it/s]
 24%|██▎       | 213/900 [05:39<08:13,  1.39it/s]
 24%|██▍       | 214/900 [05:39<06:32,  1.75it/s]
 24%|██▍       | 215/900 [05:39<05:22,  2.12it/s]
 24%|██▍       | 216/900 [05:40<04:33,  2.50it/s]
 24%|██▍       | 217/900 [05:45<23:12,  2.04s/it]
 24%|██▍       | 218/900 [05:46<17:01,  1.50s/it]
 24%|██▍       | 219/900 [05:46<12:41,  1.12s/it]
 24%|██▍       | 220/900 [05:46<09:40,  1.17it/s]
 25%|██▍       | 221/900 [05:46<07:34,  1.50it/s]
 25%|██▍       | 222/900 [05:47<06:05,  1.85it/s]
 25%|██▍       | 223/900 [05:47<05:03,  2.23it/s]
 25%|██▍       | 224/900 [05:47<04:21,  2.59it/s]
 25%|██▌       | 225/900 [05:55<28:15,  2.51s/it]
 25%|██▌       | 226/900 [05:55<20:30,  1.83s/it]
 25%|██▌       | 227/900 [05:55<15:03,  1.34s/it]
 25%|██▌       | 228/900 [05:55<11:16,  1.01s/it]
 25%|██▌       | 229/900 [05:55<08:37,  1.30it/s]
 26%|██▌       | 230/900 [05:56<06:47,  1.64it/s]
 26%|██▌       | 231/900 [05:56<05:31,  2.02it/s]
 26%|██▌       | 232/900 [05:56<04:34,  2.43it/s]
 26%|██▌       | 233/900 [06:07<37:52,  3.41s/it]
 26%|██▌       | 234/900 [06:07<27:12,  2.45s/it]
 26%|██▌       | 235/900 [06:07<19:43,  1.78s/it]
 26%|██▌       | 236/900 [06:07<14:30,  1.31s/it]
 26%|██▋       | 237/900 [06:07<10:52,  1.02it/s]
 26%|██▋       | 238/900 [06:08<08:19,  1.32it/s]
 27%|██▋       | 239/900 [06:08<06:33,  1.68it/s]
 27%|██▋       | 240/900 [06:08<05:19,  2.07it/s]
 27%|██▋       | 241/900 [06:14<22:47,  2.08s/it]
 27%|██▋       | 242/900 [06:14<16:39,  1.52s/it]
 27%|██▋       | 243/900 [06:14<12:22,  1.13s/it]
 27%|██▋       | 244/900 [06:15<09:23,  1.16it/s]
 27%|██▋       | 245/900 [06:15<07:18,  1.49it/s]
 27%|██▋       | 246/900 [06:15<05:52,  1.86it/s]
 27%|██▋       | 247/900 [06:15<04:53,  2.22it/s]
 28%|██▊       | 248/900 [06:15<04:13,  2.57it/s]
 28%|██▊       | 249/900 [06:22<23:36,  2.18s/it]
 28%|██▊       | 250/900 [06:22<17:20,  1.60s/it]
 28%|██▊       | 251/900 [06:22<12:54,  1.19s/it]
 28%|██▊       | 252/900 [06:23<09:49,  1.10it/s]
 28%|██▊       | 253/900 [06:23<07:38,  1.41it/s]
 28%|██▊       | 254/900 [06:23<06:06,  1.76it/s]
 28%|██▊       | 255/900 [06:23<05:02,  2.13it/s]
 28%|██▊       | 256/900 [06:24<04:17,  2.51it/s]
 29%|██▊       | 257/900 [06:30<23:31,  2.20s/it]
 29%|██▊       | 258/900 [06:30<17:12,  1.61s/it]
 29%|██▉       | 259/900 [06:30<12:46,  1.20s/it]
 29%|██▉       | 260/900 [06:31<09:41,  1.10it/s]
 29%|██▉       | 261/900 [06:31<07:30,  1.42it/s]
 29%|██▉       | 262/900 [06:31<05:59,  1.77it/s]
 29%|██▉       | 263/900 [06:31<04:57,  2.14it/s]
 29%|██▉       | 264/900 [06:32<04:13,  2.51it/s]
 29%|██▉       | 265/900 [06:49<58:42,  5.55s/it]
 30%|██▉       | 266/900 [06:49<41:46,  3.95s/it]
 30%|██▉       | 267/900 [06:50<29:58,  2.84s/it]
 30%|██▉       | 268/900 [06:50<21:42,  2.06s/it]
 30%|██▉       | 269/900 [06:50<15:56,  1.52s/it]
 30%|███       | 270/900 [06:50<11:55,  1.14s/it]
 30%|███       | 271/900 [06:51<09:05,  1.15it/s]
 30%|███       | 272/900 [06:51<07:04,  1.48it/s]
 30%|███       | 273/900 [07:05<48:00,  4.59s/it]
 30%|███       | 274/900 [07:05<34:21,  3.29s/it]
 31%|███       | 275/900 [07:05<24:48,  2.38s/it]
 31%|███       | 276/900 [07:05<18:05,  1.74s/it]
 31%|███       | 277/900 [07:06<13:21,  1.29s/it]
 31%|███       | 278/900 [07:06<10:03,  1.03it/s]
 31%|███       | 279/900 [07:06<07:46,  1.33it/s]
 31%|███       | 280/900 [07:06<06:09,  1.68it/s]
 31%|███       | 281/900 [07:19<43:11,  4.19s/it]
 31%|███▏      | 282/900 [07:19<30:54,  3.00s/it]
 31%|███▏      | 283/900 [07:19<22:18,  2.17s/it]
 32%|███▏      | 284/900 [07:20<16:17,  1.59s/it]
 32%|███▏      | 285/900 [07:20<12:04,  1.18s/it]
 32%|███▏      | 286/900 [07:20<09:09,  1.12it/s]
 32%|███▏      | 287/900 [07:20<07:09,  1.43it/s]
 32%|███▏      | 288/900 [07:20<05:41,  1.79it/s]
 32%|███▏      | 289/900 [07:26<22:12,  2.18s/it]
 32%|███▏      | 290/900 [07:27<16:12,  1.59s/it]
 32%|███▏      | 291/900 [07:27<12:00,  1.18s/it]
 32%|███▏      | 292/900 [07:27<09:04,  1.12it/s]
 33%|███▎      | 293/900 [07:27<07:01,  1.44it/s]
 33%|███▎      | 293/900 [07:28<15:28,  1.53s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/log_1_env0.json.
+BananaThenRubiksCubeTask_1 complete: task_name: BananaThenRubiksCubeTask, run_name: BananaThenRubiksCubeTask_1, run: 1, env_id: 0, policy: harness, instruction: put the banana then the cube in the bowl, attributes: ['conjunction', 'simple'], success: True, episode_step: 294, duration: 19.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.560317222156456, 'joint_sparc_mean': -8.841145046391755, 'ee_isj': 1071.7683988336703, 'joint_isj': 22802.882912152716, 'ee_path_length': 2.164974942874813, 'joint_rmse_mean': 1.1695216881212567, 'ee_speed_max': 0.4066479206085205, 'ee_speed_mean': 0.10735837370157242}, events: {'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 11, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 382.529, 'policy_inference_avg_ms': 1301.1, 'env_step_s': 62.496, 'env_step_avg_ms': 212.6, 'video_write_s': 2.906, 'video_write_avg_ms': 9.9, 'wall_total_s': 447.931, 'it_per_sec': 0.66}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 98b7de85d4454c8e8d50991bcf703625-1
+[RoboLab] Running BananaThenRubiksCubeTask_2: 'put the banana then the cube in the bowl' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:28<7:08:31, 28.60s/it]
  0%|          | 2/900 [00:28<2:58:12, 11.91s/it]
  0%|          | 3/900 [00:29<1:38:11,  6.57s/it]
  0%|          | 4/900 [00:29<1:00:36,  4.06s/it]
  1%|          | 5/900 [00:29<39:49,  2.67s/it]  
  1%|          | 6/900 [00:29<27:18,  1.83s/it]
  1%|          | 7/900 [00:29<19:25,  1.30s/it]
  1%|          | 8/900 [00:30<14:12,  1.05it/s]
  1%|          | 9/900 [00:35<36:33,  2.46s/it]
  1%|          | 10/900 [00:36<26:12,  1.77s/it]
  1%|          | 11/900 [00:36<19:08,  1.29s/it]
  1%|▏         | 12/900 [00:36<14:16,  1.04it/s]
  1%|▏         | 13/900 [00:36<10:54,  1.36it/s]
  2%|▏         | 14/900 [00:36<08:32,  1.73it/s]
  2%|▏         | 15/900 [00:37<06:54,  2.13it/s]
  2%|▏         | 16/900 [00:37<05:47,  2.55it/s]
  2%|▏         | 17/900 [00:50<1:03:59,  4.35s/it]
  2%|▏         | 18/900 [00:51<45:39,  3.11s/it]  
  2%|▏         | 19/900 [00:51<32:50,  2.24s/it]
  2%|▏         | 20/900 [00:51<23:52,  1.63s/it]
  2%|▏         | 21/900 [00:51<17:37,  1.20s/it]
  2%|▏         | 22/900 [00:51<13:14,  1.10it/s]
  3%|▎         | 23/900 [00:52<10:11,  1.43it/s]
  3%|▎         | 24/900 [00:52<08:04,  1.81it/s]
  3%|▎         | 25/900 [01:00<43:04,  2.95s/it]
  3%|▎         | 26/900 [01:01<31:03,  2.13s/it]
  3%|▎         | 27/900 [01:01<22:39,  1.56s/it]
  3%|▎         | 28/900 [01:01<16:46,  1.15s/it]
  3%|▎         | 29/900 [01:01<12:38,  1.15it/s]
  3%|▎         | 30/900 [01:02<09:46,  1.48it/s]
  3%|▎         | 31/900 [01:02<07:45,  1.87it/s]
  4%|▎         | 32/900 [01:02<06:22,  2.27it/s]
  4%|▎         | 33/900 [01:07<25:10,  1.74s/it]
  4%|▍         | 34/900 [01:07<18:37,  1.29s/it]
  4%|▍         | 35/900 [01:07<14:01,  1.03it/s]
  4%|▍         | 36/900 [01:07<10:48,  1.33it/s]
  4%|▍         | 37/900 [01:08<08:32,  1.68it/s]
  4%|▍         | 38/900 [01:08<06:59,  2.06it/s]
  4%|▍         | 39/900 [01:08<05:50,  2.46it/s]
  4%|▍         | 40/900 [01:08<05:04,  2.83it/s]
  5%|▍         | 41/900 [01:14<29:52,  2.09s/it]
  5%|▍         | 42/900 [01:15<21:54,  1.53s/it]
  5%|▍         | 43/900 [01:15<16:17,  1.14s/it]
  5%|▍         | 44/900 [01:15<12:23,  1.15it/s]
  5%|▌         | 45/900 [01:15<09:40,  1.47it/s]
  5%|▌         | 46/900 [01:16<07:41,  1.85it/s]
  5%|▌         | 47/900 [01:16<06:17,  2.26it/s]
  5%|▌         | 48/900 [01:16<05:17,  2.68it/s]
  5%|▌         | 49/900 [01:32<1:12:07,  5.09s/it]
  6%|▌         | 50/900 [01:32<51:21,  3.63s/it]  
  6%|▌         | 51/900 [01:33<36:48,  2.60s/it]
  6%|▌         | 52/900 [01:33<26:38,  1.88s/it]
  6%|▌         | 53/900 [01:33<19:32,  1.38s/it]
  6%|▌         | 54/900 [01:33<14:34,  1.03s/it]
  6%|▌         | 55/900 [01:33<11:05,  1.27it/s]
  6%|▌         | 56/900 [01:34<08:39,  1.62it/s]
  6%|▋         | 57/900 [01:41<38:22,  2.73s/it]
  6%|▋         | 58/900 [01:42<27:42,  1.97s/it]
  7%|▋         | 59/900 [01:42<20:17,  1.45s/it]
  7%|▋         | 60/900 [01:42<15:06,  1.08s/it]
  7%|▋         | 61/900 [01:42<11:31,  1.21it/s]
  7%|▋         | 62/900 [01:42<09:03,  1.54it/s]
  7%|▋         | 63/900 [01:43<07:17,  1.92it/s]
  7%|▋         | 64/900 [01:43<05:59,  2.33it/s]
  7%|▋         | 65/900 [01:49<30:08,  2.17s/it]
  7%|▋         | 66/900 [01:49<21:56,  1.58s/it]
  7%|▋         | 67/900 [01:50<16:14,  1.17s/it]
  8%|▊         | 68/900 [01:50<12:18,  1.13it/s]
  8%|▊         | 69/900 [01:50<09:37,  1.44it/s]
  8%|▊         | 70/900 [01:50<07:44,  1.79it/s]
  8%|▊         | 71/900 [01:50<06:24,  2.16it/s]
  8%|▊         | 72/900 [01:51<05:28,  2.52it/s]
  8%|▊         | 73/900 [01:56<26:47,  1.94s/it]
  8%|▊         | 74/900 [01:57<19:45,  1.43s/it]
  8%|▊         | 75/900 [01:57<14:46,  1.07s/it]
  8%|▊         | 76/900 [01:57<11:18,  1.21it/s]
  9%|▊         | 77/900 [01:57<08:54,  1.54it/s]
  9%|▊         | 78/900 [01:57<07:10,  1.91it/s]
  9%|▉         | 79/900 [01:58<05:59,  2.29it/s]
  9%|▉         | 80/900 [01:58<05:09,  2.65it/s]
  9%|▉         | 81/900 [02:34<2:31:56, 11.13s/it]
  9%|▉         | 82/900 [02:34<1:47:13,  7.87s/it]
  9%|▉         | 83/900 [02:35<1:16:00,  5.58s/it]
  9%|▉         | 84/900 [02:35<54:10,  3.98s/it]  
  9%|▉         | 85/900 [02:35<38:53,  2.86s/it]
 10%|▉         | 86/900 [02:35<28:10,  2.08s/it]
 10%|▉         | 87/900 [02:36<20:44,  1.53s/it]
 10%|▉         | 88/900 [02:36<15:29,  1.14s/it]
 10%|▉         | 89/900 [02:58<1:41:47,  7.53s/it]
 10%|█         | 90/900 [02:59<1:12:10,  5.35s/it]
 10%|█         | 91/900 [02:59<51:28,  3.82s/it]  
 10%|█         | 92/900 [02:59<36:57,  2.74s/it]
 10%|█         | 93/900 [02:59<26:50,  2.00s/it]
 10%|█         | 94/900 [03:00<19:44,  1.47s/it]
 11%|█         | 95/900 [03:00<14:46,  1.10s/it]
 11%|█         | 96/900 [03:00<11:18,  1.18it/s]
 11%|█         | 97/900 [03:05<27:54,  2.09s/it]
 11%|█         | 98/900 [03:05<20:23,  1.52s/it]
 11%|█         | 99/900 [03:05<15:05,  1.13s/it]
 11%|█         | 100/900 [03:06<11:22,  1.17it/s]
 11%|█         | 101/900 [03:06<08:47,  1.51it/s]
 11%|█▏        | 102/900 [03:06<06:58,  1.91it/s]
 11%|█▏        | 103/900 [03:06<05:44,  2.31it/s]
 12%|█▏        | 104/900 [03:07<04:52,  2.72it/s]
 12%|█▏        | 105/900 [03:15<37:24,  2.82s/it]
 12%|█▏        | 106/900 [03:15<27:00,  2.04s/it]
 12%|█▏        | 107/900 [03:15<19:43,  1.49s/it]
 12%|█▏        | 108/900 [03:16<14:37,  1.11s/it]
 12%|█▏        | 109/900 [03:16<11:03,  1.19it/s]
 12%|█▏        | 110/900 [03:16<08:34,  1.54it/s]
 12%|█▏        | 111/900 [03:16<06:49,  1.92it/s]
 12%|█▏        | 112/900 [03:17<05:36,  2.34it/s]
 13%|█▎        | 113/900 [03:32<1:05:40,  5.01s/it]
 13%|█▎        | 114/900 [03:32<46:47,  3.57s/it]  
 13%|█▎        | 115/900 [03:33<33:32,  2.56s/it]
 13%|█▎        | 116/900 [03:33<24:17,  1.86s/it]
 13%|█▎        | 117/900 [03:33<17:49,  1.37s/it]
 13%|█▎        | 118/900 [03:33<13:18,  1.02s/it]
 13%|█▎        | 119/900 [03:34<10:08,  1.28it/s]
 13%|█▎        | 120/900 [03:34<07:55,  1.64it/s]
 13%|█▎        | 121/900 [03:43<42:02,  3.24s/it]
 14%|█▎        | 122/900 [03:43<30:14,  2.33s/it]
 14%|█▎        | 123/900 [03:44<21:59,  1.70s/it]
 14%|█▍        | 124/900 [03:44<16:12,  1.25s/it]
 14%|█▍        | 125/900 [03:44<12:10,  1.06it/s]
 14%|█▍        | 126/900 [03:44<09:20,  1.38it/s]
 14%|█▍        | 127/900 [03:44<07:21,  1.75it/s]
 14%|█▍        | 128/900 [03:45<05:57,  2.16it/s]
 14%|█▍        | 129/900 [03:51<29:32,  2.30s/it]
 14%|█▍        | 130/900 [03:51<21:28,  1.67s/it]
 15%|█▍        | 131/900 [03:52<15:49,  1.23s/it]
 15%|█▍        | 132/900 [03:52<11:54,  1.08it/s]
 15%|█▍        | 133/900 [03:52<09:08,  1.40it/s]
 15%|█▍        | 134/900 [03:52<07:12,  1.77it/s]
 15%|█▌        | 135/900 [03:53<05:52,  2.17it/s]
 15%|█▌        | 136/900 [03:53<04:56,  2.58it/s]
 15%|█▌        | 137/900 [04:23<1:58:51,  9.35s/it]
 15%|█▌        | 138/900 [04:23<1:23:54,  6.61s/it]
 15%|█▌        | 139/900 [04:23<59:27,  4.69s/it]  
 16%|█▌        | 140/900 [04:24<42:23,  3.35s/it]
 16%|█▌        | 141/900 [04:24<30:26,  2.41s/it]
 16%|█▌        | 142/900 [04:24<22:04,  1.75s/it]
 16%|█▌        | 143/900 [04:24<16:13,  1.29s/it]
 16%|█▌        | 144/900 [04:24<12:12,  1.03it/s]
 16%|█▌        | 145/900 [04:31<32:05,  2.55s/it]
 16%|█▌        | 146/900 [04:31<23:14,  1.85s/it]
 16%|█▋        | 147/900 [04:31<17:04,  1.36s/it]
 16%|█▋        | 148/900 [04:31<12:44,  1.02s/it]
 17%|█▋        | 149/900 [04:32<09:43,  1.29it/s]
 17%|█▋        | 150/900 [04:32<07:37,  1.64it/s]
 17%|█▋        | 151/900 [04:32<06:08,  2.03it/s]
 17%|█▋        | 152/900 [04:32<05:09,  2.42it/s]
 17%|█▋        | 153/900 [04:42<40:42,  3.27s/it]
 17%|█▋        | 154/900 [04:42<29:16,  2.35s/it]
 17%|█▋        | 155/900 [04:43<21:17,  1.71s/it]
 17%|█▋        | 156/900 [04:43<15:45,  1.27s/it]
 17%|█▋        | 157/900 [04:43<11:48,  1.05it/s]
 18%|█▊        | 158/900 [04:43<09:01,  1.37it/s]
 18%|█▊        | 159/900 [04:44<07:08,  1.73it/s]
 18%|█▊        | 160/900 [04:44<05:45,  2.14it/s]
 18%|█▊        | 161/900 [04:57<52:40,  4.28s/it]
 18%|█▊        | 162/900 [04:57<37:37,  3.06s/it]
 18%|█▊        | 163/900 [04:57<27:05,  2.21s/it]
 18%|█▊        | 164/900 [04:58<19:45,  1.61s/it]
 18%|█▊        | 165/900 [04:58<14:38,  1.20s/it]
 18%|█▊        | 166/900 [04:58<10:59,  1.11it/s]
 19%|█▊        | 167/900 [04:58<08:27,  1.44it/s]
 19%|█▊        | 168/900 [04:58<06:42,  1.82it/s]
 19%|█▉        | 169/900 [05:20<1:22:58,  6.81s/it]
 19%|█▉        | 170/900 [05:20<58:53,  4.84s/it]  
 19%|█▉        | 171/900 [05:20<42:05,  3.46s/it]
 19%|█▉        | 172/900 [05:21<30:19,  2.50s/it]
 19%|█▉        | 173/900 [05:21<22:03,  1.82s/it]
 19%|█▉        | 174/900 [05:21<16:18,  1.35s/it]
 19%|█▉        | 175/900 [05:21<12:17,  1.02s/it]
 20%|█▉        | 176/900 [05:22<09:27,  1.28it/s]
 20%|█▉        | 177/900 [05:35<55:55,  4.64s/it]
 20%|█▉        | 178/900 [05:35<39:51,  3.31s/it]
 20%|█▉        | 179/900 [05:36<28:38,  2.38s/it]
 20%|██        | 180/900 [05:36<20:47,  1.73s/it]
 20%|██        | 181/900 [05:36<15:17,  1.28s/it]
 20%|██        | 182/900 [05:36<11:27,  1.04it/s]
 20%|██        | 183/900 [05:36<08:46,  1.36it/s]
 20%|██        | 184/900 [05:37<06:53,  1.73it/s]
 21%|██        | 185/900 [05:46<39:06,  3.28s/it]
 21%|██        | 186/900 [05:46<28:06,  2.36s/it]
 21%|██        | 187/900 [05:47<20:24,  1.72s/it]
 21%|██        | 188/900 [05:47<15:00,  1.27s/it]
 21%|██        | 189/900 [05:47<11:15,  1.05it/s]
 21%|██        | 190/900 [05:47<08:36,  1.37it/s]
 21%|██        | 191/900 [05:48<06:46,  1.75it/s]
 21%|██▏       | 192/900 [05:48<05:28,  2.15it/s]
 21%|██▏       | 193/900 [06:05<1:05:46,  5.58s/it]
 22%|██▏       | 194/900 [06:05<46:43,  3.97s/it]  
 22%|██▏       | 195/900 [06:06<33:23,  2.84s/it]
 22%|██▏       | 196/900 [06:06<24:04,  2.05s/it]
 22%|██▏       | 197/900 [06:06<17:35,  1.50s/it]
 22%|██▏       | 198/900 [06:06<13:02,  1.11s/it]
 22%|██▏       | 199/900 [06:07<09:51,  1.19it/s]
 22%|██▏       | 200/900 [06:07<07:37,  1.53it/s]
 22%|██▏       | 201/900 [06:13<27:31,  2.36s/it]
 22%|██▏       | 202/900 [06:13<19:58,  1.72s/it]
 23%|██▎       | 203/900 [06:14<14:42,  1.27s/it]
 23%|██▎       | 204/900 [06:14<11:01,  1.05it/s]
 23%|██▎       | 205/900 [06:14<08:26,  1.37it/s]
 23%|██▎       | 206/900 [06:14<06:38,  1.74it/s]
 23%|██▎       | 207/900 [06:14<05:22,  2.15it/s]
 23%|██▎       | 208/900 [06:15<04:30,  2.56it/s]
 23%|██▎       | 209/900 [06:21<24:00,  2.08s/it]
 23%|██▎       | 210/900 [06:21<17:36,  1.53s/it]
 23%|██▎       | 211/900 [06:21<13:06,  1.14s/it]
 24%|██▎       | 212/900 [06:21<09:57,  1.15it/s]
 24%|██▎       | 213/900 [06:22<07:45,  1.47it/s]
 24%|██▍       | 214/900 [06:22<06:12,  1.84it/s]
 24%|██▍       | 215/900 [06:22<05:07,  2.23it/s]
 24%|██▍       | 216/900 [06:22<04:21,  2.62it/s]
 24%|██▍       | 217/900 [06:28<24:03,  2.11s/it]
 24%|██▍       | 218/900 [06:29<17:39,  1.55s/it]
 24%|██▍       | 219/900 [06:29<13:11,  1.16s/it]
 24%|██▍       | 220/900 [06:29<10:05,  1.12it/s]
 25%|██▍       | 221/900 [06:29<07:52,  1.44it/s]
 25%|██▍       | 222/900 [06:30<06:19,  1.79it/s]
 25%|██▍       | 223/900 [06:30<05:16,  2.14it/s]
 25%|██▍       | 224/900 [06:30<04:31,  2.49it/s]
 25%|██▌       | 225/900 [06:54<1:24:33,  7.52s/it]
 25%|██▌       | 226/900 [06:54<59:55,  5.33s/it]  
 25%|██▌       | 227/900 [06:55<42:43,  3.81s/it]
 25%|██▌       | 228/900 [06:55<30:39,  2.74s/it]
 25%|██▌       | 229/900 [06:55<22:17,  1.99s/it]
 26%|██▌       | 230/900 [06:55<16:25,  1.47s/it]
 26%|██▌       | 231/900 [06:56<12:17,  1.10s/it]
 26%|██▌       | 232/900 [06:56<09:23,  1.19it/s]
 26%|██▌       | 233/900 [07:03<31:02,  2.79s/it]
 26%|██▌       | 234/900 [07:04<22:31,  2.03s/it]
 26%|██▌       | 235/900 [07:04<16:33,  1.49s/it]
 26%|██▌       | 236/900 [07:04<12:21,  1.12s/it]
 26%|██▋       | 237/900 [07:04<09:26,  1.17it/s]
 26%|██▋       | 238/900 [07:05<07:24,  1.49it/s]
 27%|██▋       | 239/900 [07:05<06:00,  1.83it/s]
 27%|██▋       | 240/900 [07:05<05:01,  2.19it/s]
 27%|██▋       | 241/900 [07:13<29:10,  2.66s/it]
 27%|██▋       | 242/900 [07:13<21:14,  1.94s/it]
 27%|██▋       | 243/900 [07:13<15:41,  1.43s/it]
 27%|██▋       | 244/900 [07:14<11:47,  1.08s/it]
 27%|██▋       | 245/900 [07:14<09:04,  1.20it/s]
 27%|██▋       | 246/900 [07:14<07:11,  1.52it/s]
 27%|██▋       | 247/900 [07:14<05:48,  1.87it/s]
 28%|██▊       | 248/900 [07:15<04:52,  2.23it/s]
 28%|██▊       | 249/900 [07:22<27:29,  2.53s/it]
 28%|██▊       | 250/900 [07:22<20:01,  1.85s/it]
 28%|██▊       | 251/900 [07:22<14:47,  1.37s/it]
 28%|██▊       | 252/900 [07:23<11:06,  1.03s/it]
 28%|██▊       | 253/900 [07:23<08:32,  1.26it/s]
 28%|██▊       | 254/900 [07:23<06:45,  1.59it/s]
 28%|██▊       | 255/900 [07:23<05:29,  1.96it/s]
 28%|██▊       | 256/900 [07:24<04:36,  2.33it/s]
 29%|██▊       | 257/900 [07:31<26:13,  2.45s/it]
 29%|██▊       | 258/900 [07:31<19:06,  1.79s/it]
 29%|██▉       | 259/900 [07:31<14:06,  1.32s/it]
 29%|██▉       | 260/900 [07:32<10:36,  1.01it/s]
 29%|██▉       | 261/900 [07:32<08:09,  1.31it/s]
 29%|██▉       | 262/900 [07:32<06:26,  1.65it/s]
 29%|██▉       | 263/900 [07:32<05:15,  2.02it/s]
 29%|██▉       | 264/900 [07:32<04:26,  2.38it/s]
 29%|██▉       | 265/900 [07:39<24:40,  2.33s/it]
 30%|██▉       | 266/900 [07:40<18:00,  1.70s/it]
 30%|██▉       | 267/900 [07:40<13:19,  1.26s/it]
 30%|██▉       | 268/900 [07:40<10:03,  1.05it/s]
 30%|██▉       | 269/900 [07:40<07:47,  1.35it/s]
 30%|███       | 270/900 [07:40<06:13,  1.69it/s]
 30%|███       | 271/900 [07:41<05:04,  2.06it/s]
 30%|███       | 272/900 [07:41<04:16,  2.44it/s]
 30%|███       | 273/900 [07:52<38:01,  3.64s/it]
 30%|███       | 274/900 [07:52<27:19,  2.62s/it]
 31%|███       | 275/900 [07:53<19:49,  1.90s/it]
 31%|███       | 276/900 [07:53<14:34,  1.40s/it]
 31%|███       | 277/900 [07:53<10:54,  1.05s/it]
 31%|███       | 278/900 [07:53<08:19,  1.25it/s]
 31%|███       | 279/900 [07:53<06:29,  1.60it/s]
 31%|███       | 280/900 [07:54<05:11,  1.99it/s]
 31%|███       | 281/900 [08:05<39:20,  3.81s/it]
 31%|███▏      | 282/900 [08:05<28:11,  2.74s/it]
 31%|███▏      | 283/900 [08:06<20:21,  1.98s/it]
 32%|███▏      | 284/900 [08:06<14:54,  1.45s/it]
 32%|███▏      | 285/900 [08:06<11:04,  1.08s/it]
 32%|███▏      | 286/900 [08:06<08:24,  1.22it/s]
 32%|███▏      | 287/900 [08:07<06:31,  1.56it/s]
 32%|███▏      | 288/900 [08:07<05:13,  1.95it/s]
 32%|███▏      | 289/900 [08:38<1:37:55,  9.62s/it]
 32%|███▏      | 290/900 [08:38<1:09:05,  6.80s/it]
 32%|███▏      | 291/900 [08:38<48:55,  4.82s/it]  
 32%|███▏      | 292/900 [08:38<34:50,  3.44s/it]
 33%|███▎      | 293/900 [08:38<24:59,  2.47s/it]
 33%|███▎      | 294/900 [08:39<18:06,  1.79s/it]
 33%|███▎      | 295/900 [08:39<13:18,  1.32s/it]
 33%|███▎      | 296/900 [08:39<09:55,  1.01it/s]
 33%|███▎      | 297/900 [08:48<32:58,  3.28s/it]
 33%|███▎      | 298/900 [08:48<23:42,  2.36s/it]
 33%|███▎      | 299/900 [08:48<17:12,  1.72s/it]
 33%|███▎      | 300/900 [08:48<12:41,  1.27s/it]
 33%|███▎      | 301/900 [08:49<09:30,  1.05it/s]
 34%|███▎      | 302/900 [08:49<07:17,  1.37it/s]
 34%|███▎      | 303/900 [08:49<05:45,  1.73it/s]
 34%|███▍      | 304/900 [08:49<04:43,  2.11it/s]
 34%|███▍      | 305/900 [08:56<22:03,  2.22s/it]
 34%|███▍      | 306/900 [08:56<16:07,  1.63s/it]
 34%|███▍      | 307/900 [08:56<11:59,  1.21s/it]
 34%|███▍      | 308/900 [08:56<09:07,  1.08it/s]
 34%|███▍      | 309/900 [08:57<07:06,  1.38it/s]
 34%|███▍      | 310/900 [08:57<05:40,  1.73it/s]
 35%|███▍      | 311/900 [08:57<04:40,  2.10it/s]
 35%|███▍      | 312/900 [08:57<03:58,  2.47it/s]
 35%|███▍      | 313/900 [09:05<26:49,  2.74s/it]
 35%|███▍      | 314/900 [09:06<19:25,  1.99s/it]
 35%|███▌      | 315/900 [09:06<14:15,  1.46s/it]
 35%|███▌      | 316/900 [09:06<10:38,  1.09s/it]
 35%|███▌      | 317/900 [09:06<08:07,  1.20it/s]
 35%|███▌      | 318/900 [09:07<06:21,  1.53it/s]
 35%|███▌      | 319/900 [09:07<05:08,  1.89it/s]
 36%|███▌      | 320/900 [09:07<04:18,  2.25it/s]
 36%|███▌      | 321/900 [09:27<1:01:22,  6.36s/it]
 36%|███▌      | 322/900 [09:28<43:30,  4.52s/it]  
 36%|███▌      | 323/900 [09:28<31:01,  3.23s/it]
 36%|███▌      | 324/900 [09:28<22:17,  2.32s/it]
 36%|███▌      | 325/900 [09:28<16:11,  1.69s/it]
 36%|███▌      | 326/900 [09:28<11:55,  1.25s/it]
 36%|███▋      | 327/900 [09:29<08:57,  1.07it/s]
 36%|███▋      | 328/900 [09:29<06:52,  1.39it/s]
 37%|███▋      | 329/900 [09:38<32:21,  3.40s/it]
 37%|███▋      | 330/900 [09:39<23:17,  2.45s/it]
 37%|███▋      | 331/900 [09:39<16:58,  1.79s/it]
 37%|███▋      | 332/900 [09:39<12:34,  1.33s/it]
 37%|███▋      | 333/900 [09:39<09:30,  1.01s/it]
 37%|███▋      | 334/900 [09:40<07:21,  1.28it/s]
 37%|███▋      | 335/900 [09:40<05:51,  1.61it/s]
 37%|███▋      | 336/900 [09:40<04:48,  1.96it/s]
 37%|███▋      | 337/900 [09:56<46:40,  4.97s/it]
 38%|███▊      | 338/900 [09:56<33:13,  3.55s/it]
 38%|███▊      | 339/900 [09:56<23:48,  2.55s/it]
 38%|███▊      | 340/900 [09:56<17:13,  1.85s/it]
 38%|███▊      | 341/900 [09:56<12:37,  1.36s/it]
 38%|███▊      | 342/900 [09:57<09:24,  1.01s/it]
 38%|███▊      | 343/900 [09:57<07:10,  1.29it/s]
 38%|███▊      | 344/900 [09:57<05:36,  1.65it/s]
 38%|███▊      | 345/900 [10:06<27:56,  3.02s/it]
 38%|███▊      | 346/900 [10:06<20:09,  2.18s/it]
 39%|███▊      | 347/900 [10:06<14:42,  1.60s/it]
 39%|███▊      | 348/900 [10:06<10:52,  1.18s/it]
 39%|███▉      | 349/900 [10:07<08:12,  1.12it/s]
 39%|███▉      | 350/900 [10:07<06:20,  1.45it/s]
 39%|███▉      | 351/900 [10:07<05:03,  1.81it/s]
 39%|███▉      | 352/900 [10:07<04:10,  2.19it/s]
 39%|███▉      | 353/900 [10:15<23:14,  2.55s/it]
 39%|███▉      | 354/900 [10:15<16:53,  1.86s/it]
 39%|███▉      | 355/900 [10:15<12:27,  1.37s/it]
 40%|███▉      | 356/900 [10:15<09:20,  1.03s/it]
 40%|███▉      | 357/900 [10:16<07:10,  1.26it/s]
 40%|███▉      | 358/900 [10:16<05:37,  1.61it/s]
 40%|███▉      | 359/900 [10:16<04:33,  1.98it/s]
 40%|████      | 360/900 [10:16<03:48,  2.36it/s]
 40%|████      | 361/900 [10:35<52:54,  5.89s/it]
 40%|████      | 362/900 [10:35<37:32,  4.19s/it]
 40%|████      | 363/900 [10:35<26:48,  3.00s/it]
 40%|████      | 364/900 [10:36<19:21,  2.17s/it]
 41%|████      | 365/900 [10:36<14:08,  1.59s/it]
 41%|████      | 366/900 [10:36<10:30,  1.18s/it]
 41%|████      | 367/900 [10:36<07:57,  1.12it/s]
 41%|████      | 368/900 [10:37<06:08,  1.44it/s]
 41%|████      | 369/900 [10:44<23:04,  2.61s/it]
 41%|████      | 370/900 [10:44<16:43,  1.89s/it]
 41%|████      | 371/900 [10:44<12:15,  1.39s/it]
 41%|████▏     | 372/900 [10:44<09:08,  1.04s/it]
 41%|████▏     | 373/900 [10:45<06:58,  1.26it/s]
 42%|████▏     | 374/900 [10:45<05:29,  1.60it/s]
 42%|████▏     | 375/900 [10:45<04:24,  1.98it/s]
 42%|████▏     | 376/900 [10:45<03:42,  2.35it/s]
 42%|████▏     | 377/900 [10:54<25:56,  2.98s/it]
 42%|████▏     | 378/900 [10:54<18:44,  2.15s/it]
 42%|████▏     | 379/900 [10:55<13:42,  1.58s/it]
 42%|████▏     | 380/900 [10:55<10:10,  1.17s/it]
 42%|████▏     | 381/900 [10:55<07:43,  1.12it/s]
 42%|████▏     | 382/900 [10:55<05:59,  1.44it/s]
 43%|████▎     | 383/900 [10:56<04:47,  1.80it/s]
 43%|████▎     | 384/900 [10:56<03:56,  2.18it/s]
 43%|████▎     | 385/900 [11:05<25:19,  2.95s/it]
 43%|████▎     | 386/900 [11:05<18:17,  2.13s/it]
 43%|████▎     | 387/900 [11:05<13:22,  1.56s/it]
 43%|████▎     | 388/900 [11:05<09:55,  1.16s/it]
 43%|████▎     | 389/900 [11:06<07:32,  1.13it/s]
 43%|████▎     | 390/900 [11:06<05:50,  1.45it/s]
 43%|████▎     | 391/900 [11:06<04:41,  1.81it/s]
 44%|████▎     | 392/900 [11:06<03:54,  2.17it/s]
 44%|████▎     | 393/900 [11:43<1:36:05, 11.37s/it]
 44%|████▍     | 394/900 [11:43<1:07:39,  8.02s/it]
 44%|████▍     | 395/900 [11:43<47:48,  5.68s/it]  
 44%|████▍     | 396/900 [11:44<33:56,  4.04s/it]
 44%|████▍     | 397/900 [11:44<24:14,  2.89s/it]
 44%|████▍     | 398/900 [11:44<17:28,  2.09s/it]
 44%|████▍     | 399/900 [11:44<12:44,  1.53s/it]
 44%|████▍     | 400/900 [11:45<09:25,  1.13s/it]
 45%|████▍     | 401/900 [11:53<27:33,  3.31s/it]
 45%|████▍     | 402/900 [11:53<19:47,  2.38s/it]
 45%|████▍     | 403/900 [11:53<14:21,  1.73s/it]
 45%|████▍     | 404/900 [11:54<10:34,  1.28s/it]
 45%|████▌     | 405/900 [11:54<07:54,  1.04it/s]
 45%|████▌     | 406/900 [11:54<06:03,  1.36it/s]
 45%|████▌     | 407/900 [11:54<04:45,  1.73it/s]
 45%|████▌     | 408/900 [11:54<03:51,  2.13it/s]
 45%|████▌     | 409/900 [12:05<29:11,  3.57s/it]
 46%|████▌     | 410/900 [12:05<20:54,  2.56s/it]
 46%|████▌     | 411/900 [12:06<15:07,  1.85s/it]
 46%|████▌     | 412/900 [12:06<11:04,  1.36s/it]
 46%|████▌     | 413/900 [12:06<08:14,  1.02s/it]
 46%|████▌     | 414/900 [12:06<06:16,  1.29it/s]
 46%|████▌     | 415/900 [12:07<04:53,  1.65it/s]
 46%|████▌     | 416/900 [12:07<03:56,  2.05it/s]
 46%|████▋     | 417/900 [12:14<21:18,  2.65s/it]
 46%|████▋     | 418/900 [12:15<15:23,  1.92s/it]
 47%|████▋     | 419/900 [12:15<11:15,  1.40s/it]
 47%|████▋     | 420/900 [12:15<08:21,  1.05s/it]
 47%|████▋     | 421/900 [12:15<06:20,  1.26it/s]
 47%|████▋     | 422/900 [12:15<04:56,  1.61it/s]
 47%|████▋     | 423/900 [12:16<03:56,  2.01it/s]
 47%|████▋     | 424/900 [12:16<03:15,  2.44it/s]
 47%|████▋     | 425/900 [12:23<20:01,  2.53s/it]
 47%|████▋     | 426/900 [12:24<14:29,  1.83s/it]
 47%|████▋     | 427/900 [12:24<10:36,  1.35s/it]
 48%|████▊     | 428/900 [12:24<07:54,  1.01s/it]
 48%|████▊     | 429/900 [12:24<06:01,  1.30it/s]
 48%|████▊     | 430/900 [12:24<04:41,  1.67it/s]
 48%|████▊     | 431/900 [12:25<03:48,  2.05it/s]
 48%|████▊     | 432/900 [12:25<03:12,  2.43it/s]
 48%|████▊     | 433/900 [12:35<26:49,  3.45s/it]
 48%|████▊     | 434/900 [12:36<19:13,  2.48s/it]
 48%|████▊     | 435/900 [12:36<13:55,  1.80s/it]
 48%|████▊     | 436/900 [12:36<10:14,  1.32s/it]
 49%|████▊     | 437/900 [12:36<07:38,  1.01it/s]
 49%|████▊     | 438/900 [12:36<05:50,  1.32it/s]
 49%|████▉     | 439/900 [12:37<04:34,  1.68it/s]
 49%|████▉     | 440/900 [12:37<03:40,  2.09it/s]
 49%|████▉     | 441/900 [12:46<23:07,  3.02s/it]
 49%|████▉     | 442/900 [12:46<16:38,  2.18s/it]
 49%|████▉     | 443/900 [12:46<12:06,  1.59s/it]
 49%|████▉     | 444/900 [12:46<08:56,  1.18s/it]
 49%|████▉     | 445/900 [12:47<06:43,  1.13it/s]
 50%|████▉     | 446/900 [12:47<05:11,  1.46it/s]
 50%|████▉     | 447/900 [12:47<04:06,  1.84it/s]
 50%|████▉     | 448/900 [12:47<03:20,  2.25it/s]
 50%|████▉     | 449/900 [12:55<20:13,  2.69s/it]
 50%|█████     | 450/900 [12:55<14:36,  1.95s/it]
 50%|█████     | 451/900 [12:56<10:40,  1.43s/it]
 50%|█████     | 452/900 [12:56<07:55,  1.06s/it]
 50%|█████     | 453/900 [12:56<06:01,  1.24it/s]
 50%|█████     | 454/900 [12:56<04:42,  1.58it/s]
 51%|█████     | 455/900 [12:57<03:48,  1.95it/s]
 51%|█████     | 456/900 [12:57<03:10,  2.33it/s]
 51%|█████     | 457/900 [13:15<42:20,  5.74s/it]
 51%|█████     | 458/900 [13:15<30:06,  4.09s/it]
 51%|█████     | 459/900 [13:15<21:33,  2.93s/it]
 51%|█████     | 460/900 [13:16<15:34,  2.12s/it]
 51%|█████     | 461/900 [13:16<11:22,  1.56s/it]
 51%|█████▏    | 462/900 [13:16<08:27,  1.16s/it]
 51%|█████▏    | 463/900 [13:16<06:25,  1.13it/s]
 52%|█████▏    | 464/900 [13:17<04:58,  1.46it/s]
 52%|█████▏    | 465/900 [13:26<23:07,  3.19s/it]
 52%|█████▏    | 466/900 [13:26<16:38,  2.30s/it]
 52%|█████▏    | 467/900 [13:26<12:04,  1.67s/it]
 52%|█████▏    | 468/900 [13:26<08:54,  1.24s/it]
 52%|█████▏    | 469/900 [13:26<06:41,  1.07it/s]
 52%|█████▏    | 470/900 [13:27<05:07,  1.40it/s]
 52%|█████▏    | 471/900 [13:27<04:02,  1.77it/s]
 52%|█████▏    | 472/900 [13:27<03:17,  2.17it/s]
 53%|█████▎    | 473/900 [13:35<18:40,  2.62s/it]
 53%|█████▎    | 474/900 [13:35<13:29,  1.90s/it]
 53%|█████▎    | 475/900 [13:35<09:53,  1.40s/it]
 53%|█████▎    | 476/900 [13:35<07:21,  1.04s/it]
 53%|█████▎    | 477/900 [13:36<05:36,  1.26it/s]
 53%|█████▎    | 478/900 [13:36<04:23,  1.60it/s]
 53%|█████▎    | 479/900 [13:36<03:33,  1.97it/s]
 53%|█████▎    | 480/900 [13:36<02:59,  2.33it/s]
 53%|█████▎    | 481/900 [13:45<19:32,  2.80s/it]
 54%|█████▎    | 482/900 [13:45<14:08,  2.03s/it]
 54%|█████▎    | 483/900 [13:45<10:21,  1.49s/it]
 54%|█████▍    | 484/900 [13:45<07:43,  1.11s/it]
 54%|█████▍    | 485/900 [13:46<05:53,  1.18it/s]
 54%|█████▍    | 486/900 [13:46<04:36,  1.50it/s]
 54%|█████▍    | 487/900 [13:46<03:42,  1.86it/s]
 54%|█████▍    | 488/900 [13:46<03:04,  2.23it/s]
 54%|█████▍    | 489/900 [13:54<18:20,  2.68s/it]
 54%|█████▍    | 490/900 [13:54<13:18,  1.95s/it]
 55%|█████▍    | 491/900 [13:55<09:47,  1.44s/it]
 55%|█████▍    | 492/900 [13:55<07:20,  1.08s/it]
 55%|█████▍    | 493/900 [13:55<05:37,  1.20it/s]
 55%|█████▍    | 494/900 [13:55<04:25,  1.53it/s]
 55%|█████▌    | 495/900 [13:56<03:35,  1.88it/s]
 55%|█████▌    | 496/900 [13:56<02:59,  2.25it/s]
 55%|█████▌    | 497/900 [14:03<16:32,  2.46s/it]
 55%|█████▌    | 498/900 [14:03<12:02,  1.80s/it]
 55%|█████▌    | 499/900 [14:04<08:54,  1.33s/it]
 56%|█████▌    | 500/900 [14:04<07:35,  1.14s/it]
 56%|█████▌    | 501/900 [14:05<05:47,  1.15it/s]
 56%|█████▌    | 502/900 [14:05<04:31,  1.47it/s]
 56%|█████▌    | 503/900 [14:05<03:38,  1.82it/s]
 56%|█████▌    | 504/900 [14:05<03:01,  2.19it/s]
 56%|█████▌    | 505/900 [14:14<18:58,  2.88s/it]
 56%|█████▌    | 506/900 [14:14<13:43,  2.09s/it]
 56%|█████▋    | 507/900 [14:14<10:03,  1.54s/it]
 56%|█████▋    | 508/900 [14:15<07:30,  1.15s/it]
 57%|█████▋    | 509/900 [14:15<05:44,  1.14it/s]
 57%|█████▋    | 510/900 [14:15<04:29,  1.45it/s]
 57%|█████▋    | 511/900 [14:15<03:35,  1.80it/s]
 57%|█████▋    | 512/900 [14:16<02:58,  2.17it/s]
 57%|█████▋    | 513/900 [14:24<17:48,  2.76s/it]
 57%|█████▋    | 514/900 [14:24<12:51,  2.00s/it]
 57%|█████▋    | 515/900 [14:24<09:24,  1.47s/it]
 57%|█████▋    | 516/900 [14:24<06:58,  1.09s/it]
 57%|█████▋    | 517/900 [14:25<05:17,  1.21it/s]
 58%|█████▊    | 518/900 [14:25<04:06,  1.55it/s]
 58%|█████▊    | 519/900 [14:25<03:16,  1.94it/s]
 58%|█████▊    | 520/900 [14:25<02:42,  2.34it/s]
 58%|█████▊    | 521/900 [14:40<30:41,  4.86s/it]
 58%|█████▊    | 522/900 [14:41<21:49,  3.46s/it]
 58%|█████▊    | 523/900 [14:41<15:38,  2.49s/it]
 58%|█████▊    | 524/900 [14:41<11:19,  1.81s/it]
 58%|█████▊    | 525/900 [14:41<08:20,  1.33s/it]
 58%|█████▊    | 526/900 [14:41<06:14,  1.00s/it]
 59%|█████▊    | 527/900 [14:42<04:46,  1.30it/s]
 59%|█████▊    | 528/900 [14:42<03:44,  1.66it/s]
 59%|█████▉    | 529/900 [14:51<19:31,  3.16s/it]
 59%|█████▉    | 530/900 [14:51<14:01,  2.28s/it]
 59%|█████▉    | 531/900 [14:51<10:11,  1.66s/it]
 59%|█████▉    | 532/900 [14:52<07:30,  1.22s/it]
 59%|█████▉    | 533/900 [14:52<05:38,  1.09it/s]
 59%|█████▉    | 534/900 [14:52<04:20,  1.41it/s]
 59%|█████▉    | 535/900 [14:52<03:25,  1.77it/s]
 60%|█████▉    | 536/900 [14:53<02:49,  2.15it/s]
 60%|█████▉    | 537/900 [15:06<27:15,  4.51s/it]
 60%|█████▉    | 538/900 [15:07<19:27,  3.23s/it]
 60%|█████▉    | 539/900 [15:07<13:58,  2.32s/it]
 60%|██████    | 540/900 [15:07<10:08,  1.69s/it]
 60%|██████    | 541/900 [15:07<07:28,  1.25s/it]
 60%|██████    | 542/900 [15:08<05:36,  1.07it/s]
 60%|██████    | 543/900 [15:08<04:17,  1.39it/s]
 60%|██████    | 544/900 [15:08<03:22,  1.76it/s]
 61%|██████    | 545/900 [15:19<22:16,  3.77s/it]
 61%|██████    | 546/900 [15:19<15:56,  2.70s/it]
 61%|██████    | 547/900 [15:20<11:31,  1.96s/it]
 61%|██████    | 548/900 [15:20<08:27,  1.44s/it]
 61%|██████    | 549/900 [15:20<06:19,  1.08s/it]
 61%|██████    | 550/900 [15:20<04:49,  1.21it/s]
 61%|██████    | 551/900 [15:21<03:46,  1.54it/s]
 61%|██████▏   | 552/900 [15:21<03:02,  1.90it/s]
 61%|██████▏   | 553/900 [15:34<24:54,  4.31s/it]
 62%|██████▏   | 554/900 [15:34<17:47,  3.09s/it]
 62%|██████▏   | 555/900 [15:34<12:49,  2.23s/it]
 62%|██████▏   | 556/900 [15:35<09:22,  1.63s/it]
 62%|██████▏   | 557/900 [15:35<06:57,  1.22s/it]
 62%|██████▏   | 558/900 [15:35<05:17,  1.08it/s]
 62%|██████▏   | 559/900 [15:35<04:06,  1.38it/s]
 62%|██████▏   | 560/900 [15:36<03:17,  1.72it/s]
 62%|██████▏   | 561/900 [15:50<26:42,  4.73s/it]
 62%|██████▏   | 562/900 [15:50<19:03,  3.38s/it]
 63%|██████▎   | 563/900 [15:51<13:43,  2.44s/it]
 63%|██████▎   | 564/900 [15:51<09:59,  1.79s/it]
 63%|██████▎   | 565/900 [15:51<07:23,  1.32s/it]
 63%|██████▎   | 566/900 [15:51<05:34,  1.00s/it]
 63%|██████▎   | 567/900 [15:52<04:17,  1.29it/s]
 63%|██████▎   | 568/900 [15:52<03:24,  1.63it/s]
 63%|██████▎   | 569/900 [16:05<24:47,  4.49s/it]
 63%|██████▎   | 570/900 [16:06<17:42,  3.22s/it]
 63%|██████▎   | 571/900 [16:06<12:44,  2.32s/it]
 64%|██████▎   | 572/900 [16:06<09:17,  1.70s/it]
 64%|██████▎   | 573/900 [16:06<06:53,  1.26s/it]
 64%|██████▍   | 574/900 [16:07<05:11,  1.05it/s]
 64%|██████▍   | 575/900 [16:07<04:01,  1.35it/s]
 64%|██████▍   | 576/900 [16:07<03:11,  1.69it/s]
 64%|██████▍   | 577/900 [16:16<16:38,  3.09s/it]
 64%|██████▍   | 578/900 [16:16<11:58,  2.23s/it]
 64%|██████▍   | 579/900 [16:16<08:42,  1.63s/it]
 64%|██████▍   | 580/900 [16:17<06:25,  1.20s/it]
 65%|██████▍   | 581/900 [16:17<04:49,  1.10it/s]
 65%|██████▍   | 582/900 [16:17<03:42,  1.43it/s]
 65%|██████▍   | 583/900 [16:17<02:55,  1.81it/s]
 65%|██████▍   | 584/900 [16:18<02:22,  2.22it/s]
 65%|██████▌   | 585/900 [16:40<36:29,  6.95s/it]
 65%|██████▌   | 586/900 [16:40<25:47,  4.93s/it]
 65%|██████▌   | 587/900 [16:40<18:19,  3.51s/it]
 65%|██████▌   | 588/900 [16:40<13:08,  2.53s/it]
 65%|██████▌   | 589/900 [16:41<09:30,  1.84s/it]
 66%|██████▌   | 590/900 [16:41<06:58,  1.35s/it]
 66%|██████▌   | 591/900 [16:41<05:11,  1.01s/it]
 66%|██████▌   | 592/900 [16:41<03:57,  1.30it/s]
 66%|██████▌   | 593/900 [16:55<23:47,  4.65s/it]
 66%|██████▌   | 594/900 [16:55<16:55,  3.32s/it]
 66%|██████▌   | 595/900 [16:55<12:08,  2.39s/it]
 66%|██████▌   | 596/900 [16:55<08:47,  1.73s/it]
 66%|██████▋   | 597/900 [16:56<06:27,  1.28s/it]
 66%|██████▋   | 598/900 [16:56<04:49,  1.04it/s]
 67%|██████▋   | 599/900 [16:56<03:40,  1.36it/s]
 67%|██████▋   | 600/900 [16:56<02:53,  1.73it/s]
 67%|██████▋   | 601/900 [17:07<18:34,  3.73s/it]
 67%|██████▋   | 602/900 [17:08<13:16,  2.67s/it]
 67%|██████▋   | 603/900 [17:08<09:35,  1.94s/it]
 67%|██████▋   | 604/900 [17:08<07:00,  1.42s/it]
 67%|██████▋   | 605/900 [17:08<05:11,  1.06s/it]
 67%|██████▋   | 606/900 [17:08<03:56,  1.25it/s]
 67%|██████▋   | 607/900 [17:09<03:02,  1.60it/s]
 68%|██████▊   | 608/900 [17:09<02:25,  2.00it/s]
 68%|██████▊   | 609/900 [17:32<35:16,  7.27s/it]
 68%|██████▊   | 610/900 [17:32<24:54,  5.15s/it]
 68%|██████▊   | 611/900 [17:32<17:41,  3.67s/it]
 68%|██████▊   | 612/900 [17:33<12:39,  2.64s/it]
 68%|██████▊   | 613/900 [17:33<09:08,  1.91s/it]
 68%|██████▊   | 614/900 [17:33<06:40,  1.40s/it]
 68%|██████▊   | 615/900 [17:33<04:57,  1.05s/it]
 68%|██████▊   | 616/900 [17:33<03:45,  1.26it/s]
 69%|██████▊   | 617/900 [17:45<19:02,  4.04s/it]
 69%|██████▊   | 618/900 [17:45<13:35,  2.89s/it]
 69%|██████▉   | 619/900 [17:46<09:47,  2.09s/it]
 69%|██████▉   | 620/900 [17:46<07:08,  1.53s/it]
 69%|██████▉   | 621/900 [17:46<05:18,  1.14s/it]
 69%|██████▉   | 622/900 [17:46<04:01,  1.15it/s]
 69%|██████▉   | 623/900 [17:46<03:07,  1.48it/s]
 69%|██████▉   | 624/900 [17:47<02:30,  1.84it/s]
 69%|██████▉   | 625/900 [18:07<29:09,  6.36s/it]
 70%|██████▉   | 626/900 [18:07<20:39,  4.53s/it]
 70%|██████▉   | 627/900 [18:07<14:43,  3.24s/it]
 70%|██████▉   | 628/900 [18:07<10:34,  2.33s/it]
 70%|██████▉   | 629/900 [18:08<07:41,  1.70s/it]
 70%|███████   | 630/900 [18:08<05:40,  1.26s/it]
 70%|███████   | 631/900 [18:08<04:15,  1.05it/s]
 70%|███████   | 632/900 [18:08<03:16,  1.36it/s]
 70%|███████   | 633/900 [18:17<13:29,  3.03s/it]
 70%|███████   | 634/900 [18:17<09:43,  2.19s/it]
 71%|███████   | 635/900 [18:17<07:05,  1.61s/it]
 71%|███████   | 636/900 [18:17<05:14,  1.19s/it]
 71%|███████   | 637/900 [18:18<03:58,  1.10it/s]
 71%|███████   | 638/900 [18:18<03:04,  1.42it/s]
 71%|███████   | 639/900 [18:18<02:26,  1.78it/s]
 71%|███████   | 640/900 [18:18<01:59,  2.17it/s]
 71%|███████   | 641/900 [18:31<17:43,  4.11s/it]
 71%|███████▏  | 642/900 [18:31<12:39,  2.95s/it]
 71%|███████▏  | 643/900 [18:31<09:06,  2.13s/it]
 72%|███████▏  | 644/900 [18:32<06:37,  1.55s/it]
 72%|███████▏  | 645/900 [18:32<04:53,  1.15s/it]
 72%|███████▏  | 646/900 [18:32<03:41,  1.15it/s]
 72%|███████▏  | 647/900 [18:32<02:50,  1.48it/s]
 72%|███████▏  | 648/900 [18:32<02:15,  1.86it/s]
 72%|███████▏  | 649/900 [19:09<47:35, 11.38s/it]
 72%|███████▏  | 650/900 [19:09<33:27,  8.03s/it]
 72%|███████▏  | 651/900 [19:09<23:35,  5.69s/it]
 72%|███████▏  | 652/900 [19:10<16:43,  4.05s/it]
 73%|███████▎  | 653/900 [19:10<11:55,  2.90s/it]
 73%|███████▎  | 654/900 [19:10<08:35,  2.09s/it]
 73%|███████▎  | 655/900 [19:10<06:15,  1.53s/it]
 73%|███████▎  | 656/900 [19:11<04:37,  1.14s/it]
 73%|███████▎  | 657/900 [19:20<14:20,  3.54s/it]
 73%|███████▎  | 658/900 [19:20<10:15,  2.54s/it]
 73%|███████▎  | 659/900 [19:20<07:24,  1.85s/it]
 73%|███████▎  | 660/900 [19:20<05:26,  1.36s/it]
 73%|███████▎  | 661/900 [19:21<04:03,  1.02s/it]
 74%|███████▎  | 662/900 [19:21<03:05,  1.28it/s]
 74%|███████▎  | 663/900 [19:21<02:25,  1.63it/s]
 74%|███████▍  | 664/900 [19:21<01:56,  2.02it/s]
 74%|███████▍  | 665/900 [19:44<28:21,  7.24s/it]
 74%|███████▍  | 666/900 [19:44<20:01,  5.13s/it]
 74%|███████▍  | 667/900 [19:45<14:12,  3.66s/it]
 74%|███████▍  | 668/900 [19:45<10:09,  2.63s/it]
 74%|███████▍  | 669/900 [19:45<07:19,  1.90s/it]
 74%|███████▍  | 670/900 [19:45<05:21,  1.40s/it]
 75%|███████▍  | 671/900 [19:46<03:59,  1.04s/it]
 75%|███████▍  | 672/900 [19:46<03:01,  1.25it/s]
 75%|███████▍  | 673/900 [19:54<11:39,  3.08s/it]
 75%|███████▍  | 674/900 [19:54<08:23,  2.23s/it]
 75%|███████▌  | 675/900 [19:55<06:06,  1.63s/it]
 75%|███████▌  | 676/900 [19:55<04:31,  1.21s/it]
 75%|███████▌  | 677/900 [19:55<03:25,  1.08it/s]
 75%|███████▌  | 678/900 [19:55<02:39,  1.39it/s]
 75%|███████▌  | 679/900 [19:56<02:07,  1.74it/s]
 76%|███████▌  | 680/900 [19:56<01:44,  2.10it/s]
 76%|███████▌  | 681/900 [20:06<11:51,  3.25s/it]
 76%|███████▌  | 682/900 [20:06<08:31,  2.35s/it]
 76%|███████▌  | 683/900 [20:06<06:12,  1.72s/it]
 76%|███████▌  | 684/900 [20:06<04:35,  1.28s/it]
 76%|███████▌  | 685/900 [20:07<03:28,  1.03it/s]
 76%|███████▌  | 686/900 [20:07<02:41,  1.33it/s]
 76%|███████▋  | 687/900 [20:07<02:07,  1.67it/s]
 76%|███████▋  | 688/900 [20:07<01:44,  2.03it/s]
 77%|███████▋  | 689/900 [20:15<09:38,  2.74s/it]
 77%|███████▋  | 690/900 [20:16<06:59,  2.00s/it]
 77%|███████▋  | 691/900 [20:16<05:07,  1.47s/it]
 77%|███████▋  | 692/900 [20:16<03:49,  1.11s/it]
 77%|███████▋  | 693/900 [20:16<02:55,  1.18it/s]
 77%|███████▋  | 694/900 [20:17<02:17,  1.50it/s]
 77%|███████▋  | 695/900 [20:17<01:50,  1.85it/s]
 77%|███████▋  | 696/900 [20:17<01:31,  2.22it/s]
 77%|███████▋  | 697/900 [20:27<10:52,  3.21s/it]
 78%|███████▊  | 698/900 [20:27<07:49,  2.32s/it]
 78%|███████▊  | 699/900 [20:27<05:41,  1.70s/it]
 78%|███████▊  | 700/900 [20:27<04:12,  1.26s/it]
 78%|███████▊  | 701/900 [20:28<03:10,  1.05it/s]
 78%|███████▊  | 702/900 [20:28<02:26,  1.35it/s]
 78%|███████▊  | 703/900 [20:28<01:57,  1.68it/s]
 78%|███████▊  | 704/900 [20:28<01:37,  2.00it/s]
 78%|███████▊  | 705/900 [20:38<10:51,  3.34s/it]
 78%|███████▊  | 706/900 [20:39<07:48,  2.41s/it]
 79%|███████▊  | 707/900 [20:39<05:39,  1.76s/it]
 79%|███████▊  | 708/900 [20:39<04:10,  1.30s/it]
 79%|███████▉  | 709/900 [20:39<03:08,  1.02it/s]
 79%|███████▉  | 710/900 [20:40<02:24,  1.31it/s]
 79%|███████▉  | 711/900 [20:40<01:54,  1.65it/s]
 79%|███████▉  | 712/900 [20:40<01:33,  2.01it/s]
 79%|███████▉  | 713/900 [20:49<09:32,  3.06s/it]
 79%|███████▉  | 714/900 [20:49<06:50,  2.21s/it]
 79%|███████▉  | 715/900 [20:50<04:57,  1.61s/it]
 80%|███████▉  | 716/900 [20:50<03:39,  1.19s/it]
 80%|███████▉  | 717/900 [20:50<02:44,  1.11it/s]
 80%|███████▉  | 718/900 [20:50<02:06,  1.43it/s]
 80%|███████▉  | 719/900 [20:50<01:40,  1.80it/s]
 80%|████████  | 720/900 [20:51<01:21,  2.20it/s]
 80%|████████  | 721/900 [21:09<17:45,  5.95s/it]
 80%|████████  | 722/900 [21:10<12:33,  4.23s/it]
 80%|████████  | 723/900 [21:10<08:55,  3.03s/it]
 80%|████████  | 724/900 [21:10<06:24,  2.18s/it]
 81%|████████  | 725/900 [21:10<04:39,  1.60s/it]
 81%|████████  | 726/900 [21:11<03:25,  1.18s/it]
 81%|████████  | 727/900 [21:11<02:35,  1.12it/s]
 81%|████████  | 728/900 [21:11<01:59,  1.44it/s]
 81%|████████  | 729/900 [21:38<24:48,  8.70s/it]
 81%|████████  | 730/900 [21:39<17:27,  6.16s/it]
 81%|████████  | 731/900 [21:39<12:20,  4.38s/it]
 81%|████████▏ | 732/900 [21:39<08:46,  3.14s/it]
 81%|████████▏ | 733/900 [21:39<06:18,  2.26s/it]
 82%|████████▏ | 734/900 [21:40<04:34,  1.65s/it]
 82%|████████▏ | 735/900 [21:40<03:21,  1.22s/it]
 82%|████████▏ | 736/900 [21:40<02:31,  1.08it/s]
 82%|████████▏ | 737/900 [22:00<18:04,  6.65s/it]
 82%|████████▏ | 738/900 [22:00<12:46,  4.73s/it]
 82%|████████▏ | 739/900 [22:00<09:04,  3.38s/it]
 82%|████████▏ | 740/900 [22:01<06:29,  2.44s/it]
 82%|████████▏ | 741/900 [22:01<04:42,  1.77s/it]
 82%|████████▏ | 742/900 [22:01<03:27,  1.31s/it]
 83%|████████▎ | 743/900 [22:01<02:35,  1.01it/s]
 83%|████████▎ | 744/900 [22:02<01:59,  1.30it/s]
 83%|████████▎ | 745/900 [22:17<13:19,  5.16s/it]
 83%|████████▎ | 746/900 [22:17<09:29,  3.70s/it]
 83%|████████▎ | 747/900 [22:18<06:47,  2.67s/it]
 83%|████████▎ | 748/900 [22:18<04:54,  1.94s/it]
 83%|████████▎ | 749/900 [22:18<03:35,  1.43s/it]
 83%|████████▎ | 750/900 [22:18<02:40,  1.07s/it]
 83%|████████▎ | 751/900 [22:19<02:02,  1.22it/s]
 84%|████████▎ | 752/900 [22:19<01:35,  1.54it/s]
 84%|████████▎ | 753/900 [22:30<09:11,  3.75s/it]
 84%|████████▍ | 754/900 [22:30<06:34,  2.70s/it]
 84%|████████▍ | 755/900 [22:30<04:44,  1.96s/it]
 84%|████████▍ | 756/900 [22:31<03:27,  1.44s/it]
 84%|████████▍ | 757/900 [22:31<02:33,  1.07s/it]
 84%|████████▍ | 758/900 [22:31<01:56,  1.22it/s]
 84%|████████▍ | 759/900 [22:31<01:30,  1.56it/s]
 84%|████████▍ | 760/900 [22:31<01:12,  1.94it/s]
 85%|████████▍ | 761/900 [22:47<11:46,  5.08s/it]
 85%|████████▍ | 762/900 [22:47<08:20,  3.63s/it]
 85%|████████▍ | 763/900 [22:48<05:56,  2.61s/it]
 85%|████████▍ | 764/900 [22:48<04:17,  1.89s/it]
 85%|████████▌ | 765/900 [22:48<03:07,  1.39s/it]
 85%|████████▌ | 766/900 [22:48<02:19,  1.04s/it]
 85%|████████▌ | 767/900 [22:49<01:46,  1.25it/s]
 85%|████████▌ | 768/900 [22:49<01:23,  1.58it/s]
 85%|████████▌ | 769/900 [23:03<10:05,  4.62s/it]
 86%|████████▌ | 770/900 [23:03<07:10,  3.31s/it]
 86%|████████▌ | 771/900 [23:03<05:07,  2.39s/it]
 86%|████████▌ | 772/900 [23:03<03:42,  1.74s/it]
 86%|████████▌ | 773/900 [23:04<02:44,  1.29s/it]
 86%|████████▌ | 774/900 [23:04<02:03,  1.02it/s]
 86%|████████▌ | 775/900 [23:04<01:35,  1.31it/s]
 86%|████████▌ | 776/900 [23:04<01:14,  1.66it/s]
 86%|████████▋ | 777/900 [23:22<11:46,  5.75s/it]
 86%|████████▋ | 778/900 [23:22<08:19,  4.09s/it]
 87%|████████▋ | 779/900 [23:23<05:55,  2.94s/it]
 87%|████████▋ | 780/900 [23:23<04:14,  2.12s/it]
 87%|████████▋ | 781/900 [23:23<03:05,  1.56s/it]
 87%|████████▋ | 782/900 [23:23<02:17,  1.16s/it]
 87%|████████▋ | 783/900 [23:24<01:43,  1.13it/s]
 87%|████████▋ | 784/900 [23:24<01:19,  1.46it/s]
 87%|████████▋ | 785/900 [23:36<08:02,  4.20s/it]
 87%|████████▋ | 786/900 [23:36<05:42,  3.01s/it]
 87%|████████▋ | 787/900 [23:37<04:05,  2.17s/it]
 88%|████████▊ | 788/900 [23:37<02:57,  1.59s/it]
 88%|████████▊ | 789/900 [23:37<02:10,  1.18s/it]
 88%|████████▊ | 790/900 [23:37<01:38,  1.12it/s]
 88%|████████▊ | 791/900 [23:38<01:15,  1.44it/s]
 88%|████████▊ | 792/900 [23:38<00:59,  1.81it/s]
 88%|████████▊ | 793/900 [23:57<10:59,  6.17s/it]
 88%|████████▊ | 794/900 [23:57<07:45,  4.39s/it]
 88%|████████▊ | 795/900 [23:57<05:29,  3.14s/it]
 88%|████████▊ | 796/900 [23:58<03:56,  2.27s/it]
 89%|████████▊ | 797/900 [23:58<02:52,  1.68s/it]
 89%|████████▊ | 798/900 [23:58<02:07,  1.25s/it]
 89%|████████▉ | 799/900 [23:59<01:36,  1.05it/s]
 89%|████████▉ | 800/900 [23:59<01:14,  1.34it/s]
 89%|████████▉ | 801/900 [24:14<08:24,  5.10s/it]
 89%|████████▉ | 802/900 [24:14<05:56,  3.64s/it]
 89%|████████▉ | 803/900 [24:15<04:13,  2.62s/it]
 89%|████████▉ | 804/900 [24:15<03:02,  1.90s/it]
 89%|████████▉ | 805/900 [24:15<02:13,  1.40s/it]
 90%|████████▉ | 806/900 [24:15<01:38,  1.05s/it]
 90%|████████▉ | 807/900 [24:15<01:14,  1.24it/s]
 90%|████████▉ | 808/900 [24:16<00:57,  1.59it/s]
 90%|████████▉ | 809/900 [24:35<09:33,  6.31s/it]
 90%|█████████ | 810/900 [24:35<06:43,  4.48s/it]
 90%|█████████ | 811/900 [24:36<04:45,  3.21s/it]
 90%|█████████ | 812/900 [24:36<03:23,  2.31s/it]
 90%|█████████ | 813/900 [24:36<02:26,  1.69s/it]
 90%|█████████ | 814/900 [24:36<01:47,  1.25s/it]
 91%|█████████ | 815/900 [24:37<01:19,  1.06it/s]
 91%|█████████ | 816/900 [24:37<01:01,  1.37it/s]
 91%|█████████ | 817/900 [24:51<06:34,  4.76s/it]
 91%|█████████ | 818/900 [24:51<04:38,  3.40s/it]
 91%|█████████ | 819/900 [24:51<03:18,  2.45s/it]
 91%|█████████ | 820/900 [24:52<02:22,  1.78s/it]
 91%|█████████ | 821/900 [24:52<01:43,  1.32s/it]
 91%|█████████▏| 822/900 [24:52<01:17,  1.01it/s]
 91%|█████████▏| 823/900 [24:52<00:58,  1.32it/s]
 92%|█████████▏| 824/900 [24:53<00:45,  1.66it/s]
 92%|█████████▏| 825/900 [24:53<00:39,  1.88it/s]
 92%|█████████▏| 826/900 [24:53<00:32,  2.26it/s]
 92%|█████████▏| 827/900 [24:53<00:27,  2.63it/s]
 92%|█████████▏| 828/900 [24:54<00:24,  2.99it/s]
 92%|█████████▏| 829/900 [24:54<00:21,  3.29it/s]
 92%|█████████▏| 830/900 [24:54<00:19,  3.55it/s]
 92%|█████████▏| 831/900 [24:54<00:18,  3.77it/s]
 92%|█████████▏| 832/900 [24:55<00:17,  3.99it/s]
 93%|█████████▎| 833/900 [24:55<00:18,  3.54it/s]
 93%|█████████▎| 834/900 [24:55<00:17,  3.79it/s]
 93%|█████████▎| 835/900 [24:55<00:16,  3.98it/s]
 93%|█████████▎| 836/900 [24:56<00:15,  4.14it/s]
 93%|█████████▎| 837/900 [24:56<00:14,  4.28it/s]
 93%|█████████▎| 838/900 [24:56<00:14,  4.37it/s]
 93%|█████████▎| 839/900 [24:56<00:13,  4.39it/s]
 93%|█████████▎| 840/900 [24:56<00:13,  4.42it/s]
 93%|█████████▎| 841/900 [24:57<00:15,  3.77it/s]
 94%|█████████▎| 842/900 [24:57<00:14,  3.96it/s]
 94%|█████████▎| 843/900 [24:57<00:13,  4.10it/s]
 94%|█████████▍| 844/900 [24:57<00:13,  4.19it/s]
 94%|█████████▍| 845/900 [24:58<00:12,  4.26it/s]
 94%|█████████▍| 846/900 [24:58<00:12,  4.33it/s]
 94%|█████████▍| 847/900 [24:58<00:12,  4.36it/s]
 94%|█████████▍| 848/900 [24:58<00:11,  4.35it/s]
 94%|█████████▍| 849/900 [24:59<00:13,  3.79it/s]
 94%|█████████▍| 850/900 [24:59<00:12,  3.98it/s]
 95%|█████████▍| 851/900 [24:59<00:11,  4.12it/s]
 95%|█████████▍| 852/900 [24:59<00:11,  4.22it/s]
 95%|█████████▍| 853/900 [25:00<00:10,  4.30it/s]
 95%|█████████▍| 854/900 [25:00<00:10,  4.36it/s]
 95%|█████████▌| 855/900 [25:00<00:10,  4.35it/s]
 95%|█████████▌| 856/900 [25:00<00:10,  4.39it/s]
 95%|█████████▌| 857/900 [25:01<00:11,  3.73it/s]
 95%|█████████▌| 858/900 [25:01<00:10,  3.95it/s]
 95%|█████████▌| 859/900 [25:01<00:09,  4.13it/s]
 96%|█████████▌| 860/900 [25:01<00:09,  4.24it/s]
 96%|█████████▌| 861/900 [25:02<00:09,  4.31it/s]
 96%|█████████▌| 862/900 [25:02<00:08,  4.34it/s]
 96%|█████████▌| 863/900 [25:02<00:08,  4.37it/s]
 96%|█████████▌| 864/900 [25:02<00:08,  4.41it/s]
 96%|█████████▌| 865/900 [25:03<00:09,  3.85it/s]
 96%|█████████▌| 866/900 [25:03<00:08,  4.03it/s]
 96%|█████████▋| 867/900 [25:03<00:07,  4.13it/s]
 96%|█████████▋| 868/900 [25:03<00:07,  4.27it/s]
 97%|█████████▋| 869/900 [25:03<00:07,  4.34it/s]
 97%|█████████▋| 870/900 [25:04<00:06,  4.37it/s]
 97%|█████████▋| 871/900 [25:04<00:06,  4.44it/s]
 97%|█████████▋| 872/900 [25:04<00:06,  4.46it/s]
 97%|█████████▋| 873/900 [25:04<00:07,  3.80it/s]
 97%|█████████▋| 874/900 [25:05<00:06,  4.02it/s]
 97%|█████████▋| 875/900 [25:05<00:06,  4.14it/s]
 97%|█████████▋| 876/900 [25:05<00:05,  4.19it/s]
 97%|█████████▋| 877/900 [25:05<00:05,  4.23it/s]
 98%|█████████▊| 878/900 [25:06<00:05,  4.28it/s]
 98%|█████████▊| 879/900 [25:06<00:04,  4.33it/s]
 98%|█████████▊| 880/900 [25:06<00:04,  4.39it/s]
 98%|█████████▊| 881/900 [25:06<00:05,  3.76it/s]
 98%|█████████▊| 882/900 [25:07<00:04,  3.94it/s]
 98%|█████████▊| 883/900 [25:07<00:04,  4.09it/s]
 98%|█████████▊| 884/900 [25:07<00:03,  4.16it/s]
 98%|█████████▊| 885/900 [25:07<00:03,  4.23it/s]
 98%|█████████▊| 886/900 [25:07<00:03,  4.30it/s]
 99%|█████████▊| 887/900 [25:08<00:02,  4.36it/s]
 99%|█████████▊| 888/900 [25:08<00:02,  4.40it/s]
 99%|█████████▉| 889/900 [25:08<00:02,  3.84it/s]
 99%|█████████▉| 890/900 [25:08<00:02,  3.97it/s]
 99%|█████████▉| 891/900 [25:09<00:02,  4.13it/s]
 99%|█████████▉| 892/900 [25:09<00:01,  4.23it/s]
 99%|█████████▉| 893/900 [25:09<00:01,  4.29it/s]
 99%|█████████▉| 894/900 [25:09<00:01,  4.30it/s]
 99%|█████████▉| 895/900 [25:10<00:01,  4.36it/s]
100%|█████████▉| 896/900 [25:10<00:00,  4.38it/s]
100%|█████████▉| 897/900 [25:10<00:00,  3.84it/s]
100%|█████████▉| 898/900 [25:10<00:00,  4.03it/s]
100%|█████████▉| 899/900 [25:11<00:00,  4.15it/s]
100%|█████████▉| 899/900 [25:11<00:01,  1.68s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/log_2_env0.json.
+BananaThenRubiksCubeTask_2 complete: task_name: BananaThenRubiksCubeTask, run_name: BananaThenRubiksCubeTask_2, run: 2, env_id: 0, policy: harness, instruction: put the banana then the cube in the bowl, attributes: ['conjunction', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -10.70986441812457, 'joint_sparc_mean': -11.591803147090621, 'ee_isj': 43752.91308902605, 'joint_isj': 2396083.758354483, 'ee_path_length': 8.5976869572051, 'joint_rmse_mean': 1.172366730676618, 'ee_speed_max': 3.4549920558929443, 'ee_speed_mean': 0.14082062244415283}, events: {'WRONG_OBJECT_GRABBED': 10, 'GRIPPER_FULLY_CLOSED': 10, 'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 10, 'TARGET_OBJECT_DROPPED': 5, 'MULTIPLE_OBJECTS_GRABBED': 1, 'GRIPPER_HIT_TABLE': 1, 'OBJECT_OUT_OF_SCENE': 1, 'OBJECT_MOVED': 1, 'wrong_objects_grabbed': ['rubiks_cube', 'rubiks_cube', 'bowl', 'bowl', 'bowl', 'bowl', 'banana', 'banana', 'banana', 'banana']}, instruction_type: default, timing: {'policy_inference_s': 1314.721, 'policy_inference_avg_ms': 1460.8, 'env_step_s': 188.018, 'env_step_avg_ms': 208.9, 'video_write_s': 8.152, 'video_write_avg_ms': 9.1, 'wall_total_s': 1510.891, 'it_per_sec': 0.6}, score: 1.0, reason: Condition not satisfied: object_grabbed(object=rubiks_cube) (step 1/2), harness_episode_id: ce287d505ef74fbc89a36e899e452573-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-29T20:28:45Z [12,815,550ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:5
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.201948 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-29T20:28:47Z [12,818,196ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T20:28:47Z [12,818,197ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T20:28:47Z [12,818,205ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T20:28:47Z [12,818,205ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T20:28:47Z [12,818,214ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T20:28:47Z [12,818,221ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-29T20:28:48Z [12,818,657ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1142))' not available in the MDL representation.
+2026-10-29T20:28:48Z [12,818,657ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1142))' not available in the MDL representation.
+2026-10-29T20:28:48Z [12,818,675ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((1152))' not available in the MDL representation.
+2026-10-29T20:28:48Z [12,818,675ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((1152))' not available in the MDL representation.
+2026-10-29T20:28:48Z [12,818,751ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1190))' not available in the MDL representation.
+2026-10-29T20:28:48Z [12,818,752ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1190))' not available in the MDL representation.
+2026-10-29T20:28:48Z [12,818,777ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((1205))' not available in the MDL representation.
+2026-10-29T20:28:48Z [12,818,777ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((1205))' not available in the MDL representation.
+2026-10-29T20:28:49Z [12,819,350ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1142))' not available in the MDL representation.
+2026-10-29T20:28:49Z [12,819,351ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1142))' not available in the MDL representation.
+2026-10-29T20:28:49Z [12,819,351ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((1152))' not available in the MDL representation.
+2026-10-29T20:28:49Z [12,819,352ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((1152))' not available in the MDL representation.
+2026-10-29T20:28:49Z [12,819,354ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1190))' not available in the MDL representation.
+2026-10-29T20:28:49Z [12,819,354ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1190))' not available in the MDL representation.
+2026-10-29T20:28:49Z [12,819,356ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((1205))' not available in the MDL representation.
+2026-10-29T20:28:49Z [12,819,356ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((1205))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.708759 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : FoodPacking1CansTask                          │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pack canned foods into the bin                │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : FoodPacking1CansTaskSceneEnvCfg               │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running FoodPacking1CansTask_0: 'Pack canned foods into the bin' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:29<7:25:18, 29.72s/it]
  0%|          | 2/900 [00:29<3:05:15, 12.38s/it]
  0%|          | 3/900 [00:30<1:42:07,  6.83s/it]
  0%|          | 4/900 [00:30<1:03:04,  4.22s/it]
  1%|          | 5/900 [00:30<41:30,  2.78s/it]  
  1%|          | 6/900 [00:30<28:31,  1.91s/it]
  1%|          | 7/900 [00:31<20:17,  1.36s/it]
  1%|          | 8/900 [00:31<14:54,  1.00s/it]
  1%|          | 9/900 [00:38<42:43,  2.88s/it]
  1%|          | 10/900 [00:38<30:32,  2.06s/it]
  1%|          | 11/900 [00:38<22:11,  1.50s/it]
  1%|▏         | 12/900 [00:39<16:28,  1.11s/it]
  1%|▏         | 13/900 [00:39<12:27,  1.19it/s]
  2%|▏         | 14/900 [00:39<09:41,  1.52it/s]
  2%|▏         | 15/900 [00:39<07:45,  1.90it/s]
  2%|▏         | 16/900 [00:39<06:25,  2.30it/s]
  2%|▏         | 17/900 [01:16<2:46:33, 11.32s/it]
  2%|▏         | 18/900 [01:16<1:57:31,  7.99s/it]
  2%|▏         | 19/900 [01:17<1:23:08,  5.66s/it]
  2%|▏         | 20/900 [01:17<59:06,  4.03s/it]  
  2%|▏         | 21/900 [01:17<42:18,  2.89s/it]
  2%|▏         | 22/900 [01:17<30:34,  2.09s/it]
  3%|▎         | 23/900 [01:17<22:23,  1.53s/it]
  3%|▎         | 24/900 [01:18<16:39,  1.14s/it]
  3%|▎         | 25/900 [01:37<1:34:41,  6.49s/it]
  3%|▎         | 26/900 [01:37<1:07:11,  4.61s/it]
  3%|▎         | 27/900 [01:37<47:58,  3.30s/it]  
  3%|▎         | 28/900 [01:37<34:32,  2.38s/it]
  3%|▎         | 29/900 [01:38<25:07,  1.73s/it]
  3%|▎         | 30/900 [01:38<18:35,  1.28s/it]
  3%|▎         | 31/900 [01:38<14:02,  1.03it/s]
  4%|▎         | 32/900 [01:38<10:50,  1.33it/s]
  4%|▎         | 33/900 [01:44<31:35,  2.19s/it]
  4%|▍         | 34/900 [01:44<23:10,  1.61s/it]
  4%|▍         | 35/900 [01:44<17:11,  1.19s/it]
  4%|▍         | 36/900 [01:45<13:02,  1.10it/s]
  4%|▍         | 37/900 [01:45<10:13,  1.41it/s]
  4%|▍         | 38/900 [01:45<08:19,  1.73it/s]
  4%|▍         | 39/900 [01:45<06:53,  2.08it/s]
  4%|▍         | 40/900 [01:46<05:53,  2.43it/s]
  5%|▍         | 41/900 [02:11<1:52:22,  7.85s/it]
  5%|▍         | 42/900 [02:11<1:19:44,  5.58s/it]
  5%|▍         | 43/900 [02:11<56:49,  3.98s/it]  
  5%|▍         | 44/900 [02:12<40:50,  2.86s/it]
  5%|▌         | 45/900 [02:12<29:39,  2.08s/it]
  5%|▌         | 46/900 [02:12<21:51,  1.54s/it]
  5%|▌         | 47/900 [02:12<16:21,  1.15s/it]
  5%|▌         | 48/900 [02:13<12:33,  1.13it/s]
  5%|▌         | 49/900 [02:17<29:12,  2.06s/it]
  6%|▌         | 50/900 [02:18<21:31,  1.52s/it]
  6%|▌         | 51/900 [02:18<16:02,  1.13s/it]
  6%|▌         | 52/900 [02:18<12:11,  1.16it/s]
  6%|▌         | 53/900 [02:18<09:31,  1.48it/s]
  6%|▌         | 54/900 [02:19<07:36,  1.85it/s]
  6%|▌         | 55/900 [02:19<06:19,  2.23it/s]
  6%|▌         | 56/900 [02:19<05:23,  2.61it/s]
  6%|▋         | 57/900 [02:33<1:01:36,  4.38s/it]
  6%|▋         | 58/900 [02:33<44:02,  3.14s/it]  
  7%|▋         | 59/900 [02:33<31:44,  2.26s/it]
  7%|▋         | 60/900 [02:33<23:07,  1.65s/it]
  7%|▋         | 61/900 [02:34<17:06,  1.22s/it]
  7%|▋         | 62/900 [02:34<12:55,  1.08it/s]
  7%|▋         | 63/900 [02:34<09:59,  1.40it/s]
  7%|▋         | 64/900 [02:34<07:57,  1.75it/s]
  7%|▋         | 65/900 [02:39<25:15,  1.81s/it]
  7%|▋         | 66/900 [02:39<18:36,  1.34s/it]
  7%|▋         | 67/900 [02:40<13:58,  1.01s/it]
  8%|▊         | 68/900 [02:40<10:44,  1.29it/s]
  8%|▊         | 69/900 [02:40<08:29,  1.63it/s]
  8%|▊         | 70/900 [02:40<06:57,  1.99it/s]
  8%|▊         | 71/900 [02:40<05:54,  2.34it/s]
  8%|▊         | 72/900 [02:41<05:12,  2.65it/s]
  8%|▊         | 73/900 [02:48<35:16,  2.56s/it]
  8%|▊         | 74/900 [02:49<25:43,  1.87s/it]
  8%|▊         | 75/900 [02:49<19:01,  1.38s/it]
  8%|▊         | 76/900 [02:49<14:18,  1.04s/it]
  9%|▊         | 77/900 [02:49<11:01,  1.24it/s]
  9%|▊         | 78/900 [02:50<08:40,  1.58it/s]
  9%|▉         | 79/900 [02:50<07:02,  1.94it/s]
  9%|▉         | 80/900 [02:50<05:56,  2.30it/s]
  9%|▉         | 81/900 [02:56<29:27,  2.16s/it]
  9%|▉         | 82/900 [02:57<21:39,  1.59s/it]
  9%|▉         | 83/900 [02:57<16:15,  1.19s/it]
  9%|▉         | 84/900 [02:57<12:25,  1.09it/s]
  9%|▉         | 85/900 [02:57<09:44,  1.39it/s]
 10%|▉         | 86/900 [02:58<07:48,  1.74it/s]
 10%|▉         | 87/900 [02:58<06:23,  2.12it/s]
 10%|▉         | 88/900 [02:58<05:23,  2.51it/s]
 10%|▉         | 89/900 [03:13<1:04:12,  4.75s/it]
 10%|█         | 90/900 [03:13<45:50,  3.40s/it]  
 10%|█         | 91/900 [03:13<33:01,  2.45s/it]
 10%|█         | 92/900 [03:14<24:02,  1.78s/it]
 10%|█         | 93/900 [03:14<17:43,  1.32s/it]
 10%|█         | 94/900 [03:14<13:18,  1.01it/s]
 11%|█         | 95/900 [03:14<10:12,  1.31it/s]
 11%|█         | 96/900 [03:15<08:03,  1.66it/s]
 11%|█         | 97/900 [03:24<44:19,  3.31s/it]
 11%|█         | 98/900 [03:24<31:55,  2.39s/it]
 11%|█         | 99/900 [03:25<23:18,  1.75s/it]
 11%|█         | 100/900 [03:25<17:20,  1.30s/it]
 11%|█         | 101/900 [03:25<13:11,  1.01it/s]
 11%|█▏        | 102/900 [03:25<10:13,  1.30it/s]
 11%|█▏        | 103/900 [03:26<08:09,  1.63it/s]
 12%|█▏        | 104/900 [03:26<06:43,  1.97it/s]
 12%|█▏        | 105/900 [03:55<2:01:06,  9.14s/it]
 12%|█▏        | 106/900 [03:56<1:25:37,  6.47s/it]
 12%|█▏        | 107/900 [03:56<1:00:48,  4.60s/it]
 12%|█▏        | 108/900 [03:56<43:33,  3.30s/it]  
 12%|█▏        | 109/900 [03:56<31:21,  2.38s/it]
 12%|█▏        | 110/900 [03:56<22:49,  1.73s/it]
 12%|█▏        | 111/900 [03:57<16:54,  1.29s/it]
 12%|█▏        | 112/900 [03:57<12:43,  1.03it/s]
 13%|█▎        | 113/900 [04:05<39:22,  3.00s/it]
 13%|█▎        | 114/900 [04:05<28:26,  2.17s/it]
 13%|█▎        | 115/900 [04:05<20:48,  1.59s/it]
 13%|█▎        | 116/900 [04:05<15:28,  1.18s/it]
 13%|█▎        | 117/900 [04:06<11:44,  1.11it/s]
 13%|█▎        | 118/900 [04:06<09:05,  1.43it/s]
 13%|█▎        | 119/900 [04:06<07:15,  1.79it/s]
 13%|█▎        | 120/900 [04:06<06:01,  2.16it/s]
 13%|█▎        | 121/900 [04:21<1:01:25,  4.73s/it]
 14%|█▎        | 122/900 [04:21<43:52,  3.38s/it]  
 14%|█▎        | 123/900 [04:21<31:35,  2.44s/it]
 14%|█▍        | 124/900 [04:22<22:58,  1.78s/it]
 14%|█▍        | 125/900 [04:22<16:57,  1.31s/it]
 14%|█▍        | 126/900 [04:22<12:45,  1.01it/s]
 14%|█▍        | 127/900 [04:22<09:52,  1.31it/s]
 14%|█▍        | 128/900 [04:23<07:48,  1.65it/s]
 14%|█▍        | 129/900 [04:33<43:54,  3.42s/it]
 14%|█▍        | 130/900 [04:33<31:35,  2.46s/it]
 15%|█▍        | 131/900 [04:33<22:58,  1.79s/it]
 15%|█▍        | 132/900 [04:33<16:56,  1.32s/it]
 15%|█▍        | 133/900 [04:34<12:42,  1.01it/s]
 15%|█▍        | 134/900 [04:34<09:46,  1.31it/s]
 15%|█▌        | 135/900 [04:34<07:42,  1.66it/s]
 15%|█▌        | 136/900 [04:34<06:16,  2.03it/s]
 15%|█▌        | 137/900 [04:48<57:36,  4.53s/it]
 15%|█▌        | 138/900 [04:48<41:09,  3.24s/it]
 15%|█▌        | 139/900 [04:49<29:39,  2.34s/it]
 16%|█▌        | 140/900 [04:49<21:36,  1.71s/it]
 16%|█▌        | 141/900 [04:49<15:58,  1.26s/it]
 16%|█▌        | 142/900 [04:49<12:01,  1.05it/s]
 16%|█▌        | 143/900 [04:50<09:17,  1.36it/s]
 16%|█▌        | 144/900 [04:50<07:23,  1.71it/s]
 16%|█▌        | 145/900 [04:57<32:35,  2.59s/it]
 16%|█▌        | 146/900 [04:57<23:38,  1.88s/it]
 16%|█▋        | 147/900 [04:58<17:23,  1.39s/it]
 16%|█▋        | 148/900 [04:58<13:01,  1.04s/it]
 17%|█▋        | 149/900 [04:58<09:57,  1.26it/s]
 17%|█▋        | 150/900 [04:58<07:48,  1.60it/s]
 17%|█▋        | 151/900 [04:58<06:26,  1.94it/s]
 17%|█▋        | 152/900 [04:59<05:21,  2.33it/s]
 17%|█▋        | 153/900 [05:04<24:46,  1.99s/it]
 17%|█▋        | 154/900 [05:05<18:16,  1.47s/it]
 17%|█▋        | 155/900 [05:05<13:42,  1.10s/it]
 17%|█▋        | 156/900 [05:05<10:33,  1.17it/s]
 17%|█▋        | 157/900 [05:05<08:22,  1.48it/s]
 18%|█▊        | 158/900 [05:06<06:47,  1.82it/s]
 18%|█▊        | 159/900 [05:06<05:40,  2.18it/s]
 18%|█▊        | 160/900 [05:06<04:52,  2.53it/s]
 18%|█▊        | 161/900 [05:17<43:21,  3.52s/it]
 18%|█▊        | 162/900 [05:17<31:11,  2.54s/it]
 18%|█▊        | 163/900 [05:17<22:43,  1.85s/it]
 18%|█▊        | 164/900 [05:18<16:46,  1.37s/it]
 18%|█▊        | 165/900 [05:18<12:35,  1.03s/it]
 18%|█▊        | 166/900 [05:18<09:42,  1.26it/s]
 19%|█▊        | 167/900 [05:18<07:43,  1.58it/s]
 19%|█▊        | 168/900 [05:19<06:18,  1.93it/s]
 19%|█▉        | 169/900 [05:24<22:27,  1.84s/it]
 19%|█▉        | 170/900 [05:24<16:38,  1.37s/it]
 19%|█▉        | 171/900 [05:24<12:33,  1.03s/it]
 19%|█▉        | 172/900 [05:24<09:37,  1.26it/s]
 19%|█▉        | 173/900 [05:25<07:34,  1.60it/s]
 19%|█▉        | 174/900 [05:25<06:08,  1.97it/s]
 19%|█▉        | 175/900 [05:25<05:06,  2.37it/s]
 20%|█▉        | 176/900 [05:25<04:23,  2.75it/s]
 20%|█▉        | 177/900 [05:34<34:47,  2.89s/it]
 20%|█▉        | 178/900 [05:34<25:11,  2.09s/it]
 20%|█▉        | 179/900 [05:35<18:26,  1.53s/it]
 20%|██        | 180/900 [05:35<13:44,  1.15s/it]
 20%|██        | 181/900 [05:35<10:28,  1.14it/s]
 20%|██        | 182/900 [05:35<08:11,  1.46it/s]
 20%|██        | 183/900 [05:35<06:35,  1.81it/s]
 20%|██        | 184/900 [05:36<05:25,  2.20it/s]
 21%|██        | 185/900 [05:42<25:31,  2.14s/it]
 21%|██        | 186/900 [05:42<18:40,  1.57s/it]
 21%|██        | 187/900 [05:42<13:56,  1.17s/it]
 21%|██        | 188/900 [05:42<10:35,  1.12it/s]
 21%|██        | 189/900 [05:43<08:14,  1.44it/s]
 21%|██        | 190/900 [05:43<06:34,  1.80it/s]
 21%|██        | 191/900 [05:43<05:26,  2.17it/s]
 21%|██▏       | 192/900 [05:43<04:37,  2.55it/s]
 21%|██▏       | 193/900 [06:07<1:25:17,  7.24s/it]
 22%|██▏       | 194/900 [06:07<1:00:27,  5.14s/it]
 22%|██▏       | 195/900 [06:07<43:05,  3.67s/it]  
 22%|██▏       | 196/900 [06:07<30:57,  2.64s/it]
 22%|██▏       | 197/900 [06:08<22:26,  1.92s/it]
 22%|██▏       | 198/900 [06:08<16:31,  1.41s/it]
 22%|██▏       | 199/900 [06:08<12:22,  1.06s/it]
 22%|██▏       | 200/900 [06:08<09:28,  1.23it/s]
 22%|██▏       | 201/900 [06:29<1:20:25,  6.90s/it]
 22%|██▏       | 202/900 [06:30<57:02,  4.90s/it]  
 23%|██▎       | 203/900 [06:30<40:39,  3.50s/it]
 23%|██▎       | 204/900 [06:30<29:12,  2.52s/it]
 23%|██▎       | 205/900 [06:30<21:13,  1.83s/it]
 23%|██▎       | 206/900 [06:31<15:37,  1.35s/it]
 23%|██▎       | 207/900 [06:31<11:43,  1.01s/it]
 23%|██▎       | 208/900 [06:31<08:59,  1.28it/s]
 23%|██▎       | 209/900 [06:42<44:39,  3.88s/it]
 23%|██▎       | 210/900 [06:42<32:00,  2.78s/it]
 23%|██▎       | 211/900 [06:43<23:10,  2.02s/it]
 24%|██▎       | 212/900 [06:43<16:59,  1.48s/it]
 24%|██▎       | 213/900 [06:43<12:40,  1.11s/it]
 24%|██▍       | 214/900 [06:43<09:39,  1.18it/s]
 24%|██▍       | 215/900 [06:44<07:33,  1.51it/s]
 24%|██▍       | 216/900 [06:44<06:03,  1.88it/s]
 24%|██▍       | 217/900 [06:58<51:18,  4.51s/it]
 24%|██▍       | 218/900 [06:58<36:39,  3.22s/it]
 24%|██▍       | 219/900 [06:58<26:23,  2.33s/it]
 24%|██▍       | 220/900 [06:58<19:14,  1.70s/it]
 25%|██▍       | 221/900 [06:58<14:12,  1.26s/it]
 25%|██▍       | 222/900 [06:59<10:43,  1.05it/s]
 25%|██▍       | 223/900 [06:59<08:17,  1.36it/s]
 25%|██▍       | 224/900 [06:59<06:34,  1.71it/s]
 25%|██▌       | 225/900 [07:08<35:34,  3.16s/it]
 25%|██▌       | 226/900 [07:09<25:39,  2.28s/it]
 25%|██▌       | 227/900 [07:09<18:41,  1.67s/it]
 25%|██▌       | 228/900 [07:09<13:51,  1.24s/it]
 25%|██▌       | 229/900 [07:09<10:33,  1.06it/s]
 26%|██▌       | 230/900 [07:10<08:15,  1.35it/s]
 26%|██▌       | 231/900 [07:10<06:37,  1.68it/s]
 26%|██▌       | 232/900 [07:10<05:28,  2.04it/s]
 26%|██▌       | 233/900 [07:16<24:09,  2.17s/it]
 26%|██▌       | 234/900 [07:16<17:40,  1.59s/it]
 26%|██▌       | 235/900 [07:17<13:07,  1.18s/it]
 26%|██▌       | 236/900 [07:17<09:57,  1.11it/s]
 26%|██▋       | 237/900 [07:17<07:44,  1.43it/s]
 26%|██▋       | 238/900 [07:17<06:09,  1.79it/s]
 27%|██▋       | 239/900 [07:18<05:03,  2.18it/s]
 27%|██▋       | 240/900 [07:18<04:17,  2.56it/s]
 27%|██▋       | 241/900 [07:37<1:07:06,  6.11s/it]
 27%|██▋       | 242/900 [07:37<47:40,  4.35s/it]  
 27%|██▋       | 243/900 [07:38<34:04,  3.11s/it]
 27%|██▋       | 244/900 [07:38<24:34,  2.25s/it]
 27%|██▋       | 245/900 [07:38<17:56,  1.64s/it]
 27%|██▋       | 246/900 [07:38<13:18,  1.22s/it]
 27%|██▋       | 247/900 [07:39<10:03,  1.08it/s]
 28%|██▊       | 248/900 [07:39<07:47,  1.40it/s]
 28%|██▊       | 249/900 [07:47<30:30,  2.81s/it]
 28%|██▊       | 250/900 [07:47<22:04,  2.04s/it]
 28%|██▊       | 251/900 [07:47<16:09,  1.49s/it]
 28%|██▊       | 252/900 [07:47<12:00,  1.11s/it]
 28%|██▊       | 253/900 [07:47<09:08,  1.18it/s]
 28%|██▊       | 254/900 [07:48<07:07,  1.51it/s]
 28%|██▊       | 255/900 [07:48<05:46,  1.86it/s]
 28%|██▊       | 256/900 [07:48<04:49,  2.22it/s]
 29%|██▊       | 257/900 [08:07<1:02:31,  5.83s/it]
 29%|██▊       | 258/900 [08:07<44:28,  4.16s/it]  
 29%|██▉       | 259/900 [08:07<31:51,  2.98s/it]
 29%|██▉       | 260/900 [08:07<23:00,  2.16s/it]
 29%|██▉       | 261/900 [08:08<16:51,  1.58s/it]
 29%|██▉       | 262/900 [08:08<12:33,  1.18s/it]
 29%|██▉       | 263/900 [08:08<09:32,  1.11it/s]
 29%|██▉       | 264/900 [08:08<07:25,  1.43it/s]
 29%|██▉       | 265/900 [08:15<27:39,  2.61s/it]
 30%|██▉       | 266/900 [08:16<20:05,  1.90s/it]
 30%|██▉       | 267/900 [08:16<14:47,  1.40s/it]
 30%|██▉       | 268/900 [08:16<11:03,  1.05s/it]
 30%|██▉       | 269/900 [08:16<08:27,  1.24it/s]
 30%|███       | 270/900 [08:17<06:40,  1.57it/s]
 30%|███       | 271/900 [08:17<05:25,  1.93it/s]
 30%|███       | 272/900 [08:17<04:34,  2.29it/s]
 30%|███       | 273/900 [08:25<28:22,  2.71s/it]
 30%|███       | 274/900 [08:25<20:33,  1.97s/it]
 31%|███       | 275/900 [08:26<15:06,  1.45s/it]
 31%|███       | 276/900 [08:26<11:16,  1.08s/it]
 31%|███       | 277/900 [08:26<08:39,  1.20it/s]
 31%|███       | 278/900 [08:26<06:48,  1.52it/s]
 31%|███       | 279/900 [08:26<05:30,  1.88it/s]
 31%|███       | 280/900 [08:27<04:35,  2.25it/s]
 31%|███       | 281/900 [08:43<52:48,  5.12s/it]
 31%|███▏      | 282/900 [08:43<37:37,  3.65s/it]
 31%|███▏      | 283/900 [08:43<27:00,  2.63s/it]
 32%|███▏      | 284/900 [08:43<19:35,  1.91s/it]
 32%|███▏      | 285/900 [08:44<14:24,  1.41s/it]
 32%|███▏      | 286/900 [08:44<10:47,  1.06s/it]
 32%|███▏      | 287/900 [08:44<08:14,  1.24it/s]
 32%|███▏      | 288/900 [08:44<06:28,  1.58it/s]
 32%|███▏      | 289/900 [08:57<44:26,  4.36s/it]
 32%|███▏      | 290/900 [08:58<31:45,  3.12s/it]
 32%|███▏      | 291/900 [08:58<22:53,  2.26s/it]
 32%|███▏      | 292/900 [08:58<16:42,  1.65s/it]
 33%|███▎      | 293/900 [08:58<12:23,  1.23s/it]
 33%|███▎      | 294/900 [08:59<09:24,  1.07it/s]
 33%|███▎      | 295/900 [08:59<07:19,  1.38it/s]
 33%|███▎      | 296/900 [08:59<05:49,  1.73it/s]
 33%|███▎      | 297/900 [09:06<26:12,  2.61s/it]
 33%|███▎      | 298/900 [09:07<19:01,  1.90s/it]
 33%|███▎      | 299/900 [09:07<14:00,  1.40s/it]
 33%|███▎      | 300/900 [09:07<10:28,  1.05s/it]
 33%|███▎      | 301/900 [09:07<08:01,  1.24it/s]
 34%|███▎      | 302/900 [09:08<06:18,  1.58it/s]
 34%|███▎      | 303/900 [09:08<05:07,  1.94it/s]
 34%|███▍      | 304/900 [09:08<04:14,  2.34it/s]
 34%|███▍      | 305/900 [09:18<31:47,  3.21s/it]
 34%|███▍      | 306/900 [09:18<22:53,  2.31s/it]
 34%|███▍      | 307/900 [09:18<16:41,  1.69s/it]
 34%|███▍      | 308/900 [09:18<12:20,  1.25s/it]
 34%|███▍      | 309/900 [09:19<09:19,  1.06it/s]
 34%|███▍      | 310/900 [09:19<07:12,  1.37it/s]
 35%|███▍      | 311/900 [09:19<05:43,  1.72it/s]
 35%|███▍      | 312/900 [09:19<04:42,  2.08it/s]
 35%|███▍      | 313/900 [09:32<41:07,  4.20s/it]
 35%|███▍      | 314/900 [09:33<29:24,  3.01s/it]
 35%|███▌      | 315/900 [09:33<21:14,  2.18s/it]
 35%|███▌      | 316/900 [09:33<15:30,  1.59s/it]
 35%|███▌      | 317/900 [09:33<11:29,  1.18s/it]
 35%|███▌      | 318/900 [09:33<08:42,  1.11it/s]
 35%|███▌      | 319/900 [09:34<06:44,  1.43it/s]
 36%|███▌      | 320/900 [09:34<05:22,  1.80it/s]
 36%|███▌      | 321/900 [09:42<26:00,  2.70s/it]
 36%|███▌      | 322/900 [09:42<18:49,  1.95s/it]
 36%|███▌      | 323/900 [09:42<13:48,  1.44s/it]
 36%|███▌      | 324/900 [09:42<10:18,  1.07s/it]
 36%|███▌      | 325/900 [09:42<07:51,  1.22it/s]
 36%|███▌      | 326/900 [09:43<06:08,  1.56it/s]
 36%|███▋      | 327/900 [09:43<04:56,  1.93it/s]
 36%|███▋      | 328/900 [09:43<04:11,  2.28it/s]
 37%|███▋      | 329/900 [09:51<26:06,  2.74s/it]
 37%|███▋      | 330/900 [09:52<18:58,  2.00s/it]
 37%|███▋      | 331/900 [09:52<13:58,  1.47s/it]
 37%|███▋      | 332/900 [09:52<10:29,  1.11s/it]
 37%|███▋      | 333/900 [09:52<08:02,  1.18it/s]
 37%|███▋      | 334/900 [09:53<06:19,  1.49it/s]
 37%|███▋      | 335/900 [09:53<05:07,  1.84it/s]
 37%|███▋      | 336/900 [09:53<04:17,  2.19it/s]
 37%|███▋      | 337/900 [10:14<1:01:08,  6.52s/it]
 38%|███▊      | 338/900 [10:14<43:23,  4.63s/it]  
 38%|███▊      | 339/900 [10:14<30:58,  3.31s/it]
 38%|███▊      | 340/900 [10:14<22:17,  2.39s/it]
 38%|███▊      | 341/900 [10:15<16:14,  1.74s/it]
 38%|███▊      | 342/900 [10:15<12:01,  1.29s/it]
 38%|███▊      | 343/900 [10:15<09:03,  1.02it/s]
 38%|███▊      | 344/900 [10:15<06:59,  1.33it/s]
 38%|███▊      | 345/900 [10:27<38:24,  4.15s/it]
 38%|███▊      | 346/900 [10:28<27:28,  2.97s/it]
 39%|███▊      | 347/900 [10:28<19:49,  2.15s/it]
 39%|███▊      | 348/900 [10:28<14:28,  1.57s/it]
 39%|███▉      | 349/900 [10:28<10:46,  1.17s/it]
 39%|███▉      | 350/900 [10:29<08:11,  1.12it/s]
 39%|███▉      | 351/900 [10:29<06:21,  1.44it/s]
 39%|███▉      | 352/900 [10:29<05:05,  1.80it/s]
 39%|███▉      | 353/900 [10:39<30:20,  3.33s/it]
 39%|███▉      | 354/900 [10:39<21:51,  2.40s/it]
 39%|███▉      | 355/900 [10:39<15:55,  1.75s/it]
 40%|███▉      | 356/900 [10:40<11:46,  1.30s/it]
 40%|███▉      | 357/900 [10:40<08:50,  1.02it/s]
 40%|███▉      | 358/900 [10:40<06:47,  1.33it/s]
 40%|███▉      | 359/900 [10:40<05:22,  1.68it/s]
 40%|████      | 360/900 [10:41<04:22,  2.06it/s]
 40%|████      | 361/900 [11:08<1:16:13,  8.49s/it]
 40%|████      | 362/900 [11:08<53:52,  6.01s/it]  
 40%|████      | 363/900 [11:08<38:16,  4.28s/it]
 40%|████      | 364/900 [11:08<27:23,  3.07s/it]
 41%|████      | 365/900 [11:09<19:44,  2.21s/it]
 41%|████      | 366/900 [11:09<14:25,  1.62s/it]
 41%|████      | 367/900 [11:09<10:42,  1.21s/it]
 41%|████      | 368/900 [11:09<08:06,  1.09it/s]
 41%|████      | 369/900 [11:17<26:08,  2.95s/it]
 41%|████      | 370/900 [11:17<18:51,  2.13s/it]
 41%|████      | 371/900 [11:17<13:46,  1.56s/it]
 41%|████▏     | 372/900 [11:18<10:13,  1.16s/it]
 41%|████▏     | 373/900 [11:18<07:45,  1.13it/s]
 42%|████▏     | 374/900 [11:18<06:02,  1.45it/s]
 42%|████▏     | 375/900 [11:18<04:49,  1.81it/s]
 42%|████▏     | 376/900 [11:19<03:57,  2.21it/s]
 42%|████▏     | 377/900 [11:55<1:38:16, 11.27s/it]
 42%|████▏     | 378/900 [11:55<1:09:15,  7.96s/it]
 42%|████▏     | 379/900 [11:56<49:01,  5.65s/it]  
 42%|████▏     | 380/900 [11:56<34:51,  4.02s/it]
 42%|████▏     | 381/900 [11:56<24:57,  2.88s/it]
 42%|████▏     | 382/900 [11:56<18:01,  2.09s/it]
 43%|████▎     | 383/900 [11:57<13:10,  1.53s/it]
 43%|████▎     | 384/900 [11:57<09:47,  1.14s/it]
 43%|████▎     | 385/900 [12:07<33:00,  3.84s/it]
 43%|████▎     | 386/900 [12:07<23:38,  2.76s/it]
 43%|████▎     | 387/900 [12:07<17:06,  2.00s/it]
 43%|████▎     | 388/900 [12:08<12:31,  1.47s/it]
 43%|████▎     | 389/900 [12:08<09:20,  1.10s/it]
 43%|████▎     | 390/900 [12:08<07:06,  1.20it/s]
 43%|████▎     | 391/900 [12:08<05:32,  1.53it/s]
 44%|████▎     | 392/900 [12:09<04:26,  1.90it/s]
 44%|████▎     | 393/900 [12:19<28:26,  3.37s/it]
 44%|████▍     | 394/900 [12:19<20:26,  2.42s/it]
 44%|████▍     | 395/900 [12:19<14:51,  1.77s/it]
 44%|████▍     | 396/900 [12:19<10:59,  1.31s/it]
 44%|████▍     | 397/900 [12:19<08:15,  1.01it/s]
 44%|████▍     | 398/900 [12:20<06:22,  1.31it/s]
 44%|████▍     | 399/900 [12:20<05:01,  1.66it/s]
 44%|████▍     | 400/900 [12:20<04:04,  2.04it/s]
 45%|████▍     | 401/900 [12:31<30:59,  3.73s/it]
 45%|████▍     | 402/900 [12:32<22:13,  2.68s/it]
 45%|████▍     | 403/900 [12:32<16:05,  1.94s/it]
 45%|████▍     | 404/900 [12:32<11:48,  1.43s/it]
 45%|████▌     | 405/900 [12:32<08:48,  1.07s/it]
 45%|████▌     | 406/900 [12:33<06:43,  1.22it/s]
 45%|████▌     | 407/900 [12:33<05:16,  1.56it/s]
 45%|████▌     | 408/900 [12:33<04:15,  1.93it/s]
 45%|████▌     | 409/900 [12:42<25:43,  3.14s/it]
 46%|████▌     | 410/900 [12:43<18:37,  2.28s/it]
 46%|████▌     | 411/900 [12:43<13:35,  1.67s/it]
 46%|████▌     | 412/900 [12:43<10:03,  1.24s/it]
 46%|████▌     | 413/900 [12:43<07:36,  1.07it/s]
 46%|████▌     | 414/900 [12:44<05:53,  1.38it/s]
 46%|████▌     | 415/900 [12:44<04:41,  1.72it/s]
 46%|████▌     | 416/900 [12:44<03:51,  2.09it/s]
 46%|████▋     | 417/900 [12:57<34:18,  4.26s/it]
 46%|████▋     | 418/900 [12:57<24:31,  3.05s/it]
 47%|████▋     | 419/900 [12:58<17:41,  2.21s/it]
 47%|████▋     | 420/900 [12:58<12:54,  1.61s/it]
 47%|████▋     | 421/900 [12:58<09:36,  1.20s/it]
 47%|████▋     | 422/900 [12:58<07:16,  1.09it/s]
 47%|████▋     | 423/900 [12:58<05:38,  1.41it/s]
 47%|████▋     | 424/900 [12:59<04:32,  1.75it/s]
 47%|████▋     | 425/900 [13:08<24:00,  3.03s/it]
 47%|████▋     | 426/900 [13:08<17:18,  2.19s/it]
 47%|████▋     | 427/900 [13:08<12:40,  1.61s/it]
 48%|████▊     | 428/900 [13:08<09:24,  1.20s/it]
 48%|████▊     | 429/900 [13:08<07:06,  1.10it/s]
 48%|████▊     | 430/900 [13:09<05:30,  1.42it/s]
 48%|████▊     | 431/900 [13:09<04:22,  1.78it/s]
 48%|████▊     | 432/900 [13:09<03:36,  2.16it/s]
 48%|████▊     | 433/900 [13:18<22:31,  2.89s/it]
 48%|████▊     | 434/900 [13:18<16:17,  2.10s/it]
 48%|████▊     | 435/900 [13:18<11:54,  1.54s/it]
 48%|████▊     | 436/900 [13:18<08:50,  1.14s/it]
 49%|████▊     | 437/900 [13:19<06:43,  1.15it/s]
 49%|████▊     | 438/900 [13:19<05:13,  1.47it/s]
 49%|████▉     | 439/900 [13:19<04:10,  1.84it/s]
 49%|████▉     | 440/900 [13:19<03:26,  2.22it/s]
 49%|████▉     | 441/900 [13:28<22:55,  3.00s/it]
 49%|████▉     | 442/900 [13:29<16:39,  2.18s/it]
 49%|████▉     | 443/900 [13:29<12:11,  1.60s/it]
 49%|████▉     | 444/900 [13:29<09:04,  1.19s/it]
 49%|████▉     | 445/900 [13:29<06:52,  1.10it/s]
 50%|████▉     | 446/900 [13:30<05:21,  1.41it/s]
 50%|████▉     | 447/900 [13:30<04:17,  1.76it/s]
 50%|████▉     | 448/900 [13:30<03:33,  2.12it/s]
 50%|████▉     | 449/900 [13:38<19:56,  2.65s/it]
 50%|█████     | 450/900 [13:38<14:31,  1.94s/it]
 50%|█████     | 451/900 [13:38<10:40,  1.43s/it]
 50%|█████     | 452/900 [13:38<07:56,  1.06s/it]
 50%|█████     | 453/900 [13:39<06:03,  1.23it/s]
 50%|█████     | 454/900 [13:39<04:44,  1.57it/s]
 51%|█████     | 455/900 [13:39<03:48,  1.94it/s]
 51%|█████     | 456/900 [13:39<03:09,  2.34it/s]
 51%|█████     | 457/900 [13:51<28:01,  3.80s/it]
 51%|█████     | 458/900 [13:51<20:05,  2.73s/it]
 51%|█████     | 459/900 [13:52<14:32,  1.98s/it]
 51%|█████     | 460/900 [13:52<10:40,  1.46s/it]
 51%|█████     | 461/900 [13:52<07:57,  1.09s/it]
 51%|█████▏    | 462/900 [13:52<06:03,  1.21it/s]
 51%|█████▏    | 463/900 [13:52<04:44,  1.54it/s]
 52%|█████▏    | 464/900 [13:53<03:48,  1.91it/s]
 52%|█████▏    | 465/900 [14:01<20:41,  2.85s/it]
 52%|█████▏    | 466/900 [14:01<14:58,  2.07s/it]
 52%|█████▏    | 467/900 [14:01<10:56,  1.52s/it]
 52%|█████▏    | 468/900 [14:02<08:09,  1.13s/it]
 52%|█████▏    | 469/900 [14:02<06:11,  1.16it/s]
 52%|█████▏    | 470/900 [14:02<04:53,  1.47it/s]
 52%|█████▏    | 471/900 [14:02<03:56,  1.81it/s]
 52%|█████▏    | 472/900 [14:03<03:18,  2.15it/s]
 53%|█████▎    | 473/900 [14:12<22:02,  3.10s/it]
 53%|█████▎    | 474/900 [14:12<15:55,  2.24s/it]
 53%|█████▎    | 475/900 [14:12<11:39,  1.65s/it]
 53%|█████▎    | 476/900 [14:13<08:39,  1.23s/it]
 53%|█████▎    | 477/900 [14:13<06:33,  1.07it/s]
 53%|█████▎    | 478/900 [14:13<05:06,  1.38it/s]
 53%|█████▎    | 479/900 [14:13<04:04,  1.72it/s]
 53%|█████▎    | 480/900 [14:14<03:22,  2.07it/s]
 53%|█████▎    | 481/900 [14:24<23:38,  3.38s/it]
 54%|█████▎    | 482/900 [14:24<17:02,  2.44s/it]
 54%|█████▎    | 483/900 [14:24<12:24,  1.78s/it]
 54%|█████▍    | 484/900 [14:25<09:11,  1.33s/it]
 54%|█████▍    | 485/900 [14:25<06:55,  1.00s/it]
 54%|█████▍    | 486/900 [14:25<05:21,  1.29it/s]
 54%|█████▍    | 487/900 [14:25<04:15,  1.62it/s]
 54%|█████▍    | 488/900 [14:26<03:29,  1.97it/s]
 54%|█████▍    | 489/900 [14:33<18:13,  2.66s/it]
 54%|█████▍    | 490/900 [14:33<13:14,  1.94s/it]
 55%|█████▍    | 491/900 [14:34<09:47,  1.44s/it]
 55%|█████▍    | 492/900 [14:34<07:23,  1.09s/it]
 55%|█████▍    | 493/900 [14:34<05:41,  1.19it/s]
 55%|█████▍    | 494/900 [14:35<04:29,  1.50it/s]
 55%|█████▌    | 495/900 [14:35<03:36,  1.87it/s]
 55%|█████▌    | 496/900 [14:35<02:58,  2.26it/s]
 55%|█████▌    | 497/900 [14:47<25:19,  3.77s/it]
 55%|█████▌    | 498/900 [14:47<18:09,  2.71s/it]
 55%|█████▌    | 499/900 [14:47<13:08,  1.97s/it]
 56%|█████▌    | 500/900 [14:48<11:11,  1.68s/it]
 56%|█████▌    | 501/900 [14:48<08:17,  1.25s/it]
 56%|█████▌    | 502/900 [14:48<06:15,  1.06it/s]
 56%|█████▌    | 503/900 [14:49<04:49,  1.37it/s]
 56%|█████▌    | 504/900 [14:49<03:49,  1.72it/s]
 56%|█████▌    | 505/900 [14:58<20:24,  3.10s/it]
 56%|█████▌    | 506/900 [14:58<14:41,  2.24s/it]
 56%|█████▋    | 507/900 [14:58<10:41,  1.63s/it]
 56%|█████▋    | 508/900 [14:59<07:54,  1.21s/it]
 57%|█████▋    | 509/900 [14:59<05:57,  1.09it/s]
 57%|█████▋    | 510/900 [14:59<04:35,  1.41it/s]
 57%|█████▋    | 511/900 [14:59<03:39,  1.77it/s]
 57%|█████▋    | 512/900 [15:00<03:00,  2.15it/s]
 57%|█████▋    | 513/900 [15:09<20:34,  3.19s/it]
 57%|█████▋    | 514/900 [15:09<14:51,  2.31s/it]
 57%|█████▋    | 515/900 [15:10<10:51,  1.69s/it]
 57%|█████▋    | 516/900 [15:10<08:03,  1.26s/it]
 57%|█████▋    | 517/900 [15:10<06:06,  1.04it/s]
 58%|█████▊    | 518/900 [15:10<04:45,  1.34it/s]
 58%|█████▊    | 519/900 [15:11<03:47,  1.68it/s]
 58%|█████▊    | 520/900 [15:11<03:07,  2.03it/s]
 58%|█████▊    | 521/900 [15:34<46:05,  7.30s/it]
 58%|█████▊    | 522/900 [15:34<32:37,  5.18s/it]
 58%|█████▊    | 523/900 [15:34<23:12,  3.69s/it]
 58%|█████▊    | 524/900 [15:35<16:38,  2.65s/it]
 58%|█████▊    | 525/900 [15:35<12:02,  1.93s/it]
 58%|█████▊    | 526/900 [15:35<08:49,  1.42s/it]
 59%|█████▊    | 527/900 [15:35<06:35,  1.06s/it]
 59%|█████▊    | 528/900 [15:36<05:02,  1.23it/s]
 59%|█████▉    | 529/900 [15:49<28:15,  4.57s/it]
 59%|█████▉    | 530/900 [15:49<20:08,  3.27s/it]
 59%|█████▉    | 531/900 [15:49<14:29,  2.36s/it]
 59%|█████▉    | 532/900 [15:50<10:31,  1.72s/it]
 59%|█████▉    | 533/900 [15:50<07:46,  1.27s/it]
 59%|█████▉    | 534/900 [15:50<05:50,  1.04it/s]
 59%|█████▉    | 535/900 [15:50<04:31,  1.34it/s]
 60%|█████▉    | 536/900 [15:51<03:37,  1.67it/s]
 60%|█████▉    | 537/900 [16:20<56:25,  9.33s/it]
 60%|█████▉    | 538/900 [16:21<39:51,  6.61s/it]
 60%|█████▉    | 539/900 [16:21<28:16,  4.70s/it]
 60%|██████    | 540/900 [16:21<20:11,  3.36s/it]
 60%|██████    | 541/900 [16:21<14:33,  2.43s/it]
 60%|██████    | 542/900 [16:22<10:35,  1.78s/it]
 60%|██████    | 543/900 [16:22<07:50,  1.32s/it]
 60%|██████    | 544/900 [16:22<05:55,  1.00it/s]
 61%|██████    | 545/900 [16:30<18:11,  3.07s/it]
 61%|██████    | 546/900 [16:30<13:08,  2.23s/it]
 61%|██████    | 547/900 [16:30<09:37,  1.64s/it]
 61%|██████    | 548/900 [16:31<07:10,  1.22s/it]
 61%|██████    | 549/900 [16:31<05:27,  1.07it/s]
 61%|██████    | 550/900 [16:31<04:14,  1.37it/s]
 61%|██████    | 551/900 [16:31<03:24,  1.71it/s]
 61%|██████▏   | 552/900 [16:32<02:49,  2.06it/s]
 61%|██████▏   | 553/900 [16:40<16:13,  2.81s/it]
 62%|██████▏   | 554/900 [16:40<11:45,  2.04s/it]
 62%|██████▏   | 555/900 [16:40<08:37,  1.50s/it]
 62%|██████▏   | 556/900 [16:41<06:27,  1.13s/it]
 62%|██████▏   | 557/900 [16:41<04:55,  1.16it/s]
 62%|██████▏   | 558/900 [16:41<03:52,  1.47it/s]
 62%|██████▏   | 559/900 [16:41<03:07,  1.82it/s]
 62%|██████▏   | 560/900 [16:42<02:37,  2.15it/s]
 62%|██████▏   | 561/900 [17:03<37:22,  6.62s/it]
 62%|██████▏   | 562/900 [17:03<26:31,  4.71s/it]
 63%|██████▎   | 563/900 [17:03<18:56,  3.37s/it]
 63%|██████▎   | 564/900 [17:03<13:38,  2.44s/it]
 63%|██████▎   | 565/900 [17:04<09:56,  1.78s/it]
 63%|██████▎   | 566/900 [17:04<07:21,  1.32s/it]
 63%|██████▎   | 567/900 [17:04<05:33,  1.00s/it]
 63%|██████▎   | 568/900 [17:04<04:18,  1.29it/s]
 63%|██████▎   | 569/900 [17:20<28:32,  5.17s/it]
 63%|██████▎   | 570/900 [17:20<20:20,  3.70s/it]
 63%|██████▎   | 571/900 [17:20<14:36,  2.66s/it]
 64%|██████▎   | 572/900 [17:21<10:35,  1.94s/it]
 64%|██████▎   | 573/900 [17:21<07:48,  1.43s/it]
 64%|██████▍   | 574/900 [17:21<05:52,  1.08s/it]
 64%|██████▍   | 575/900 [17:21<04:31,  1.20it/s]
 64%|██████▍   | 576/900 [17:22<03:33,  1.52it/s]
 64%|██████▍   | 577/900 [18:15<1:28:42, 16.48s/it]
 64%|██████▍   | 578/900 [18:15<1:02:19, 11.61s/it]
 64%|██████▍   | 579/900 [18:16<43:54,  8.21s/it]  
 64%|██████▍   | 580/900 [18:16<31:02,  5.82s/it]
 65%|██████▍   | 581/900 [18:16<22:03,  4.15s/it]
 65%|██████▍   | 582/900 [18:16<15:48,  2.98s/it]
 65%|██████▍   | 583/900 [18:17<11:26,  2.16s/it]
 65%|██████▍   | 584/900 [18:17<08:23,  1.59s/it]
 65%|██████▌   | 585/900 [18:25<18:03,  3.44s/it]
 65%|██████▌   | 586/900 [18:25<13:00,  2.49s/it]
 65%|██████▌   | 587/900 [18:25<09:30,  1.82s/it]
 65%|██████▌   | 588/900 [18:25<07:02,  1.35s/it]
 65%|██████▌   | 589/900 [18:26<05:17,  1.02s/it]
 66%|██████▌   | 590/900 [18:26<04:05,  1.26it/s]
 66%|██████▌   | 591/900 [18:26<03:15,  1.58it/s]
 66%|██████▌   | 592/900 [18:26<02:40,  1.92it/s]
 66%|██████▌   | 593/900 [18:47<32:46,  6.41s/it]
 66%|██████▌   | 594/900 [18:47<23:16,  4.57s/it]
 66%|██████▌   | 595/900 [18:47<16:38,  3.27s/it]
 66%|██████▌   | 596/900 [18:47<12:00,  2.37s/it]
 66%|██████▋   | 597/900 [18:48<08:46,  1.74s/it]
 66%|██████▋   | 598/900 [18:48<06:31,  1.30s/it]
 67%|██████▋   | 599/900 [18:48<04:56,  1.02it/s]
 67%|██████▋   | 600/900 [18:48<03:49,  1.31it/s]
 67%|██████▋   | 601/900 [18:57<15:36,  3.13s/it]
 67%|██████▋   | 602/900 [18:57<11:17,  2.27s/it]
 67%|██████▋   | 603/900 [18:58<08:15,  1.67s/it]
 67%|██████▋   | 604/900 [18:58<06:07,  1.24s/it]
 67%|██████▋   | 605/900 [18:58<04:39,  1.06it/s]
 67%|██████▋   | 606/900 [18:58<03:37,  1.35it/s]
 67%|██████▋   | 607/900 [18:59<02:53,  1.69it/s]
 68%|██████▊   | 608/900 [18:59<02:23,  2.03it/s]
 68%|██████▊   | 609/900 [19:14<23:26,  4.83s/it]
 68%|██████▊   | 610/900 [19:14<16:43,  3.46s/it]
 68%|██████▊   | 611/900 [19:14<12:01,  2.50s/it]
 68%|██████▊   | 612/900 [19:15<08:45,  1.82s/it]
 68%|██████▊   | 613/900 [19:15<06:28,  1.35s/it]
 68%|██████▊   | 614/900 [19:15<04:53,  1.03s/it]
 68%|██████▊   | 615/900 [19:15<03:46,  1.26it/s]
 68%|██████▊   | 616/900 [19:16<02:59,  1.58it/s]
 69%|██████▊   | 617/900 [19:36<30:44,  6.52s/it]
 69%|██████▊   | 618/900 [19:36<21:48,  4.64s/it]
 69%|██████▉   | 619/900 [19:36<15:34,  3.33s/it]
 69%|██████▉   | 620/900 [19:37<11:13,  2.41s/it]
 69%|██████▉   | 621/900 [19:37<08:11,  1.76s/it]
 69%|██████▉   | 622/900 [19:37<06:05,  1.31s/it]
 69%|██████▉   | 623/900 [19:37<04:36,  1.00it/s]
 69%|██████▉   | 624/900 [19:38<03:34,  1.29it/s]
 69%|██████▉   | 625/900 [19:53<23:44,  5.18s/it]
 70%|██████▉   | 626/900 [19:53<16:55,  3.70s/it]
 70%|██████▉   | 627/900 [19:54<12:08,  2.67s/it]
 70%|██████▉   | 628/900 [19:54<08:48,  1.94s/it]
 70%|██████▉   | 629/900 [19:54<06:28,  1.43s/it]
 70%|███████   | 630/900 [19:54<04:52,  1.08s/it]
 70%|███████   | 631/900 [19:55<03:44,  1.20it/s]
 70%|███████   | 632/900 [19:55<02:56,  1.52it/s]
 70%|███████   | 633/900 [20:05<14:51,  3.34s/it]
 70%|███████   | 634/900 [20:05<10:42,  2.41s/it]
 71%|███████   | 635/900 [20:05<07:47,  1.76s/it]
 71%|███████   | 636/900 [20:05<05:45,  1.31s/it]
 71%|███████   | 637/900 [20:06<04:21,  1.01it/s]
 71%|███████   | 638/900 [20:06<03:22,  1.29it/s]
 71%|███████   | 639/900 [20:06<02:41,  1.62it/s]
 71%|███████   | 640/900 [20:06<02:12,  1.96it/s]
 71%|███████   | 641/900 [20:16<14:09,  3.28s/it]
 71%|███████▏  | 642/900 [20:16<10:12,  2.37s/it]
 71%|███████▏  | 643/900 [20:17<07:26,  1.74s/it]
 72%|███████▏  | 644/900 [20:17<05:30,  1.29s/it]
 72%|███████▏  | 645/900 [20:17<04:10,  1.02it/s]
 72%|███████▏  | 646/900 [20:17<03:14,  1.31it/s]
 72%|███████▏  | 647/900 [20:18<02:34,  1.63it/s]
 72%|███████▏  | 648/900 [20:18<02:07,  1.98it/s]
 72%|███████▏  | 649/900 [20:29<15:02,  3.59s/it]
 72%|███████▏  | 650/900 [20:29<10:49,  2.60s/it]
 72%|███████▏  | 651/900 [20:29<07:53,  1.90s/it]
 72%|███████▏  | 652/900 [20:29<05:49,  1.41s/it]
 73%|███████▎  | 653/900 [20:30<04:23,  1.07s/it]
 73%|███████▎  | 654/900 [20:30<03:23,  1.21it/s]
 73%|███████▎  | 655/900 [20:30<02:41,  1.52it/s]
 73%|███████▎  | 656/900 [20:30<02:10,  1.87it/s]
 73%|███████▎  | 657/900 [20:43<16:13,  4.01s/it]
 73%|███████▎  | 658/900 [20:43<11:37,  2.88s/it]
 73%|███████▎  | 659/900 [20:43<08:25,  2.10s/it]
 73%|███████▎  | 660/900 [20:43<06:10,  1.54s/it]
 73%|███████▎  | 661/900 [20:44<04:36,  1.16s/it]
 74%|███████▎  | 662/900 [20:44<03:31,  1.13it/s]
 74%|███████▎  | 663/900 [20:44<02:45,  1.43it/s]
 74%|███████▍  | 664/900 [20:44<02:13,  1.77it/s]
 74%|███████▍  | 665/900 [20:55<13:39,  3.49s/it]
 74%|███████▍  | 666/900 [20:55<09:50,  2.52s/it]
 74%|███████▍  | 667/900 [20:55<07:09,  1.84s/it]
 74%|███████▍  | 668/900 [20:55<05:16,  1.37s/it]
 74%|███████▍  | 669/900 [20:56<03:58,  1.03s/it]
 74%|███████▍  | 670/900 [20:56<03:04,  1.25it/s]
 75%|███████▍  | 671/900 [20:56<02:26,  1.56it/s]
 75%|███████▍  | 672/900 [20:57<02:00,  1.90it/s]
 75%|███████▍  | 673/900 [21:07<12:49,  3.39s/it]
 75%|███████▍  | 674/900 [21:07<09:13,  2.45s/it]
 75%|███████▌  | 675/900 [21:07<06:43,  1.79s/it]
 75%|███████▌  | 676/900 [21:07<04:58,  1.33s/it]
 75%|███████▌  | 677/900 [21:08<03:45,  1.01s/it]
 75%|███████▌  | 678/900 [21:08<02:53,  1.28it/s]
 75%|███████▌  | 679/900 [21:08<02:18,  1.60it/s]
 76%|███████▌  | 680/900 [21:08<01:53,  1.93it/s]
 76%|███████▌  | 681/900 [21:24<18:04,  4.95s/it]
 76%|███████▌  | 682/900 [21:24<12:52,  3.54s/it]
 76%|███████▌  | 683/900 [21:24<09:15,  2.56s/it]
 76%|███████▌  | 684/900 [21:24<06:43,  1.87s/it]
 76%|███████▌  | 685/900 [21:25<04:57,  1.39s/it]
 76%|███████▌  | 686/900 [21:25<03:44,  1.05s/it]
 76%|███████▋  | 687/900 [21:25<02:52,  1.23it/s]
 76%|███████▋  | 688/900 [21:26<02:17,  1.54it/s]
 77%|███████▋  | 689/900 [21:37<13:38,  3.88s/it]
 77%|███████▋  | 690/900 [21:37<09:47,  2.80s/it]
 77%|███████▋  | 691/900 [21:37<07:05,  2.03s/it]
 77%|███████▋  | 692/900 [21:38<05:12,  1.50s/it]
 77%|███████▋  | 693/900 [21:38<03:53,  1.13s/it]
 77%|███████▋  | 694/900 [21:38<02:59,  1.15it/s]
 77%|███████▋  | 695/900 [21:38<02:20,  1.46it/s]
 77%|███████▋  | 696/900 [21:39<01:53,  1.80it/s]
 77%|███████▋  | 697/900 [21:48<10:34,  3.13s/it]
 78%|███████▊  | 698/900 [21:48<07:38,  2.27s/it]
 78%|███████▊  | 699/900 [21:48<05:34,  1.67s/it]
 78%|███████▊  | 700/900 [21:49<04:08,  1.24s/it]
 78%|███████▊  | 701/900 [21:49<03:08,  1.06it/s]
 78%|███████▊  | 702/900 [21:49<02:26,  1.36it/s]
 78%|███████▊  | 703/900 [21:49<01:56,  1.69it/s]
 78%|███████▊  | 704/900 [21:50<01:36,  2.04it/s]
 78%|███████▊  | 705/900 [22:06<17:20,  5.34s/it]
 78%|███████▊  | 706/900 [22:07<12:20,  3.82s/it]
 79%|███████▊  | 707/900 [22:07<08:50,  2.75s/it]
 79%|███████▊  | 708/900 [22:07<06:24,  2.00s/it]
 79%|███████▉  | 709/900 [22:07<04:42,  1.48s/it]
 79%|███████▉  | 710/900 [22:08<03:31,  1.11s/it]
 79%|███████▉  | 711/900 [22:08<02:41,  1.17it/s]
 79%|███████▉  | 712/900 [22:08<02:06,  1.48it/s]
 79%|███████▉  | 713/900 [22:18<10:42,  3.43s/it]
 79%|███████▉  | 714/900 [22:18<07:41,  2.48s/it]
 79%|███████▉  | 715/900 [22:19<05:35,  1.81s/it]
 80%|███████▉  | 716/900 [22:19<04:07,  1.35s/it]
 80%|███████▉  | 717/900 [22:19<03:06,  1.02s/it]
 80%|███████▉  | 718/900 [22:19<02:23,  1.27it/s]
 80%|███████▉  | 719/900 [22:20<01:53,  1.59it/s]
 80%|████████  | 720/900 [22:20<01:32,  1.94it/s]
 80%|████████  | 721/900 [22:29<09:16,  3.11s/it]
 80%|████████  | 722/900 [22:29<06:41,  2.26s/it]
 80%|████████  | 723/900 [22:29<04:52,  1.65s/it]
 80%|████████  | 724/900 [22:30<03:37,  1.23s/it]
 81%|████████  | 725/900 [22:30<02:44,  1.06it/s]
 81%|████████  | 726/900 [22:30<02:08,  1.36it/s]
 81%|████████  | 727/900 [22:30<01:41,  1.70it/s]
 81%|████████  | 728/900 [22:31<01:23,  2.05it/s]
 81%|████████  | 729/900 [22:42<10:59,  3.86s/it]
 81%|████████  | 730/900 [22:43<07:52,  2.78s/it]
 81%|████████  | 731/900 [22:43<05:41,  2.02s/it]
 81%|████████▏ | 732/900 [22:43<04:10,  1.49s/it]
 81%|████████▏ | 733/900 [22:43<03:06,  1.12s/it]
 82%|████████▏ | 734/900 [22:44<02:22,  1.16it/s]
 82%|████████▏ | 735/900 [22:44<01:51,  1.48it/s]
 82%|████████▏ | 736/900 [22:44<01:28,  1.84it/s]
 82%|████████▏ | 737/900 [23:01<14:34,  5.37s/it]
 82%|████████▏ | 738/900 [23:01<10:19,  3.83s/it]
 82%|████████▏ | 739/900 [23:01<07:22,  2.75s/it]
 82%|████████▏ | 740/900 [23:02<05:18,  1.99s/it]
 82%|████████▏ | 741/900 [23:02<03:52,  1.46s/it]
 82%|████████▏ | 742/900 [23:02<02:52,  1.09s/it]
 83%|████████▎ | 743/900 [23:02<02:10,  1.20it/s]
 83%|████████▎ | 744/900 [23:02<01:41,  1.53it/s]
 83%|████████▎ | 745/900 [23:14<10:03,  3.90s/it]
 83%|████████▎ | 746/900 [23:14<07:10,  2.80s/it]
 83%|████████▎ | 747/900 [23:14<05:10,  2.03s/it]
 83%|████████▎ | 748/900 [23:15<03:46,  1.49s/it]
 83%|████████▎ | 749/900 [23:15<02:48,  1.11s/it]
 83%|████████▎ | 750/900 [23:15<02:07,  1.18it/s]
 83%|████████▎ | 751/900 [23:15<01:39,  1.50it/s]
 84%|████████▎ | 752/900 [23:16<01:19,  1.87it/s]
 84%|████████▎ | 753/900 [23:25<07:55,  3.24s/it]
 84%|████████▍ | 754/900 [23:25<05:42,  2.34s/it]
 84%|████████▍ | 755/900 [23:26<04:08,  1.71s/it]
 84%|████████▍ | 756/900 [23:26<03:03,  1.27s/it]
 84%|████████▍ | 757/900 [23:26<02:17,  1.04it/s]
 84%|████████▍ | 758/900 [23:26<01:45,  1.35it/s]
 84%|████████▍ | 759/900 [23:27<01:23,  1.69it/s]
 84%|████████▍ | 760/900 [23:27<01:08,  2.05it/s]
 85%|████████▍ | 761/900 [23:38<08:18,  3.59s/it]
 85%|████████▍ | 762/900 [23:38<05:56,  2.58s/it]
 85%|████████▍ | 763/900 [23:38<04:17,  1.88s/it]
 85%|████████▍ | 764/900 [23:38<03:08,  1.38s/it]
 85%|████████▌ | 765/900 [23:39<02:20,  1.04s/it]
 85%|████████▌ | 766/900 [23:39<01:47,  1.25it/s]
 85%|████████▌ | 767/900 [23:39<01:24,  1.58it/s]
 85%|████████▌ | 768/900 [23:39<01:07,  1.95it/s]
 85%|████████▌ | 769/900 [23:57<12:42,  5.82s/it]
 86%|████████▌ | 770/900 [23:58<08:58,  4.15s/it]
 86%|████████▌ | 771/900 [23:58<06:23,  2.97s/it]
 86%|████████▌ | 772/900 [23:58<04:35,  2.15s/it]
 86%|████████▌ | 773/900 [23:58<03:20,  1.58s/it]
 86%|████████▌ | 774/900 [23:59<02:27,  1.17s/it]
 86%|████████▌ | 775/900 [23:59<01:51,  1.12it/s]
 86%|████████▌ | 776/900 [23:59<01:25,  1.44it/s]
 86%|████████▋ | 777/900 [24:11<08:32,  4.17s/it]
 86%|████████▋ | 778/900 [24:12<06:04,  2.99s/it]
 87%|████████▋ | 779/900 [24:12<04:22,  2.17s/it]
 87%|████████▋ | 780/900 [24:12<03:10,  1.59s/it]
 87%|████████▋ | 781/900 [24:12<02:21,  1.19s/it]
 87%|████████▋ | 782/900 [24:13<01:46,  1.11it/s]
 87%|████████▋ | 783/900 [24:13<01:22,  1.42it/s]
 87%|████████▋ | 784/900 [24:13<01:06,  1.75it/s]
 87%|████████▋ | 785/900 [24:25<07:44,  4.04s/it]
 87%|████████▋ | 786/900 [24:25<05:31,  2.91s/it]
 87%|████████▋ | 787/900 [24:26<03:58,  2.11s/it]
 88%|████████▊ | 788/900 [24:26<02:54,  1.56s/it]
 88%|████████▊ | 789/900 [24:26<02:09,  1.17s/it]
 88%|████████▊ | 790/900 [24:27<01:38,  1.12it/s]
 88%|████████▊ | 791/900 [24:27<01:16,  1.43it/s]
 88%|████████▊ | 792/900 [24:27<01:01,  1.76it/s]
 88%|████████▊ | 793/900 [24:40<07:33,  4.24s/it]
 88%|████████▊ | 794/900 [24:40<05:22,  3.05s/it]
 88%|████████▊ | 795/900 [24:40<03:53,  2.22s/it]
 88%|████████▊ | 796/900 [24:41<02:50,  1.64s/it]
 89%|████████▊ | 797/900 [24:41<02:05,  1.22s/it]
 89%|████████▊ | 798/900 [24:41<01:35,  1.07it/s]
 89%|████████▉ | 799/900 [24:41<01:13,  1.37it/s]
 89%|████████▉ | 800/900 [24:42<00:58,  1.71it/s]
 89%|████████▉ | 801/900 [24:54<06:41,  4.05s/it]
 89%|████████▉ | 802/900 [24:54<04:45,  2.91s/it]
 89%|████████▉ | 803/900 [24:54<03:24,  2.11s/it]
 89%|████████▉ | 804/900 [24:55<02:28,  1.55s/it]
 89%|████████▉ | 805/900 [24:55<01:49,  1.15s/it]
 90%|████████▉ | 806/900 [24:55<01:22,  1.14it/s]
 90%|████████▉ | 807/900 [24:55<01:03,  1.45it/s]
 90%|████████▉ | 808/900 [24:55<00:50,  1.82it/s]
 90%|████████▉ | 809/900 [25:09<06:37,  4.37s/it]
 90%|█████████ | 810/900 [25:09<04:41,  3.13s/it]
 90%|█████████ | 811/900 [25:09<03:21,  2.26s/it]
 90%|█████████ | 812/900 [25:09<02:25,  1.65s/it]
 90%|█████████ | 813/900 [25:10<01:46,  1.23s/it]
 90%|█████████ | 814/900 [25:10<01:20,  1.07it/s]
 91%|█████████ | 815/900 [25:10<01:01,  1.38it/s]
 91%|█████████ | 816/900 [25:10<00:48,  1.74it/s]
 91%|█████████ | 817/900 [25:22<05:16,  3.82s/it]
 91%|█████████ | 818/900 [25:22<03:45,  2.75s/it]
 91%|█████████ | 819/900 [25:22<02:41,  1.99s/it]
 91%|█████████ | 820/900 [25:23<01:57,  1.47s/it]
 91%|█████████ | 821/900 [25:23<01:26,  1.10s/it]
 91%|█████████▏| 822/900 [25:23<01:05,  1.19it/s]
 91%|█████████▏| 823/900 [25:23<00:50,  1.52it/s]
 92%|█████████▏| 824/900 [25:23<00:40,  1.88it/s]
 92%|█████████▏| 825/900 [25:52<11:18,  9.05s/it]
 92%|█████████▏| 826/900 [25:53<07:53,  6.40s/it]
 92%|█████████▏| 827/900 [25:53<05:32,  4.55s/it]
 92%|█████████▏| 828/900 [25:53<03:54,  3.26s/it]
 92%|█████████▏| 829/900 [25:53<02:46,  2.35s/it]
 92%|█████████▏| 830/900 [25:54<02:00,  1.71s/it]
 92%|█████████▏| 831/900 [25:54<01:27,  1.27s/it]
 92%|█████████▏| 832/900 [25:54<01:05,  1.04it/s]
 93%|█████████▎| 833/900 [26:09<05:43,  5.13s/it]
 93%|█████████▎| 834/900 [26:09<04:01,  3.66s/it]
 93%|█████████▎| 835/900 [26:09<02:51,  2.63s/it]
 93%|█████████▎| 836/900 [26:10<02:02,  1.91s/it]
 93%|█████████▎| 837/900 [26:10<01:28,  1.41s/it]
 93%|█████████▎| 838/900 [26:10<01:05,  1.06s/it]
 93%|█████████▎| 839/900 [26:10<00:49,  1.23it/s]
 93%|█████████▎| 840/900 [26:11<00:38,  1.55it/s]
 93%|█████████▎| 841/900 [26:22<03:52,  3.94s/it]
 94%|█████████▎| 842/900 [26:22<02:44,  2.83s/it]
 94%|█████████▎| 843/900 [26:23<01:57,  2.06s/it]
 94%|█████████▍| 844/900 [26:23<01:25,  1.52s/it]
 94%|█████████▍| 845/900 [26:23<01:02,  1.14s/it]
 94%|█████████▍| 846/900 [26:23<00:47,  1.15it/s]
 94%|█████████▍| 847/900 [26:24<00:36,  1.45it/s]
 94%|█████████▍| 848/900 [26:24<00:29,  1.79it/s]
 94%|█████████▍| 849/900 [26:35<03:08,  3.70s/it]
 94%|█████████▍| 850/900 [26:35<02:13,  2.67s/it]
 95%|█████████▍| 851/900 [26:36<01:35,  1.94s/it]
 95%|█████████▍| 852/900 [26:36<01:08,  1.44s/it]
 95%|█████████▍| 853/900 [26:36<00:50,  1.08s/it]
 95%|█████████▍| 854/900 [26:36<00:38,  1.20it/s]
 95%|█████████▌| 855/900 [26:37<00:29,  1.51it/s]
 95%|█████████▌| 856/900 [26:37<00:23,  1.86it/s]
 95%|█████████▌| 857/900 [26:50<03:06,  4.34s/it]
 95%|█████████▌| 858/900 [26:50<02:10,  3.12s/it]
 95%|█████████▌| 859/900 [26:51<01:32,  2.26s/it]
 96%|█████████▌| 860/900 [26:51<01:06,  1.66s/it]
 96%|█████████▌| 861/900 [26:51<00:48,  1.24s/it]
 96%|█████████▌| 862/900 [26:51<00:35,  1.06it/s]
 96%|█████████▌| 863/900 [26:52<00:27,  1.36it/s]
 96%|█████████▌| 864/900 [26:52<00:21,  1.71it/s]
 96%|█████████▌| 865/900 [27:04<02:26,  4.20s/it]
 96%|█████████▌| 866/900 [27:05<01:42,  3.01s/it]
 96%|█████████▋| 867/900 [27:05<01:11,  2.18s/it]
 96%|█████████▋| 868/900 [27:05<00:50,  1.59s/it]
 97%|█████████▋| 869/900 [27:05<00:36,  1.19s/it]
 97%|█████████▋| 870/900 [27:06<00:27,  1.11it/s]
 97%|█████████▋| 871/900 [27:06<00:20,  1.42it/s]
 97%|█████████▋| 872/900 [27:06<00:15,  1.77it/s]
 97%|█████████▋| 873/900 [27:20<02:01,  4.51s/it]
 97%|█████████▋| 874/900 [27:20<01:24,  3.24s/it]
 97%|█████████▋| 875/900 [27:20<00:58,  2.34s/it]
 97%|█████████▋| 876/900 [27:21<00:41,  1.72s/it]
 97%|█████████▋| 877/900 [27:21<00:29,  1.28s/it]
 98%|█████████▊| 878/900 [27:21<00:21,  1.03it/s]
 98%|█████████▊| 879/900 [27:21<00:15,  1.32it/s]
 98%|█████████▊| 880/900 [27:22<00:12,  1.64it/s]
 98%|█████████▊| 881/900 [27:32<01:08,  3.61s/it]
 98%|█████████▊| 882/900 [27:32<00:46,  2.61s/it]
 98%|█████████▊| 883/900 [27:33<00:32,  1.91s/it]
 98%|█████████▊| 884/900 [27:33<00:22,  1.41s/it]
 98%|█████████▊| 885/900 [27:33<00:15,  1.06s/it]
 98%|█████████▊| 886/900 [27:33<00:11,  1.22it/s]
 99%|█████████▊| 887/900 [27:34<00:08,  1.55it/s]
 99%|█████████▊| 888/900 [27:34<00:06,  1.91it/s]
 99%|█████████▉| 889/900 [27:46<00:43,  3.99s/it]
 99%|█████████▉| 890/900 [27:46<00:28,  2.86s/it]
 99%|█████████▉| 891/900 [27:47<00:18,  2.08s/it]
 99%|█████████▉| 892/900 [27:47<00:12,  1.53s/it]
 99%|█████████▉| 893/900 [27:47<00:07,  1.14s/it]
 99%|█████████▉| 894/900 [27:47<00:05,  1.15it/s]
 99%|█████████▉| 895/900 [27:47<00:03,  1.47it/s]
100%|█████████▉| 896/900 [27:48<00:02,  1.82it/s]
100%|█████████▉| 897/900 [27:59<00:11,  3.88s/it]
100%|█████████▉| 898/900 [28:00<00:05,  2.80s/it]
100%|█████████▉| 899/900 [28:00<00:02,  2.04s/it]
100%|█████████▉| 899/900 [28:00<00:01,  1.87s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/log_0_env0.json.
+FoodPacking1CansTask_0 complete: task_name: FoodPacking1CansTask, run_name: FoodPacking1CansTask_0, run: 0, env_id: 0, policy: harness, instruction: Pack canned foods into the bin, attributes: ['semantics', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -11.942963927132716, 'joint_sparc_mean': -13.493597668403025, 'ee_isj': 9892.677840925287, 'joint_isj': 927110.8813310218, 'ee_path_length': 8.077996113263728, 'joint_rmse_mean': 1.3535019827766168, 'ee_speed_max': 1.3752362728118896, 'ee_speed_mean': 0.1305614858865738}, events: {'GRIPPER_HIT_TABLE': 2, 'GRIPPER_FULLY_CLOSED': 14, 'TARGET_OBJECT_DROPPED': 4, 'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 3, 'OBJECT_BUMPED': 6, 'OBJECT_MOVED': 1, 'wrong_objects_grabbed': ['cheez_it', 'cheez_it', 'cheez_it']}, instruction_type: default, timing: {'policy_inference_s': 1469.182, 'policy_inference_avg_ms': 1632.4, 'env_step_s': 203.094, 'env_step_avg_ms': 225.7, 'video_write_s': 7.957, 'video_write_avg_ms': 8.8, 'wall_total_s': 1680.233, 'it_per_sec': 0.54}, score: 0.0, reason: Condition not satisfied: object_in_container(object=tomato_soup_can, container=bin_a06, require_contact_with=False, require_gripper_detached=True) (step 2/2), harness_episode_id: efd7551bb4e742c3b766895691f4d238-0
+[RoboLab] Running FoodPacking1CansTask_1: 'Pack canned foods into the bin' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:32<8:03:46, 32.29s/it]
  0%|          | 2/900 [00:32<3:21:08, 13.44s/it]
  0%|          | 3/900 [00:32<1:50:52,  7.42s/it]
  0%|          | 4/900 [00:33<1:08:26,  4.58s/it]
  1%|          | 5/900 [00:33<44:58,  3.01s/it]  
  1%|          | 6/900 [00:33<30:52,  2.07s/it]
  1%|          | 7/900 [00:33<21:53,  1.47s/it]
  1%|          | 8/900 [00:33<16:03,  1.08s/it]
  1%|          | 9/900 [00:45<1:06:38,  4.49s/it]
  1%|          | 10/900 [00:46<47:03,  3.17s/it] 
  1%|          | 11/900 [00:46<33:39,  2.27s/it]
  1%|▏         | 12/900 [00:46<24:27,  1.65s/it]
  1%|▏         | 13/900 [00:46<18:01,  1.22s/it]
  2%|▏         | 14/900 [00:47<13:34,  1.09it/s]
  2%|▏         | 15/900 [00:47<10:28,  1.41it/s]
  2%|▏         | 16/900 [00:47<08:21,  1.76it/s]
  2%|▏         | 17/900 [01:00<1:02:58,  4.28s/it]
  2%|▏         | 18/900 [01:00<45:00,  3.06s/it]  
  2%|▏         | 19/900 [01:00<32:27,  2.21s/it]
  2%|▏         | 20/900 [01:01<23:40,  1.61s/it]
  2%|▏         | 21/900 [01:01<17:33,  1.20s/it]
  2%|▏         | 22/900 [01:01<13:17,  1.10it/s]
  3%|▎         | 23/900 [01:01<10:18,  1.42it/s]
  3%|▎         | 24/900 [01:02<08:13,  1.77it/s]
  3%|▎         | 25/900 [01:10<43:39,  2.99s/it]
  3%|▎         | 26/900 [01:10<31:30,  2.16s/it]
  3%|▎         | 27/900 [01:11<23:00,  1.58s/it]
  3%|▎         | 28/900 [01:11<17:05,  1.18s/it]
  3%|▎         | 29/900 [01:11<12:56,  1.12it/s]
  3%|▎         | 30/900 [01:11<10:01,  1.45it/s]
  3%|▎         | 31/900 [01:12<07:59,  1.81it/s]
  4%|▎         | 32/900 [01:12<06:34,  2.20it/s]
  4%|▎         | 33/900 [01:16<22:11,  1.54s/it]
  4%|▍         | 34/900 [01:16<16:30,  1.14s/it]
  4%|▍         | 35/900 [01:16<12:32,  1.15it/s]
  4%|▍         | 36/900 [01:17<09:45,  1.47it/s]
  4%|▍         | 37/900 [01:17<07:49,  1.84it/s]
  4%|▍         | 38/900 [01:17<06:28,  2.22it/s]
  4%|▍         | 39/900 [01:17<05:30,  2.60it/s]
  4%|▍         | 40/900 [01:18<04:51,  2.95it/s]
  5%|▍         | 41/900 [01:24<31:13,  2.18s/it]
  5%|▍         | 42/900 [01:24<22:49,  1.60s/it]
  5%|▍         | 43/900 [01:24<16:56,  1.19s/it]
  5%|▍         | 44/900 [01:25<12:50,  1.11it/s]
  5%|▌         | 45/900 [01:25<09:58,  1.43it/s]
  5%|▌         | 46/900 [01:25<07:56,  1.79it/s]
  5%|▌         | 47/900 [01:25<06:31,  2.18it/s]
  5%|▌         | 48/900 [01:26<05:33,  2.56it/s]
  5%|▌         | 49/900 [01:51<1:51:26,  7.86s/it]
  6%|▌         | 50/900 [01:51<1:18:53,  5.57s/it]
  6%|▌         | 51/900 [01:51<56:06,  3.97s/it]  
  6%|▌         | 52/900 [01:52<40:12,  2.84s/it]
  6%|▌         | 53/900 [01:52<29:05,  2.06s/it]
  6%|▌         | 54/900 [01:52<21:17,  1.51s/it]
  6%|▌         | 55/900 [01:52<15:52,  1.13s/it]
  6%|▌         | 56/900 [01:52<12:02,  1.17it/s]
  6%|▋         | 57/900 [02:00<42:14,  3.01s/it]
  6%|▋         | 58/900 [02:01<30:28,  2.17s/it]
  7%|▋         | 59/900 [02:01<22:15,  1.59s/it]
  7%|▋         | 60/900 [02:01<16:31,  1.18s/it]
  7%|▋         | 61/900 [02:01<12:30,  1.12it/s]
  7%|▋         | 62/900 [02:02<09:42,  1.44it/s]
  7%|▋         | 63/900 [02:02<07:45,  1.80it/s]
  7%|▋         | 64/900 [02:02<06:22,  2.18it/s]
  7%|▋         | 65/900 [02:07<25:00,  1.80s/it]
  7%|▋         | 66/900 [02:07<18:27,  1.33s/it]
  7%|▋         | 67/900 [02:07<13:51,  1.00it/s]
  8%|▊         | 68/900 [02:08<10:37,  1.30it/s]
  8%|▊         | 69/900 [02:08<08:21,  1.66it/s]
  8%|▊         | 70/900 [02:08<06:46,  2.04it/s]
  8%|▊         | 71/900 [02:08<05:40,  2.44it/s]
  8%|▊         | 72/900 [02:09<04:54,  2.81it/s]
  8%|▊         | 73/900 [02:13<20:01,  1.45s/it]
  8%|▊         | 74/900 [02:13<15:03,  1.09s/it]
  8%|▊         | 75/900 [02:13<11:32,  1.19it/s]
  8%|▊         | 76/900 [02:13<09:07,  1.50it/s]
  9%|▊         | 77/900 [02:14<07:24,  1.85it/s]
  9%|▊         | 78/900 [02:14<06:12,  2.21it/s]
  9%|▉         | 79/900 [02:14<05:23,  2.54it/s]
  9%|▉         | 80/900 [02:14<04:49,  2.83it/s]
  9%|▉         | 81/900 [02:20<27:11,  1.99s/it]
  9%|▉         | 82/900 [02:20<19:59,  1.47s/it]
  9%|▉         | 83/900 [02:21<14:57,  1.10s/it]
  9%|▉         | 84/900 [02:21<11:25,  1.19it/s]
  9%|▉         | 85/900 [02:21<08:55,  1.52it/s]
 10%|▉         | 86/900 [02:21<07:10,  1.89it/s]
 10%|▉         | 87/900 [02:22<05:57,  2.27it/s]
 10%|▉         | 88/900 [02:22<05:04,  2.66it/s]
 10%|▉         | 89/900 [02:41<1:21:44,  6.05s/it]
 10%|█         | 90/900 [02:41<58:06,  4.30s/it]  
 10%|█         | 91/900 [02:42<41:34,  3.08s/it]
 10%|█         | 92/900 [02:42<30:03,  2.23s/it]
 10%|█         | 93/900 [02:42<21:57,  1.63s/it]
 10%|█         | 94/900 [02:42<16:18,  1.21s/it]
 11%|█         | 95/900 [02:43<12:20,  1.09it/s]
 11%|█         | 96/900 [02:43<09:35,  1.40it/s]
 11%|█         | 97/900 [02:49<29:57,  2.24s/it]
 11%|█         | 98/900 [02:49<21:52,  1.64s/it]
 11%|█         | 99/900 [02:49<16:13,  1.21s/it]
 11%|█         | 100/900 [02:49<12:15,  1.09it/s]
 11%|█         | 101/900 [02:49<09:29,  1.40it/s]
 11%|█▏        | 102/900 [02:50<07:36,  1.75it/s]
 11%|█▏        | 103/900 [02:50<06:16,  2.12it/s]
 12%|█▏        | 104/900 [02:50<05:18,  2.50it/s]
 12%|█▏        | 105/900 [03:01<45:58,  3.47s/it]
 12%|█▏        | 106/900 [03:01<33:05,  2.50s/it]
 12%|█▏        | 107/900 [03:01<24:04,  1.82s/it]
 12%|█▏        | 108/900 [03:02<17:45,  1.34s/it]
 12%|█▏        | 109/900 [03:02<13:19,  1.01s/it]
 12%|█▏        | 110/900 [03:02<10:13,  1.29it/s]
 12%|█▏        | 111/900 [03:02<08:04,  1.63it/s]
 12%|█▏        | 112/900 [03:02<06:33,  2.00it/s]
 13%|█▎        | 113/900 [03:07<23:14,  1.77s/it]
 13%|█▎        | 114/900 [03:07<17:09,  1.31s/it]
 13%|█▎        | 115/900 [03:08<12:54,  1.01it/s]
 13%|█▎        | 116/900 [03:08<09:55,  1.32it/s]
 13%|█▎        | 117/900 [03:08<07:52,  1.66it/s]
 13%|█▎        | 118/900 [03:08<06:25,  2.03it/s]
 13%|█▎        | 119/900 [03:09<05:24,  2.41it/s]
 13%|█▎        | 120/900 [03:09<04:40,  2.78it/s]
 13%|█▎        | 121/900 [03:14<25:07,  1.94s/it]
 14%|█▎        | 122/900 [03:15<18:27,  1.42s/it]
 14%|█▎        | 123/900 [03:15<13:47,  1.06s/it]
 14%|█▍        | 124/900 [03:15<10:29,  1.23it/s]
 14%|█▍        | 125/900 [03:15<08:11,  1.58it/s]
 14%|█▍        | 126/900 [03:16<06:38,  1.94it/s]
 14%|█▍        | 127/900 [03:16<05:32,  2.32it/s]
 14%|█▍        | 128/900 [03:16<04:53,  2.63it/s]
 14%|█▍        | 129/900 [03:23<28:26,  2.21s/it]
 14%|█▍        | 130/900 [03:23<20:57,  1.63s/it]
 15%|█▍        | 131/900 [03:23<15:36,  1.22s/it]
 15%|█▍        | 132/900 [03:23<11:52,  1.08it/s]
 15%|█▍        | 133/900 [03:24<09:15,  1.38it/s]
 15%|█▍        | 134/900 [03:24<07:25,  1.72it/s]
 15%|█▌        | 135/900 [03:24<06:08,  2.08it/s]
 15%|█▌        | 136/900 [03:24<05:13,  2.44it/s]
 15%|█▌        | 137/900 [03:55<2:02:18,  9.62s/it]
 15%|█▌        | 138/900 [03:56<1:26:27,  6.81s/it]
 15%|█▌        | 139/900 [03:56<1:01:21,  4.84s/it]
 16%|█▌        | 140/900 [03:56<43:49,  3.46s/it]  
 16%|█▌        | 141/900 [03:56<31:34,  2.50s/it]
 16%|█▌        | 142/900 [03:57<22:58,  1.82s/it]
 16%|█▌        | 143/900 [03:57<16:59,  1.35s/it]
 16%|█▌        | 144/900 [03:57<12:47,  1.02s/it]
 16%|█▌        | 145/900 [04:02<27:55,  2.22s/it]
 16%|█▌        | 146/900 [04:02<20:26,  1.63s/it]
 16%|█▋        | 147/900 [04:03<15:12,  1.21s/it]
 16%|█▋        | 148/900 [04:03<11:33,  1.08it/s]
 17%|█▋        | 149/900 [04:03<09:00,  1.39it/s]
 17%|█▋        | 150/900 [04:03<07:10,  1.74it/s]
 17%|█▋        | 151/900 [04:04<05:53,  2.12it/s]
 17%|█▋        | 152/900 [04:04<04:58,  2.50it/s]
 17%|█▋        | 153/900 [04:21<1:09:07,  5.55s/it]
 17%|█▋        | 154/900 [04:22<49:09,  3.95s/it]  
 17%|█▋        | 155/900 [04:22<35:12,  2.84s/it]
 17%|█▋        | 156/900 [04:22<25:28,  2.05s/it]
 17%|█▋        | 157/900 [04:22<18:39,  1.51s/it]
 18%|█▊        | 158/900 [04:23<13:54,  1.12s/it]
 18%|█▊        | 159/900 [04:23<10:34,  1.17it/s]
 18%|█▊        | 160/900 [04:23<08:15,  1.49it/s]
 18%|█▊        | 161/900 [04:29<26:14,  2.13s/it]
 18%|█▊        | 162/900 [04:29<19:13,  1.56s/it]
 18%|█▊        | 163/900 [04:29<14:20,  1.17s/it]
 18%|█▊        | 164/900 [04:29<10:54,  1.12it/s]
 18%|█▊        | 165/900 [04:30<08:30,  1.44it/s]
 18%|█▊        | 166/900 [04:30<06:50,  1.79it/s]
 19%|█▊        | 167/900 [04:30<05:38,  2.17it/s]
 19%|█▊        | 168/900 [04:30<04:50,  2.52it/s]
 19%|█▉        | 169/900 [04:35<21:43,  1.78s/it]
 19%|█▉        | 170/900 [04:36<16:02,  1.32s/it]
 19%|█▉        | 171/900 [04:36<12:05,  1.00it/s]
 19%|█▉        | 172/900 [04:36<09:18,  1.30it/s]
 19%|█▉        | 173/900 [04:36<07:21,  1.64it/s]
 19%|█▉        | 174/900 [04:36<05:59,  2.02it/s]
 19%|█▉        | 175/900 [04:37<05:01,  2.40it/s]
 20%|█▉        | 176/900 [04:37<04:22,  2.76it/s]
 20%|█▉        | 177/900 [05:06<1:47:37,  8.93s/it]
 20%|█▉        | 178/900 [05:06<1:16:03,  6.32s/it]
 20%|█▉        | 179/900 [05:06<54:01,  4.50s/it]  
 20%|██        | 180/900 [05:07<38:36,  3.22s/it]
 20%|██        | 181/900 [05:07<27:48,  2.32s/it]
 20%|██        | 182/900 [05:07<20:17,  1.70s/it]
 20%|██        | 183/900 [05:07<15:01,  1.26s/it]
 20%|██        | 184/900 [05:08<11:19,  1.05it/s]
 21%|██        | 185/900 [05:14<30:46,  2.58s/it]
 21%|██        | 186/900 [05:14<22:20,  1.88s/it]
 21%|██        | 187/900 [05:14<16:27,  1.38s/it]
 21%|██        | 188/900 [05:15<12:21,  1.04s/it]
 21%|██        | 189/900 [05:15<09:27,  1.25it/s]
 21%|██        | 190/900 [05:15<07:26,  1.59it/s]
 21%|██        | 191/900 [05:15<06:03,  1.95it/s]
 21%|██▏       | 192/900 [05:16<05:03,  2.33it/s]
 21%|██▏       | 193/900 [05:33<1:05:59,  5.60s/it]
 22%|██▏       | 194/900 [05:33<46:56,  3.99s/it]  
 22%|██▏       | 195/900 [05:34<33:38,  2.86s/it]
 22%|██▏       | 196/900 [05:34<24:19,  2.07s/it]
 22%|██▏       | 197/900 [05:34<17:49,  1.52s/it]
 22%|██▏       | 198/900 [05:34<13:16,  1.14s/it]
 22%|██▏       | 199/900 [05:35<10:05,  1.16it/s]
 22%|██▏       | 200/900 [05:35<07:53,  1.48it/s]
 22%|██▏       | 201/900 [05:40<24:41,  2.12s/it]
 22%|██▏       | 202/900 [05:41<18:03,  1.55s/it]
 23%|██▎       | 203/900 [05:41<13:25,  1.16s/it]
 23%|██▎       | 204/900 [05:41<10:11,  1.14it/s]
 23%|██▎       | 205/900 [05:41<07:56,  1.46it/s]
 23%|██▎       | 206/900 [05:41<06:21,  1.82it/s]
 23%|██▎       | 207/900 [05:42<05:16,  2.19it/s]
 23%|██▎       | 208/900 [05:42<04:28,  2.58it/s]
 23%|██▎       | 209/900 [05:51<35:54,  3.12s/it]
 23%|██▎       | 210/900 [05:52<25:54,  2.25s/it]
 23%|██▎       | 211/900 [05:52<18:55,  1.65s/it]
 24%|██▎       | 212/900 [05:52<14:02,  1.22s/it]
 24%|██▎       | 213/900 [05:52<10:36,  1.08it/s]
 24%|██▍       | 214/900 [05:53<08:11,  1.40it/s]
 24%|██▍       | 215/900 [05:53<06:31,  1.75it/s]
 24%|██▍       | 216/900 [05:53<05:20,  2.14it/s]
 24%|██▍       | 217/900 [06:01<29:59,  2.63s/it]
 24%|██▍       | 218/900 [06:01<21:49,  1.92s/it]
 24%|██▍       | 219/900 [06:01<16:07,  1.42s/it]
 24%|██▍       | 220/900 [06:02<12:10,  1.07s/it]
 25%|██▍       | 221/900 [06:02<09:22,  1.21it/s]
 25%|██▍       | 222/900 [06:02<07:25,  1.52it/s]
 25%|██▍       | 223/900 [06:02<06:03,  1.86it/s]
 25%|██▍       | 224/900 [06:03<05:08,  2.19it/s]
 25%|██▌       | 225/900 [06:10<27:40,  2.46s/it]
 25%|██▌       | 226/900 [06:10<20:12,  1.80s/it]
 25%|██▌       | 227/900 [06:10<15:01,  1.34s/it]
 25%|██▌       | 228/900 [06:11<11:23,  1.02s/it]
 25%|██▌       | 229/900 [06:11<08:51,  1.26it/s]
 26%|██▌       | 230/900 [06:11<07:03,  1.58it/s]
 26%|██▌       | 231/900 [06:11<05:48,  1.92it/s]
 26%|██▌       | 232/900 [06:12<04:56,  2.25it/s]
 26%|██▌       | 233/900 [06:19<27:00,  2.43s/it]
 26%|██▌       | 234/900 [06:19<19:43,  1.78s/it]
 26%|██▌       | 235/900 [06:19<14:38,  1.32s/it]
 26%|██▌       | 236/900 [06:19<11:06,  1.00s/it]
 26%|██▋       | 237/900 [06:20<08:40,  1.27it/s]
 26%|██▋       | 238/900 [06:20<06:56,  1.59it/s]
 27%|██▋       | 239/900 [06:20<05:41,  1.94it/s]
 27%|██▋       | 240/900 [06:20<04:50,  2.27it/s]
 27%|██▋       | 241/900 [06:30<33:14,  3.03s/it]
 27%|██▋       | 242/900 [06:30<24:06,  2.20s/it]
 27%|██▋       | 243/900 [06:30<17:37,  1.61s/it]
 27%|██▋       | 244/900 [06:30<13:03,  1.20s/it]
 27%|██▋       | 245/900 [06:30<09:54,  1.10it/s]
 27%|██▋       | 246/900 [06:31<07:41,  1.42it/s]
 27%|██▋       | 247/900 [06:31<06:08,  1.77it/s]
 28%|██▊       | 248/900 [06:31<05:03,  2.15it/s]
 28%|██▊       | 249/900 [06:44<44:49,  4.13s/it]
 28%|██▊       | 250/900 [06:44<32:07,  2.97s/it]
 28%|██▊       | 251/900 [06:44<23:13,  2.15s/it]
 28%|██▊       | 252/900 [06:45<17:01,  1.58s/it]
 28%|██▊       | 253/900 [06:45<12:39,  1.17s/it]
 28%|██▊       | 254/900 [06:45<09:34,  1.12it/s]
 28%|██▊       | 255/900 [06:45<07:25,  1.45it/s]
 28%|██▊       | 256/900 [06:46<05:56,  1.81it/s]
 29%|██▊       | 257/900 [06:53<29:43,  2.77s/it]
 29%|██▊       | 258/900 [06:54<21:32,  2.01s/it]
 29%|██▉       | 259/900 [06:54<15:48,  1.48s/it]
 29%|██▉       | 260/900 [06:54<11:48,  1.11s/it]
 29%|██▉       | 261/900 [06:54<09:00,  1.18it/s]
 29%|██▉       | 262/900 [06:55<07:01,  1.51it/s]
 29%|██▉       | 263/900 [06:55<05:38,  1.88it/s]
 29%|██▉       | 264/900 [06:55<04:41,  2.26it/s]
 29%|██▉       | 265/900 [07:03<28:55,  2.73s/it]
 30%|██▉       | 266/900 [07:03<20:57,  1.98s/it]
 30%|██▉       | 267/900 [07:04<15:23,  1.46s/it]
 30%|██▉       | 268/900 [07:04<11:29,  1.09s/it]
 30%|██▉       | 269/900 [07:04<08:45,  1.20it/s]
 30%|███       | 270/900 [07:04<06:52,  1.53it/s]
 30%|███       | 271/900 [07:05<05:32,  1.89it/s]
 30%|███       | 272/900 [07:05<04:35,  2.28it/s]
 30%|███       | 273/900 [07:21<53:07,  5.08s/it]
 30%|███       | 274/900 [07:21<37:53,  3.63s/it]
 31%|███       | 275/900 [07:21<27:12,  2.61s/it]
 31%|███       | 276/900 [07:21<19:47,  1.90s/it]
 31%|███       | 277/900 [07:22<14:33,  1.40s/it]
 31%|███       | 278/900 [07:22<10:55,  1.05s/it]
 31%|███       | 279/900 [07:22<08:21,  1.24it/s]
 31%|███       | 280/900 [07:22<06:35,  1.57it/s]
 31%|███       | 281/900 [07:30<27:38,  2.68s/it]
 31%|███▏      | 282/900 [07:30<20:05,  1.95s/it]
 31%|███▏      | 283/900 [07:30<14:47,  1.44s/it]
 32%|███▏      | 284/900 [07:31<11:02,  1.07s/it]
 32%|███▏      | 285/900 [07:31<08:26,  1.21it/s]
 32%|███▏      | 286/900 [07:31<06:36,  1.55it/s]
 32%|███▏      | 287/900 [07:31<05:20,  1.92it/s]
 32%|███▏      | 288/900 [07:32<04:27,  2.28it/s]
 32%|███▏      | 289/900 [07:41<32:41,  3.21s/it]
 32%|███▏      | 290/900 [07:41<23:36,  2.32s/it]
 32%|███▏      | 291/900 [07:42<17:13,  1.70s/it]
 32%|███▏      | 292/900 [07:42<12:45,  1.26s/it]
 33%|███▎      | 293/900 [07:42<09:36,  1.05it/s]
 33%|███▎      | 294/900 [07:42<07:28,  1.35it/s]
 33%|███▎      | 295/900 [07:43<05:57,  1.69it/s]
 33%|███▎      | 296/900 [07:43<04:53,  2.06it/s]
 33%|███▎      | 297/900 [07:48<19:45,  1.97s/it]
 33%|███▎      | 298/900 [07:49<14:35,  1.45s/it]
 33%|███▎      | 299/900 [07:49<11:00,  1.10s/it]
 33%|███▎      | 300/900 [07:49<08:26,  1.18it/s]
 33%|███▎      | 301/900 [07:49<06:39,  1.50it/s]
 34%|███▎      | 302/900 [07:50<05:25,  1.84it/s]
 34%|███▎      | 303/900 [07:50<04:33,  2.19it/s]
 34%|███▍      | 304/900 [07:50<03:56,  2.52it/s]
 34%|███▍      | 305/900 [07:57<23:12,  2.34s/it]
 34%|███▍      | 306/900 [07:57<17:00,  1.72s/it]
 34%|███▍      | 307/900 [07:58<12:40,  1.28s/it]
 34%|███▍      | 308/900 [07:58<09:35,  1.03it/s]
 34%|███▍      | 309/900 [07:58<07:23,  1.33it/s]
 34%|███▍      | 310/900 [07:58<05:49,  1.69it/s]
 35%|███▍      | 311/900 [07:58<04:45,  2.06it/s]
 35%|███▍      | 312/900 [07:59<04:01,  2.44it/s]
 35%|███▍      | 313/900 [08:13<45:31,  4.65s/it]
 35%|███▍      | 314/900 [08:13<32:29,  3.33s/it]
 35%|███▌      | 315/900 [08:14<23:24,  2.40s/it]
 35%|███▌      | 316/900 [08:14<17:01,  1.75s/it]
 35%|███▌      | 317/900 [08:14<12:34,  1.29s/it]
 35%|███▌      | 318/900 [08:14<09:27,  1.03it/s]
 35%|███▌      | 319/900 [08:15<07:17,  1.33it/s]
 36%|███▌      | 320/900 [08:15<05:50,  1.65it/s]
 36%|███▌      | 321/900 [08:22<25:17,  2.62s/it]
 36%|███▌      | 322/900 [08:22<18:21,  1.91s/it]
 36%|███▌      | 323/900 [08:23<13:29,  1.40s/it]
 36%|███▌      | 324/900 [08:23<10:05,  1.05s/it]
 36%|███▌      | 325/900 [08:23<07:45,  1.24it/s]
 36%|███▌      | 326/900 [08:23<06:09,  1.55it/s]
 36%|███▋      | 327/900 [08:24<05:01,  1.90it/s]
 36%|███▋      | 328/900 [08:24<04:14,  2.25it/s]
 37%|███▋      | 329/900 [08:30<21:23,  2.25s/it]
 37%|███▋      | 330/900 [08:31<15:41,  1.65s/it]
 37%|███▋      | 331/900 [08:31<11:42,  1.23s/it]
 37%|███▋      | 332/900 [08:31<08:53,  1.06it/s]
 37%|███▋      | 333/900 [08:31<06:57,  1.36it/s]
 37%|███▋      | 334/900 [08:32<05:35,  1.69it/s]
 37%|███▋      | 335/900 [08:32<04:40,  2.02it/s]
 37%|███▋      | 336/900 [08:32<03:58,  2.36it/s]
 37%|███▋      | 337/900 [08:39<20:32,  2.19s/it]
 38%|███▊      | 338/900 [08:39<15:02,  1.61s/it]
 38%|███▊      | 339/900 [08:39<11:12,  1.20s/it]
 38%|███▊      | 340/900 [08:39<08:33,  1.09it/s]
 38%|███▊      | 341/900 [08:40<06:40,  1.39it/s]
 38%|███▊      | 342/900 [08:40<05:25,  1.72it/s]
 38%|███▊      | 343/900 [08:40<04:29,  2.07it/s]
 38%|███▊      | 344/900 [08:40<03:50,  2.41it/s]
 38%|███▊      | 345/900 [08:46<19:50,  2.14s/it]
 38%|███▊      | 346/900 [08:47<14:36,  1.58s/it]
 39%|███▊      | 347/900 [08:47<10:57,  1.19s/it]
 39%|███▊      | 348/900 [08:47<08:23,  1.10it/s]
 39%|███▉      | 349/900 [08:48<06:36,  1.39it/s]
 39%|███▉      | 350/900 [08:48<05:20,  1.72it/s]
 39%|███▉      | 351/900 [08:48<04:24,  2.08it/s]
 39%|███▉      | 352/900 [08:48<03:43,  2.45it/s]
 39%|███▉      | 353/900 [09:08<55:13,  6.06s/it]
 39%|███▉      | 354/900 [09:08<39:15,  4.31s/it]
 39%|███▉      | 355/900 [09:08<28:04,  3.09s/it]
 40%|███▉      | 356/900 [09:08<20:15,  2.23s/it]
 40%|███▉      | 357/900 [09:08<14:48,  1.64s/it]
 40%|███▉      | 358/900 [09:09<10:58,  1.22s/it]
 40%|███▉      | 359/900 [09:09<08:18,  1.09it/s]
 40%|████      | 360/900 [09:09<06:25,  1.40it/s]
 40%|████      | 361/900 [09:17<24:49,  2.76s/it]
 40%|████      | 362/900 [09:17<17:58,  2.00s/it]
 40%|████      | 363/900 [09:17<13:10,  1.47s/it]
 40%|████      | 364/900 [09:17<09:50,  1.10s/it]
 41%|████      | 365/900 [09:18<07:30,  1.19it/s]
 41%|████      | 366/900 [09:18<05:52,  1.51it/s]
 41%|████      | 367/900 [09:18<04:43,  1.88it/s]
 41%|████      | 368/900 [09:18<03:55,  2.26it/s]
 41%|████      | 369/900 [09:25<19:44,  2.23s/it]
 41%|████      | 370/900 [09:25<14:30,  1.64s/it]
 41%|████      | 371/900 [09:25<10:48,  1.23s/it]
 41%|████▏     | 372/900 [09:26<08:13,  1.07it/s]
 41%|████▏     | 373/900 [09:26<06:24,  1.37it/s]
 42%|████▏     | 374/900 [09:26<05:09,  1.70it/s]
 42%|████▏     | 375/900 [09:26<04:18,  2.03it/s]
 42%|████▏     | 376/900 [09:27<03:41,  2.37it/s]
 42%|████▏     | 377/900 [09:34<23:01,  2.64s/it]
 42%|████▏     | 378/900 [09:35<16:45,  1.93s/it]
 42%|████▏     | 379/900 [09:35<12:23,  1.43s/it]
 42%|████▏     | 380/900 [09:35<09:20,  1.08s/it]
 42%|████▏     | 381/900 [09:35<07:13,  1.20it/s]
 42%|████▏     | 382/900 [09:36<05:43,  1.51it/s]
 43%|████▎     | 383/900 [09:36<04:41,  1.84it/s]
 43%|████▎     | 384/900 [09:36<03:57,  2.17it/s]
 43%|████▎     | 385/900 [09:55<51:35,  6.01s/it]
 43%|████▎     | 386/900 [09:55<36:39,  4.28s/it]
 43%|████▎     | 387/900 [09:56<26:13,  3.07s/it]
 43%|████▎     | 388/900 [09:56<18:55,  2.22s/it]
 43%|████▎     | 389/900 [09:56<13:49,  1.62s/it]
 43%|████▎     | 390/900 [09:56<10:16,  1.21s/it]
 43%|████▎     | 391/900 [09:57<07:47,  1.09it/s]
 44%|████▎     | 392/900 [09:57<06:03,  1.40it/s]
 44%|████▎     | 393/900 [10:05<23:48,  2.82s/it]
 44%|████▍     | 394/900 [10:05<17:13,  2.04s/it]
 44%|████▍     | 395/900 [10:05<12:39,  1.50s/it]
 44%|████▍     | 396/900 [10:05<09:28,  1.13s/it]
 44%|████▍     | 397/900 [10:06<07:16,  1.15it/s]
 44%|████▍     | 398/900 [10:06<05:42,  1.47it/s]
 44%|████▍     | 399/900 [10:06<04:35,  1.82it/s]
 44%|████▍     | 400/900 [10:06<03:50,  2.17it/s]
 45%|████▍     | 401/900 [10:14<21:36,  2.60s/it]
 45%|████▍     | 402/900 [10:14<15:40,  1.89s/it]
 45%|████▍     | 403/900 [10:14<11:31,  1.39s/it]
 45%|████▍     | 404/900 [10:15<08:37,  1.04s/it]
 45%|████▌     | 405/900 [10:15<06:37,  1.24it/s]
 45%|████▌     | 406/900 [10:15<05:17,  1.56it/s]
 45%|████▌     | 407/900 [10:15<04:19,  1.90it/s]
 45%|████▌     | 408/900 [10:16<03:37,  2.26it/s]
 45%|████▌     | 409/900 [10:23<20:18,  2.48s/it]
 46%|████▌     | 410/900 [10:23<14:46,  1.81s/it]
 46%|████▌     | 411/900 [10:23<10:55,  1.34s/it]
 46%|████▌     | 412/900 [10:24<08:16,  1.02s/it]
 46%|████▌     | 413/900 [10:24<06:24,  1.27it/s]
 46%|████▌     | 414/900 [10:24<05:05,  1.59it/s]
 46%|████▌     | 415/900 [10:24<04:11,  1.93it/s]
 46%|████▌     | 416/900 [10:25<03:34,  2.26it/s]
 46%|████▋     | 417/900 [10:48<59:12,  7.35s/it]
 46%|████▋     | 418/900 [10:48<41:58,  5.22s/it]
 47%|████▋     | 419/900 [10:49<29:54,  3.73s/it]
 47%|████▋     | 420/900 [10:49<21:28,  2.68s/it]
 47%|████▋     | 421/900 [10:49<15:32,  1.95s/it]
 47%|████▋     | 422/900 [10:49<11:24,  1.43s/it]
 47%|████▋     | 423/900 [10:50<08:30,  1.07s/it]
 47%|████▋     | 424/900 [10:50<06:30,  1.22it/s]
 47%|████▋     | 425/900 [10:57<21:51,  2.76s/it]
 47%|████▋     | 426/900 [10:57<15:52,  2.01s/it]
 47%|████▋     | 427/900 [10:58<11:41,  1.48s/it]
 48%|████▊     | 428/900 [10:58<08:44,  1.11s/it]
 48%|████▊     | 429/900 [10:58<06:43,  1.17it/s]
 48%|████▊     | 430/900 [10:58<05:16,  1.48it/s]
 48%|████▊     | 431/900 [10:59<04:16,  1.83it/s]
 48%|████▊     | 432/900 [10:59<03:35,  2.17it/s]
 48%|████▊     | 433/900 [11:11<30:05,  3.87s/it]
 48%|████▊     | 434/900 [11:11<21:38,  2.79s/it]
 48%|████▊     | 435/900 [11:11<15:46,  2.04s/it]
 48%|████▊     | 436/900 [11:12<11:36,  1.50s/it]
 49%|████▊     | 437/900 [11:12<08:43,  1.13s/it]
 49%|████▊     | 438/900 [11:12<06:42,  1.15it/s]
 49%|████▉     | 439/900 [11:12<05:17,  1.45it/s]
 49%|████▉     | 440/900 [11:13<04:18,  1.78it/s]
 49%|████▉     | 441/900 [11:21<21:18,  2.79s/it]
 49%|████▉     | 442/900 [11:21<15:29,  2.03s/it]
 49%|████▉     | 443/900 [11:21<11:25,  1.50s/it]
 49%|████▉     | 444/900 [11:21<08:34,  1.13s/it]
 49%|████▉     | 445/900 [11:22<06:35,  1.15it/s]
 50%|████▉     | 446/900 [11:22<05:12,  1.45it/s]
 50%|████▉     | 447/900 [11:22<04:15,  1.78it/s]
 50%|████▉     | 448/900 [11:22<03:34,  2.11it/s]
 50%|████▉     | 449/900 [11:31<21:47,  2.90s/it]
 50%|█████     | 450/900 [11:31<15:50,  2.11s/it]
 50%|█████     | 451/900 [11:32<11:41,  1.56s/it]
 50%|█████     | 452/900 [11:32<08:48,  1.18s/it]
 50%|█████     | 453/900 [11:32<06:46,  1.10it/s]
 50%|█████     | 454/900 [11:32<05:20,  1.39it/s]
 51%|█████     | 455/900 [11:33<04:20,  1.71it/s]
 51%|█████     | 456/900 [11:33<03:37,  2.04it/s]
 51%|█████     | 457/900 [11:44<26:32,  3.60s/it]
 51%|█████     | 458/900 [11:44<19:09,  2.60s/it]
 51%|█████     | 459/900 [11:44<13:59,  1.90s/it]
 51%|█████     | 460/900 [11:45<10:23,  1.42s/it]
 51%|█████     | 461/900 [11:45<07:49,  1.07s/it]
 51%|█████▏    | 462/900 [11:45<06:02,  1.21it/s]
 51%|█████▏    | 463/900 [11:45<04:47,  1.52it/s]
 52%|█████▏    | 464/900 [11:46<03:55,  1.85it/s]
 52%|█████▏    | 465/900 [11:55<23:25,  3.23s/it]
 52%|█████▏    | 466/900 [11:55<16:55,  2.34s/it]
 52%|█████▏    | 467/900 [11:56<12:23,  1.72s/it]
 52%|█████▏    | 468/900 [11:56<09:12,  1.28s/it]
 52%|█████▏    | 469/900 [11:56<07:00,  1.03it/s]
 52%|█████▏    | 470/900 [11:56<05:26,  1.32it/s]
 52%|█████▏    | 471/900 [11:57<04:23,  1.63it/s]
 52%|█████▏    | 472/900 [11:57<03:38,  1.96it/s]
 53%|█████▎    | 473/900 [12:06<20:54,  2.94s/it]
 53%|█████▎    | 474/900 [12:06<15:08,  2.13s/it]
 53%|█████▎    | 475/900 [12:06<11:07,  1.57s/it]
 53%|█████▎    | 476/900 [12:06<08:19,  1.18s/it]
 53%|█████▎    | 477/900 [12:07<06:22,  1.11it/s]
 53%|█████▎    | 478/900 [12:07<04:59,  1.41it/s]
 53%|█████▎    | 479/900 [12:07<04:02,  1.74it/s]
 53%|█████▎    | 480/900 [12:07<03:21,  2.08it/s]
 53%|█████▎    | 481/900 [12:22<33:06,  4.74s/it]
 54%|█████▎    | 482/900 [12:22<23:40,  3.40s/it]
 54%|█████▎    | 483/900 [12:23<17:05,  2.46s/it]
 54%|█████▍    | 484/900 [12:23<12:29,  1.80s/it]
 54%|█████▍    | 485/900 [12:23<09:15,  1.34s/it]
 54%|█████▍    | 486/900 [12:23<07:00,  1.02s/it]
 54%|█████▍    | 487/900 [12:24<05:26,  1.27it/s]
 54%|█████▍    | 488/900 [12:24<04:20,  1.58it/s]
 54%|█████▍    | 489/900 [12:40<35:00,  5.11s/it]
 54%|█████▍    | 490/900 [12:40<24:59,  3.66s/it]
 55%|█████▍    | 491/900 [12:40<17:59,  2.64s/it]
 55%|█████▍    | 492/900 [12:40<13:05,  1.93s/it]
 55%|█████▍    | 493/900 [12:41<09:40,  1.43s/it]
 55%|█████▍    | 494/900 [12:41<07:17,  1.08s/it]
 55%|█████▌    | 495/900 [12:41<05:37,  1.20it/s]
 55%|█████▌    | 496/900 [12:41<04:28,  1.51it/s]
 55%|█████▌    | 497/900 [12:53<25:39,  3.82s/it]
 55%|█████▌    | 498/900 [12:53<18:27,  2.76s/it]
 55%|█████▌    | 499/900 [12:53<13:25,  2.01s/it]
 56%|█████▌    | 500/900 [12:54<11:38,  1.75s/it]
 56%|█████▌    | 501/900 [12:54<08:39,  1.30s/it]
 56%|█████▌    | 502/900 [12:55<06:33,  1.01it/s]
 56%|█████▌    | 503/900 [12:55<05:05,  1.30it/s]
 56%|█████▌    | 504/900 [12:55<04:04,  1.62it/s]
 56%|█████▌    | 505/900 [13:04<19:19,  2.94s/it]
 56%|█████▌    | 506/900 [13:04<14:01,  2.13s/it]
 56%|█████▋    | 507/900 [13:04<10:20,  1.58s/it]
 56%|█████▋    | 508/900 [13:04<07:46,  1.19s/it]
 57%|█████▋    | 509/900 [13:05<05:58,  1.09it/s]
 57%|█████▋    | 510/900 [13:05<04:41,  1.39it/s]
 57%|█████▋    | 511/900 [13:05<03:47,  1.71it/s]
 57%|█████▋    | 512/900 [13:06<03:09,  2.04it/s]
 57%|█████▋    | 513/900 [13:15<21:20,  3.31s/it]
 57%|█████▋    | 514/900 [13:16<15:24,  2.40s/it]
 57%|█████▋    | 515/900 [13:16<11:16,  1.76s/it]
 57%|█████▋    | 516/900 [13:16<08:22,  1.31s/it]
 57%|█████▋    | 517/900 [13:16<06:21,  1.00it/s]
 58%|█████▊    | 518/900 [13:17<04:56,  1.29it/s]
 58%|█████▊    | 519/900 [13:17<03:57,  1.61it/s]
 58%|█████▊    | 520/900 [13:17<03:15,  1.95it/s]
 58%|█████▊    | 520/900 [13:26<09:49,  1.55s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/log_1_env0.json.
+FoodPacking1CansTask_1 complete: task_name: FoodPacking1CansTask, run_name: FoodPacking1CansTask_1, run: 1, env_id: 0, policy: harness, instruction: Pack canned foods into the bin, attributes: ['semantics', 'simple'], success: True, episode_step: 521, duration: 34.733333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.21167061131239, 'joint_sparc_mean': -9.274553653280194, 'ee_isj': 1485.6414930664678, 'joint_isj': 89143.16502172919, 'ee_path_length': 3.2788081496959594, 'joint_rmse_mean': 1.092420735399954, 'ee_speed_max': 0.46356910467147827, 'ee_speed_mean': 0.08947258442640305}, events: {'GRIPPER_FULLY_CLOSED': 9, 'TARGET_OBJECT_DROPPED': 9, 'OBJECT_BUMPED': 1}, instruction_type: default, timing: {'policy_inference_s': 682.202, 'policy_inference_avg_ms': 1309.4, 'env_step_s': 118.631, 'env_step_avg_ms': 227.7, 'video_write_s': 5.266, 'video_write_avg_ms': 10.1, 'wall_total_s': 806.099, 'it_per_sec': 0.65}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: a4f125dcb93349f9ac139abdcfeef1b0-1
+[RoboLab] Running FoodPacking1CansTask_2: 'Pack canned foods into the bin' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:34<8:41:51, 34.83s/it]
  0%|          | 2/900 [00:35<3:36:50, 14.49s/it]
  0%|          | 3/900 [00:35<1:59:18,  7.98s/it]
  0%|          | 4/900 [00:35<1:13:33,  4.93s/it]
  1%|          | 5/900 [00:35<48:16,  3.24s/it]  
  1%|          | 6/900 [00:36<32:59,  2.21s/it]
  1%|          | 7/900 [00:36<23:15,  1.56s/it]
  1%|          | 8/900 [00:36<16:56,  1.14s/it]
  1%|          | 9/900 [00:49<1:10:18,  4.73s/it]
  1%|          | 10/900 [00:49<49:37,  3.35s/it] 
  1%|          | 11/900 [00:49<35:27,  2.39s/it]
  1%|▏         | 12/900 [00:49<25:42,  1.74s/it]
  1%|▏         | 13/900 [00:50<18:55,  1.28s/it]
  2%|▏         | 14/900 [00:50<14:16,  1.03it/s]
  2%|▏         | 15/900 [00:50<10:57,  1.35it/s]
  2%|▏         | 16/900 [00:50<09:08,  1.61it/s]
  2%|▏         | 17/900 [01:07<1:19:38,  5.41s/it]
  2%|▏         | 18/900 [01:07<56:40,  3.86s/it]  
  2%|▏         | 19/900 [01:07<40:39,  2.77s/it]
  2%|▏         | 20/900 [01:08<29:27,  2.01s/it]
  2%|▏         | 21/900 [01:08<21:35,  1.47s/it]
  2%|▏         | 22/900 [01:08<16:06,  1.10s/it]
  3%|▎         | 23/900 [01:08<12:16,  1.19it/s]
  3%|▎         | 24/900 [01:09<09:36,  1.52it/s]
  3%|▎         | 25/900 [01:31<1:44:20,  7.15s/it]
  3%|▎         | 26/900 [01:31<1:13:57,  5.08s/it]
  3%|▎         | 27/900 [01:31<52:43,  3.62s/it]  
  3%|▎         | 28/900 [01:32<37:51,  2.60s/it]
  3%|▎         | 29/900 [01:32<27:28,  1.89s/it]
  3%|▎         | 30/900 [01:32<20:12,  1.39s/it]
  3%|▎         | 31/900 [01:32<15:06,  1.04s/it]
  4%|▎         | 32/900 [01:32<11:34,  1.25it/s]
  4%|▎         | 33/900 [01:38<31:11,  2.16s/it]
  4%|▍         | 34/900 [01:38<22:49,  1.58s/it]
  4%|▍         | 35/900 [01:38<16:56,  1.18s/it]
  4%|▍         | 36/900 [01:38<12:49,  1.12it/s]
  4%|▍         | 37/900 [01:39<10:05,  1.42it/s]
  4%|▍         | 38/900 [01:39<08:12,  1.75it/s]
  4%|▍         | 39/900 [01:39<06:50,  2.10it/s]
  4%|▍         | 40/900 [01:40<05:52,  2.44it/s]
  5%|▍         | 41/900 [01:48<42:00,  2.93s/it]
  5%|▍         | 42/900 [01:49<30:27,  2.13s/it]
  5%|▍         | 43/900 [01:49<22:22,  1.57s/it]
  5%|▍         | 44/900 [01:49<16:50,  1.18s/it]
  5%|▌         | 45/900 [01:49<12:56,  1.10it/s]
  5%|▌         | 46/900 [01:50<10:09,  1.40it/s]
  5%|▌         | 47/900 [01:50<08:10,  1.74it/s]
  5%|▌         | 48/900 [01:50<06:46,  2.10it/s]
  5%|▌         | 49/900 [01:58<37:06,  2.62s/it]
  6%|▌         | 50/900 [01:58<27:03,  1.91s/it]
  6%|▌         | 51/900 [01:58<20:01,  1.41s/it]
  6%|▌         | 52/900 [01:59<15:07,  1.07s/it]
  6%|▌         | 53/900 [01:59<11:41,  1.21it/s]
  6%|▌         | 54/900 [01:59<09:18,  1.51it/s]
  6%|▌         | 55/900 [01:59<07:34,  1.86it/s]
  6%|▌         | 56/900 [02:00<06:17,  2.24it/s]
  6%|▋         | 57/900 [02:12<55:07,  3.92s/it]
  6%|▋         | 58/900 [02:12<39:32,  2.82s/it]
  7%|▋         | 59/900 [02:12<28:40,  2.05s/it]
  7%|▋         | 60/900 [02:12<21:05,  1.51s/it]
  7%|▋         | 61/900 [02:13<15:43,  1.13s/it]
  7%|▋         | 62/900 [02:13<11:59,  1.16it/s]
  7%|▋         | 63/900 [02:13<09:21,  1.49it/s]
  7%|▋         | 64/900 [02:13<07:33,  1.85it/s]
  7%|▋         | 65/900 [02:20<31:43,  2.28s/it]
  7%|▋         | 66/900 [02:20<23:09,  1.67s/it]
  7%|▋         | 67/900 [02:20<17:14,  1.24s/it]
  8%|▊         | 68/900 [02:20<13:00,  1.07it/s]
  8%|▊         | 69/900 [02:21<10:02,  1.38it/s]
  8%|▊         | 70/900 [02:21<07:59,  1.73it/s]
  8%|▊         | 71/900 [02:21<06:34,  2.10it/s]
  8%|▊         | 72/900 [02:21<05:35,  2.47it/s]
  8%|▊         | 73/900 [02:29<36:01,  2.61s/it]
  8%|▊         | 74/900 [02:29<26:14,  1.91s/it]
  8%|▊         | 75/900 [02:30<19:23,  1.41s/it]
  8%|▊         | 76/900 [02:30<14:40,  1.07s/it]
  9%|▊         | 77/900 [02:30<11:20,  1.21it/s]
  9%|▊         | 78/900 [02:30<09:00,  1.52it/s]
  9%|▉         | 79/900 [02:31<07:19,  1.87it/s]
  9%|▉         | 80/900 [02:31<06:09,  2.22it/s]
  9%|▉         | 81/900 [02:37<28:51,  2.11s/it]
  9%|▉         | 82/900 [02:37<21:17,  1.56s/it]
  9%|▉         | 83/900 [02:37<15:57,  1.17s/it]
  9%|▉         | 84/900 [02:38<12:13,  1.11it/s]
  9%|▉         | 85/900 [02:38<09:36,  1.41it/s]
 10%|▉         | 86/900 [02:38<07:48,  1.74it/s]
 10%|▉         | 87/900 [02:38<06:31,  2.08it/s]
 10%|▉         | 88/900 [02:39<05:36,  2.41it/s]
 10%|▉         | 89/900 [02:50<51:07,  3.78s/it]
 10%|█         | 90/900 [02:51<36:48,  2.73s/it]
 10%|█         | 91/900 [02:51<26:47,  1.99s/it]
 10%|█         | 92/900 [02:51<19:42,  1.46s/it]
 10%|█         | 93/900 [02:51<14:43,  1.09s/it]
 10%|█         | 94/900 [02:52<11:14,  1.19it/s]
 11%|█         | 95/900 [02:52<08:48,  1.52it/s]
 11%|█         | 96/900 [02:52<07:05,  1.89it/s]
 11%|█         | 97/900 [03:26<2:21:53, 10.60s/it]
 11%|█         | 98/900 [03:26<1:40:10,  7.49s/it]
 11%|█         | 99/900 [03:27<1:10:59,  5.32s/it]
 11%|█         | 100/900 [03:27<50:34,  3.79s/it] 
 11%|█         | 101/900 [03:27<36:17,  2.72s/it]
 11%|█▏        | 102/900 [03:27<26:18,  1.98s/it]
 11%|█▏        | 103/900 [03:28<19:21,  1.46s/it]
 12%|█▏        | 104/900 [03:28<14:34,  1.10s/it]
 12%|█▏        | 105/900 [03:36<41:46,  3.15s/it]
 12%|█▏        | 106/900 [03:36<30:13,  2.28s/it]
 12%|█▏        | 107/900 [03:36<22:09,  1.68s/it]
 12%|█▏        | 108/900 [03:37<16:28,  1.25s/it]
 12%|█▏        | 109/900 [03:37<12:25,  1.06it/s]
 12%|█▏        | 110/900 [03:37<09:36,  1.37it/s]
 12%|█▏        | 111/900 [03:37<07:36,  1.73it/s]
 12%|█▏        | 112/900 [03:37<06:12,  2.11it/s]
 13%|█▎        | 113/900 [03:44<30:10,  2.30s/it]
 13%|█▎        | 114/900 [03:44<22:00,  1.68s/it]
 13%|█▎        | 115/900 [03:44<16:17,  1.25s/it]
 13%|█▎        | 116/900 [03:45<12:17,  1.06it/s]
 13%|█▎        | 117/900 [03:45<09:29,  1.37it/s]
 13%|█▎        | 118/900 [03:45<07:33,  1.72it/s]
 13%|█▎        | 119/900 [03:45<06:12,  2.10it/s]
 13%|█▎        | 120/900 [03:46<05:16,  2.46it/s]
 13%|█▎        | 121/900 [03:55<40:48,  3.14s/it]
 14%|█▎        | 122/900 [03:55<29:31,  2.28s/it]
 14%|█▎        | 123/900 [03:56<21:38,  1.67s/it]
 14%|█▍        | 124/900 [03:56<16:07,  1.25s/it]
 14%|█▍        | 125/900 [03:56<12:16,  1.05it/s]
 14%|█▍        | 126/900 [03:56<09:34,  1.35it/s]
 14%|█▍        | 127/900 [03:57<07:41,  1.68it/s]
 14%|█▍        | 128/900 [03:57<06:20,  2.03it/s]
 14%|█▍        | 129/900 [04:06<40:02,  3.12s/it]
 14%|█▍        | 130/900 [04:06<28:54,  2.25s/it]
 15%|█▍        | 131/900 [04:07<21:06,  1.65s/it]
 15%|█▍        | 132/900 [04:07<15:39,  1.22s/it]
 15%|█▍        | 133/900 [04:07<11:50,  1.08it/s]
 15%|█▍        | 134/900 [04:07<09:08,  1.40it/s]
 15%|█▌        | 135/900 [04:08<07:16,  1.75it/s]
 15%|█▌        | 136/900 [04:08<05:57,  2.14it/s]
 15%|█▌        | 137/900 [04:21<52:32,  4.13s/it]
 15%|█▌        | 138/900 [04:21<37:45,  2.97s/it]
 15%|█▌        | 139/900 [04:21<27:18,  2.15s/it]
 16%|█▌        | 140/900 [04:21<19:57,  1.58s/it]
 16%|█▌        | 141/900 [04:21<14:50,  1.17s/it]
 16%|█▌        | 142/900 [04:22<11:15,  1.12it/s]
 16%|█▌        | 143/900 [04:22<08:46,  1.44it/s]
 16%|█▌        | 144/900 [04:22<07:07,  1.77it/s]
 16%|█▌        | 145/900 [04:30<34:29,  2.74s/it]
 16%|█▌        | 146/900 [04:30<25:05,  2.00s/it]
 16%|█▋        | 147/900 [04:31<18:31,  1.48s/it]
 16%|█▋        | 148/900 [04:31<13:54,  1.11s/it]
 17%|█▋        | 149/900 [04:31<10:41,  1.17it/s]
 17%|█▋        | 150/900 [04:31<08:26,  1.48it/s]
 17%|█▋        | 151/900 [04:32<06:51,  1.82it/s]
 17%|█▋        | 152/900 [04:32<05:45,  2.17it/s]
 17%|█▋        | 153/900 [04:52<1:17:49,  6.25s/it]
 17%|█▋        | 154/900 [04:52<55:24,  4.46s/it]  
 17%|█▋        | 155/900 [04:52<39:44,  3.20s/it]
 17%|█▋        | 156/900 [04:52<28:45,  2.32s/it]
 17%|█▋        | 157/900 [04:53<21:04,  1.70s/it]
 18%|█▊        | 158/900 [04:53<15:42,  1.27s/it]
 18%|█▊        | 159/900 [04:53<11:57,  1.03it/s]
 18%|█▊        | 160/900 [04:53<09:19,  1.32it/s]
 18%|█▊        | 161/900 [04:58<25:07,  2.04s/it]
 18%|█▊        | 162/900 [04:59<18:32,  1.51s/it]
 18%|█▊        | 163/900 [04:59<13:56,  1.14s/it]
 18%|█▊        | 164/900 [04:59<10:42,  1.15it/s]
 18%|█▊        | 165/900 [05:00<08:27,  1.45it/s]
 18%|█▊        | 166/900 [05:00<06:53,  1.78it/s]
 19%|█▊        | 167/900 [05:00<05:47,  2.11it/s]
 19%|█▊        | 168/900 [05:00<05:01,  2.43it/s]
 19%|█▉        | 169/900 [05:09<34:21,  2.82s/it]
 19%|█▉        | 170/900 [05:09<24:56,  2.05s/it]
 19%|█▉        | 171/900 [05:09<18:20,  1.51s/it]
 19%|█▉        | 172/900 [05:10<13:43,  1.13s/it]
 19%|█▉        | 173/900 [05:10<10:26,  1.16it/s]
 19%|█▉        | 174/900 [05:10<08:06,  1.49it/s]
 19%|█▉        | 175/900 [05:10<06:30,  1.86it/s]
 20%|█▉        | 176/900 [05:10<05:23,  2.24it/s]
 20%|█▉        | 177/900 [05:22<44:30,  3.69s/it]
 20%|█▉        | 178/900 [05:22<31:57,  2.66s/it]
 20%|█▉        | 179/900 [05:22<23:11,  1.93s/it]
 20%|██        | 180/900 [05:22<17:01,  1.42s/it]
 20%|██        | 181/900 [05:23<12:43,  1.06s/it]
 20%|██        | 182/900 [05:23<09:44,  1.23it/s]
 20%|██        | 183/900 [05:23<07:38,  1.56it/s]
 20%|██        | 184/900 [05:23<06:11,  1.93it/s]
 21%|██        | 185/900 [05:29<24:38,  2.07s/it]
 21%|██        | 186/900 [05:29<18:03,  1.52s/it]
 21%|██        | 187/900 [05:30<13:27,  1.13s/it]
 21%|██        | 188/900 [05:30<10:15,  1.16it/s]
 21%|██        | 189/900 [05:30<07:59,  1.48it/s]
 21%|██        | 190/900 [05:30<06:26,  1.84it/s]
 21%|██        | 191/900 [05:30<05:18,  2.22it/s]
 21%|██▏       | 192/900 [05:31<04:32,  2.60it/s]
 21%|██▏       | 193/900 [05:40<34:34,  2.93s/it]
 22%|██▏       | 194/900 [05:40<25:00,  2.13s/it]
 22%|██▏       | 195/900 [05:40<18:16,  1.56s/it]
 22%|██▏       | 196/900 [05:40<13:36,  1.16s/it]
 22%|██▏       | 197/900 [05:40<10:19,  1.13it/s]
 22%|██▏       | 198/900 [05:41<08:01,  1.46it/s]
 22%|██▏       | 199/900 [05:41<06:26,  1.81it/s]
 22%|██▏       | 200/900 [05:41<05:18,  2.20it/s]
 22%|██▏       | 201/900 [05:48<26:07,  2.24s/it]
 22%|██▏       | 202/900 [05:48<19:04,  1.64s/it]
 23%|██▎       | 203/900 [05:48<14:08,  1.22s/it]
 23%|██▎       | 204/900 [05:48<10:41,  1.09it/s]
 23%|██▎       | 205/900 [05:49<08:16,  1.40it/s]
 23%|██▎       | 206/900 [05:49<06:35,  1.76it/s]
 23%|██▎       | 207/900 [05:49<05:24,  2.14it/s]
 23%|██▎       | 208/900 [05:49<04:34,  2.52it/s]
 23%|██▎       | 209/900 [06:08<1:08:32,  5.95s/it]
 23%|██▎       | 210/900 [06:08<48:43,  4.24s/it]  
 23%|██▎       | 211/900 [06:09<34:50,  3.03s/it]
 24%|██▎       | 212/900 [06:09<25:09,  2.19s/it]
 24%|██▎       | 213/900 [06:09<18:23,  1.61s/it]
 24%|██▍       | 214/900 [06:09<13:37,  1.19s/it]
 24%|██▍       | 215/900 [06:10<10:18,  1.11it/s]
 24%|██▍       | 216/900 [06:10<07:59,  1.43it/s]
 24%|██▍       | 217/900 [06:29<1:10:51,  6.22s/it]
 24%|██▍       | 218/900 [06:29<50:19,  4.43s/it]  
 24%|██▍       | 219/900 [06:29<35:58,  3.17s/it]
 24%|██▍       | 220/900 [06:30<25:56,  2.29s/it]
 25%|██▍       | 221/900 [06:30<18:53,  1.67s/it]
 25%|██▍       | 222/900 [06:30<13:58,  1.24s/it]
 25%|██▍       | 223/900 [06:30<10:33,  1.07it/s]
 25%|██▍       | 224/900 [06:30<08:09,  1.38it/s]
 25%|██▌       | 225/900 [06:40<36:52,  3.28s/it]
 25%|██▌       | 226/900 [06:40<26:32,  2.36s/it]
 25%|██▌       | 227/900 [06:40<19:18,  1.72s/it]
 25%|██▌       | 228/900 [06:40<14:16,  1.27s/it]
 25%|██▌       | 229/900 [06:41<10:44,  1.04it/s]
 26%|██▌       | 230/900 [06:41<08:18,  1.35it/s]
 26%|██▌       | 231/900 [06:41<06:34,  1.70it/s]
 26%|██▌       | 232/900 [06:41<05:21,  2.08it/s]
 26%|██▌       | 233/900 [06:49<28:35,  2.57s/it]
 26%|██▌       | 234/900 [06:49<20:44,  1.87s/it]
 26%|██▌       | 235/900 [06:49<15:16,  1.38s/it]
 26%|██▌       | 236/900 [06:49<11:26,  1.03s/it]
 26%|██▋       | 237/900 [06:50<08:45,  1.26it/s]
 26%|██▋       | 238/900 [06:50<06:54,  1.60it/s]
 27%|██▋       | 239/900 [06:50<05:36,  1.96it/s]
 27%|██▋       | 240/900 [06:50<04:41,  2.34it/s]
 27%|██▋       | 241/900 [07:02<42:01,  3.83s/it]
 27%|██▋       | 242/900 [07:02<30:07,  2.75s/it]
 27%|██▋       | 243/900 [07:03<21:48,  1.99s/it]
 27%|██▋       | 244/900 [07:03<16:00,  1.46s/it]
 27%|██▋       | 245/900 [07:03<11:56,  1.09s/it]
 27%|██▋       | 246/900 [07:03<09:05,  1.20it/s]
 27%|██▋       | 247/900 [07:04<07:08,  1.53it/s]
 28%|██▊       | 248/900 [07:04<05:48,  1.87it/s]
 28%|██▊       | 249/900 [07:13<32:51,  3.03s/it]
 28%|██▊       | 250/900 [07:13<23:48,  2.20s/it]
 28%|██▊       | 251/900 [07:13<17:28,  1.62s/it]
 28%|██▊       | 252/900 [07:13<13:03,  1.21s/it]
 28%|██▊       | 253/900 [07:14<09:56,  1.08it/s]
 28%|██▊       | 254/900 [07:14<07:46,  1.38it/s]
 28%|██▊       | 255/900 [07:14<06:16,  1.71it/s]
 28%|██▊       | 256/900 [07:14<05:14,  2.05it/s]
 29%|██▊       | 257/900 [07:27<44:53,  4.19s/it]
 29%|██▊       | 258/900 [07:28<32:11,  3.01s/it]
 29%|██▉       | 259/900 [07:28<23:19,  2.18s/it]
 29%|██▉       | 260/900 [07:28<17:09,  1.61s/it]
 29%|██▉       | 261/900 [07:28<12:50,  1.21s/it]
 29%|██▉       | 262/900 [07:29<09:47,  1.09it/s]
 29%|██▉       | 263/900 [07:29<07:41,  1.38it/s]
 29%|██▉       | 264/900 [07:29<06:12,  1.71it/s]
 29%|██▉       | 265/900 [07:38<31:45,  3.00s/it]
 30%|██▉       | 266/900 [07:38<23:02,  2.18s/it]
 30%|██▉       | 267/900 [07:38<16:56,  1.61s/it]
 30%|██▉       | 268/900 [07:39<12:42,  1.21s/it]
 30%|██▉       | 269/900 [07:39<09:42,  1.08it/s]
 30%|███       | 270/900 [07:39<07:37,  1.38it/s]
 30%|███       | 271/900 [07:39<06:07,  1.71it/s]
 30%|███       | 272/900 [07:40<05:03,  2.07it/s]
 30%|███       | 273/900 [07:48<30:40,  2.94s/it]
 30%|███       | 274/900 [07:49<22:13,  2.13s/it]
 31%|███       | 275/900 [07:49<16:18,  1.57s/it]
 31%|███       | 276/900 [07:49<12:07,  1.17s/it]
 31%|███       | 277/900 [07:49<09:12,  1.13it/s]
 31%|███       | 278/900 [07:49<07:10,  1.44it/s]
 31%|███       | 279/900 [07:50<05:45,  1.80it/s]
 31%|███       | 280/900 [07:50<04:45,  2.17it/s]
 31%|███       | 281/900 [08:10<1:05:33,  6.36s/it]
 31%|███▏      | 282/900 [08:10<46:33,  4.52s/it]  
 31%|███▏      | 283/900 [08:11<33:18,  3.24s/it]
 32%|███▏      | 284/900 [08:11<24:02,  2.34s/it]
 32%|███▏      | 285/900 [08:11<17:32,  1.71s/it]
 32%|███▏      | 286/900 [08:11<13:00,  1.27s/it]
 32%|███▏      | 287/900 [08:12<09:48,  1.04it/s]
 32%|███▏      | 288/900 [08:12<07:33,  1.35it/s]
 32%|███▏      | 289/900 [08:19<28:24,  2.79s/it]
 32%|███▏      | 290/900 [08:20<20:33,  2.02s/it]
 32%|███▏      | 291/900 [08:20<15:04,  1.48s/it]
 32%|███▏      | 292/900 [08:20<11:14,  1.11s/it]
 33%|███▎      | 293/900 [08:20<08:33,  1.18it/s]
 33%|███▎      | 294/900 [08:20<06:39,  1.52it/s]
 33%|███▎      | 295/900 [08:21<05:24,  1.87it/s]
 33%|███▎      | 296/900 [08:21<04:29,  2.24it/s]
 33%|███▎      | 297/900 [08:29<26:42,  2.66s/it]
 33%|███▎      | 298/900 [08:29<19:25,  1.94s/it]
 33%|███▎      | 299/900 [08:29<14:19,  1.43s/it]
 33%|███▎      | 300/900 [08:29<10:41,  1.07s/it]
 33%|███▎      | 301/900 [08:30<08:09,  1.22it/s]
 34%|███▎      | 302/900 [08:30<06:25,  1.55it/s]
 34%|███▎      | 303/900 [08:30<05:15,  1.89it/s]
 34%|███▍      | 304/900 [08:30<04:24,  2.25it/s]
 34%|███▍      | 305/900 [08:38<25:17,  2.55s/it]
 34%|███▍      | 306/900 [08:38<18:24,  1.86s/it]
 34%|███▍      | 307/900 [08:38<13:36,  1.38s/it]
 34%|███▍      | 308/900 [08:39<10:16,  1.04s/it]
 34%|███▍      | 309/900 [08:39<07:56,  1.24it/s]
 34%|███▍      | 310/900 [08:39<06:19,  1.55it/s]
 35%|███▍      | 311/900 [08:39<05:12,  1.89it/s]
 35%|███▍      | 312/900 [08:40<04:23,  2.23it/s]
 35%|███▍      | 313/900 [08:50<33:48,  3.46s/it]
 35%|███▍      | 314/900 [08:50<24:23,  2.50s/it]
 35%|███▌      | 315/900 [08:51<17:48,  1.83s/it]
 35%|███▌      | 316/900 [08:51<13:12,  1.36s/it]
 35%|███▌      | 317/900 [08:51<09:58,  1.03s/it]
 35%|███▌      | 318/900 [08:52<07:43,  1.26it/s]
 35%|███▌      | 319/900 [08:52<06:08,  1.57it/s]
 36%|███▌      | 320/900 [08:52<05:03,  1.91it/s]
 36%|███▌      | 321/900 [08:58<21:16,  2.20s/it]
 36%|███▌      | 322/900 [08:58<15:36,  1.62s/it]
 36%|███▌      | 323/900 [08:59<11:39,  1.21s/it]
 36%|███▌      | 324/900 [08:59<08:53,  1.08it/s]
 36%|███▌      | 325/900 [08:59<06:57,  1.38it/s]
 36%|███▌      | 326/900 [08:59<05:37,  1.70it/s]
 36%|███▋      | 327/900 [09:00<04:39,  2.05it/s]
 36%|███▋      | 328/900 [09:00<03:59,  2.38it/s]
 37%|███▋      | 329/900 [09:19<57:29,  6.04s/it]
 37%|███▋      | 330/900 [09:19<40:52,  4.30s/it]
 37%|███▋      | 331/900 [09:20<29:12,  3.08s/it]
 37%|███▋      | 332/900 [09:20<21:04,  2.23s/it]
 37%|███▋      | 333/900 [09:20<15:24,  1.63s/it]
 37%|███▋      | 334/900 [09:20<11:25,  1.21s/it]
 37%|███▋      | 335/900 [09:21<08:39,  1.09it/s]
 37%|███▋      | 336/900 [09:21<06:42,  1.40it/s]
 37%|███▋      | 337/900 [09:28<25:41,  2.74s/it]
 38%|███▊      | 338/900 [09:28<18:35,  1.99s/it]
 38%|███▊      | 339/900 [09:29<13:38,  1.46s/it]
 38%|███▊      | 340/900 [09:29<10:10,  1.09s/it]
 38%|███▊      | 341/900 [09:29<07:44,  1.20it/s]
 38%|███▊      | 342/900 [09:29<06:02,  1.54it/s]
 38%|███▊      | 343/900 [09:30<04:50,  1.92it/s]
 38%|███▊      | 344/900 [09:30<04:02,  2.29it/s]
 38%|███▊      | 345/900 [09:38<24:09,  2.61s/it]
 38%|███▊      | 346/900 [09:38<17:30,  1.90s/it]
 39%|███▊      | 347/900 [09:38<12:52,  1.40s/it]
 39%|███▊      | 348/900 [09:38<09:37,  1.05s/it]
 39%|███▉      | 349/900 [09:38<07:21,  1.25it/s]
 39%|███▉      | 350/900 [09:39<05:46,  1.59it/s]
 39%|███▉      | 351/900 [09:39<04:39,  1.96it/s]
 39%|███▉      | 352/900 [09:39<03:54,  2.34it/s]
 39%|███▉      | 353/900 [09:47<24:44,  2.71s/it]
 39%|███▉      | 354/900 [09:47<17:55,  1.97s/it]
 39%|███▉      | 355/900 [09:48<13:09,  1.45s/it]
 40%|███▉      | 356/900 [09:48<09:49,  1.08s/it]
 40%|███▉      | 357/900 [09:48<07:30,  1.21it/s]
 40%|███▉      | 358/900 [09:48<05:51,  1.54it/s]
 40%|███▉      | 359/900 [09:49<04:42,  1.92it/s]
 40%|████      | 360/900 [09:49<03:54,  2.30it/s]
 40%|████      | 361/900 [09:57<25:12,  2.81s/it]
 40%|████      | 362/900 [09:57<18:12,  2.03s/it]
 40%|████      | 363/900 [09:58<13:22,  1.49s/it]
 40%|████      | 364/900 [09:58<09:58,  1.12s/it]
 41%|████      | 365/900 [09:58<07:38,  1.17it/s]
 41%|████      | 366/900 [09:58<06:00,  1.48it/s]
 41%|████      | 367/900 [09:59<04:51,  1.83it/s]
 41%|████      | 368/900 [09:59<04:03,  2.18it/s]
 41%|████      | 369/900 [10:10<31:55,  3.61s/it]
 41%|████      | 370/900 [10:10<22:54,  2.59s/it]
 41%|████      | 371/900 [10:10<16:36,  1.88s/it]
 41%|████▏     | 372/900 [10:10<12:12,  1.39s/it]
 41%|████▏     | 373/900 [10:11<09:08,  1.04s/it]
 42%|████▏     | 374/900 [10:11<07:00,  1.25it/s]
 42%|████▏     | 375/900 [10:11<05:29,  1.59it/s]
 42%|████▏     | 376/900 [10:11<04:28,  1.95it/s]
 42%|████▏     | 377/900 [10:23<32:39,  3.75s/it]
 42%|████▏     | 378/900 [10:23<24:07,  2.77s/it]
 42%|████▏     | 379/900 [10:23<17:31,  2.02s/it]
 42%|████▏     | 380/900 [10:24<12:53,  1.49s/it]
 42%|████▏     | 381/900 [10:24<09:39,  1.12s/it]
 42%|████▏     | 382/900 [10:24<07:23,  1.17it/s]
 43%|████▎     | 383/900 [10:24<05:48,  1.48it/s]
 43%|████▎     | 384/900 [10:25<04:41,  1.83it/s]
 43%|████▎     | 385/900 [10:32<22:30,  2.62s/it]
 43%|████▎     | 386/900 [10:32<16:24,  1.92s/it]
 43%|████▎     | 387/900 [10:33<12:05,  1.42s/it]
 43%|████▎     | 388/900 [10:33<09:05,  1.07s/it]
 43%|████▎     | 389/900 [10:33<06:58,  1.22it/s]
 43%|████▎     | 390/900 [10:33<05:30,  1.54it/s]
 43%|████▎     | 391/900 [10:34<04:28,  1.90it/s]
 44%|████▎     | 392/900 [10:34<03:45,  2.26it/s]
 44%|████▎     | 393/900 [10:56<59:15,  7.01s/it]
 44%|████▍     | 394/900 [10:57<42:00,  4.98s/it]
 44%|████▍     | 395/900 [10:57<29:59,  3.56s/it]
 44%|████▍     | 396/900 [10:57<21:37,  2.57s/it]
 44%|████▍     | 397/900 [10:57<15:44,  1.88s/it]
 44%|████▍     | 398/900 [10:58<11:39,  1.39s/it]
 44%|████▍     | 399/900 [10:58<08:45,  1.05s/it]
 44%|████▍     | 400/900 [10:58<06:42,  1.24it/s]
 45%|████▍     | 401/900 [11:08<29:40,  3.57s/it]
 45%|████▍     | 402/900 [11:08<21:18,  2.57s/it]
 45%|████▍     | 403/900 [11:09<15:27,  1.87s/it]
 45%|████▍     | 404/900 [11:09<11:22,  1.38s/it]
 45%|████▌     | 405/900 [11:09<08:31,  1.03s/it]
 45%|████▌     | 406/900 [11:09<06:34,  1.25it/s]
 45%|████▌     | 407/900 [11:09<05:13,  1.57it/s]
 45%|████▌     | 408/900 [11:10<04:16,  1.92it/s]
 45%|████▌     | 409/900 [11:21<30:46,  3.76s/it]
 46%|████▌     | 410/900 [11:21<22:07,  2.71s/it]
 46%|████▌     | 411/900 [11:22<16:08,  1.98s/it]
 46%|████▌     | 412/900 [11:22<11:55,  1.47s/it]
 46%|████▌     | 413/900 [11:22<08:59,  1.11s/it]
 46%|████▌     | 414/900 [11:22<06:56,  1.17it/s]
 46%|████▌     | 415/900 [11:23<05:28,  1.48it/s]
 46%|████▌     | 416/900 [11:23<04:27,  1.81it/s]
 46%|████▋     | 417/900 [11:34<29:17,  3.64s/it]
 46%|████▋     | 418/900 [11:34<21:07,  2.63s/it]
 47%|████▋     | 419/900 [11:34<15:23,  1.92s/it]
 47%|████▋     | 420/900 [11:35<11:22,  1.42s/it]
 47%|████▋     | 421/900 [11:35<08:33,  1.07s/it]
 47%|████▋     | 422/900 [11:35<06:35,  1.21it/s]
 47%|████▋     | 423/900 [11:35<05:12,  1.53it/s]
 47%|████▋     | 424/900 [11:36<04:14,  1.87it/s]
 47%|████▋     | 425/900 [11:44<23:41,  2.99s/it]
 47%|████▋     | 426/900 [11:45<17:09,  2.17s/it]
 47%|████▋     | 427/900 [11:45<12:38,  1.60s/it]
 48%|████▊     | 428/900 [11:45<09:27,  1.20s/it]
 48%|████▊     | 429/900 [11:45<07:13,  1.09it/s]
 48%|████▊     | 430/900 [11:46<05:40,  1.38it/s]
 48%|████▊     | 431/900 [11:46<04:35,  1.70it/s]
 48%|████▊     | 432/900 [11:46<03:49,  2.04it/s]
 48%|████▊     | 433/900 [11:55<23:32,  3.02s/it]
 48%|████▊     | 434/900 [11:55<17:04,  2.20s/it]
 48%|████▊     | 435/900 [11:56<12:31,  1.62s/it]
 48%|████▊     | 436/900 [11:56<09:21,  1.21s/it]
 49%|████▊     | 437/900 [11:56<07:08,  1.08it/s]
 49%|████▊     | 438/900 [11:56<05:34,  1.38it/s]
 49%|████▉     | 439/900 [11:57<04:28,  1.71it/s]
 49%|████▉     | 440/900 [11:57<03:42,  2.07it/s]
 49%|████▉     | 441/900 [12:16<46:14,  6.05s/it]
 49%|████▉     | 442/900 [12:16<32:51,  4.31s/it]
 49%|████▉     | 443/900 [12:16<23:31,  3.09s/it]
 49%|████▉     | 444/900 [12:17<16:58,  2.23s/it]
 49%|████▉     | 445/900 [12:17<12:23,  1.63s/it]
 50%|████▉     | 446/900 [12:17<09:10,  1.21s/it]
 50%|████▉     | 447/900 [12:17<06:54,  1.09it/s]
 50%|████▉     | 448/900 [12:18<05:21,  1.41it/s]
 50%|████▉     | 449/900 [12:25<20:07,  2.68s/it]
 50%|█████     | 450/900 [12:25<14:35,  1.95s/it]
 50%|█████     | 451/900 [12:25<10:42,  1.43s/it]
 50%|█████     | 452/900 [12:26<08:00,  1.07s/it]
 50%|█████     | 453/900 [12:26<06:06,  1.22it/s]
 50%|█████     | 454/900 [12:26<04:46,  1.56it/s]
 51%|█████     | 455/900 [12:26<03:50,  1.93it/s]
 51%|█████     | 456/900 [12:26<03:12,  2.31it/s]
 51%|█████     | 457/900 [12:35<22:03,  2.99s/it]
 51%|█████     | 458/900 [12:36<15:58,  2.17s/it]
 51%|█████     | 459/900 [12:36<11:43,  1.60s/it]
 51%|█████     | 460/900 [12:36<08:43,  1.19s/it]
 51%|█████     | 461/900 [12:36<06:37,  1.10it/s]
 51%|█████▏    | 462/900 [12:37<05:11,  1.40it/s]
 51%|█████▏    | 463/900 [12:37<04:10,  1.75it/s]
 52%|█████▏    | 464/900 [12:37<03:26,  2.12it/s]
 52%|█████▏    | 465/900 [12:49<27:50,  3.84s/it]
 52%|█████▏    | 466/900 [12:49<19:57,  2.76s/it]
 52%|█████▏    | 467/900 [12:49<14:27,  2.00s/it]
 52%|█████▏    | 468/900 [12:50<10:38,  1.48s/it]
 52%|█████▏    | 469/900 [12:50<07:57,  1.11s/it]
 52%|█████▏    | 470/900 [12:50<06:06,  1.17it/s]
 52%|█████▏    | 471/900 [12:50<04:47,  1.49it/s]
 52%|█████▏    | 472/900 [12:51<03:50,  1.85it/s]
 53%|█████▎    | 473/900 [12:58<18:46,  2.64s/it]
 53%|█████▎    | 474/900 [12:58<13:36,  1.92s/it]
 53%|█████▎    | 475/900 [12:59<09:59,  1.41s/it]
 53%|█████▎    | 476/900 [12:59<07:28,  1.06s/it]
 53%|█████▎    | 477/900 [12:59<05:41,  1.24it/s]
 53%|█████▎    | 478/900 [12:59<04:27,  1.58it/s]
 53%|█████▎    | 479/900 [13:00<03:36,  1.94it/s]
 53%|█████▎    | 480/900 [13:00<03:00,  2.33it/s]
 53%|█████▎    | 481/900 [13:07<18:17,  2.62s/it]
 54%|█████▎    | 482/900 [13:08<13:15,  1.90s/it]
 54%|█████▎    | 483/900 [13:08<09:43,  1.40s/it]
 54%|█████▍    | 484/900 [13:08<07:16,  1.05s/it]
 54%|█████▍    | 485/900 [13:08<05:34,  1.24it/s]
 54%|█████▍    | 486/900 [13:09<04:22,  1.58it/s]
 54%|█████▍    | 487/900 [13:09<03:31,  1.95it/s]
 54%|█████▍    | 488/900 [13:09<02:57,  2.33it/s]
 54%|█████▍    | 489/900 [13:21<25:36,  3.74s/it]
 54%|█████▍    | 490/900 [13:21<18:22,  2.69s/it]
 55%|█████▍    | 491/900 [13:21<13:20,  1.96s/it]
 55%|█████▍    | 492/900 [13:21<09:47,  1.44s/it]
 55%|█████▍    | 493/900 [13:22<07:18,  1.08s/it]
 55%|█████▍    | 494/900 [13:22<05:34,  1.21it/s]
 55%|█████▌    | 495/900 [13:22<04:21,  1.55it/s]
 55%|█████▌    | 496/900 [13:22<03:30,  1.92it/s]
 55%|█████▌    | 497/900 [13:30<18:47,  2.80s/it]
 55%|█████▌    | 498/900 [13:31<13:35,  2.03s/it]
 55%|█████▌    | 499/900 [13:31<09:57,  1.49s/it]
 56%|█████▌    | 500/900 [13:32<08:33,  1.28s/it]
 56%|█████▌    | 501/900 [13:32<06:26,  1.03it/s]
 56%|█████▌    | 502/900 [13:32<04:58,  1.33it/s]
 56%|█████▌    | 503/900 [13:32<03:55,  1.68it/s]
 56%|█████▌    | 504/900 [13:33<03:12,  2.06it/s]
 56%|█████▌    | 505/900 [13:40<17:43,  2.69s/it]
 56%|█████▌    | 506/900 [13:41<12:49,  1.95s/it]
 56%|█████▋    | 507/900 [13:41<09:24,  1.44s/it]
 56%|█████▋    | 508/900 [13:41<07:00,  1.07s/it]
 57%|█████▋    | 509/900 [13:41<05:19,  1.22it/s]
 57%|█████▋    | 510/900 [13:41<04:10,  1.56it/s]
 57%|█████▋    | 511/900 [13:42<03:21,  1.93it/s]
 57%|█████▋    | 512/900 [13:42<02:47,  2.32it/s]
 57%|█████▋    | 513/900 [13:50<17:46,  2.76s/it]
 57%|█████▋    | 514/900 [13:50<12:52,  2.00s/it]
 57%|█████▋    | 515/900 [13:51<09:25,  1.47s/it]
 57%|█████▋    | 516/900 [13:51<07:01,  1.10s/it]
 57%|█████▋    | 517/900 [13:51<05:21,  1.19it/s]
 58%|█████▊    | 518/900 [13:51<04:11,  1.52it/s]
 58%|█████▊    | 519/900 [13:52<03:22,  1.88it/s]
 58%|█████▊    | 520/900 [13:52<02:50,  2.23it/s]
 58%|█████▊    | 521/900 [14:06<28:30,  4.51s/it]
 58%|█████▊    | 522/900 [14:06<20:20,  3.23s/it]
 58%|█████▊    | 523/900 [14:06<14:38,  2.33s/it]
 58%|█████▊    | 524/900 [14:06<10:39,  1.70s/it]
 58%|█████▊    | 525/900 [14:07<07:53,  1.26s/it]
 58%|█████▊    | 526/900 [14:07<05:56,  1.05it/s]
 59%|█████▊    | 527/900 [14:07<04:36,  1.35it/s]
 59%|█████▊    | 528/900 [14:07<03:38,  1.70it/s]
 59%|█████▉    | 529/900 [14:16<18:28,  2.99s/it]
 59%|█████▉    | 530/900 [14:16<13:21,  2.17s/it]
 59%|█████▉    | 531/900 [14:17<09:48,  1.59s/it]
 59%|█████▉    | 532/900 [14:17<07:19,  1.19s/it]
 59%|█████▉    | 533/900 [14:17<05:34,  1.10it/s]
 59%|█████▉    | 534/900 [14:17<04:21,  1.40it/s]
 59%|█████▉    | 535/900 [14:18<03:30,  1.74it/s]
 60%|█████▉    | 536/900 [14:18<02:55,  2.08it/s]
 60%|█████▉    | 537/900 [14:37<36:06,  5.97s/it]
 60%|█████▉    | 538/900 [14:37<25:39,  4.25s/it]
 60%|█████▉    | 539/900 [14:37<18:21,  3.05s/it]
 60%|██████    | 540/900 [14:37<13:14,  2.21s/it]
 60%|██████    | 541/900 [14:38<09:39,  1.61s/it]
 60%|██████    | 542/900 [14:38<07:10,  1.20s/it]
 60%|██████    | 543/900 [14:38<05:27,  1.09it/s]
 60%|██████    | 544/900 [14:38<04:14,  1.40it/s]
 61%|██████    | 545/900 [14:46<17:18,  2.92s/it]
 61%|██████    | 546/900 [14:47<12:30,  2.12s/it]
 61%|██████    | 547/900 [14:47<09:08,  1.55s/it]
 61%|██████    | 548/900 [14:47<06:47,  1.16s/it]
 61%|██████    | 549/900 [14:47<05:09,  1.13it/s]
 61%|██████    | 550/900 [14:48<04:01,  1.45it/s]
 61%|██████    | 551/900 [14:48<03:14,  1.80it/s]
 61%|██████▏   | 552/900 [14:48<02:40,  2.17it/s]
 61%|██████▏   | 553/900 [15:04<29:42,  5.14s/it]
 62%|██████▏   | 554/900 [15:04<21:07,  3.66s/it]
 62%|██████▏   | 555/900 [15:05<15:09,  2.63s/it]
 62%|██████▏   | 556/900 [15:05<10:58,  1.92s/it]
 62%|██████▏   | 557/900 [15:05<08:03,  1.41s/it]
 62%|██████▏   | 558/900 [15:05<06:01,  1.06s/it]
 62%|██████▏   | 559/900 [15:05<04:35,  1.24it/s]
 62%|██████▏   | 560/900 [15:06<03:36,  1.57it/s]
 62%|██████▏   | 561/900 [15:15<18:07,  3.21s/it]
 62%|██████▏   | 562/900 [15:15<13:02,  2.31s/it]
 63%|██████▎   | 563/900 [15:15<09:29,  1.69s/it]
 63%|██████▎   | 564/900 [15:16<07:00,  1.25s/it]
 63%|██████▎   | 565/900 [15:16<05:16,  1.06it/s]
 63%|██████▎   | 566/900 [15:16<04:03,  1.37it/s]
 63%|██████▎   | 567/900 [15:16<03:12,  1.73it/s]
 63%|██████▎   | 568/900 [15:17<02:37,  2.11it/s]
 63%|██████▎   | 569/900 [15:33<29:11,  5.29s/it]
 63%|██████▎   | 570/900 [15:33<20:45,  3.77s/it]
 63%|██████▎   | 571/900 [15:34<14:52,  2.71s/it]
 64%|██████▎   | 572/900 [15:34<10:48,  1.98s/it]
 64%|██████▎   | 573/900 [15:34<07:57,  1.46s/it]
 64%|██████▍   | 574/900 [15:34<05:57,  1.10s/it]
 64%|██████▍   | 575/900 [15:35<04:33,  1.19it/s]
 64%|██████▍   | 576/900 [15:35<03:34,  1.51it/s]
 64%|██████▍   | 577/900 [15:47<22:37,  4.20s/it]
 64%|██████▍   | 578/900 [15:48<16:12,  3.02s/it]
 64%|██████▍   | 579/900 [15:48<11:43,  2.19s/it]
 64%|██████▍   | 580/900 [15:48<08:35,  1.61s/it]
 65%|██████▍   | 581/900 [15:48<06:25,  1.21s/it]
 65%|██████▍   | 582/900 [15:49<04:52,  1.09it/s]
 65%|██████▍   | 583/900 [15:49<03:46,  1.40it/s]
 65%|██████▍   | 584/900 [15:49<03:00,  1.75it/s]
 65%|██████▌   | 585/900 [15:58<16:47,  3.20s/it]
 65%|██████▌   | 586/900 [15:59<12:04,  2.31s/it]
 65%|██████▌   | 587/900 [15:59<08:47,  1.68s/it]
 65%|██████▌   | 588/900 [15:59<06:29,  1.25s/it]
 65%|██████▌   | 589/900 [15:59<04:52,  1.06it/s]
 66%|██████▌   | 590/900 [15:59<03:45,  1.37it/s]
 66%|██████▌   | 591/900 [16:00<02:58,  1.73it/s]
 66%|██████▌   | 592/900 [16:00<02:25,  2.11it/s]
 66%|██████▌   | 593/900 [16:09<15:39,  3.06s/it]
 66%|██████▌   | 594/900 [16:09<11:17,  2.21s/it]
 66%|██████▌   | 595/900 [16:10<08:14,  1.62s/it]
 66%|██████▌   | 596/900 [16:10<06:06,  1.20s/it]
 66%|██████▋   | 597/900 [16:10<04:36,  1.09it/s]
 66%|██████▋   | 598/900 [16:10<03:34,  1.41it/s]
 67%|██████▋   | 599/900 [16:10<02:50,  1.77it/s]
 67%|██████▋   | 600/900 [16:11<02:19,  2.15it/s]
 67%|██████▋   | 601/900 [16:19<14:46,  2.96s/it]
 67%|██████▋   | 602/900 [16:20<10:39,  2.15s/it]
 67%|██████▋   | 603/900 [16:20<07:46,  1.57s/it]
 67%|██████▋   | 604/900 [16:20<05:45,  1.17s/it]
 67%|██████▋   | 605/900 [16:20<04:22,  1.13it/s]
 67%|██████▋   | 606/900 [16:21<03:23,  1.45it/s]
 67%|██████▋   | 607/900 [16:21<02:41,  1.81it/s]
 68%|██████▊   | 608/900 [16:21<02:12,  2.21it/s]
 68%|██████▊   | 609/900 [16:32<16:45,  3.45s/it]
 68%|██████▊   | 610/900 [16:32<12:01,  2.49s/it]
 68%|██████▊   | 611/900 [16:32<08:42,  1.81s/it]
 68%|██████▊   | 612/900 [16:32<06:24,  1.34s/it]
 68%|██████▊   | 613/900 [16:32<04:48,  1.01s/it]
 68%|██████▊   | 614/900 [16:33<03:41,  1.29it/s]
 68%|██████▊   | 615/900 [16:33<02:54,  1.63it/s]
 68%|██████▊   | 616/900 [16:33<02:22,  2.00it/s]
 69%|██████▊   | 617/900 [16:43<15:05,  3.20s/it]
 69%|██████▊   | 618/900 [16:43<10:53,  2.32s/it]
 69%|██████▉   | 619/900 [16:43<07:58,  1.70s/it]
 69%|██████▉   | 620/900 [16:43<05:54,  1.27s/it]
 69%|██████▉   | 621/900 [16:44<04:29,  1.04it/s]
 69%|██████▉   | 622/900 [16:44<03:29,  1.33it/s]
 69%|██████▉   | 623/900 [16:44<02:47,  1.65it/s]
 69%|██████▉   | 624/900 [16:44<02:18,  1.99it/s]
 69%|██████▉   | 625/900 [16:54<15:18,  3.34s/it]
 70%|██████▉   | 626/900 [16:55<11:01,  2.42s/it]
 70%|██████▉   | 627/900 [16:55<08:02,  1.77s/it]
 70%|██████▉   | 628/900 [16:55<05:57,  1.32s/it]
 70%|██████▉   | 629/900 [16:55<04:30,  1.00it/s]
 70%|███████   | 630/900 [16:56<03:30,  1.28it/s]
 70%|███████   | 631/900 [16:56<02:47,  1.60it/s]
 70%|███████   | 632/900 [16:56<02:18,  1.94it/s]
 70%|███████   | 633/900 [17:06<14:05,  3.17s/it]
 70%|███████   | 634/900 [17:06<10:11,  2.30s/it]
 71%|███████   | 635/900 [17:06<07:27,  1.69s/it]
 71%|███████   | 636/900 [17:06<05:32,  1.26s/it]
 71%|███████   | 637/900 [17:07<04:12,  1.04it/s]
 71%|███████   | 638/900 [17:07<03:16,  1.33it/s]
 71%|███████   | 639/900 [17:07<02:37,  1.66it/s]
 71%|███████   | 640/900 [17:07<02:09,  2.00it/s]
 71%|███████   | 641/900 [17:19<16:00,  3.71s/it]
 71%|███████▏  | 642/900 [17:19<11:30,  2.68s/it]
 71%|███████▏  | 643/900 [17:19<08:21,  1.95s/it]
 72%|███████▏  | 644/900 [17:19<06:09,  1.44s/it]
 72%|███████▏  | 645/900 [17:20<04:37,  1.09s/it]
 72%|███████▏  | 646/900 [17:20<03:33,  1.19it/s]
 72%|███████▏  | 647/900 [17:20<02:48,  1.50it/s]
 72%|███████▏  | 648/900 [17:20<02:17,  1.84it/s]
 72%|███████▏  | 649/900 [17:31<14:59,  3.59s/it]
 72%|███████▏  | 650/900 [17:31<10:47,  2.59s/it]
 72%|███████▏  | 651/900 [17:32<07:50,  1.89s/it]
 72%|███████▏  | 652/900 [17:32<05:46,  1.40s/it]
 73%|███████▎  | 653/900 [17:32<04:21,  1.06s/it]
 73%|███████▎  | 654/900 [17:32<03:21,  1.22it/s]
 73%|███████▎  | 655/900 [17:33<02:38,  1.55it/s]
 73%|███████▎  | 656/900 [17:33<02:08,  1.90it/s]
 73%|███████▎  | 657/900 [17:43<13:08,  3.25s/it]
 73%|███████▎  | 658/900 [17:43<09:27,  2.34s/it]
 73%|███████▎  | 659/900 [17:43<06:52,  1.71s/it]
 73%|███████▎  | 660/900 [17:43<05:04,  1.27s/it]
 73%|███████▎  | 661/900 [17:43<03:48,  1.05it/s]
 74%|███████▎  | 662/900 [17:44<02:55,  1.35it/s]
 74%|███████▎  | 663/900 [17:44<02:19,  1.70it/s]
 74%|███████▍  | 664/900 [17:44<01:53,  2.08it/s]
 74%|███████▍  | 665/900 [18:10<31:51,  8.13s/it]
 74%|███████▍  | 666/900 [18:10<22:28,  5.76s/it]
 74%|███████▍  | 667/900 [18:11<15:56,  4.10s/it]
 74%|███████▍  | 668/900 [18:11<11:22,  2.94s/it]
 74%|███████▍  | 669/900 [18:11<08:11,  2.13s/it]
 74%|███████▍  | 670/900 [18:11<05:58,  1.56s/it]
 75%|███████▍  | 671/900 [18:12<04:25,  1.16s/it]
 75%|███████▍  | 672/900 [18:12<03:20,  1.14it/s]
 75%|███████▍  | 673/900 [18:23<15:03,  3.98s/it]
 75%|███████▍  | 674/900 [18:23<10:46,  2.86s/it]
 75%|███████▌  | 675/900 [18:23<07:45,  2.07s/it]
 75%|███████▌  | 676/900 [18:24<05:39,  1.52s/it]
 75%|███████▌  | 677/900 [18:24<04:12,  1.13s/it]
 75%|███████▌  | 678/900 [18:24<03:11,  1.16it/s]
 75%|███████▌  | 679/900 [18:24<02:29,  1.48it/s]
 76%|███████▌  | 680/900 [18:25<01:59,  1.84it/s]
 76%|███████▌  | 681/900 [18:36<13:37,  3.73s/it]
 76%|███████▌  | 682/900 [18:36<09:44,  2.68s/it]
 76%|███████▌  | 683/900 [18:36<07:02,  1.95s/it]
 76%|███████▌  | 684/900 [18:37<05:09,  1.43s/it]
 76%|███████▌  | 685/900 [18:37<03:51,  1.08s/it]
 76%|███████▌  | 686/900 [18:37<02:55,  1.22it/s]
 76%|███████▋  | 687/900 [18:37<02:17,  1.55it/s]
 76%|███████▋  | 688/900 [18:37<01:51,  1.91it/s]
 77%|███████▋  | 689/900 [18:48<12:26,  3.54s/it]
 77%|███████▋  | 690/900 [18:48<08:56,  2.55s/it]
 77%|███████▋  | 691/900 [18:49<06:30,  1.87s/it]
 77%|███████▋  | 692/900 [18:49<04:47,  1.38s/it]
 77%|███████▋  | 693/900 [18:49<03:36,  1.04s/it]
 77%|███████▋  | 694/900 [18:49<02:46,  1.24it/s]
 77%|███████▋  | 695/900 [18:50<02:11,  1.56it/s]
 77%|███████▋  | 696/900 [18:50<01:47,  1.89it/s]
 77%|███████▋  | 697/900 [18:58<09:40,  2.86s/it]
 78%|███████▊  | 698/900 [18:58<07:01,  2.08s/it]
 78%|███████▊  | 699/900 [18:59<05:09,  1.54s/it]
 78%|███████▊  | 700/900 [18:59<03:51,  1.16s/it]
 78%|███████▊  | 701/900 [18:59<02:57,  1.12it/s]
 78%|███████▊  | 702/900 [18:59<02:18,  1.43it/s]
 78%|███████▊  | 703/900 [19:00<01:51,  1.76it/s]
 78%|███████▊  | 704/900 [19:00<01:32,  2.11it/s]
 78%|███████▊  | 705/900 [19:15<15:33,  4.79s/it]
 78%|███████▊  | 706/900 [19:15<11:03,  3.42s/it]
 79%|███████▊  | 707/900 [19:15<07:55,  2.47s/it]
 79%|███████▊  | 708/900 [19:16<05:44,  1.80s/it]
 79%|███████▉  | 709/900 [19:16<04:13,  1.33s/it]
 79%|███████▉  | 710/900 [19:16<03:09,  1.00it/s]
 79%|███████▉  | 711/900 [19:16<02:24,  1.30it/s]
 79%|███████▉  | 712/900 [19:16<01:53,  1.65it/s]
 79%|███████▉  | 713/900 [19:25<09:24,  3.02s/it]
 79%|███████▉  | 714/900 [19:25<06:46,  2.18s/it]
 79%|███████▉  | 715/900 [19:26<04:55,  1.60s/it]
 80%|███████▉  | 716/900 [19:26<03:38,  1.19s/it]
 80%|███████▉  | 717/900 [19:26<02:45,  1.11it/s]
 80%|███████▉  | 718/900 [19:26<02:08,  1.42it/s]
 80%|███████▉  | 719/900 [19:27<01:43,  1.75it/s]
 80%|████████  | 720/900 [19:27<01:26,  2.09it/s]
 80%|████████  | 721/900 [19:38<11:08,  3.73s/it]
 80%|████████  | 722/900 [19:38<07:58,  2.69s/it]
 80%|████████  | 723/900 [19:39<05:47,  1.96s/it]
 80%|████████  | 724/900 [19:39<04:15,  1.45s/it]
 81%|████████  | 725/900 [19:39<03:11,  1.09s/it]
 81%|████████  | 726/900 [19:39<02:26,  1.19it/s]
 81%|████████  | 727/900 [19:40<01:55,  1.50it/s]
 81%|████████  | 728/900 [19:40<01:33,  1.83it/s]
 81%|████████  | 729/900 [19:55<14:04,  4.94s/it]
 81%|████████  | 730/900 [19:55<10:00,  3.53s/it]
 81%|████████  | 731/900 [19:56<07:10,  2.55s/it]
 81%|████████▏ | 732/900 [19:56<05:13,  1.86s/it]
 81%|████████▏ | 733/900 [19:56<03:50,  1.38s/it]
 82%|████████▏ | 734/900 [19:56<02:53,  1.05s/it]
 82%|████████▏ | 735/900 [19:57<02:13,  1.23it/s]
 82%|████████▏ | 736/900 [19:57<01:45,  1.55it/s]
 82%|████████▏ | 737/900 [20:08<10:37,  3.91s/it]
 82%|████████▏ | 738/900 [20:09<07:35,  2.81s/it]
 82%|████████▏ | 739/900 [20:09<05:29,  2.05s/it]
 82%|████████▏ | 740/900 [20:09<04:01,  1.51s/it]
 82%|████████▏ | 741/900 [20:09<03:00,  1.14s/it]
 82%|████████▏ | 742/900 [20:10<02:17,  1.15it/s]
 83%|████████▎ | 743/900 [20:10<01:47,  1.46it/s]
 83%|████████▎ | 744/900 [20:10<01:26,  1.79it/s]
 83%|████████▎ | 745/900 [20:20<08:51,  3.43s/it]
 83%|████████▎ | 746/900 [20:21<06:22,  2.48s/it]
 83%|████████▎ | 747/900 [20:21<04:37,  1.81s/it]
 83%|████████▎ | 748/900 [20:21<03:24,  1.35s/it]
 83%|████████▎ | 749/900 [20:21<02:34,  1.02s/it]
 83%|████████▎ | 750/900 [20:22<01:58,  1.27it/s]
 83%|████████▎ | 751/900 [20:22<01:34,  1.58it/s]
 84%|████████▎ | 752/900 [20:22<01:16,  1.92it/s]
 84%|████████▎ | 753/900 [20:32<08:08,  3.32s/it]
 84%|████████▍ | 754/900 [20:32<05:50,  2.40s/it]
 84%|████████▍ | 755/900 [20:33<04:14,  1.76s/it]
 84%|████████▍ | 756/900 [20:33<03:08,  1.31s/it]
 84%|████████▍ | 757/900 [20:33<02:22,  1.01it/s]
 84%|████████▍ | 758/900 [20:33<01:49,  1.29it/s]
 84%|████████▍ | 759/900 [20:34<01:27,  1.61it/s]
 84%|████████▍ | 760/900 [20:34<01:11,  1.95it/s]
 85%|████████▍ | 761/900 [20:43<07:12,  3.11s/it]
 85%|████████▍ | 762/900 [20:43<05:11,  2.26s/it]
 85%|████████▍ | 763/900 [20:44<03:47,  1.66s/it]
 85%|████████▍ | 764/900 [20:44<02:48,  1.24s/it]
 85%|████████▌ | 765/900 [20:44<02:07,  1.06it/s]
 85%|████████▌ | 766/900 [20:44<01:38,  1.35it/s]
 85%|████████▌ | 767/900 [20:45<01:19,  1.68it/s]
 85%|████████▌ | 768/900 [20:45<01:04,  2.03it/s]
 85%|████████▌ | 769/900 [21:01<11:01,  5.05s/it]
 86%|████████▌ | 770/900 [21:01<07:49,  3.61s/it]
 86%|████████▌ | 771/900 [21:01<05:36,  2.61s/it]
 86%|████████▌ | 772/900 [21:01<04:03,  1.90s/it]
 86%|████████▌ | 773/900 [21:02<02:58,  1.40s/it]
 86%|████████▌ | 774/900 [21:02<02:13,  1.06s/it]
 86%|████████▌ | 775/900 [21:02<01:42,  1.22it/s]
 86%|████████▌ | 776/900 [21:02<01:20,  1.54it/s]
 86%|████████▋ | 777/900 [21:13<07:28,  3.65s/it]
 86%|████████▋ | 778/900 [21:13<05:21,  2.63s/it]
 87%|████████▋ | 779/900 [21:14<03:52,  1.92s/it]
 87%|████████▋ | 780/900 [21:14<02:50,  1.42s/it]
 87%|████████▋ | 781/900 [21:14<02:07,  1.07s/it]
 87%|████████▋ | 782/900 [21:14<01:37,  1.21it/s]
 87%|████████▋ | 783/900 [21:15<01:16,  1.52it/s]
 87%|████████▋ | 784/900 [21:15<01:02,  1.86it/s]
 87%|████████▋ | 784/900 [21:26<03:10,  1.64s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/log_2_env0.json.
+FoodPacking1CansTask_2 complete: task_name: FoodPacking1CansTask, run_name: FoodPacking1CansTask_2, run: 2, env_id: 0, policy: harness, instruction: Pack canned foods into the bin, attributes: ['semantics', 'simple'], success: True, episode_step: 785, duration: 52.333333333333336, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.2767589860402, 'joint_sparc_mean': -11.0607332980871, 'ee_isj': 4730.678632740906, 'joint_isj': 244786.977596641, 'ee_path_length': 6.83618772690984, 'joint_rmse_mean': 0.9904055614784598, 'ee_speed_max': 0.4637286365032196, 'ee_speed_mean': 0.12751522660255432}, events: {'GRIPPER_FULLY_CLOSED': 10, 'TARGET_OBJECT_DROPPED': 16, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 1, 'GRIPPER_HIT_TABLE': 2}, instruction_type: default, timing: {'policy_inference_s': 1100.533, 'policy_inference_avg_ms': 1402.0, 'env_step_s': 177.864, 'env_step_avg_ms': 226.6, 'video_write_s': 7.735, 'video_write_avg_ms': 9.9, 'wall_total_s': 1286.132, 'it_per_sec': 0.61}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 80b99c6accf94d659189ff242be04671-2
+----------------------------------------------------------------------- EXPERIMENT SUMMARY ------------------------------------------------------------------------
+Task Name                       Success    %     95% CI         Score(total) Score(fail) Time(s) EE SPARC PathLen(m) Speed(cm/s) it/s Walltime(m)
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------
+TOTAL (5 tasks)                 10/15    66.7%   [41.3-84.8]    0.733        0.200       32.15   -8.47    4.97       11.5        0.60 18.0       
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------
+BananaThenRubiksCubeTask        2/3      66.7%   [19.4-93.2]    1.000        1.000       32.10   -8.46    6.27       14.0        0.61 17.3       
+BlockStackingSpecifiedOrderTask 3/3      100.0%  [39.8-99.4]    1.000        -           29.62   -9.13    3.96       12.7        0.60 12.7       
+FoodPacking1CansTask            2/3      66.7%   [19.4-93.2]    0.667        0.000       43.53   -9.81    6.06       11.6        0.60 21.0       
+FruitsOnionToPlateTask          0/3      0.0%    [0.6-60.2]     0.000        0.000       -       -6.88    4.60       7.2         0.69 25.7       
+ReorientRedMugTask              3/3      100.0%  [39.8-99.4]    1.000        -           27.11   -8.04    3.98       12.2        0.51 13.4       
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval.episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d0a58e43741b402b310b546b45479f59c9fbd9a3
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval.episodes.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaa522110b4c5ec5530a05c5df5722c7f59f0d746e32e1293a1374f1598c20f0
+size 30048
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4193e2311594a17cc4aef20bb4c3debe584b2811
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13105275b915242e761c5ed08fc64df22eb86eca4c6e73d947653a88ed3edb14
+size 3502344
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0001/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3558637b8d3f6cc21cd1be2162dec7fe2582b56b
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0001/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ef63523a18383f8bb1073931d2518021dd866651db68dc956d7b8105bdbcfba
+size 32275126
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0001/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0001/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2370a3a1e7b7bbbd69663f19fffd165541a6b4f5
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0001/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a5d5f64baa114088282b6bd8f72b6086a1f0149e2cb9ce371cebf31b2a8098d
+size 19295
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0001/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..4885f7d4f74d55a205debee4686336517780fb06
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0001/stderr.log
@@ -0,0 +1 @@
+2026-10-29T16:57:36.605535Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0002/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0002/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..45a98dfb6a74a838a86549db9ad2b1560b183538
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0002/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da6f5b363a959d93325ea365531240ba5b0aa8325908172a05d294daad312c69
+size 33463220
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0002/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0002/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..05fa1e23b2c133108d1057714d11a56ddf8375b7
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0002/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2de085a59cacd2d6ab4d51c4d3b449d78ced00df624d371df958d1b852ca435
+size 41530
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0002/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0002/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..2cd98880414db5380cea81b083496541824bd322
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0002/stderr.log
@@ -0,0 +1 @@
+2026-10-29T17:21:17.654301Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0003/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0003/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5f98dc50ef6c055194f1d1c2fb872fe836384918
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0003/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86447698892618120ec8d72516885c4dd576ab9c7101358bbe481a2550658f4a
+size 33289039
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0003/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0003/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..99a5d513cf68029fc15f87c950c3499b317812b6
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0003/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:805163eb91522e771b3f5a077006c8770bae87709d85687ba478861dec31f525
+size 14638
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0003/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0003/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..46b9f99d619d3b89ec722474388433c68ccf53f9
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0003/stderr.log
@@ -0,0 +1 @@
+2026-10-29T17:58:49.501598Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0004/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0004/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d9e9fffa4fbc376b87eb190cc7fa9a0f4d684849
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0004/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2f9a726cc59ab85a8d326af85205322fb90649e834975e509c345393761d7a5
+size 12675620
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0004/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0004/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4f1a6af3d97662bd9239f0b8ac422006d5247c52
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0004/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23544c5f8ecba1be2ba0e9ca593feaee71a93685bb58cc6b1b51e29cf216bd4a
+size 14356
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0004/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0004/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0005/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0005/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f1f4d89d64b8cbd092e55e2ea9ee925ea3468c70
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0005/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77dee8e39992090c83354ecb013559e41a5f76c86f9a65c9777a866cadd5f6cf
+size 18208090
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0005/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0005/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b96679d477805a5f317cd998b5311f663d0657df
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0005/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84b02623278f0c6bcddf09099f303a2b21ca730fbcffef96ff265ce33060c4e3
+size 25615
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0005/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0005/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0006/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0006/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e2a8ebf35d5809a2051bdc70a48ca398a12764e1
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0006/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6a97019c9d657cfaedb6bb56b40b17d3f8e15a9387684e9c9a309b4482d3ff6
+size 17260970
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0006/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0006/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..954bb535919a3f176276dcaa7634a09a7135fabe
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0006/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e645a8474832ad78895a8525cc8ff383d1667e01d837ef9ac25ba9a65c6d5da
+size 19432
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0006/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0006/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0007/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0007/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f9cbcf008a04199fdca7785ec5aaebeae82a43c4
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0007/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55d0e28acd51bb7297adf2231a36bc92f16ada6706a1ce6e3136a3184e462f79
+size 28297993
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0007/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0007/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..850c02b010bc05bd5f9c89a0ad6b70c6464d9c28
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0007/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e8bbdb3f1ee5ea7268a7d293973811bdb491a6dde82d3121a41e5a393f6480c
+size 28744
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0007/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0007/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0008/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0008/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..208a44aa2ee54c5f65767cc737ab88ebf0748977
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0008/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aa0db892431810ee11493d7659539d8e018889e5cbd29cb1fa6fe6108a95019
+size 13608088
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0008/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0008/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..148f29311dfa2ead29f88e653ba49cd7808661bc
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0008/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c8e0d7ebf8ae149859911ad6928e89fb2744d12608a9da482dcdf4e26007f5b
+size 15202
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0008/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0008/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0009/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0009/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..877870522b207754b70968f19bdd92ae7f015ce6
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0009/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bdf1b8d87b30cab3a23c0ae565a98bbb6b77f984a63efbb8678b2425a93b363
+size 3404711
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0009/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0009/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..584a786cf14cc005820e8f81ee31daa53dd3ca80
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0009/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:134a293d6b9adfd6606b88dd7ddf643e8cc6b92890e0738daa987f74ac3d79cd
+size 4552
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0009/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0009/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0010/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0010/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4c70390bfe815e44831054b1c3265168a473fed4
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0010/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:650361fe0023a09467c99096d67333068c6edd75c8d47beb309d2c4cd565cc99
+size 27663242
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0010/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0010/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..be467d228671afa233ac509eea68ad60741cfc0a
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0010/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbb95907706ccdef017340c3f800cd843b6fa2aa9c0e3d1a6ba8d18d2720dba4
+size 25918
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0010/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0010/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..8fe2330eedf5236ae3e67994be49d07a893fe09f
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0010/stderr.log
@@ -0,0 +1 @@
+2026-10-29T19:38:48.232768Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0011/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0011/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d6470878111db0982690a0501d595ddb1b1ef3f1
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0011/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:194a57156c062383aeb53c410162dd40aaa6dae18bdce9e893e02659d7df7499
+size 10197579
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0011/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0011/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a8270d20b6612d5d21f47516edea0917b64163ff
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0011/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db9e05008c6c835941cda45c8180e89527347c01d540e92b0196fc598383ebab
+size 12392
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0011/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0011/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0012/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0012/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2b7e67c7ea06fd11d93042b7eaf02a75233e0b92
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0012/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:079e5d235f2d3c35dbf8106338ac174d214902994f32cc62683306abf12f73d9
+size 31558065
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0012/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0012/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..02711389c1250a0c0cd0413dcbbbd28bf0be6cab
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0012/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:980ffa6c5b11fd7ba72bc37672c120e7ecb5f8b32c5545aeedee86042b5e133e
+size 40255
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0012/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0012/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0013/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0013/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bdcedda7b4ea70b0b9b3dbc6c362f733b3059363
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0013/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df9b33be2dde8ebcc09b4f980b40861773804684e7b75d12abce6ac725278ecc
+size 32177987
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0013/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0013/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..064d900d524af1726d6adfcbd2f28fb1b21d8ce0
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0013/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dda53b941ab1781e7b32eac4e29abb5550e5d5beccbb217f745f085d10fb52a
+size 37154
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0013/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0013/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0014/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0014/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..18f37ef91e5d65aaab346c485ba7d74b611c01bb
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0014/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b38c01d018b16f7d5017cea53cf9dac45aa7a2bbd6abfb3dadce546a4e0209a
+size 26928880
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0014/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0014/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..08f09cfc06ec9e6cb58051629768833c69dfe47b
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0014/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acfeb24c5f9b2fefdb0c3a6b0cec9cfe28224319c6ebdad0f8eee98f55752e68
+size 20842
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0014/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0014/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0015/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0015/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c5a89685b9943085ec078d05ea6c779023a2c4a
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0015/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d21659cf721464bee66c31336d78cd8595b48f0f3a7dfd96e3d3c08952fa4375
+size 28114405
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0015/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0015/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6ef540eb49877a3b20c4f7fd205ede664941fce0
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0015/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d592c6f7debc4482e0c23f157e487b288cf33681845d86ccf9fb7084fbf8626
+size 29596
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0015/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval/episode-0015/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/env_cfg.json b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..365053c639450984f2b19c386ffce92b1e4a4c28
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:5", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/rubiks_cube_banana_bowl.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.44258353114128113, 0.12658219039440155, 0.07732785493135452], "rot": [0.9999999403953552, -5.875354421326538e-05, -0.0003236202968188691, -0.00010501052579296266], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "rubiks_cube": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "spawn": null, "init_state": {"pos": [0.4306528866291046, -0.09742811322212219, 0.08113233000040054], "rot": [0.9999990463256836, -0.0009071399440944852, 0.0010379400315123045, 8.441170612118017e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "banana": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/banana", "spawn": null, "init_state": {"pos": [0.538878858089447, -0.07555567473173141, 0.0684281587600708], "rot": [0.9999781250953674, -0.002664888769974798, -0.006051987813043361, 0.00014540326035168], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.19858434796333313, 0.02206825464963913, 0.05000072345137596], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube", "/World/envs/env_.*/scene/banana", "/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:objects_placed_in_container_in_order", "params": {"objects": ["banana", "rubiks_cube"], "container": "bowl", "tolerance": 0.0, "require_contact_with": true, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"banana": [["functools.partial(<function object_grabbed at 0x7fdd02cd3ba0>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7fdd02ec6d40>, object='banana', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}, {"conditions": {"rubiks_cube": [["functools.partial(<function object_grabbed at 0x7fdd02cd3ba0>, object='rubiks_cube')", 0.0], ["functools.partial(<function object_in_container at 0x7fdd02ec6d40>, object='rubiks_cube', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["conjunction", "simple"], "_task_attributes": ["conjunction", "simple"], "_task_name": "BananaThenRubiksCubeTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "put the banana then the cube in the bowl", "contact_object_list": ["rubiks_cube", "banana", "bowl", "table"], "_instruction_variants": {"default": "put the banana then the cube in the bowl", "vague": "put banana then cube away", "specific": "First pick up the yellow banana and place it in the bowl, then pick up the rubiks cube and place it in the bowl after"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/log_0_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..122b02f40b5d89bfa8d2584888a88e3480e9d8ad
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 0, "run": 0, "success": true, "final_step": 669, "events": [{"step": 28, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 58, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 58, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 58, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 60, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 62, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 63, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.096m", "score": 0.0}, {"step": 65, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 73, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.112m", "score": 0.0}, {"step": 82, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 84, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 85, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 127, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.158m", "score": 0.0}, {"step": 149, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 150, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 151, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 152, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 153, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 171, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.069m", "score": 0.0}, {"step": 180, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 184, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 185, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 193, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.053m", "score": 0.0}, {"step": 210, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 210, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 210, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.055m", "score": 0.0}, {"step": 212, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 215, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 217, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 221, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 222, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 224, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 225, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 240, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.199m", "score": 0.0}, {"step": 390, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 403, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 430, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 430, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 431, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 441, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 441, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 456, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.071m", "score": 0.5}, {"step": 474, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 502, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 513, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 513, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 515, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 530, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 535, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 537, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 537, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 560, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 570, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 572, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 572, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 573, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 593, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 593, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 625, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 633, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 633, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 649, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 665, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 665, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 667, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/log_1_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..563f27cdf34c934636855ac2e97862e910f73ce8
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 0, "run": 1, "success": true, "final_step": 294, "events": [{"step": 32, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 34, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 51, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 105, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 105, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 152, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 152, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 153, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 177, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 177, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 178, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 183, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 183, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 184, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 187, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 187, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 214, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 214, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 217, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 217, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 218, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 274, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 274, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 275, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 280, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 280, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 289, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 289, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 291, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 292, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 292, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 294, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/log_2_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..411cb8db3e6e6f01725dbcb715df2602ef55894c
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 44, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 44, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 44, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 45, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 82, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 89, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.108m", "score": 0.0}, {"step": 97, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 98, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.100m", "score": 0.0}, {"step": 138, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 169, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 177, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 177, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 209, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 243, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 243, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 244, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 253, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 253, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 253, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 257, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.5}, {"step": 257, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 257, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 258, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana'", "score": 0.5}, {"step": 281, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.131m", "score": 0.5}, {"step": 287, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.080m", "score": 0.5}, {"step": 316, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['rubiks_cube'])", "score": 0.5}, {"step": 318, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 321, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.5}, {"step": 321, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.057m", "score": 0.5}, {"step": 329, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['rubiks_cube'])", "score": 0.5}, {"step": 330, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 337, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.5}, {"step": 386, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['rubiks_cube'])", "score": 0.5}, {"step": 390, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 393, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.5}, {"step": 426, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 432, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 490, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 513, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 513, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 545, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana' (target objects: ['rubiks_cube'])", "score": 0.5}, {"step": 546, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana'", "score": 0.5}, {"step": 547, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana' (target objects: ['rubiks_cube'])", "score": 0.5}, {"step": 549, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana'", "score": 0.5}, {"step": 553, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana' (target objects: ['rubiks_cube'])", "score": 0.5}, {"step": 570, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.188m", "score": 0.5}, {"step": 572, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana'", "score": 0.5}, {"step": 575, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana' (target objects: ['rubiks_cube'])", "score": 0.5}, {"step": 575, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 577, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana'", "score": 0.5}, {"step": 582, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.165m", "score": 0.5}, {"step": 586, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 589, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.118m", "score": 0.5}, {"step": 642, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 650, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'banana'", "score": 0.5}, {"step": 652, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'banana' displaced 0.684m", "score": 0.5}, {"step": 677, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 713, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 713, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 714, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}, {"step": 770, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 828, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.110m", "score": 1.0}, {"step": 829, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.122m", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_0.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6fcd3052fa55ac39819ac4bad33f73b291a0e4bb
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:055d757a9eb7ce22d207a16eb0e44423c1fcbf987dbc74579e3709054e0013b2
+size 12747154
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_0_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..75c60e617048b58edccbd0b404c2563f8c6d18de
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86c7fadef9aaf38757990c1e7218919d7f3a407ff519e5ff8c50d280f384cb04
+size 3473604
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_1.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fe0085a5308e9d75e4553f23a5789e6ced924094
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:842534c6d98ab9e62e1a0b9c47c0e2ba15a7b493788976c3ca7b689013396065
+size 5358052
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_1_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eeb9358f64b383fb7900ce7306629d7f4abe8872
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59ef01903c665c65c07a08880fb032b32b7b2116e1839dd24954d620a3d5be67
+size 1434566
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_2.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c80d4038dc6c97e4031dc931204501f1649d8fd0
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a4af11782dcf95727a7c984065f8e7eb5db0757be284adebc7954cb23488337
+size 16087977
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_2_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e804b993877bc01c5b1427b6b4b0ea64d15d720d
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59a12c80e39fdfff71e7d8c6e7ba93a9b257222cc1ddd1f8c9a9a2f986d54e67
+size 4852382
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/run_0.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..bb11361dc2aca9697f0746f98e5ccba9f422697b
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8ed15c3e4df317bd75e24071ea1cf3d44cd332843a14d9bd30835a93d68ced7
+size 424882
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/run_1.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c8501603584b575a5862b3f594c84dcfacc444b5
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfd67680910b953b6e27df34cbdeb9b1621429e7eda924254b766a51b28a2c33
+size 286055
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/run_2.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..efd1074bf01a15700ea79890c0f90c66f59abafe
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BananaThenRubiksCubeTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85d492135081a20541dfa77c9d364f95e6fd70945a3d7c47ef6002cacf8b74fd
+size 513744
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_0.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68fbc296c6ff302bd28a39dc35025d4be1de27d3
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5828302ea942a260b86e5e7cba82f7a10e278944f349d3aa3b8a8bb1d4a5d999
+size 8026458
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_0_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4887e15bebb71600f2abeade4e77e91a1b2cc612
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca5b016210e71d6201017a2cc09b57a76e1f2b0a3700c8fdabb5e3841620f4de
+size 1845553
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_1.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c549586d4d524e8ff780d9cfd5ee615d7effcc76
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:753d913c8969516abb1266251dc9118ef0845a3aa2b196145a4a83a41e39d79a
+size 12450295
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_1_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b4d3fd75d18706b340e49880c8ffa304d14a5847
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73dbb5c86fbf1a822a1c569211627397719875b334ad3e62b1437ae7aa9fb346
+size 2556459
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_2.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4792410f5f6c1323f269b897438a743157759c11
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b9a2342f3186c84b14061e2093157f54d92aa24b475b0c918eef60ecd482d31
+size 10841133
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_2_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7c36bdd7991bb844403cd0b8b7aa3e8929dfd243
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:366947896491fe60b192820b9d4a895b9442e95423a927bb8c97fa69c7a8c753
+size 2333235
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/env_cfg.json b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b82c233ebd935033186c81c6cd038031efc4ab9
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:5", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/colored_blocks.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471952557563782, -5.710670302505605e-05, -0.3470016121864319], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "blue_block": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/blue_block", "spawn": null, "init_state": {"pos": [0.4601268470287323, 1.1039082892239094e-07, 0.026294255629181862], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "green_block": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/green_block", "spawn": null, "init_state": {"pos": [0.36935505270957947, 0.18831472098827362, 0.02629413641989231], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "red_block": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_block", "spawn": null, "init_state": {"pos": [0.371458500623703, -0.1741129755973816, 0.02629457786679268], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "yellow_block": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/yellow_block", "spawn": null, "init_state": {"pos": [0.4753357470035553, 0.11556775867938995, 0.02629409171640873], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_block", "/World/envs/env_.*/scene/blue_block", "/World/envs/env_.*/scene/green_block", "/World/envs/env_.*/scene/yellow_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__red_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__blue_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__green_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__yellow_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yellow_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_block__blue_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_block__green_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_block__yellow_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yellow_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_block__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "blue_block__green_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/blue_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "blue_block__yellow_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/blue_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yellow_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "blue_block__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/blue_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "green_block__yellow_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/green_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yellow_block"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "green_block__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/green_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "yellow_block__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yellow_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 90, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:stacked", "params": {"objects": ["red_block", "blue_block", "green_block", "yellow_block"], "order": "bottom_to_top"}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"conditions": [["functools.partial(<function stacked at 0x7fdd04f3c720>, objects=['red_block', 'blue_block'], order='bottom_to_top')", 1.0]]}, "score": 0.33, "logical": "all", "K": null, "name": "unnamed_subtask"}, {"conditions": {"conditions": [["functools.partial(<function stacked at 0x7fdd04f3c720>, objects=['blue_block', 'green_block'], order='bottom_to_top')", 1.0]]}, "score": 0.33, "logical": "all", "K": null, "name": "unnamed_subtask"}, {"conditions": {"conditions": [["functools.partial(<function stacked at 0x7fdd04f3c720>, objects=['green_block', 'yellow_block'], order='bottom_to_top')", 1.0]]}, "score": 0.34, "logical": "all", "K": null, "name": "unnamed_subtask"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["stacking", "color", "complex"], "_task_attributes": ["stacking", "color", "complex"], "_task_name": "BlockStackingSpecifiedOrderTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Stack the blocks in the order from bottom to top: red, blue, green, yellow", "contact_object_list": ["red_block", "blue_block", "green_block", "yellow_block", "table"], "_instruction_variants": {"default": "Stack the blocks in the order from bottom to top: red, blue, green, yellow", "vague": "Stack in the order of red, blue, green, yellow", "specific": "Build a tower by placing the red block first, then the blue block on top, then the green, and finally the yellow block on top as a single tower"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7033f33b81926c5baddcf910519e0c601509aee
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 0, "success": true, "final_step": 352, "events": [{"step": 56, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 90, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 90, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 145, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 153, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 153, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.209m", "score": 0.33}, {"step": 217, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 217, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 249, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 255, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 255, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.66}, {"step": 257, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.66}, {"step": 257, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.383m", "score": 0.66}, {"step": 321, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 321, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 352, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..25b5dfe4a7c4581a8a43b5338c3e8b0ab3183060
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 1, "success": true, "final_step": 502, "events": [{"step": 10, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 39, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 43, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.099m", "score": 0.0}, {"step": 106, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 134, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 153, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 160, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 185, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.258m", "score": 0.0}, {"step": 201, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 205, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 207, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 209, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 240, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.33}, {"step": 281, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 313, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 313, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.050m", "score": 0.33}, {"step": 369, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 369, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 406, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 409, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 410, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.387m", "score": 0.66}, {"step": 465, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 465, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 481, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.328m", "score": 0.66}, {"step": 489, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.066m", "score": 0.66}, {"step": 502, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..becde75b5b4c0ec99e53d40590366396db8859c0
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 2, "success": true, "final_step": 479, "events": [{"step": 37, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 51, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 51, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 89, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 89, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 89, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 92, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 95, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.233m", "score": 0.0}, {"step": 145, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 154, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 177, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 217, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 233, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.075m", "score": 0.0}, {"step": 241, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 241, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 279, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 321, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 360, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 369, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 371, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.394m", "score": 0.66}, {"step": 408, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 433, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 435, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 438, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 439, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 441, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 479, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_0.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a5a37e6b1290856624789ada0d3761de598e14de
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f33bb43699bdb6c4994d6bd437c45ab3cf051b88d3d41c76254819a64308c8b
+size 335710
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_1.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5ff1f8bedb4a401f2a0ca7d484f5a6e84298aa1b
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c59d304a201b1a73b3b19bfa84fd2c65a8779408b8a96f1c570da87f2015f22
+size 397355
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_2.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f8250ca70e1cfd1b5528b4e7d4e1b9696ed8b2df
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06359dbad4066bd2a35c07c648d1fc67534ebf7102fcaabb47cce132fd685182
+size 388327
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_0.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d46c617ea831e6940f5a76e7781c2e883c673c1
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8901ba4e697dcfe17302ebb4ee52b87af16c3c1003ed02bee96fdaf81de02065
+size 24763823
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_0_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..abc5083f127eec36d31bbb1e6719c592cd6fa5a9
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d64b596c79d2f479cddd60e7a24a9cbdbec9ce7bb40374f110e042f50116d5e
+size 5493561
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_1.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b049c5ade33264cfb3cb6b27af98051b77a36a77
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fd246bec06fe4ed4572f3353be2c7cfdcb51f28fab830c7b62c011f60b22ede
+size 13442578
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_1_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0304339876cf52d15258bea546dc20da0a650833
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57bbdb8c5b326da5c593477ba8c3f4c930e00e974d6ba5230352e56a3b1a4b69
+size 2701575
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_2.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2653ab3582738110e78440d70791a9a09a140820
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:804c9f39f9f928f5cf36e8e73bb4843d171e7430ebcdbef6f7e45c6f0d50b1ff
+size 22412482
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_2_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a179d334492b6b1be6759495208e810e2268ca18
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e776c1409ff1a6ccf0a5368131508f1252bb380f51501004347b9979a4189a8
+size 4660728
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/env_cfg.json b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..0573e2154b2e299506bd2aca50728540be5a4514
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:5", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/foodpacking_1bin_1box_1can.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5472070574760437, -7.31465988792479e-05, -0.3470000624656677], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bin_a06": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bin_a06", "spawn": null, "init_state": {"pos": [0.6623992323875427, 0.3591690957546234, 0.0030019916594028473], "rot": [-8.307394522785846e-07, 3.147776841841252e-05, -0.0006731755060114463, 0.9999997729215733], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "cheez_it": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/cheez_it", "spawn": null, "init_state": {"pos": [0.4740942120552063, -0.2727200388908386, 0.10890547186136246], "rot": [0.7055808901786804, -0.014833274869134935, 0.014101319604489647, 0.7083337731301039], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "mustard": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mustard", "spawn": null, "init_state": {"pos": [0.5671444535255432, 0.3033906817436218, 0.10240653157234192], "rot": [0.9991520047187805, -0.03916314610531943, 0.012512041950778364, -0.0022289593530075767], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "tomato_soup_can": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/tomato_soup_can", "spawn": null, "init_state": {"pos": [0.41869235038757324, -0.00021113763796165586, 0.0539], "rot": [0.9997684955596924, -0.001414528593515839, -0.021422391810506817, 0.0014267180115947436], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bin_a06", "/World/envs/env_.*/scene/cheez_it", "/World/envs/env_.*/scene/mustard", "/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bin_a06": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bin_a06"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__cheez_it": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cheez_it"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__cheez_it": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cheez_it"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cheez_it__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cheez_it__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cheez_it__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mustard__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mustard__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "tomato_soup_can__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/tomato_soup_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["tomato_soup_can"], "container": "bin_a06", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"tomato_soup_can": [["functools.partial(<function object_grabbed at 0x7fdd02cd3ba0>, object='tomato_soup_can')", 0.0], ["functools.partial(<function object_in_container at 0x7fdd02ec6d40>, object='tomato_soup_can', container='bin_a06', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "FoodPacking1CansTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Pack canned foods into the bin", "contact_object_list": ["bin_a06", "cheez_it", "mustard", "tomato_soup_can", "table"], "_instruction_variants": {"default": "Pack canned foods into the bin", "vague": "Pack cans", "specific": "Pick up the canned food item and place it inside the bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/log_0_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..956f45cdb08072efafa486ecd4915ef18667a482
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1CansTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 37, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 50, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 82, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 82, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 83, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 83, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 171, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 306, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 331, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 337, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 354, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 370, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 451, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 493, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 493, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 494, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 494, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 560, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 560, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 561, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 583, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cheez_it'", "score": 0.0}, {"step": 655, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cheez_it' (target objects: ['tomato_soup_can'])", "score": 0.0}, {"step": 656, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cheez_it'", "score": 0.0}, {"step": 657, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.138m", "score": 0.0}, {"step": 674, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cheez_it' (target objects: ['tomato_soup_can'])", "score": 0.0}, {"step": 682, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cheez_it'", "score": 0.0}, {"step": 690, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.487m", "score": 0.0}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.074m", "score": 0.0}, {"step": 721, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'cheez_it' displaced 0.866m", "score": 0.0}, {"step": 721, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.060m", "score": 0.0}, {"step": 730, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cheez_it' (target objects: ['tomato_soup_can'])", "score": 0.0}, {"step": 731, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 735, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cheez_it'", "score": 0.0}, {"step": 737, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.141m", "score": 0.0}, {"step": 746, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cheez_it' nudged 0.485m", "score": 0.0}, {"step": 826, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 858, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 858, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 862, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 862, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 884, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 898, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/log_1_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdc7f8fa7db91d2c9dbf03d696074048eefc5631
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1CansTask", "env_id": 0, "run": 1, "success": true, "final_step": 521, "events": [{"step": 34, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 73, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 82, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 82, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 82, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 127, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 149, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 149, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 149, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 170, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 242, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 242, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 243, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 297, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 307, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 307, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 321, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 341, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 349, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 350, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 350, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 369, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 384, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 384, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 384, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 412, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 417, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 417, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 434, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 521, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.125m", "score": 1.0}, {"step": 521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 521, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/log_2_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e9447d04979a4b6a385db65a6015db85275c6dc
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1CansTask", "env_id": 0, "run": 2, "success": true, "final_step": 785, "events": [{"step": 51, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 54, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 54, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 54, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 82, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 91, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 91, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 92, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 104, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bin_a06'", "score": 0.0}, {"step": 153, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 171, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 172, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 172, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 259, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 271, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 275, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 286, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.141m", "score": 0.0}, {"step": 302, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 325, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 325, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 330, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 362, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 365, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 395, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 398, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 398, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 398, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 409, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 412, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 412, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 442, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 443, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 443, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 570, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 572, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 577, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 617, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 619, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 619, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 619, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 625, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 654, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 654, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 658, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 691, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 699, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 699, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 700, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 702, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 705, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 705, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 721, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 723, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 723, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 726, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 785, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 785, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/run_0.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5e432e862beb243ac1a6311c00d3e0f5cc480eaa
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae7ab12a0596a4688ed10983fc4baee0e64d26676f156e70d61dd1cdfe8bb5cd
+size 567418
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/run_1.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d967d959a29c2464a751cd97f95fca7c33b07f6f
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fa9b7f61585a3fc4b3e623af0608c8a7d88aa3eda6896ee14bcc67c950e372d
+size 408482
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/run_2.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..57b7fcef33f13b0923ad33268df3e7ad94a47771
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FoodPacking1CansTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9656cf6239fef8a69fb88bec15821ae01caccd4e14f6d8fba785b1ad03eae03a
+size 525278
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_0.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f5c6958ae2c94e57eeba1aa67daa6172a768554
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b2494b4bf6c46314065647319aeb945525b153e93a362ff1bceba20cbe47efd
+size 6175080
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_0_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b8544ae1090c05dd20a096b49758ed83f024e445
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a74f4b4752232d4f2f800fa83d8723e3c1e99208851d70ad4d1be956810ed158
+size 2805548
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_1.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7dd5fae47cb977a5ddafab3be0a91a04420c82d2
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74f33a1f0ecda383bb19c1bbe87ae93fb88468450e235763e085c1d41528b77d
+size 19318245
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_1_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4f17013dc853886355a445d782c346f48abca637
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d3649ce9814956727addc58d0075516ea2cf04b23752bd0e3d4e52bbe9ee2df
+size 5733038
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_2.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da27ea09407fb1f37039d72699bd67ad3fd72aba
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:233625079a90aed17929de9365af8e875e981564a7fe1d2768c57b6b92c31fe6
+size 7046537
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_2_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..16bdc68c9d9aea3b0be181b35e287460b97f3fab
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdf54b9e8021f18424a5d07494a96ce59a410895b8cb87bf66de62ccc06f3743
+size 2851145
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/env_cfg.json b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7eb3e920f490b0bc3cc22464d0152c04f86073e
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:5", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/fruits_in_basket.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471963286399841, -5.774462260887958e-05, -0.3470001220703125], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lemon_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lemon_01", "spawn": null, "init_state": {"pos": [0.3856664896011359, -0.36678015061754005, 0.08909919881566895], "rot": [0.9419288635253906, 0.3299059625813502, 0.057016612066690585, -0.026099384273873736], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lemon_02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lemon_02", "spawn": null, "init_state": {"pos": [0.3260307908058208, -0.23868608840841005, 0.20847657329880662], "rot": [-0.27720674872398365, -0.10159870271595114, 0.8249058751447398, -0.4820419268279522], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lime01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lime01", "spawn": null, "init_state": {"pos": [0.4361977577209498, -0.24894561239618013, 0.021372735500335572], "rot": [0.9781804084777832, -0.07533644103159434, -0.1278432303415413, -0.145408450850595], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lime01_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lime01_01", "spawn": null, "init_state": {"pos": [0.44568830728530995, -0.17132349678415087, 0.040971186012029336], "rot": [0.919944167137146, 0.3173049700168694, -0.057726476556696306, -0.2229079165424269], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "orange_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/orange_01", "spawn": null, "init_state": {"pos": [0.4923862218856827, -0.3087733126534814, 0.03229415044188491], "rot": [0.9176989197731018, -0.12917140048596235, -0.3667672850500597, 0.08139533500628543], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "orange_02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/orange_02", "spawn": null, "init_state": {"pos": [0.3758616447448735, -0.19806658097642596, 0.030656106770038417], "rot": [0.9469792246818542, 0.2670893481253356, -0.13378941074420853, -0.11829633008532005], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "pomegranate01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "spawn": null, "init_state": {"pos": [0.37925079464912426, -0.2950076050414441, 0.014848608523607153], "rot": [0.9948065280914307, 0.10160271421776663, 0.0033233162207671864, 0.005080915227909633], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "pumpkinlarge": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "spawn": null, "init_state": {"pos": [0.6743540167808533, 0.23907040059566498, 0.002787109464406967], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "pumpkinsmall": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "spawn": null, "init_state": {"pos": [0.578921377658844, 0.20728783309459686, 0.002740677446126938], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "redonion": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/redonion", "spawn": null, "init_state": {"pos": [0.6320742964744579, -0.3169718789953783, 0.04339895397424671], "rot": [-0.5411092638969419, 0.3272032069190475, 0.7518617940259849, 0.1866619098553007], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "serving_bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "spawn": null, "init_state": {"pos": [0.4279561936855316, 0.3938743472099304, 0.003246370702981949], "rot": [0.9999989867210388, -8.574598664059446e-08, 1.5736105796754037e-07, 0.001423571868053788], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "clay_plates": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/clay_plates", "spawn": null, "init_state": {"pos": [0.4022193253040325, -0.31780384847062754, 0.002826265990734111], "rot": [0.9999983310699463, -0.00015620008395065047, -0.001724322332137198, 0.0005832421030422051], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "wooden_bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "spawn": null, "init_state": {"pos": [0.5124515434512656, 0.03163659387980241, 0.007829435169694202], "rot": [0.9971413612365723, 0.009151381587167301, -0.06990075968505755, -0.027189000014226045], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "wooden_spoons": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/wooden_spoons", "spawn": null, "init_state": {"pos": [0.403253972530365, 0.20256920158863068, 0.16761822998523712], "rot": [0.7801259160041809, -0.6250326766195942, 0.023159055531131716, -0.014190365861723547], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spatula": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spatula", "spawn": null, "init_state": {"pos": [0.31130489706993103, 0.28100934624671936, 0.17427046597003937], "rot": [0.8123611807823181, 0.13684668715157564, 0.5233539751428492, -0.21781394095827447], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "storage_box": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/storage_box", "spawn": null, "init_state": {"pos": [0.35045546293258667, 0.23540310561656952, 0.0027529820799827576], "rot": [0.9999914765357971, -0.0032916560166222656, 0.0024747320625562617, -0.00029590140775294794], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_01", "/World/envs/env_.*/scene/lemon_02", "/World/envs/env_.*/scene/lime01", "/World/envs/env_.*/scene/lime01_01", "/World/envs/env_.*/scene/orange_01", "/World/envs/env_.*/scene/orange_02", "/World/envs/env_.*/scene/pomegranate01", "/World/envs/env_.*/scene/pumpkinlarge", "/World/envs/env_.*/scene/pumpkinsmall", "/World/envs/env_.*/scene/redonion", "/World/envs/env_.*/scene/serving_bowl", "/World/envs/env_.*/scene/clay_plates", "/World/envs/env_.*/scene/wooden_bowl", "/World/envs/env_.*/scene/wooden_spoons", "/World/envs/env_.*/scene/spatula", "/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lemon_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lemon_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lime01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__lemon_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__lemon_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__lime01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__lemon_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__lime01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__lime01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "redonion__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clay_plates__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clay_plates", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clay_plates__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clay_plates", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clay_plates__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clay_plates", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "clay_plates__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clay_plates", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_spoons__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_spoons", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_spoons__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_spoons", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_on_top", "params": {"object": ["redonion"], "reference_object": "clay_plates", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"redonion": [["functools.partial(<function object_grabbed at 0x7fdd02cd3ba0>, object='redonion')", 0.0], ["functools.partial(<function object_on_top at 0x7fdd02ec4c20>, object='redonion', reference_object='clay_plates', require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place_on_surface"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "vague", "simple"], "_task_attributes": ["semantics", "vague", "simple"], "_task_name": "FruitsOnionToPlateTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the onion on the plate", "contact_object_list": ["table", "lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01", "pumpkinlarge", "pumpkinsmall", "redonion", "serving_bowl", "clay_plates", "wooden_bowl", "wooden_spoons", "spatula", "storage_box"], "_instruction_variants": {"default": "Put the onion on the plate", "vague": "Plate the onion", "specific": "Pick up the round onion and place it on the flat plate"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/log_0_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..16986d13264f162eb6e539e3804f79d998e1949e
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionToPlateTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.149m", "score": 0.0}, {"step": 65, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 86, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 87, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 87, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 105, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 127, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 168, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 177, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 177, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/log_1_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5aff6ad47e26e636835ecd77151d2cfba7aea174
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionToPlateTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 11, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lemon_02'", "score": 0.0}, {"step": 17, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lemon_02' displaced 1.124m", "score": 0.0}, {"step": 63, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 82, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 82, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 83, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 137, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 267, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 313, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 313, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 314, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 323, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 323, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 323, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 340, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 355, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 355, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 356, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 357, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 359, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 367, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 367, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 370, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 375, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.084m", "score": 0.0}, {"step": 386, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.106m", "score": 0.0}, {"step": 392, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'storage_box'", "score": 0.0}, {"step": 393, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.157m", "score": 0.0}, {"step": 396, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.072m", "score": 0.0}, {"step": 448, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.054m", "score": 0.0}, {"step": 477, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.059m", "score": 0.0}, {"step": 486, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.096m", "score": 0.0}, {"step": 486, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.092m", "score": 0.0}, {"step": 519, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 539, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 559, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 559, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 559, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 640, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 681, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 691, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 692, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 692, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 714, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 717, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 718, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 718, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 815, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 824, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 829, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 830, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 830, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 832, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 833, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 833, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 857, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 859, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 859, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 861, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 889, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 889, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/log_2_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff21161d986a0f11f1aea0a72004a749af2c4422
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionToPlateTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 4, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.130m", "score": 0.0}, {"step": 73, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'clay_plates' (target objects: ['redonion'])", "score": 0.0}, {"step": 73, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'clay_plates'", "score": 0.0}, {"step": 75, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'clay_plates'", "score": 0.0}, {"step": 77, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 104, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 114, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 185, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 185, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 219, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.071m", "score": 0.0}, {"step": 222, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.106m", "score": 0.0}, {"step": 230, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_spoons' nudged 0.092m", "score": 0.0}, {"step": 231, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.055m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/run_0.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..90309fe3d3ef35c4e348d4f59e0e8ca677fe4813
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fa372291736eecf58ba27eb0fbdce8e6037e083a1ba475949101d8ca57bee58
+size 1188070
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/run_1.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4845a92b1c72883fb37af68f602511c4af327e7c
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bd6636279c91310234831b4cc994987e88de78057e23b8ce8856f271c2eaabc
+size 1344449
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/run_2.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..bbea567e790f94f70a93b83423406c6396a939c5
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/FruitsOnionToPlateTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1aa99727d9bf3fdf6c76fd6a1aafd68735a348d13364cc3b1a775543b1f98733
+size 1206196
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_0.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1c91a4b5d80aaad5e49b6df68353985638fa2450
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef2f9ed69b07a8edfe2bd8cdbb7425f747e7953bf0b77df079d60dad0d49ffb1
+size 15342351
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1778b4d70ec33b2cc3812294388f85babb8cf24a
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae2e21ceee7278cab96fa2cdbbe7d76235aeb820a38ea6df6e96a0165a485320
+size 4100627
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_1.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca093ea9408853271e95e5c1fb81934a4c76cefb
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aea1b493c8bcdd05560aa922f72ba188c1cf70cf7c2dfb685e576d32ce960606
+size 6509190
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..15cd86f1ba8f5bffb1a534959b883ebab5399339
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f23c869256c405a909441a265bcc5840f0b694df4e412fe162706cf9e421ad25
+size 1493678
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_2.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b1c0c666cc7968d47800a702022689f8c0e08ab
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5fb124ee0941cd17a32b32c909606d6c09d6ffa544e8d8174b4e7caca7fb503
+size 1847524
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_2_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e659694298545027d857e5b37f20e65e3ad0c6ce
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3782f79cd6752febc77dae4df5064dd458e204482f421dace33e66714b25cf2
+size 433117
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/env_cfg.json b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bb12ac207b9bdb8e4ffbe7d3b825a45bb37b3b6
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:5", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/mugs4_measuringcup_drill_bowl.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.19859051704406738, 0.02206825092434883, 0.05000218003988266], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.35782724618911743, 0.3763640522956848, 0.07732968032360077], "rot": [0.9999999403953552, -0.00012315334089582557, -0.00032254408073493655, 2.8029639881610967e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "ceramic_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "spawn": null, "init_state": {"pos": [0.5832740068435669, 0.22122739255428314, 0.07584488391876221], "rot": [-0.019453495740890895, -0.5853738101613162, 0.2856686370767541, 0.7585199362385887], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "red_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_mug", "spawn": null, "init_state": {"pos": [0.39194390177726746, 0.037837915122509, 0.09039348363876343], "rot": [-1.0925608876221141e-05, 4.451722368129039e-06, 0.9999998823001713, 0.0004850365519860139], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "measuring_cup": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/measuring_cup", "spawn": null, "init_state": {"pos": [0.3738410770893097, -0.1864493191242218, 0.06675710529088974], "rot": [-0.00888706091791396, 0.842426023697509, 0.538558437373867, 0.013936437093616624], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "cordless_drill": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "spawn": null, "init_state": {"pos": [0.6764830350875854, 0.03290592506527901, 0.07785587012767792], "rot": [0.9152725338935852, -0.0005974074681097348, -0.0002446923022473885, -0.4028346707149351], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sideways_white_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "spawn": null, "init_state": {"pos": [0.548629641532898, -0.04846367985010147, 0.08577942848205566], "rot": [0.7562733888626096, 0.5648941268000712, -0.327974609952878, 0.03711929459602575], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "upright_white_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "spawn": null, "init_state": {"pos": [0.3096252977848053, 0.2240147441625595, 0.050030045211315155], "rot": [0.9999956488609314, -0.002799682681416, 0.0008981943643202386, 0.0002393386138476552], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_mug", "/World/envs/env_.*/scene/bowl", "/World/envs/env_.*/scene/ceramic_mug", "/World/envs/env_.*/scene/upright_white_mug", "/World/envs/env_.*/scene/sideways_white_mug", "/World/envs/env_.*/scene/cordless_drill", "/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__red_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sideways_white_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sideways_white_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sideways_white_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "measuring_cup__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/measuring_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_upright", "params": {"object": ["red_mug"], "up_axis": "z", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"reorienting_red_mug": [["functools.partial(<function object_grabbed at 0x7fdd02cd3ba0>, object='red_mug')", 0.5], ["functools.partial(<function object_upright at 0x7fdd035e91c0>, object='red_mug', require_gripper_detached=True)", 0.5]]}, "score": 1.0, "logical": "all", "K": null, "name": "reorient_red_mug"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["reorientation", "color", "moderate"], "_task_attributes": ["reorientation", "color", "moderate"], "_task_name": "ReorientRedMugTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the red mug upright so that the opening is facing upwards.", "contact_object_list": ["red_mug", "bowl", "ceramic_mug", "upright_white_mug", "sideways_white_mug", "cordless_drill", "measuring_cup", "table"], "_instruction_variants": {"default": "Put the red mug upright so that the opening is facing upwards.", "vague": "Fix the red cup", "specific": "Check the red ceramic mug and if it is tipped over or inverted, rotate it so the opening faces upward. Leave it if already upright."}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/log_0_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..de958467ff4955a2753a34ace71929fd59856d23
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 0, "success": true, "final_step": 789, "events": [{"step": 42, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 74, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 74, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 74, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 74, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 81, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 129, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.320m", "score": 0.5}, {"step": 135, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 135, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 136, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 136, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 145, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.199m", "score": 0.5}, {"step": 177, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.215m", "score": 0.5}, {"step": 202, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.157m", "score": 0.5}, {"step": 209, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 209, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 233, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.112m", "score": 0.0}, {"step": 249, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.070m", "score": 0.0}, {"step": 251, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 251, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 251, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 252, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 252, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 254, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.095m", "score": 0.0}, {"step": 265, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.050m", "score": 0.0}, {"step": 497, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 497, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 499, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 513, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.134m", "score": 0.5}, {"step": 513, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.077m", "score": 0.5}, {"step": 521, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.070m", "score": 0.5}, {"step": 521, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.097m", "score": 0.5}, {"step": 546, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.5}, {"step": 553, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 554, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 571, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.5}, {"step": 600, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.126m", "score": 0.5}, {"step": 609, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 610, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 618, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.5}, {"step": 624, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 649, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.066m", "score": 0.0}, {"step": 669, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 670, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 671, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 671, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 672, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 673, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 673, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 674, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 674, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 691, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.185m", "score": 0.5}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.115m", "score": 0.5}, {"step": 721, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.143m", "score": 0.5}, {"step": 739, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 739, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 740, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 740, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 742, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 745, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.235m", "score": 0.5}, {"step": 751, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 753, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.5}, {"step": 786, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 787, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 789, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/log_1_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..53f4babf7cb7605aec1d66cf25d3dac002261432
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 1, "success": true, "final_step": 349, "events": [{"step": 58, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 58, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 58, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 59, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 65, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 65, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 68, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.051m", "score": 0.0}, {"step": 96, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 97, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 101, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 102, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 103, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 105, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 113, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 145, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.317m", "score": 0.5}, {"step": 172, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 173, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 174, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 174, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 177, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 177, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 182, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.304m", "score": 0.0}, {"step": 212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 217, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 218, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 225, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 233, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 246, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 286, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 286, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.251m", "score": 0.5}, {"step": 297, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.093m", "score": 0.5}, {"step": 299, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 305, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 305, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 309, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.173m", "score": 0.0}, {"step": 331, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'red_mug'", "score": 0.0}, {"step": 349, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/log_2_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..13bb45911d3e88a5238368e2f2b69449ab62a316
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 2, "success": true, "final_step": 82, "events": [{"step": 42, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 54, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 54, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 54, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 57, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 57, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 62, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 62, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 65, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 65, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 82, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/run_0.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6250a8f2754ad56ee71ce7e70b7901efece66133
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25782622b1ff9cef8b4515d73d150d66727a579f5e1a5880f4b696edee36e571
+size 681412
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/run_1.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3cb920ba9876322c55a1fe3d8f5595b459ca7175
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d10d6ea0ccad96fe4868a4c4cad322f45d95a4d8a7cc5d422dcf82d52e4e2e82
+size 441286
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/run_2.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ba8830d02ee12f3cc5220ed1de5f6db0833c038e
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/ReorientRedMugTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa127562d738604ec4b6ea15401f304f005e7205893450218871ff52cd596d65
+size 299726
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/episode_results.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..40c8f188c8aa5f5947b99614c16d620592a2fde9
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/robolab/episode_results.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4872080d6c6bf98ed64ddf087ad0c9ded49265d065da43426aff6f92e795c2d3
+size 19165
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_5/server.log b/harness_robolab_exploration/embo_xhigh/gpu_5/server.log
new file mode 100644
index 0000000000000000000000000000000000000000..fc9d60e99464d9e0a4180c3735930cb84acb1298
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_5/server.log
@@ -0,0 +1,39 @@
+[2026-10-29T16:55:03Z] GPU 5: Starting worker at FruitsOnionToPlateTask/0 (resume=false)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: False; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8021
+INFO:websockets.server:server listening on 127.0.0.1:8021
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 46374) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode a535e8a8084d4f34945f3d07d619a9f1-0 (codex/gpt-6-astra) ended: wall=1063.697s harness=470.933s tokens=4094215 usage_complete=True decisions=113 executed_steps=900 steps_complete=True network_wait=22.586415082216263 rate_limit_wait=0 rate_limit_count=0 excluded=22.586415082216263 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 3877f5d5665d48cf9271583ba239ccff-1 (codex/gpt-6-astra) ended: wall=2488.041s harness=1883.328s tokens=12046562 usage_complete=True decisions=113 executed_steps=900 steps_complete=True network_wait=59.0136401951313 rate_limit_wait=0 rate_limit_count=0 excluded=59.0136401951313 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode d91994d85f0c4e6eb112eda36251704f-2 (codex/gpt-6-astra) ended: wall=997.577s harness=411.732s tokens=3563660 usage_complete=True decisions=113 executed_steps=900 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 0e0cb0ae9d574e96b805608ab46b7677-0 (codex/gpt-6-astra) ended: wall=509.242s harness=421.686s tokens=2715550 usage_complete=True decisions=44 executed_steps=352 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode c5a10ea163f84c1c961738a6d4c511d7-1 (codex/gpt-6-astra) ended: wall=892.151s harness=768.774s tokens=5504225 usage_complete=True decisions=63 executed_steps=502 steps_complete=True network_wait=36.50148744881153 rate_limit_wait=0 rate_limit_count=0 excluded=36.50148744881153 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode f0936e9ca80d43b98a70111b9a3c78be-2 (codex/gpt-6-astra) ended: wall=842.612s harness=723.945s tokens=5081245 usage_complete=True decisions=60 executed_steps=479 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 2ffd562ca0ff48d88ab151cb7db222a3-0 (codex/gpt-6-astra) ended: wall=1512.243s harness=1263.672s tokens=8993828 usage_complete=True decisions=99 executed_steps=789 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 586ab4b4e36a44fda08a0aa8739cec5f-1 (codex/gpt-6-astra) ended: wall=743.402s harness=633.401s tokens=3930590 usage_complete=True decisions=44 executed_steps=349 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 40dc0d34ec0a45689b86279b4650462b-2 (codex/gpt-6-astra) ended: wall=150.265s harness=124.918s tokens=874411 usage_complete=True decisions=11 executed_steps=82 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 8204b76a0b444b9b91ccc774522530e9-0 (codex/gpt-6-astra) ended: wall=1154.563s harness=998.178s tokens=7634635 usage_complete=True decisions=84 executed_steps=669 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 98b7de85d4454c8e8d50991bcf703625-1 (codex/gpt-6-astra) ended: wall=448.115s harness=379.434s tokens=2850512 usage_complete=True decisions=37 executed_steps=294 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode ce287d505ef74fbc89a36e899e452573-2 (codex/gpt-6-astra) ended: wall=1445.934s harness=1239.136s tokens=9809543 usage_complete=True decisions=113 executed_steps=900 steps_complete=True network_wait=65.5140071734786 rate_limit_wait=0 rate_limit_count=0 excluded=65.5140071734786 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode efd7551bb4e742c3b766895691f4d238-0 (codex/gpt-6-astra) ended: wall=1652.799s harness=1431.103s tokens=10917871 usage_complete=True decisions=113 executed_steps=900 steps_complete=True network_wait=27.97251845896244 rate_limit_wait=0 rate_limit_count=0 excluded=27.97251845896244 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode a4f125dcb93349f9ac139abdcfeef1b0-1 (codex/gpt-6-astra) ended: wall=806.397s harness=676.008s tokens=5509139 usage_complete=True decisions=66 executed_steps=521 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 80b99c6accf94d659189ff242be04671-2 (codex/gpt-6-astra) ended: wall=1286.837s harness=1091.959s tokens=8726055 usage_complete=True decisions=99 executed_steps=785 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_5/harness/20261029T165506.206761Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 46374) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/client.log b/harness_robolab_exploration/embo_xhigh/gpu_6/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..f1d0a5c32fb7f12c3fd1c53a8c2530be67c13c81
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/client.log
@@ -0,0 +1,1167 @@
+[2026-10-29T16:55:03Z] GPU 6: Starting worker at MarkerInMugTask/0 (resume=false)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:6
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261029_165509.log
+2026-10-29T16:55:09Z [14ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-10-29T16:55:14Z [4,414ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:14Z [4,415ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:14Z [4,507ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-10-29T16:55:17Z [8,173ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:17Z [8,174ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:17Z [8,175ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 707651
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-10-29T16:55:26Z [17,026ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-10-29T16:55:26Z [17,027ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 868.10   2.81   2.21   1.99   3.21   4.07   4.01   4.26 
+     1   1.67 867.09   2.12   5.25   6.86   3.57   5.72   4.48 
+     2  20.38   1.94 869.50   4.31   4.71   6.24   6.83   3.84 
+     3   7.98   6.43   3.25 905.27   4.41   6.57   9.52   7.25 
+     4   9.25   8.41   9.85   2.55 883.77   3.36   6.11   6.80 
+     5   5.92   5.84   6.08   4.64   5.86 903.18   6.47   8.92 
+     6   4.35   5.69   8.49   5.55   6.60   8.71 904.75   3.95 
+     7   7.09  10.73   8.09   7.94   8.65   8.68   6.04 918.58 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.36  14.30  17.09  19.11  18.78  16.90  15.22  12.83 
+     1  17.11   1.45  16.26  18.89  19.14  18.60  17.45  14.90 
+     2  18.48  15.52   1.51  15.72  15.47  15.82  14.89  15.49 
+     3  13.29  13.50  11.82   1.55  14.41  16.08  16.11  16.52 
+     4  14.69  16.76  12.09  13.53   1.44  13.93  12.44  13.14 
+     5  14.62  15.03  15.77  17.21  14.80   1.43  16.12  14.00 
+     6  14.30  14.16  13.94  13.61  13.88  15.67   1.38  16.35 
+     7  16.06  15.05  13.51  13.37  14.08  14.32  15.52   1.34 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   4.62  13.92  14.04  12.89  10.40   9.69   9.59   9.90 
+     1  13.96   4.42  14.93  13.66   9.92  11.17  10.10  10.23 
+     2  15.10  14.73   3.99  13.68  10.67   9.64  11.56   9.61 
+     3  15.29  13.20  12.87   3.88   9.60   9.54   9.19   9.24 
+     4  10.33  10.40  10.39  10.09   2.38   7.09   6.97   7.20 
+     5  10.31  10.12  10.79  10.64   7.18   4.16   7.10   7.06 
+     6   8.51   8.17   8.66   8.41   7.09   7.16   2.35   6.90 
+     7   8.48   8.19   8.30   8.15   6.97   6.88   6.99   2.43 
+2026-10-29T16:55:36Z [26,994ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 1.7 GB/s.
+2026-10-29T16:55:36Z [26,994ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 19.1 us.
+2026-10-29T16:55:36Z [26,994ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-10-29T16:55:40Z [30,656ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:40Z [30,657ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:40Z [30,767ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:40Z [30,768ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:40Z [30,778ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:40Z [30,779ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:40Z [31,118ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:40Z [31,118ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:40Z [31,123ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:40Z [31,123ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:40Z [31,128ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:40Z [31,128ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:42Z [32,473ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-10-29T16:55:46Z [36,295ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-10-29T16:55:56Z [46,930ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-10-29T16:55:57Z [47,755ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-10-29T16:56:16Z [66,701ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-10-29T16:56:16Z [66,703ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-10-29T16:56:17Z [67,380ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-10-29T16:56:22Z [73,117ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-29T16:56:22Z [73,118ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-29T16:56:22Z [73,121ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-29T16:56:22Z [73,144ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7
+
+2026-10-29T16:56:22Z [73,179ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-29T16:56:22Z [73,180ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 6 task(s): ['MarkerInMugTask', 'SpoonInMugTask', 'ClampInRightBinTask', 'FoodPacking1BoxesTask', 'RubiksCubeThenBananaTask', 'BananaInBowlTask']
+2026-10-29T16:56:39Z [89,298ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x56362e9c3040>)
+
+2026-10-29T16:56:39Z [89,299ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x56362e9c3040>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Environments   : MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Num Tasks      : 6
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab
+══════════════════════════════════════════════════════════════
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-29T16:56:47Z [97,656ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.841167 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-29T16:56:54Z [104,403ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T16:56:54Z [104,404ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T16:56:54Z [104,439ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T16:56:54Z [104,439ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T16:56:54Z [104,447ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T16:56:54Z [104,454ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-29T16:56:54Z [104,706ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-29T16:56:54Z [104,727ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-29T16:56:56Z [106,530ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((29))' not available in the MDL representation.
+2026-10-29T16:56:56Z [106,530ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((29))' not available in the MDL representation.
+2026-10-29T16:56:57Z [107,876ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((51))' not available in the MDL representation.
+2026-10-29T16:56:57Z [107,876ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((51))' not available in the MDL representation.
+2026-10-29T16:56:59Z [109,743ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((71))' not available in the MDL representation.
+2026-10-29T16:56:59Z [109,743ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((71))' not available in the MDL representation.
+2026-10-29T16:57:00Z [110,891ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((102))' not available in the MDL representation.
+2026-10-29T16:57:00Z [110,891ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((102))' not available in the MDL representation.
+2026-10-29T16:57:00Z [110,899ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-10-29T16:57:00Z [110,899ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-10-29T16:57:00Z [110,907ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((104))' not available in the MDL representation.
+2026-10-29T16:57:00Z [110,907ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((104))' not available in the MDL representation.
+2026-10-29T16:57:00Z [110,911ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-10-29T16:57:00Z [110,911ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-10-29T16:57:00Z [110,921ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-10-29T16:57:00Z [110,921ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-10-29T16:57:00Z [110,926ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-10-29T16:57:00Z [110,926ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-10-29T16:57:00Z [111,021ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-10-29T16:57:00Z [111,021ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-10-29T16:57:00Z [111,111ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-10-29T16:57:00Z [111,111ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-10-29T16:57:00Z [111,112ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-10-29T16:57:01Z [111,359ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((236))' not available in the MDL representation.
+2026-10-29T16:57:01Z [111,359ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((236))' not available in the MDL representation.
+2026-10-29T16:57:01Z [111,378ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((245))' not available in the MDL representation.
+2026-10-29T16:57:01Z [111,378ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((245))' not available in the MDL representation.
+2026-10-29T16:57:01Z [111,410ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((260))' not available in the MDL representation.
+2026-10-29T16:57:01Z [111,410ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((260))' not available in the MDL representation.
+2026-10-29T16:57:01Z [112,091ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-10-29T16:57:02Z [112,432ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((29))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,432ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((29))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,434ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((51))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,434ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((51))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,436ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((71))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,436ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((71))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,438ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((102))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,438ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((102))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,439ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,439ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,439ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((104))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,439ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((104))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,440ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,440ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,440ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,441ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,441ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,441ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,443ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,443ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,444ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,444ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,444ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,449ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((236))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,449ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((236))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,449ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((245))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,450ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((245))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,451ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((260))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,451ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((260))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 12.000100 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : MarkerInMugTask                               │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the whiteboard marker in the mug          │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : MarkerInMugTaskSceneEnvCfg                    │
+│  Attributes  : affordance, moderate                          │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running MarkerInMugTask_0: 'Put the whiteboard marker in the mug' (run 0, 1 envs)
+
  0%|          | 0/600 [00:00<?, ?it/s]
  0%|          | 1/600 [00:40<6:40:53, 40.16s/it]
  0%|          | 2/600 [00:40<2:47:57, 16.85s/it]
  0%|          | 3/600 [00:41<1:33:34,  9.40s/it]
  1%|          | 4/600 [00:41<58:36,  5.90s/it]  
  1%|          | 5/600 [00:42<39:16,  3.96s/it]
  1%|          | 6/600 [00:42<27:38,  2.79s/it]
  1%|          | 7/600 [00:43<20:13,  2.05s/it]
  1%|▏         | 8/600 [00:43<15:22,  1.56s/it]
  2%|▏         | 9/600 [00:51<33:31,  3.40s/it]
  2%|▏         | 10/600 [00:51<24:46,  2.52s/it]
  2%|▏         | 11/600 [00:52<18:44,  1.91s/it]
  2%|▏         | 12/600 [00:52<14:35,  1.49s/it]
  2%|▏         | 13/600 [00:53<11:44,  1.20s/it]
  2%|▏         | 14/600 [00:53<09:45,  1.00it/s]
  2%|▎         | 15/600 [00:54<08:20,  1.17it/s]
  3%|▎         | 16/600 [00:55<07:20,  1.32it/s]
  3%|▎         | 17/600 [01:17<1:10:27,  7.25s/it]
  3%|▎         | 18/600 [01:17<50:43,  5.23s/it]  
  3%|▎         | 19/600 [01:18<36:56,  3.81s/it]
  3%|▎         | 20/600 [01:18<27:20,  2.83s/it]
  4%|▎         | 21/600 [01:19<20:37,  2.14s/it]
  4%|▎         | 22/600 [01:19<15:56,  1.66s/it]
  4%|▍         | 23/600 [01:20<12:40,  1.32s/it]
  4%|▍         | 24/600 [01:21<10:23,  1.08s/it]
  4%|▍         | 25/600 [01:37<53:50,  5.62s/it]
  4%|▍         | 26/600 [01:37<39:07,  4.09s/it]
  4%|▍         | 27/600 [01:38<28:51,  3.02s/it]
  5%|▍         | 28/600 [01:38<21:38,  2.27s/it]
  5%|▍         | 29/600 [01:39<16:37,  1.75s/it]2026-10-29T16:58:43Z [213,690ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+
  5%|▌         | 30/600 [01:39<13:06,  1.38s/it]
  5%|▌         | 31/600 [01:40<10:36,  1.12s/it]
  5%|▌         | 32/600 [01:40<08:54,  1.06it/s]
  6%|▌         | 33/600 [02:36<2:43:31, 17.30s/it]
  6%|▌         | 34/600 [02:36<1:55:42, 12.27s/it]
  6%|▌         | 35/600 [02:37<1:22:18,  8.74s/it]
  6%|▌         | 36/600 [02:37<58:58,  6.27s/it]  
  6%|▌         | 37/600 [02:38<42:38,  4.54s/it]
  6%|▋         | 38/600 [02:38<31:14,  3.34s/it]
  6%|▋         | 39/600 [02:39<23:16,  2.49s/it]
  7%|▋         | 40/600 [02:39<17:42,  1.90s/it]
  7%|▋         | 41/600 [02:45<28:13,  3.03s/it]
  7%|▋         | 42/600 [02:46<21:09,  2.27s/it]
  7%|▋         | 43/600 [02:46<16:14,  1.75s/it]
  7%|▋         | 44/600 [02:47<12:47,  1.38s/it]
  8%|▊         | 45/600 [02:47<10:22,  1.12s/it]
  8%|▊         | 46/600 [02:48<08:41,  1.06it/s]
  8%|▊         | 47/600 [02:48<07:30,  1.23it/s]
  8%|▊         | 48/600 [02:49<06:39,  1.38it/s]
  8%|▊         | 49/600 [03:08<58:00,  6.32s/it]
  8%|▊         | 50/600 [03:09<41:58,  4.58s/it]
  8%|▊         | 51/600 [03:09<30:47,  3.37s/it]
  9%|▊         | 52/600 [03:10<22:58,  2.52s/it]
  9%|▉         | 53/600 [03:10<17:28,  1.92s/it]
  9%|▉         | 54/600 [03:11<13:41,  1.50s/it]
  9%|▉         | 55/600 [03:11<10:59,  1.21s/it]
  9%|▉         | 56/600 [03:12<09:05,  1.00s/it]
 10%|▉         | 57/600 [03:30<55:31,  6.13s/it]
 10%|▉         | 58/600 [03:30<40:12,  4.45s/it]
 10%|▉         | 59/600 [03:31<29:28,  3.27s/it]
 10%|█         | 60/600 [03:32<21:59,  2.44s/it]
 10%|█         | 61/600 [03:32<16:44,  1.86s/it]
 10%|█         | 62/600 [03:33<13:04,  1.46s/it]
 10%|█         | 63/600 [03:33<10:34,  1.18s/it]
 11%|█         | 64/600 [03:34<08:49,  1.01it/s]
 11%|█         | 65/600 [03:43<30:34,  3.43s/it]
 11%|█         | 66/600 [03:43<22:48,  2.56s/it]
 11%|█         | 67/600 [03:44<17:21,  1.95s/it]
 11%|█▏        | 68/600 [03:44<13:31,  1.52s/it]
 12%|█▏        | 69/600 [03:45<10:55,  1.23s/it]
 12%|█▏        | 70/600 [03:45<09:05,  1.03s/it]
 12%|█▏        | 71/600 [03:46<07:50,  1.12it/s]
 12%|█▏        | 72/600 [03:47<06:58,  1.26it/s]
 12%|█▏        | 73/600 [04:09<1:04:51,  7.38s/it]
 12%|█▏        | 74/600 [04:10<46:46,  5.34s/it]  
 12%|█▎        | 75/600 [04:10<34:13,  3.91s/it]
 13%|█▎        | 76/600 [04:11<25:21,  2.90s/it]
 13%|█▎        | 77/600 [04:12<19:10,  2.20s/it]
 13%|█▎        | 78/600 [04:12<14:50,  1.71s/it]
 13%|█▎        | 79/600 [04:13<11:49,  1.36s/it]
 13%|█▎        | 80/600 [04:13<09:42,  1.12s/it]
 14%|█▎        | 81/600 [04:20<24:15,  2.81s/it]
 14%|█▎        | 82/600 [04:21<18:23,  2.13s/it]
 14%|█▍        | 83/600 [04:21<14:16,  1.66s/it]
 14%|█▍        | 84/600 [04:22<11:25,  1.33s/it]
 14%|█▍        | 85/600 [04:22<09:24,  1.10s/it]
 14%|█▍        | 86/600 [04:23<07:59,  1.07it/s]
 14%|█▍        | 87/600 [04:23<07:03,  1.21it/s]
 15%|█▍        | 88/600 [04:24<06:20,  1.34it/s]
 15%|█▍        | 89/600 [04:33<27:18,  3.21s/it]
 15%|█▌        | 90/600 [04:33<20:30,  2.41s/it]
 15%|█▌        | 91/600 [04:34<15:44,  1.86s/it]
 15%|█▌        | 92/600 [04:35<12:22,  1.46s/it]
 16%|█▌        | 93/600 [04:35<10:03,  1.19s/it]
 16%|█▌        | 94/600 [04:36<08:27,  1.00s/it]
 16%|█▌        | 95/600 [04:36<07:20,  1.15it/s]
 16%|█▌        | 96/600 [04:37<06:30,  1.29it/s]
 16%|█▌        | 97/600 [04:54<48:33,  5.79s/it]
 16%|█▋        | 98/600 [04:55<35:21,  4.23s/it]
 16%|█▋        | 99/600 [04:55<26:06,  3.13s/it]
 17%|█▋        | 100/600 [04:56<19:38,  2.36s/it]
 17%|█▋        | 101/600 [04:56<15:05,  1.81s/it]
 17%|█▋        | 102/600 [04:57<11:55,  1.44s/it]
 17%|█▋        | 103/600 [04:58<09:42,  1.17s/it]
 17%|█▋        | 104/600 [04:58<08:10,  1.01it/s]
 18%|█▊        | 105/600 [05:21<1:02:53,  7.62s/it]
 18%|█▊        | 106/600 [05:22<45:18,  5.50s/it]  
 18%|█▊        | 107/600 [05:22<33:04,  4.03s/it]
 18%|█▊        | 108/600 [05:23<24:30,  2.99s/it]
 18%|█▊        | 109/600 [05:24<18:29,  2.26s/it]
 18%|█▊        | 110/600 [05:24<14:16,  1.75s/it]
 18%|█▊        | 111/600 [05:25<11:20,  1.39s/it]
 19%|█▊        | 112/600 [05:25<09:15,  1.14s/it]
 19%|█▉        | 113/600 [05:32<23:30,  2.90s/it]
 19%|█▉        | 114/600 [05:33<17:49,  2.20s/it]
 19%|█▉        | 115/600 [05:33<13:49,  1.71s/it]
 19%|█▉        | 116/600 [05:34<11:05,  1.37s/it]
 20%|█▉        | 117/600 [05:34<09:08,  1.13s/it]
 20%|█▉        | 118/600 [05:35<07:46,  1.03it/s]
 20%|█▉        | 119/600 [05:36<06:47,  1.18it/s]
 20%|██        | 120/600 [05:36<06:09,  1.30it/s]
 20%|██        | 121/600 [05:42<18:47,  2.35s/it]
 20%|██        | 122/600 [05:43<14:29,  1.82s/it]
 20%|██        | 123/600 [05:43<11:32,  1.45s/it]
 21%|██        | 124/600 [05:44<09:29,  1.20s/it]
 21%|██        | 125/600 [05:45<07:59,  1.01s/it]
 21%|██        | 126/600 [05:45<06:55,  1.14it/s]
 21%|██        | 127/600 [05:46<06:09,  1.28it/s]
 21%|██▏       | 128/600 [05:46<05:37,  1.40it/s]
 22%|██▏       | 129/600 [06:11<1:02:14,  7.93s/it]
 22%|██▏       | 130/600 [06:12<44:45,  5.71s/it]  
 22%|██▏       | 131/600 [06:12<32:33,  4.16s/it]
 22%|██▏       | 132/600 [06:13<24:01,  3.08s/it]
 22%|██▏       | 133/600 [06:13<18:07,  2.33s/it]
 22%|██▏       | 134/600 [06:14<13:58,  1.80s/it]
 22%|██▎       | 135/600 [06:14<11:02,  1.42s/it]
 23%|██▎       | 136/600 [06:15<08:58,  1.16s/it]
 23%|██▎       | 137/600 [06:22<22:01,  2.85s/it]
 23%|██▎       | 138/600 [06:22<16:42,  2.17s/it]
 23%|██▎       | 139/600 [06:23<13:03,  1.70s/it]
 23%|██▎       | 140/600 [06:24<10:30,  1.37s/it]
 24%|██▎       | 141/600 [06:24<08:42,  1.14s/it]
 24%|██▎       | 142/600 [06:25<07:20,  1.04it/s]
 24%|██▍       | 143/600 [06:25<06:22,  1.19it/s]
 24%|██▍       | 144/600 [06:26<05:42,  1.33it/s]
 24%|██▍       | 145/600 [06:32<18:13,  2.40s/it]
 24%|██▍       | 146/600 [06:33<13:54,  1.84s/it]
 24%|██▍       | 147/600 [06:33<10:59,  1.46s/it]
 25%|██▍       | 148/600 [06:34<08:51,  1.18s/it]
 25%|██▍       | 149/600 [06:34<07:20,  1.02it/s]
 25%|██▌       | 150/600 [06:35<06:16,  1.20it/s]
 25%|██▌       | 151/600 [06:35<05:30,  1.36it/s]
 25%|██▌       | 152/600 [06:36<05:01,  1.49it/s]
 26%|██▌       | 153/600 [07:10<1:19:43, 10.70s/it]
 26%|██▌       | 154/600 [07:10<56:50,  7.65s/it]  
 26%|██▌       | 155/600 [07:11<40:50,  5.51s/it]
 26%|██▌       | 156/600 [07:11<29:40,  4.01s/it]
 26%|██▌       | 157/600 [07:12<21:52,  2.96s/it]
 26%|██▋       | 158/600 [07:12<16:26,  2.23s/it]
 26%|██▋       | 159/600 [07:13<12:37,  1.72s/it]
 27%|██▋       | 160/600 [07:13<09:57,  1.36s/it]
 27%|██▋       | 161/600 [07:22<25:27,  3.48s/it]
 27%|██▋       | 162/600 [07:22<18:58,  2.60s/it]
 27%|██▋       | 163/600 [07:23<14:31,  1.99s/it]
 27%|██▋       | 164/600 [07:24<11:21,  1.56s/it]
 28%|██▊       | 165/600 [07:24<09:04,  1.25s/it]
 28%|██▊       | 166/600 [07:25<07:28,  1.03s/it]
 28%|██▊       | 167/600 [07:25<06:24,  1.13it/s]
 28%|██▊       | 168/600 [07:26<05:42,  1.26it/s]
 28%|██▊       | 169/600 [07:35<23:21,  3.25s/it]
 28%|██▊       | 170/600 [07:35<17:25,  2.43s/it]
 28%|██▊       | 171/600 [07:36<13:15,  1.86s/it]
 29%|██▊       | 172/600 [07:36<10:21,  1.45s/it]
 29%|██▉       | 173/600 [07:37<08:19,  1.17s/it]
 29%|██▉       | 174/600 [07:37<06:55,  1.03it/s]
 29%|██▉       | 175/600 [07:38<05:56,  1.19it/s]
 29%|██▉       | 176/600 [07:38<05:15,  1.35it/s]
 30%|██▉       | 177/600 [07:48<25:05,  3.56s/it]
 30%|██▉       | 178/600 [07:49<18:39,  2.65s/it]
 30%|██▉       | 179/600 [07:50<14:09,  2.02s/it]
 30%|███       | 180/600 [07:50<10:58,  1.57s/it]
 30%|███       | 181/600 [07:51<08:44,  1.25s/it]
 30%|███       | 182/600 [07:51<07:11,  1.03s/it]
 30%|███       | 183/600 [07:52<06:06,  1.14it/s]
 31%|███       | 184/600 [07:52<05:23,  1.29it/s]
 31%|███       | 185/600 [08:04<29:00,  4.19s/it]
 31%|███       | 186/600 [08:05<21:26,  3.11s/it]
 31%|███       | 187/600 [08:05<16:05,  2.34s/it]
 31%|███▏      | 188/600 [08:06<12:22,  1.80s/it]
 32%|███▏      | 189/600 [08:07<09:48,  1.43s/it]
 32%|███▏      | 190/600 [08:07<07:59,  1.17s/it]
 32%|███▏      | 191/600 [08:08<06:41,  1.02it/s]
 32%|███▏      | 192/600 [08:08<05:49,  1.17it/s]
 32%|███▏      | 193/600 [08:18<23:58,  3.53s/it]
 32%|███▏      | 194/600 [08:19<17:49,  2.64s/it]
 32%|███▎      | 195/600 [08:19<13:30,  2.00s/it]
 33%|███▎      | 196/600 [08:20<10:28,  1.55s/it]
 33%|███▎      | 197/600 [08:20<08:24,  1.25s/it]
 33%|███▎      | 198/600 [08:21<06:54,  1.03s/it]
 33%|███▎      | 199/600 [08:21<05:52,  1.14it/s]
 33%|███▎      | 200/600 [08:22<05:07,  1.30it/s]
 34%|███▎      | 201/600 [08:31<21:50,  3.28s/it]
 34%|███▎      | 202/600 [08:31<16:17,  2.46s/it]
 34%|███▍      | 203/600 [08:32<12:26,  1.88s/it]
 34%|███▍      | 204/600 [08:32<09:46,  1.48s/it]
 34%|███▍      | 205/600 [08:33<07:55,  1.20s/it]
 34%|███▍      | 206/600 [08:34<06:39,  1.01s/it]
 34%|███▍      | 207/600 [08:34<05:40,  1.16it/s]
 35%|███▍      | 208/600 [08:35<05:05,  1.28it/s]
 35%|███▍      | 209/600 [08:43<18:56,  2.91s/it]
 35%|███▌      | 210/600 [08:43<14:18,  2.20s/it]
 35%|███▌      | 211/600 [08:44<11:03,  1.71s/it]
 35%|███▌      | 212/600 [08:44<08:47,  1.36s/it]
 36%|███▌      | 213/600 [08:45<07:18,  1.13s/it]
 36%|███▌      | 214/600 [08:45<06:11,  1.04it/s]
 36%|███▌      | 215/600 [08:46<05:24,  1.19it/s]
 36%|███▌      | 216/600 [08:46<04:49,  1.33it/s]
 36%|███▌      | 217/600 [08:57<23:15,  3.64s/it]
 36%|███▋      | 218/600 [08:57<17:18,  2.72s/it]
 36%|███▋      | 219/600 [08:58<13:06,  2.06s/it]
 37%|███▋      | 220/600 [08:58<10:11,  1.61s/it]
 37%|███▋      | 221/600 [08:59<08:08,  1.29s/it]
 37%|███▋      | 222/600 [09:00<06:42,  1.07s/it]
 37%|███▋      | 223/600 [09:00<05:44,  1.09it/s]
 37%|███▋      | 224/600 [09:01<05:02,  1.24it/s]
 38%|███▊      | 225/600 [09:25<48:28,  7.76s/it]
 38%|███▊      | 226/600 [09:25<34:52,  5.59s/it]
 38%|███▊      | 227/600 [09:26<25:22,  4.08s/it]
 38%|███▊      | 228/600 [09:26<18:44,  3.02s/it]
 38%|███▊      | 229/600 [09:27<14:08,  2.29s/it]
 38%|███▊      | 230/600 [09:27<10:57,  1.78s/it]
 38%|███▊      | 231/600 [09:28<08:40,  1.41s/it]
 39%|███▊      | 232/600 [09:29<07:04,  1.15s/it]
 39%|███▉      | 233/600 [09:41<26:52,  4.39s/it]
 39%|███▉      | 234/600 [09:41<19:49,  3.25s/it]
 39%|███▉      | 235/600 [09:42<14:53,  2.45s/it]
 39%|███▉      | 236/600 [09:42<11:26,  1.88s/it]
 40%|███▉      | 237/600 [09:43<08:59,  1.49s/it]
 40%|███▉      | 238/600 [09:43<07:17,  1.21s/it]
 40%|███▉      | 239/600 [09:44<06:06,  1.01s/it]
 40%|████      | 240/600 [09:45<05:18,  1.13it/s]
 40%|████      | 241/600 [10:28<1:22:27, 13.78s/it]
 40%|████      | 242/600 [10:29<58:34,  9.82s/it]  
 40%|████      | 243/600 [10:30<41:53,  7.04s/it]
 41%|████      | 244/600 [10:30<30:17,  5.10s/it]
 41%|████      | 245/600 [10:31<22:08,  3.74s/it]
 41%|████      | 246/600 [10:31<16:26,  2.79s/it]
 41%|████      | 247/600 [10:32<12:28,  2.12s/it]
 41%|████▏     | 248/600 [10:32<09:39,  1.65s/it]
 42%|████▏     | 249/600 [10:45<28:20,  4.84s/it]
 42%|████▏     | 250/600 [10:45<20:44,  3.55s/it]
 42%|████▏     | 251/600 [10:46<15:26,  2.65s/it]
 42%|████▏     | 252/600 [10:46<11:43,  2.02s/it]
 42%|████▏     | 253/600 [10:47<09:07,  1.58s/it]
 42%|████▏     | 254/600 [10:47<07:19,  1.27s/it]
 42%|████▎     | 255/600 [10:48<06:06,  1.06s/it]
 43%|████▎     | 256/600 [10:49<05:13,  1.10it/s]
 43%|████▎     | 257/600 [11:12<44:36,  7.80s/it]
 43%|████▎     | 258/600 [11:13<32:07,  5.64s/it]
 43%|████▎     | 259/600 [11:14<23:22,  4.11s/it]
 43%|████▎     | 260/600 [11:14<17:14,  3.04s/it]
 44%|████▎     | 261/600 [11:15<13:00,  2.30s/it]
 44%|████▎     | 262/600 [11:15<10:03,  1.78s/it]
 44%|████▍     | 263/600 [11:16<07:57,  1.42s/it]
 44%|████▍     | 264/600 [11:16<06:28,  1.16s/it]
 44%|████▍     | 265/600 [11:32<30:35,  5.48s/it]
 44%|████▍     | 266/600 [11:32<22:15,  4.00s/it]
 44%|████▍     | 267/600 [11:33<16:27,  2.96s/it]
 45%|████▍     | 268/600 [11:34<12:23,  2.24s/it]
 45%|████▍     | 269/600 [11:34<09:33,  1.73s/it]
 45%|████▌     | 270/600 [11:35<07:33,  1.37s/it]
 45%|████▌     | 271/600 [11:35<06:11,  1.13s/it]
 45%|████▌     | 272/600 [11:36<05:11,  1.05it/s]
 46%|████▌     | 273/600 [11:54<33:12,  6.09s/it]
 46%|████▌     | 274/600 [11:54<24:00,  4.42s/it]
 46%|████▌     | 275/600 [11:55<17:36,  3.25s/it]
 46%|████▌     | 276/600 [11:55<13:06,  2.43s/it]
 46%|████▌     | 277/600 [11:56<10:01,  1.86s/it]
 46%|████▋     | 278/600 [11:56<07:51,  1.46s/it]
 46%|████▋     | 279/600 [11:57<06:19,  1.18s/it]
 47%|████▋     | 280/600 [11:58<05:18,  1.00it/s]
 47%|████▋     | 281/600 [12:07<19:21,  3.64s/it]
 47%|████▋     | 282/600 [12:08<14:20,  2.71s/it]
 47%|████▋     | 283/600 [12:08<10:50,  2.05s/it]
 47%|████▋     | 284/600 [12:09<08:23,  1.59s/it]
 48%|████▊     | 285/600 [12:09<06:40,  1.27s/it]
 48%|████▊     | 286/600 [12:10<05:29,  1.05s/it]
 48%|████▊     | 287/600 [12:10<04:39,  1.12it/s]
 48%|████▊     | 288/600 [12:11<04:03,  1.28it/s]
 48%|████▊     | 289/600 [12:23<21:30,  4.15s/it]
 48%|████▊     | 290/600 [12:24<15:50,  3.07s/it]
 48%|████▊     | 291/600 [12:24<11:52,  2.31s/it]
 49%|████▊     | 292/600 [12:25<09:04,  1.77s/it]
 49%|████▉     | 293/600 [12:25<07:09,  1.40s/it]
 49%|████▉     | 294/600 [12:26<05:47,  1.14s/it]
 49%|████▉     | 295/600 [12:26<04:51,  1.04it/s]
 49%|████▉     | 296/600 [12:27<04:10,  1.21it/s]
 50%|████▉     | 297/600 [12:36<17:32,  3.47s/it]
 50%|████▉     | 298/600 [12:37<13:02,  2.59s/it]
 50%|████▉     | 299/600 [12:37<09:52,  1.97s/it]
 50%|█████     | 300/600 [12:38<07:40,  1.53s/it]
 50%|█████     | 301/600 [12:38<06:07,  1.23s/it]
 50%|█████     | 302/600 [12:39<05:01,  1.01s/it]
 50%|█████     | 303/600 [12:40<04:18,  1.15it/s]
 51%|█████     | 304/600 [12:40<03:49,  1.29it/s]
 51%|█████     | 305/600 [12:51<18:59,  3.86s/it]
 51%|█████     | 306/600 [12:52<14:04,  2.87s/it]
 51%|█████     | 307/600 [12:52<10:37,  2.18s/it]
 51%|█████▏    | 308/600 [12:53<08:13,  1.69s/it]
 52%|█████▏    | 309/600 [12:53<06:32,  1.35s/it]
 52%|█████▏    | 310/600 [12:54<05:20,  1.11s/it]
 52%|█████▏    | 311/600 [12:54<04:33,  1.06it/s]
 52%|█████▏    | 312/600 [12:55<03:59,  1.20it/s]
 52%|█████▏    | 313/600 [13:03<14:20,  3.00s/it]
 52%|█████▏    | 314/600 [13:04<10:47,  2.26s/it]
 52%|█████▎    | 315/600 [13:04<08:19,  1.75s/it]
 53%|█████▎    | 316/600 [13:05<06:34,  1.39s/it]
 53%|█████▎    | 317/600 [13:05<05:22,  1.14s/it]
 53%|█████▎    | 318/600 [13:06<04:31,  1.04it/s]
 53%|█████▎    | 319/600 [13:06<03:54,  1.20it/s]
 53%|█████▎    | 320/600 [13:07<03:29,  1.34it/s]
 54%|█████▎    | 321/600 [13:34<39:51,  8.57s/it]
 54%|█████▎    | 322/600 [13:34<28:32,  6.16s/it]
 54%|█████▍    | 323/600 [13:35<20:37,  4.47s/it]
 54%|█████▍    | 324/600 [13:35<15:06,  3.28s/it]
 54%|█████▍    | 325/600 [13:36<11:15,  2.46s/it]
 54%|█████▍    | 326/600 [13:36<08:34,  1.88s/it]
 55%|█████▍    | 327/600 [13:37<06:41,  1.47s/it]
 55%|█████▍    | 328/600 [13:37<05:22,  1.19s/it]
 55%|█████▍    | 329/600 [14:25<1:08:12, 15.10s/it]
 55%|█████▌    | 330/600 [14:25<48:16, 10.73s/it]  
 55%|█████▌    | 331/600 [14:26<34:23,  7.67s/it]
 55%|█████▌    | 332/600 [14:27<24:40,  5.53s/it]
 56%|█████▌    | 333/600 [14:27<17:54,  4.02s/it]
 56%|█████▌    | 334/600 [14:28<13:10,  2.97s/it]
 56%|█████▌    | 335/600 [14:28<09:52,  2.24s/it]
 56%|█████▌    | 336/600 [14:29<07:36,  1.73s/it]
 56%|█████▌    | 337/600 [14:38<17:17,  3.94s/it]
 56%|█████▋    | 338/600 [14:38<12:46,  2.92s/it]
 56%|█████▋    | 339/600 [14:39<09:38,  2.22s/it]
 57%|█████▋    | 340/600 [14:39<07:26,  1.72s/it]
 57%|█████▋    | 341/600 [14:40<05:55,  1.37s/it]
 57%|█████▋    | 342/600 [14:41<04:50,  1.12s/it]
 57%|█████▋    | 343/600 [14:41<04:04,  1.05it/s]
 57%|█████▋    | 344/600 [14:42<03:34,  1.19it/s]
 57%|█████▊    | 345/600 [14:59<25:12,  5.93s/it]
 58%|█████▊    | 346/600 [15:00<18:16,  4.32s/it]
 58%|█████▊    | 347/600 [15:01<13:24,  3.18s/it]
 58%|█████▊    | 348/600 [15:01<10:02,  2.39s/it]
 58%|█████▊    | 349/600 [15:02<07:42,  1.84s/it]
 58%|█████▊    | 350/600 [15:02<06:06,  1.47s/it]
 58%|█████▊    | 351/600 [15:03<04:57,  1.20s/it]
 59%|█████▊    | 352/600 [15:03<04:10,  1.01s/it]
 59%|█████▉    | 353/600 [15:12<13:28,  3.27s/it]
 59%|█████▉    | 354/600 [15:12<10:03,  2.45s/it]
 59%|█████▉    | 355/600 [15:13<07:41,  1.88s/it]
 59%|█████▉    | 356/600 [15:14<06:03,  1.49s/it]
 60%|█████▉    | 357/600 [15:14<04:53,  1.21s/it]
 60%|█████▉    | 358/600 [15:15<04:05,  1.02s/it]
 60%|█████▉    | 359/600 [15:15<03:31,  1.14it/s]
 60%|██████    | 360/600 [15:16<03:07,  1.28it/s]
 60%|██████    | 361/600 [15:26<14:21,  3.61s/it]
 60%|██████    | 362/600 [15:27<10:41,  2.70s/it]
 60%|██████    | 363/600 [15:27<08:09,  2.07s/it]
 61%|██████    | 364/600 [15:28<06:22,  1.62s/it]
 61%|██████    | 365/600 [15:28<05:05,  1.30s/it]
 61%|██████    | 366/600 [15:29<04:11,  1.08s/it]
 61%|██████    | 367/600 [15:29<03:34,  1.09it/s]
 61%|██████▏   | 368/600 [15:30<03:08,  1.23it/s]
 62%|██████▏   | 369/600 [15:47<21:26,  5.57s/it]
 62%|██████▏   | 370/600 [15:47<15:31,  4.05s/it]
 62%|██████▏   | 371/600 [15:48<11:25,  2.99s/it]
 62%|██████▏   | 372/600 [15:48<08:32,  2.25s/it]
 62%|██████▏   | 373/600 [15:49<06:32,  1.73s/it]
 62%|██████▏   | 374/600 [15:49<05:10,  1.37s/it]
 62%|██████▎   | 375/600 [15:50<04:12,  1.12s/it]
 63%|██████▎   | 376/600 [15:50<03:30,  1.06it/s]
 63%|██████▎   | 377/600 [16:02<15:22,  4.14s/it]
 63%|██████▎   | 378/600 [16:02<11:17,  3.05s/it]
 63%|██████▎   | 379/600 [16:03<08:26,  2.29s/it]
 63%|██████▎   | 380/600 [16:04<06:27,  1.76s/it]
 64%|██████▎   | 381/600 [16:04<05:05,  1.39s/it]
 64%|██████▎   | 382/600 [16:05<04:07,  1.14s/it]
 64%|██████▍   | 383/600 [16:05<03:27,  1.04it/s]
 64%|██████▍   | 384/600 [16:06<02:59,  1.20it/s]
 64%|██████▍   | 385/600 [16:16<13:36,  3.80s/it]
 64%|██████▍   | 386/600 [16:17<10:03,  2.82s/it]
 64%|██████▍   | 387/600 [16:17<07:34,  2.14s/it]
 65%|██████▍   | 388/600 [16:18<05:52,  1.66s/it]
 65%|██████▍   | 389/600 [16:19<04:39,  1.33s/it]
 65%|██████▌   | 390/600 [16:19<03:49,  1.09s/it]
 65%|██████▌   | 391/600 [16:20<03:13,  1.08it/s]
 65%|██████▌   | 392/600 [16:20<02:48,  1.23it/s]
 66%|██████▌   | 393/600 [17:07<49:54, 14.47s/it]
 66%|██████▌   | 394/600 [17:07<35:19, 10.29s/it]
 66%|██████▌   | 395/600 [17:08<25:11,  7.37s/it]
 66%|██████▌   | 396/600 [17:08<18:04,  5.32s/it]
 66%|██████▌   | 397/600 [17:09<13:08,  3.88s/it]
 66%|██████▋   | 398/600 [17:09<09:42,  2.88s/it]
 66%|██████▋   | 399/600 [17:10<07:17,  2.18s/it]
 67%|██████▋   | 400/600 [17:10<05:36,  1.68s/it]
 67%|██████▋   | 401/600 [17:18<12:04,  3.64s/it]
 67%|██████▋   | 402/600 [17:19<08:57,  2.72s/it]
 67%|██████▋   | 403/600 [17:20<06:46,  2.06s/it]
 67%|██████▋   | 404/600 [17:20<05:16,  1.61s/it]
 68%|██████▊   | 405/600 [17:21<04:13,  1.30s/it]
 68%|██████▊   | 406/600 [17:21<03:28,  1.08s/it]
 68%|██████▊   | 407/600 [17:22<02:57,  1.09it/s]
 68%|██████▊   | 408/600 [17:22<02:35,  1.24it/s]
 68%|██████▊   | 409/600 [17:34<13:14,  4.16s/it]
 68%|██████▊   | 410/600 [17:35<09:44,  3.08s/it]
 68%|██████▊   | 411/600 [17:35<07:18,  2.32s/it]
 69%|██████▊   | 412/600 [17:36<05:37,  1.79s/it]
 69%|██████▉   | 413/600 [17:37<04:23,  1.41s/it]
 69%|██████▉   | 414/600 [17:37<03:34,  1.16s/it]
 69%|██████▉   | 415/600 [17:38<02:58,  1.04it/s]
 69%|██████▉   | 416/600 [17:38<02:33,  1.20it/s]
 70%|██████▉   | 417/600 [17:57<18:52,  6.19s/it]
 70%|██████▉   | 418/600 [17:57<13:36,  4.49s/it]
 70%|██████▉   | 419/600 [17:58<09:57,  3.30s/it]
 70%|███████   | 420/600 [17:58<07:24,  2.47s/it]
 70%|███████   | 421/600 [17:59<05:38,  1.89s/it]
 70%|███████   | 422/600 [17:59<04:23,  1.48s/it]
 70%|███████   | 423/600 [18:00<03:31,  1.20s/it]
 71%|███████   | 424/600 [18:01<02:55,  1.00it/s]
 71%|███████   | 425/600 [18:09<09:33,  3.27s/it]
 71%|███████   | 426/600 [18:10<07:07,  2.46s/it]
 71%|███████   | 427/600 [18:10<05:26,  1.89s/it]
 71%|███████▏  | 428/600 [18:11<04:15,  1.49s/it]
 72%|███████▏  | 429/600 [18:11<03:26,  1.21s/it]
 72%|███████▏  | 430/600 [18:12<02:52,  1.02s/it]
 72%|███████▏  | 431/600 [18:12<02:28,  1.14it/s]
 72%|███████▏  | 432/600 [18:13<02:11,  1.28it/s]
 72%|███████▏  | 433/600 [18:24<10:36,  3.81s/it]
 72%|███████▏  | 434/600 [18:24<07:49,  2.83s/it]
 72%|███████▎  | 435/600 [18:25<05:54,  2.15s/it]
 73%|███████▎  | 436/600 [18:26<04:33,  1.67s/it]
 73%|███████▎  | 437/600 [18:26<03:37,  1.34s/it]
 73%|███████▎  | 438/600 [18:27<02:59,  1.11s/it]
 73%|███████▎  | 439/600 [18:27<02:32,  1.06it/s]
 73%|███████▎  | 440/600 [18:28<02:12,  1.20it/s]
 74%|███████▎  | 441/600 [18:39<10:46,  4.07s/it]
 74%|███████▎  | 442/600 [18:40<07:55,  3.01s/it]
 74%|███████▍  | 443/600 [18:41<05:57,  2.27s/it]
 74%|███████▍  | 444/600 [18:41<04:32,  1.75s/it]
 74%|███████▍  | 445/600 [18:42<03:33,  1.38s/it]
 74%|███████▍  | 446/600 [18:42<02:52,  1.12s/it]
 74%|███████▍  | 447/600 [18:43<02:25,  1.05it/s]
 75%|███████▍  | 448/600 [18:43<02:04,  1.22it/s]
 75%|███████▍  | 449/600 [19:01<14:40,  5.83s/it]
 75%|███████▌  | 450/600 [19:01<10:35,  4.24s/it]
 75%|███████▌  | 451/600 [19:02<07:46,  3.13s/it]
 75%|███████▌  | 452/600 [19:02<05:49,  2.36s/it]
 76%|███████▌  | 453/600 [19:03<04:26,  1.81s/it]
 76%|███████▌  | 454/600 [19:03<03:30,  1.44s/it]
 76%|███████▌  | 455/600 [19:04<02:50,  1.18s/it]
 76%|███████▌  | 456/600 [19:05<02:24,  1.00s/it]
 76%|███████▌  | 457/600 [19:16<09:49,  4.12s/it]
 76%|███████▋  | 458/600 [19:17<07:13,  3.06s/it]
 76%|███████▋  | 459/600 [19:17<05:25,  2.31s/it]
 77%|███████▋  | 460/600 [19:18<04:08,  1.78s/it]
 77%|███████▋  | 461/600 [19:18<03:16,  1.41s/it]
 77%|███████▋  | 462/600 [19:19<02:40,  1.16s/it]
 77%|███████▋  | 463/600 [19:19<02:14,  1.02it/s]
 77%|███████▋  | 464/600 [19:20<01:56,  1.17it/s]
 78%|███████▊  | 465/600 [19:45<18:33,  8.25s/it]
 78%|███████▊  | 466/600 [19:46<13:15,  5.94s/it]
 78%|███████▊  | 467/600 [19:46<09:33,  4.31s/it]
 78%|███████▊  | 468/600 [19:47<06:59,  3.18s/it]
 78%|███████▊  | 469/600 [19:48<05:12,  2.38s/it]
 78%|███████▊  | 470/600 [19:48<03:59,  1.84s/it]
 78%|███████▊  | 471/600 [19:49<03:07,  1.46s/it]
 79%|███████▊  | 472/600 [19:49<02:32,  1.19s/it]
 79%|███████▉  | 473/600 [20:00<08:26,  3.99s/it]
 79%|███████▉  | 474/600 [20:00<06:14,  2.97s/it]
 79%|███████▉  | 475/600 [20:01<04:40,  2.24s/it]
 79%|███████▉  | 476/600 [20:01<03:35,  1.73s/it]
 80%|███████▉  | 477/600 [20:02<02:49,  1.38s/it]
 80%|███████▉  | 478/600 [20:03<02:17,  1.13s/it]
 80%|███████▉  | 479/600 [20:03<01:56,  1.04it/s]
 80%|████████  | 480/600 [20:04<01:42,  1.17it/s]
 80%|████████  | 481/600 [20:16<08:18,  4.19s/it]
 80%|████████  | 482/600 [20:16<06:04,  3.09s/it]
 80%|████████  | 483/600 [20:17<04:31,  2.32s/it]
 81%|████████  | 484/600 [20:17<03:26,  1.78s/it]
 81%|████████  | 485/600 [20:18<02:41,  1.40s/it]
 81%|████████  | 486/600 [20:18<02:09,  1.14s/it]
 81%|████████  | 487/600 [20:19<01:49,  1.03it/s]
 81%|████████▏ | 488/600 [20:19<01:34,  1.19it/s]
 82%|████████▏ | 489/600 [20:34<09:01,  4.88s/it]
 82%|████████▏ | 490/600 [20:34<06:33,  3.57s/it]
 82%|████████▏ | 491/600 [20:35<04:50,  2.66s/it]
 82%|████████▏ | 492/600 [20:35<03:38,  2.02s/it]
 82%|████████▏ | 493/600 [20:36<02:48,  1.58s/it]
 82%|████████▏ | 494/600 [20:36<02:13,  1.26s/it]
 82%|████████▎ | 495/600 [20:37<01:50,  1.05s/it]
 83%|████████▎ | 496/600 [20:37<01:33,  1.11it/s]
 83%|████████▎ | 497/600 [20:55<09:55,  5.78s/it]
 83%|████████▎ | 498/600 [20:55<07:09,  4.21s/it]
 83%|████████▎ | 499/600 [20:56<05:15,  3.12s/it]
 83%|████████▎ | 500/600 [20:57<04:09,  2.49s/it]
 84%|████████▎ | 501/600 [20:57<03:09,  1.92s/it]
 84%|████████▎ | 502/600 [20:58<02:28,  1.52s/it]
 84%|████████▍ | 503/600 [20:59<01:59,  1.23s/it]
 84%|████████▍ | 504/600 [20:59<01:38,  1.03s/it]
 84%|████████▍ | 505/600 [21:12<07:26,  4.70s/it]
 84%|████████▍ | 506/600 [21:13<05:25,  3.46s/it]
 84%|████████▍ | 507/600 [21:13<04:00,  2.58s/it]
 85%|████████▍ | 508/600 [21:14<03:01,  1.98s/it]
 85%|████████▍ | 509/600 [21:15<02:20,  1.55s/it]
 85%|████████▌ | 510/600 [21:15<01:51,  1.24s/it]
 85%|████████▌ | 511/600 [21:16<01:31,  1.03s/it]
 85%|████████▌ | 512/600 [21:16<01:17,  1.14it/s]
 86%|████████▌ | 513/600 [21:29<06:21,  4.39s/it]
 86%|████████▌ | 514/600 [21:29<04:38,  3.24s/it]
 86%|████████▌ | 515/600 [21:30<03:26,  2.43s/it]
 86%|████████▌ | 516/600 [21:30<02:37,  1.87s/it]
 86%|████████▌ | 517/600 [21:31<02:02,  1.48s/it]
 86%|████████▋ | 518/600 [21:31<01:38,  1.20s/it]
 86%|████████▋ | 519/600 [21:32<01:21,  1.01s/it]
 87%|████████▋ | 520/600 [21:33<01:09,  1.15it/s]
 87%|████████▋ | 521/600 [21:43<04:44,  3.61s/it]
 87%|████████▋ | 522/600 [21:43<03:30,  2.70s/it]
 87%|████████▋ | 523/600 [21:44<02:39,  2.07s/it]
 87%|████████▋ | 524/600 [21:44<02:02,  1.62s/it]
 88%|████████▊ | 525/600 [21:45<01:37,  1.30s/it]
 88%|████████▊ | 526/600 [21:45<01:19,  1.07s/it]
 88%|████████▊ | 527/600 [21:46<01:07,  1.08it/s]
 88%|████████▊ | 528/600 [21:47<00:58,  1.23it/s]
 88%|████████▊ | 529/600 [22:01<05:38,  4.76s/it]
 88%|████████▊ | 530/600 [22:01<04:05,  3.50s/it]
 88%|████████▊ | 531/600 [22:02<03:00,  2.62s/it]
 89%|████████▊ | 532/600 [22:02<02:16,  2.00s/it]
 89%|████████▉ | 533/600 [22:03<01:45,  1.57s/it]
 89%|████████▉ | 534/600 [22:03<01:22,  1.25s/it]
 89%|████████▉ | 535/600 [22:04<01:07,  1.03s/it]
 89%|████████▉ | 536/600 [22:04<00:56,  1.14it/s]
 90%|████████▉ | 537/600 [22:30<08:52,  8.45s/it]
 90%|████████▉ | 538/600 [22:31<06:16,  6.07s/it]
 90%|████████▉ | 539/600 [22:31<04:28,  4.41s/it]
 90%|█████████ | 540/600 [22:32<03:14,  3.24s/it]
 90%|█████████ | 541/600 [22:33<02:22,  2.42s/it]
 90%|█████████ | 542/600 [22:33<01:47,  1.86s/it]
 90%|█████████ | 543/600 [22:34<01:23,  1.47s/it]
 91%|█████████ | 544/600 [22:34<01:06,  1.18s/it]
 91%|█████████ | 545/600 [22:46<04:07,  4.50s/it]
 91%|█████████ | 546/600 [22:47<02:58,  3.31s/it]
 91%|█████████ | 547/600 [22:47<02:11,  2.48s/it]
 91%|█████████▏| 548/600 [22:48<01:38,  1.90s/it]
 92%|█████████▏| 549/600 [22:49<01:15,  1.49s/it]
 92%|█████████▏| 550/600 [22:49<01:00,  1.21s/it]
 92%|█████████▏| 551/600 [22:50<00:49,  1.01s/it]
 92%|█████████▏| 552/600 [22:50<00:41,  1.16it/s]
 92%|█████████▏| 553/600 [23:01<02:58,  3.79s/it]
 92%|█████████▏| 554/600 [23:01<02:09,  2.82s/it]
 92%|█████████▎| 555/600 [23:02<01:36,  2.14s/it]
 93%|█████████▎| 556/600 [23:02<01:12,  1.65s/it]
 93%|█████████▎| 557/600 [23:03<00:56,  1.32s/it]
 93%|█████████▎| 558/600 [23:03<00:45,  1.08s/it]
 93%|█████████▎| 559/600 [23:04<00:37,  1.10it/s]
 93%|█████████▎| 560/600 [23:04<00:31,  1.26it/s]
 94%|█████████▎| 561/600 [24:04<11:57, 18.40s/it]
 94%|█████████▎| 562/600 [24:04<08:15, 13.04s/it]
 94%|█████████▍| 563/600 [24:05<05:43,  9.29s/it]
 94%|█████████▍| 564/600 [24:06<03:59,  6.66s/it]
 94%|█████████▍| 565/600 [24:06<02:48,  4.83s/it]
 94%|█████████▍| 566/600 [24:07<02:00,  3.54s/it]
 94%|█████████▍| 567/600 [24:07<01:27,  2.64s/it]
 95%|█████████▍| 568/600 [24:08<01:04,  2.01s/it]
 95%|█████████▍| 569/600 [24:28<03:49,  7.42s/it]
 95%|█████████▌| 570/600 [24:28<02:40,  5.35s/it]
 95%|█████████▌| 571/600 [24:29<01:53,  3.92s/it]
 95%|█████████▌| 572/600 [24:29<01:21,  2.90s/it]
 96%|█████████▌| 573/600 [24:30<00:59,  2.20s/it]
 96%|█████████▌| 574/600 [24:30<00:44,  1.70s/it]
 96%|█████████▌| 575/600 [24:31<00:33,  1.35s/it]
 96%|█████████▌| 576/600 [24:32<00:26,  1.10s/it]
 96%|█████████▌| 577/600 [24:56<03:08,  8.19s/it]
 96%|█████████▋| 578/600 [24:57<02:09,  5.89s/it]
 96%|█████████▋| 579/600 [24:57<01:29,  4.28s/it]
 97%|█████████▋| 580/600 [24:58<01:03,  3.15s/it]
 97%|█████████▋| 581/600 [24:58<00:44,  2.36s/it]
 97%|█████████▋| 582/600 [24:59<00:32,  1.82s/it]
 97%|█████████▋| 583/600 [24:59<00:24,  1.43s/it]
 97%|█████████▋| 584/600 [25:00<00:18,  1.17s/it]
 98%|█████████▊| 585/600 [25:10<00:59,  3.96s/it]
 98%|█████████▊| 586/600 [25:11<00:41,  2.93s/it]
 98%|█████████▊| 587/600 [25:12<00:28,  2.22s/it]
 98%|█████████▊| 588/600 [25:12<00:20,  1.71s/it]
 98%|█████████▊| 589/600 [25:13<00:14,  1.36s/it]
 98%|█████████▊| 590/600 [25:13<00:11,  1.12s/it]
 98%|█████████▊| 591/600 [25:14<00:08,  1.05it/s]
 99%|█████████▊| 592/600 [25:14<00:06,  1.19it/s]
 99%|█████████▉| 593/600 [25:29<00:34,  4.91s/it]
 99%|█████████▉| 594/600 [25:29<00:21,  3.60s/it]
 99%|█████████▉| 595/600 [25:30<00:13,  2.70s/it]
 99%|█████████▉| 596/600 [25:30<00:08,  2.05s/it]
100%|█████████▉| 597/600 [25:31<00:04,  1.61s/it]
100%|█████████▉| 598/600 [25:32<00:02,  1.30s/it]
100%|█████████▉| 599/600 [25:32<00:01,  1.07s/it]
100%|█████████▉| 599/600 [25:33<00:02,  2.56s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/log_0_env0.json.
+MarkerInMugTask_0 complete: task_name: MarkerInMugTask, run_name: MarkerInMugTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the whiteboard marker in the mug, attributes: ['affordance', 'moderate'], success: False, episode_step: 600, duration: 40.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.38408626763198, 'joint_sparc_mean': -13.020061938654662, 'ee_isj': 2971.1679490325178, 'joint_isj': 144320.95147652086, 'ee_path_length': 4.703496196713514, 'joint_rmse_mean': 1.1430793019670507, 'ee_speed_max': 0.4446127116680145, 'ee_speed_mean': 0.11408620327711105}, events: {'GRIPPER_HIT_TABLE': 7, 'GRIPPER_FULLY_CLOSED': 10, 'TARGET_OBJECT_DROPPED': 6, 'GRIPPER_HIT_OBJECT': 2, 'WRONG_OBJECT_GRABBED': 2, 'wrong_objects_grabbed': ['ceramic_mug', 'ceramic_mug']}, instruction_type: default, timing: {'policy_inference_s': 1210.641, 'policy_inference_avg_ms': 2017.7, 'env_step_s': 317.965, 'env_step_avg_ms': 529.9, 'video_write_s': 4.222, 'video_write_avg_ms': 7.0, 'wall_total_s': 1532.827, 'it_per_sec': 0.39}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=marker) (step 1/2), harness_episode_id: c64be1df0b0e46149afce300c0b92208-0
+[RoboLab] Running MarkerInMugTask_1: 'Put the whiteboard marker in the mug' (run 1, 1 envs)
+
  0%|          | 0/600 [00:00<?, ?it/s]
  0%|          | 1/600 [00:45<7:30:33, 45.13s/it]
  0%|          | 2/600 [00:45<3:08:18, 18.89s/it]
  0%|          | 3/600 [00:46<1:44:31, 10.50s/it]
  1%|          | 4/600 [00:46<1:05:17,  6.57s/it]
  1%|          | 5/600 [00:47<43:34,  4.39s/it]  
  1%|          | 6/600 [00:47<30:25,  3.07s/it]
  1%|          | 7/600 [00:48<22:12,  2.25s/it]
  1%|▏         | 8/600 [00:48<16:49,  1.71s/it]
  2%|▏         | 9/600 [00:57<39:37,  4.02s/it]
  2%|▏         | 10/600 [00:58<29:00,  2.95s/it]
  2%|▏         | 11/600 [00:59<21:39,  2.21s/it]
  2%|▏         | 12/600 [00:59<16:36,  1.69s/it]
  2%|▏         | 13/600 [01:00<13:05,  1.34s/it]
  2%|▏         | 14/600 [01:00<10:41,  1.09s/it]
  2%|▎         | 15/600 [01:01<09:01,  1.08it/s]
  3%|▎         | 16/600 [01:01<07:50,  1.24it/s]
  3%|▎         | 17/600 [01:08<24:31,  2.52s/it]
  3%|▎         | 18/600 [01:08<18:39,  1.92s/it]
  3%|▎         | 19/600 [01:09<14:34,  1.51s/it]
  3%|▎         | 20/600 [01:09<11:43,  1.21s/it]
  4%|▎         | 21/600 [01:10<09:42,  1.01s/it]
  4%|▎         | 22/600 [01:10<08:19,  1.16it/s]
  4%|▍         | 23/600 [01:11<07:23,  1.30it/s]
  4%|▍         | 24/600 [01:11<06:44,  1.42it/s]
  4%|▍         | 25/600 [01:30<57:46,  6.03s/it]
  4%|▍         | 26/600 [01:30<41:51,  4.38s/it]
  4%|▍         | 27/600 [01:31<30:45,  3.22s/it]
  5%|▍         | 28/600 [01:31<23:00,  2.41s/it]
  5%|▍         | 29/600 [01:32<17:37,  1.85s/it]
  5%|▌         | 30/600 [01:33<13:50,  1.46s/it]
  5%|▌         | 31/600 [01:33<11:11,  1.18s/it]
  5%|▌         | 32/600 [01:34<09:20,  1.01it/s]
  6%|▌         | 33/600 [01:53<1:02:51,  6.65s/it]
  6%|▌         | 34/600 [01:54<45:23,  4.81s/it]  
  6%|▌         | 35/600 [01:55<33:10,  3.52s/it]
  6%|▌         | 36/600 [01:55<24:40,  2.62s/it]
  6%|▌         | 37/600 [01:56<18:43,  2.00s/it]
  6%|▋         | 38/600 [01:56<14:43,  1.57s/it]
  6%|▋         | 39/600 [01:57<11:50,  1.27s/it]
  7%|▋         | 40/600 [01:57<09:45,  1.05s/it]
  7%|▋         | 41/600 [02:20<1:10:50,  7.60s/it]
  7%|▋         | 42/600 [02:21<50:56,  5.48s/it]  
  7%|▋         | 43/600 [02:21<37:02,  3.99s/it]
  7%|▋         | 44/600 [02:22<27:19,  2.95s/it]
  8%|▊         | 45/600 [02:22<20:37,  2.23s/it]
  8%|▊         | 46/600 [02:23<15:50,  1.72s/it]
  8%|▊         | 47/600 [02:23<12:31,  1.36s/it]
  8%|▊         | 48/600 [02:24<10:14,  1.11s/it]
  8%|▊         | 49/600 [02:41<55:31,  6.05s/it]
  8%|▊         | 50/600 [02:42<40:25,  4.41s/it]
  8%|▊         | 51/600 [02:43<29:49,  3.26s/it]
  9%|▊         | 52/600 [02:43<22:25,  2.45s/it]
  9%|▉         | 53/600 [02:44<17:18,  1.90s/it]
  9%|▉         | 54/600 [02:44<13:36,  1.50s/it]
  9%|▉         | 55/600 [02:45<11:05,  1.22s/it]
  9%|▉         | 56/600 [02:45<09:13,  1.02s/it]
 10%|▉         | 57/600 [02:51<22:13,  2.46s/it]
 10%|▉         | 58/600 [02:52<17:04,  1.89s/it]
 10%|▉         | 59/600 [02:52<13:28,  1.49s/it]
 10%|█         | 60/600 [02:53<10:51,  1.21s/it]
 10%|█         | 61/600 [02:53<09:04,  1.01s/it]
 10%|█         | 62/600 [02:54<07:51,  1.14it/s]
 10%|█         | 63/600 [02:55<06:56,  1.29it/s]
 11%|█         | 64/600 [02:55<06:15,  1.43it/s]
 11%|█         | 65/600 [03:29<1:33:56, 10.53s/it]
 11%|█         | 66/600 [03:29<1:07:04,  7.54s/it]
 11%|█         | 67/600 [03:30<48:20,  5.44s/it]  
 11%|█▏        | 68/600 [03:30<35:11,  3.97s/it]
 12%|█▏        | 69/600 [03:31<26:01,  2.94s/it]
 12%|█▏        | 70/600 [03:31<19:34,  2.22s/it]
 12%|█▏        | 71/600 [03:32<15:06,  1.71s/it]
 12%|█▏        | 72/600 [03:32<11:58,  1.36s/it]
 12%|█▏        | 73/600 [03:39<25:30,  2.90s/it]
 12%|█▏        | 74/600 [03:39<19:09,  2.19s/it]
 12%|█▎        | 75/600 [03:40<14:44,  1.68s/it]
 13%|█▎        | 76/600 [03:40<11:41,  1.34s/it]
 13%|█▎        | 77/600 [03:41<09:36,  1.10s/it]
 13%|█▎        | 78/600 [03:41<08:03,  1.08it/s]
 13%|█▎        | 79/600 [03:42<06:58,  1.24it/s]
 13%|█▎        | 80/600 [03:43<06:15,  1.38it/s]
 14%|█▎        | 81/600 [03:53<32:08,  3.72s/it]
 14%|█▎        | 82/600 [03:54<23:51,  2.76s/it]
 14%|█▍        | 83/600 [03:54<18:00,  2.09s/it]
 14%|█▍        | 84/600 [03:55<13:53,  1.62s/it]
 14%|█▍        | 85/600 [03:55<11:03,  1.29s/it]
 14%|█▍        | 86/600 [03:56<09:02,  1.06s/it]
 14%|█▍        | 87/600 [03:56<07:38,  1.12it/s]
 15%|█▍        | 88/600 [03:57<06:39,  1.28it/s]
 15%|█▍        | 89/600 [04:16<52:47,  6.20s/it]
 15%|█▌        | 90/600 [04:16<38:13,  4.50s/it]
 15%|█▌        | 91/600 [04:17<28:09,  3.32s/it]
 15%|█▌        | 92/600 [04:17<21:08,  2.50s/it]
 16%|█▌        | 93/600 [04:18<16:14,  1.92s/it]
 16%|█▌        | 94/600 [04:19<12:45,  1.51s/it]
 16%|█▌        | 95/600 [04:19<10:21,  1.23s/it]
 16%|█▌        | 96/600 [04:20<08:37,  1.03s/it]
 16%|█▌        | 97/600 [04:29<28:54,  3.45s/it]
 16%|█▋        | 98/600 [04:29<21:35,  2.58s/it]
 16%|█▋        | 99/600 [04:30<16:28,  1.97s/it]
 17%|█▋        | 100/600 [04:30<12:54,  1.55s/it]
 17%|█▋        | 101/600 [04:31<10:24,  1.25s/it]
 17%|█▋        | 102/600 [04:32<08:38,  1.04s/it]
 17%|█▋        | 103/600 [04:32<07:24,  1.12it/s]
 17%|█▋        | 104/600 [04:33<06:31,  1.27it/s]
 18%|█▊        | 105/600 [04:40<22:54,  2.78s/it]
 18%|█▊        | 106/600 [04:41<17:24,  2.11s/it]
 18%|█▊        | 107/600 [04:41<13:35,  1.65s/it]
 18%|█▊        | 108/600 [04:42<10:59,  1.34s/it]
 18%|█▊        | 109/600 [04:42<09:07,  1.12s/it]
 18%|█▊        | 110/600 [04:43<07:50,  1.04it/s]
 18%|█▊        | 111/600 [04:44<06:59,  1.17it/s]
 19%|█▊        | 112/600 [04:44<06:18,  1.29it/s]
 19%|█▉        | 113/600 [04:51<21:54,  2.70s/it]
 19%|█▉        | 114/600 [04:52<16:42,  2.06s/it]
 19%|█▉        | 115/600 [04:53<13:07,  1.62s/it]
 19%|█▉        | 116/600 [04:53<10:36,  1.32s/it]
 20%|█▉        | 117/600 [04:54<08:52,  1.10s/it]
 20%|█▉        | 118/600 [04:54<07:36,  1.06it/s]
 20%|█▉        | 119/600 [04:55<06:38,  1.21it/s]
 20%|██        | 120/600 [04:55<05:59,  1.34it/s]
 20%|██        | 121/600 [05:03<21:53,  2.74s/it]
 20%|██        | 122/600 [05:03<16:35,  2.08s/it]
 20%|██        | 123/600 [05:04<12:57,  1.63s/it]
 21%|██        | 124/600 [05:05<10:24,  1.31s/it]
 21%|██        | 125/600 [05:05<08:34,  1.08s/it]
 21%|██        | 126/600 [05:06<07:19,  1.08it/s]
 21%|██        | 127/600 [05:06<06:27,  1.22it/s]
 21%|██▏       | 128/600 [05:07<05:48,  1.35it/s]
 22%|██▏       | 129/600 [05:31<1:02:21,  7.94s/it]
 22%|██▏       | 130/600 [05:32<44:53,  5.73s/it]  
 22%|██▏       | 131/600 [05:33<32:42,  4.18s/it]
 22%|██▏       | 132/600 [05:33<24:10,  3.10s/it]
 22%|██▏       | 133/600 [05:34<18:15,  2.35s/it]
 22%|██▏       | 134/600 [05:34<14:04,  1.81s/it]
 22%|██▎       | 135/600 [05:35<11:08,  1.44s/it]
 23%|██▎       | 136/600 [05:35<09:04,  1.17s/it]
 23%|██▎       | 137/600 [05:47<33:48,  4.38s/it]
 23%|██▎       | 138/600 [05:48<24:54,  3.23s/it]
 23%|██▎       | 139/600 [05:49<18:45,  2.44s/it]
 23%|██▎       | 140/600 [05:49<14:25,  1.88s/it]
 24%|██▎       | 141/600 [05:50<11:23,  1.49s/it]
 24%|██▎       | 142/600 [05:50<09:15,  1.21s/it]
 24%|██▍       | 143/600 [05:51<07:51,  1.03s/it]
 24%|██▍       | 144/600 [05:51<06:47,  1.12it/s]
 24%|██▍       | 145/600 [06:00<24:29,  3.23s/it]
 24%|██▍       | 146/600 [06:01<18:25,  2.43s/it]
 24%|██▍       | 147/600 [06:01<14:11,  1.88s/it]
 25%|██▍       | 148/600 [06:02<11:11,  1.49s/it]
 25%|██▍       | 149/600 [06:02<09:06,  1.21s/it]
 25%|██▌       | 150/600 [06:03<07:36,  1.02s/it]
 25%|██▌       | 151/600 [06:04<06:36,  1.13it/s]
 25%|██▌       | 152/600 [06:04<05:50,  1.28it/s]
 26%|██▌       | 153/600 [06:35<1:13:31,  9.87s/it]
 26%|██▌       | 154/600 [06:36<52:42,  7.09s/it]  
 26%|██▌       | 155/600 [06:36<38:05,  5.14s/it]
 26%|██▌       | 156/600 [06:37<27:51,  3.76s/it]
 26%|██▌       | 157/600 [06:37<20:42,  2.80s/it]
 26%|██▋       | 158/600 [06:38<15:41,  2.13s/it]
 26%|██▋       | 159/600 [06:39<12:16,  1.67s/it]
 27%|██▋       | 160/600 [06:39<09:47,  1.33s/it]
 27%|██▋       | 161/600 [06:50<29:38,  4.05s/it]
 27%|██▋       | 162/600 [06:50<21:58,  3.01s/it]
 27%|██▋       | 163/600 [06:51<16:38,  2.28s/it]
 27%|██▋       | 164/600 [06:51<12:51,  1.77s/it]
 28%|██▊       | 165/600 [06:52<10:11,  1.41s/it]
 28%|██▊       | 166/600 [06:52<08:19,  1.15s/it]
 28%|██▊       | 167/600 [06:53<07:02,  1.02it/s]
 28%|██▊       | 168/600 [06:54<06:06,  1.18it/s]
 28%|██▊       | 169/600 [07:20<1:02:10,  8.66s/it]
 28%|██▊       | 170/600 [07:21<44:37,  6.23s/it]  
 28%|██▊       | 171/600 [07:22<32:22,  4.53s/it]
 29%|██▊       | 172/600 [07:22<23:50,  3.34s/it]
 29%|██▉       | 173/600 [07:23<17:53,  2.51s/it]
 29%|██▉       | 174/600 [07:23<13:44,  1.93s/it]
 29%|██▉       | 175/600 [07:24<10:47,  1.52s/it]
 29%|██▉       | 176/600 [07:24<08:45,  1.24s/it]
 30%|██▉       | 177/600 [07:33<23:52,  3.39s/it]
 30%|██▉       | 178/600 [07:33<17:50,  2.54s/it]
 30%|██▉       | 179/600 [07:34<13:38,  1.94s/it]
 30%|███       | 180/600 [07:34<10:42,  1.53s/it]
 30%|███       | 181/600 [07:35<08:38,  1.24s/it]
 30%|███       | 182/600 [07:36<07:12,  1.03s/it]
 30%|███       | 183/600 [07:36<06:13,  1.12it/s]
 31%|███       | 184/600 [07:37<05:35,  1.24it/s]
 31%|███       | 185/600 [07:57<45:39,  6.60s/it]
 31%|███       | 186/600 [07:57<33:01,  4.79s/it]
 31%|███       | 187/600 [07:58<24:16,  3.53s/it]
 31%|███▏      | 188/600 [07:59<18:06,  2.64s/it]
 32%|███▏      | 189/600 [07:59<13:49,  2.02s/it]
 32%|███▏      | 190/600 [08:00<10:48,  1.58s/it]
 32%|███▏      | 191/600 [08:00<08:41,  1.28s/it]
 32%|███▏      | 192/600 [08:01<07:12,  1.06s/it]
 32%|███▏      | 193/600 [08:09<21:22,  3.15s/it]
 32%|███▏      | 194/600 [08:09<16:02,  2.37s/it]
 32%|███▎      | 195/600 [08:10<12:19,  1.83s/it]
 33%|███▎      | 196/600 [08:11<09:43,  1.45s/it]
 33%|███▎      | 197/600 [08:11<07:56,  1.18s/it]
 33%|███▎      | 198/600 [08:12<06:40,  1.00it/s]
 33%|███▎      | 199/600 [08:12<05:46,  1.16it/s]
 33%|███▎      | 200/600 [08:13<05:10,  1.29it/s]
 34%|███▎      | 201/600 [08:25<27:44,  4.17s/it]
 34%|███▎      | 202/600 [08:25<20:24,  3.08s/it]
 34%|███▍      | 203/600 [08:26<15:19,  2.32s/it]
 34%|███▍      | 204/600 [08:26<11:44,  1.78s/it]
 34%|███▍      | 205/600 [08:27<09:15,  1.41s/it]
 34%|███▍      | 206/600 [08:28<07:31,  1.15s/it]
 34%|███▍      | 207/600 [08:28<06:19,  1.03it/s]
 35%|███▍      | 208/600 [08:29<05:26,  1.20it/s]
 35%|███▍      | 209/600 [08:37<19:47,  3.04s/it]
 35%|███▌      | 210/600 [08:37<14:52,  2.29s/it]
 35%|███▌      | 211/600 [08:38<11:27,  1.77s/it]
 35%|███▌      | 212/600 [08:38<09:03,  1.40s/it]
 36%|███▌      | 213/600 [08:39<07:21,  1.14s/it]
 36%|███▌      | 214/600 [08:39<06:09,  1.04it/s]
 36%|███▌      | 215/600 [08:40<05:18,  1.21it/s]
 36%|███▌      | 216/600 [08:41<04:41,  1.36it/s]
 36%|███▌      | 217/600 [08:49<20:01,  3.14s/it]
 36%|███▋      | 218/600 [08:50<14:57,  2.35s/it]
 36%|███▋      | 219/600 [08:50<11:25,  1.80s/it]
 37%|███▋      | 220/600 [08:51<08:57,  1.41s/it]
 37%|███▋      | 221/600 [08:51<07:13,  1.14s/it]
 37%|███▋      | 222/600 [08:52<06:01,  1.05it/s]
 37%|███▋      | 223/600 [08:52<05:11,  1.21it/s]
 37%|███▋      | 224/600 [08:53<04:34,  1.37it/s]
 38%|███▊      | 225/600 [09:01<18:16,  2.92s/it]
 38%|███▊      | 226/600 [09:01<13:44,  2.21s/it]
 38%|███▊      | 227/600 [09:02<10:34,  1.70s/it]
 38%|███▊      | 228/600 [09:02<08:20,  1.35s/it]
 38%|███▊      | 229/600 [09:03<06:47,  1.10s/it]
 38%|███▊      | 230/600 [09:04<05:42,  1.08it/s]
 38%|███▊      | 231/600 [09:04<04:57,  1.24it/s]
 39%|███▊      | 232/600 [09:05<04:25,  1.39it/s]
 39%|███▉      | 233/600 [09:57<1:38:54, 16.17s/it]
 39%|███▉      | 234/600 [09:57<1:09:59, 11.47s/it]
 39%|███▉      | 235/600 [09:58<49:48,  8.19s/it]  
 39%|███▉      | 236/600 [09:58<35:43,  5.89s/it]
 40%|███▉      | 237/600 [09:59<25:55,  4.29s/it]
 40%|███▉      | 238/600 [09:59<19:03,  3.16s/it]
 40%|███▉      | 239/600 [10:00<14:15,  2.37s/it]
 40%|████      | 240/600 [10:01<10:56,  1.82s/it]
 40%|████      | 241/600 [10:17<37:53,  6.33s/it]
 40%|████      | 242/600 [10:18<27:23,  4.59s/it]
 40%|████      | 243/600 [10:18<20:03,  3.37s/it]
 41%|████      | 244/600 [10:19<14:55,  2.51s/it]
 41%|████      | 245/600 [10:19<11:20,  1.92s/it]
 41%|████      | 246/600 [10:20<08:50,  1.50s/it]
 41%|████      | 247/600 [10:21<07:07,  1.21s/it]
 41%|████▏     | 248/600 [10:21<05:54,  1.01s/it]
 42%|████▏     | 249/600 [10:58<1:08:10, 11.65s/it]
 42%|████▏     | 250/600 [10:58<48:30,  8.31s/it]  
 42%|████▏     | 251/600 [10:59<34:44,  5.97s/it]
 42%|████▏     | 252/600 [10:59<25:07,  4.33s/it]
 42%|████▏     | 253/600 [11:00<18:29,  3.20s/it]
 42%|████▏     | 254/600 [11:00<13:53,  2.41s/it]
 42%|████▎     | 255/600 [11:01<10:41,  1.86s/it]
 43%|████▎     | 256/600 [11:01<08:28,  1.48s/it]
 43%|████▎     | 257/600 [11:16<30:44,  5.38s/it]
 43%|████▎     | 258/600 [11:16<22:21,  3.92s/it]
 43%|████▎     | 259/600 [11:17<16:30,  2.90s/it]
 43%|████▎     | 260/600 [11:17<12:25,  2.19s/it]
 44%|████▎     | 261/600 [11:18<09:32,  1.69s/it]
 44%|████▎     | 262/600 [11:18<07:32,  1.34s/it]
 44%|████▍     | 263/600 [11:19<06:09,  1.10s/it]
 44%|████▍     | 264/600 [11:20<05:09,  1.09it/s]
 44%|████▍     | 265/600 [11:30<20:50,  3.73s/it]
 44%|████▍     | 266/600 [11:30<15:25,  2.77s/it]
 44%|████▍     | 267/600 [11:31<11:38,  2.10s/it]
 45%|████▍     | 268/600 [11:31<08:59,  1.62s/it]
 45%|████▍     | 269/600 [11:32<07:10,  1.30s/it]
 45%|████▌     | 270/600 [11:32<05:53,  1.07s/it]
 45%|████▌     | 271/600 [11:33<04:57,  1.10it/s]
 45%|████▌     | 272/600 [11:34<04:21,  1.25it/s]
 46%|████▌     | 273/600 [11:43<17:55,  3.29s/it]
 46%|████▌     | 274/600 [11:43<13:21,  2.46s/it]
 46%|████▌     | 275/600 [11:44<10:11,  1.88s/it]
 46%|████▌     | 276/600 [11:44<07:58,  1.48s/it]
 46%|████▌     | 277/600 [11:45<06:24,  1.19s/it]
 46%|████▋     | 278/600 [11:45<05:18,  1.01it/s]
 46%|████▋     | 279/600 [11:46<04:33,  1.17it/s]
 47%|████▋     | 280/600 [11:46<04:02,  1.32it/s]
 47%|████▋     | 281/600 [11:58<21:10,  3.98s/it]
 47%|████▋     | 282/600 [11:58<15:37,  2.95s/it]
 47%|████▋     | 283/600 [11:59<11:44,  2.22s/it]
 47%|████▋     | 284/600 [11:59<09:02,  1.72s/it]
 48%|████▊     | 285/600 [12:00<07:07,  1.36s/it]
 48%|████▊     | 286/600 [12:00<05:46,  1.10s/it]
 48%|████▊     | 287/600 [12:01<04:50,  1.08it/s]
 48%|████▊     | 288/600 [12:02<04:12,  1.23it/s]
 48%|████▊     | 289/600 [12:14<22:35,  4.36s/it]
 48%|████▊     | 290/600 [12:15<16:33,  3.21s/it]
 48%|████▊     | 291/600 [12:15<12:20,  2.40s/it]
 49%|████▊     | 292/600 [12:16<09:26,  1.84s/it]
 49%|████▉     | 293/600 [12:16<07:23,  1.44s/it]
 49%|████▉     | 294/600 [12:17<05:58,  1.17s/it]
 49%|████▉     | 295/600 [12:17<04:57,  1.03it/s]
 49%|████▉     | 296/600 [12:18<04:15,  1.19it/s]
 50%|████▉     | 297/600 [12:27<16:25,  3.25s/it]
 50%|████▉     | 298/600 [12:27<12:15,  2.43s/it]
 50%|████▉     | 299/600 [12:28<09:19,  1.86s/it]
 50%|█████     | 300/600 [12:28<07:16,  1.46s/it]
 50%|█████     | 301/600 [12:29<05:51,  1.18s/it]
 50%|█████     | 302/600 [12:29<04:54,  1.01it/s]
 50%|█████     | 303/600 [12:30<04:16,  1.16it/s]
 51%|█████     | 304/600 [12:30<03:49,  1.29it/s]
 51%|█████     | 305/600 [12:38<13:57,  2.84s/it]
 51%|█████     | 306/600 [12:39<10:31,  2.15s/it]
 51%|█████     | 307/600 [12:39<08:08,  1.67s/it]
 51%|█████▏    | 308/600 [12:40<06:29,  1.34s/it]
 52%|█████▏    | 309/600 [12:40<05:21,  1.10s/it]
 52%|█████▏    | 310/600 [12:41<04:32,  1.06it/s]
 52%|█████▏    | 311/600 [12:41<03:58,  1.21it/s]
 52%|█████▏    | 312/600 [12:42<03:34,  1.34it/s]
 52%|█████▏    | 313/600 [12:51<15:41,  3.28s/it]
 52%|█████▏    | 314/600 [12:52<11:43,  2.46s/it]
 52%|█████▎    | 315/600 [12:52<08:58,  1.89s/it]
 53%|█████▎    | 316/600 [12:53<07:03,  1.49s/it]
 53%|█████▎    | 317/600 [12:53<05:43,  1.21s/it]
 53%|█████▎    | 318/600 [12:54<04:47,  1.02s/it]
 53%|█████▎    | 319/600 [12:55<04:08,  1.13it/s]
 53%|█████▎    | 320/600 [12:55<03:43,  1.25it/s]
 54%|█████▎    | 321/600 [13:20<37:39,  8.10s/it]
 54%|█████▎    | 322/600 [13:21<27:02,  5.84s/it]
 54%|█████▍    | 323/600 [13:21<19:37,  4.25s/it]
 54%|█████▍    | 324/600 [13:22<14:27,  3.14s/it]
 54%|█████▍    | 325/600 [13:23<10:51,  2.37s/it]
 54%|█████▍    | 326/600 [13:23<08:19,  1.82s/it]
 55%|█████▍    | 327/600 [13:24<06:33,  1.44s/it]
 55%|█████▍    | 328/600 [13:24<05:19,  1.18s/it]
 55%|█████▍    | 329/600 [14:04<57:32, 12.74s/it]
 55%|█████▌    | 330/600 [14:05<40:55,  9.09s/it]
 55%|█████▌    | 331/600 [14:05<29:18,  6.54s/it]
 55%|█████▌    | 332/600 [14:06<21:11,  4.74s/it]
 56%|█████▌    | 333/600 [14:06<15:31,  3.49s/it]
 56%|█████▌    | 334/600 [14:07<11:34,  2.61s/it]
 56%|█████▌    | 335/600 [14:07<08:48,  2.00s/it]
 56%|█████▌    | 336/600 [14:08<06:53,  1.57s/it]
 56%|█████▌    | 337/600 [14:22<22:51,  5.22s/it]
 56%|█████▋    | 338/600 [14:22<16:40,  3.82s/it]
 56%|█████▋    | 339/600 [14:23<12:19,  2.83s/it]
 57%|█████▋    | 340/600 [14:23<09:15,  2.14s/it]
 57%|█████▋    | 341/600 [14:24<07:09,  1.66s/it]
 57%|█████▋    | 342/600 [14:24<05:41,  1.32s/it]
 57%|█████▋    | 343/600 [14:25<04:39,  1.09s/it]
 57%|█████▋    | 344/600 [14:25<03:54,  1.09it/s]
 57%|█████▊    | 345/600 [14:40<21:45,  5.12s/it]
 58%|█████▊    | 346/600 [14:41<15:49,  3.74s/it]
 58%|█████▊    | 347/600 [14:41<11:40,  2.77s/it]
 58%|█████▊    | 348/600 [14:42<08:47,  2.09s/it]
 58%|█████▊    | 349/600 [14:42<06:48,  1.63s/it]
 58%|█████▊    | 350/600 [14:43<05:25,  1.30s/it]
 58%|█████▊    | 351/600 [14:43<04:26,  1.07s/it]
 59%|█████▊    | 352/600 [14:44<03:46,  1.09it/s]
 59%|█████▉    | 353/600 [14:53<14:04,  3.42s/it]
 59%|█████▉    | 354/600 [14:54<10:27,  2.55s/it]
 59%|█████▉    | 355/600 [14:54<07:54,  1.94s/it]
 59%|█████▉    | 356/600 [14:55<06:12,  1.53s/it]
 60%|█████▉    | 357/600 [14:55<04:57,  1.22s/it]
 60%|█████▉    | 358/600 [14:56<04:06,  1.02s/it]
 60%|█████▉    | 359/600 [14:56<03:29,  1.15it/s]
 60%|██████    | 360/600 [14:57<03:03,  1.30it/s]
 60%|██████    | 361/600 [15:12<20:18,  5.10s/it]
 60%|██████    | 362/600 [15:13<14:46,  3.73s/it]
 60%|██████    | 363/600 [15:13<10:54,  2.76s/it]
 61%|██████    | 364/600 [15:14<08:13,  2.09s/it]
 61%|██████    | 365/600 [15:14<06:19,  1.62s/it]
 61%|██████    | 366/600 [15:15<05:02,  1.29s/it]
 61%|██████    | 367/600 [15:15<04:07,  1.06s/it]
 61%|██████▏   | 368/600 [15:16<03:27,  1.12it/s]
 62%|██████▏   | 369/600 [15:28<16:42,  4.34s/it]
 62%|██████▏   | 370/600 [15:29<12:14,  3.19s/it]
 62%|██████▏   | 371/600 [15:29<09:07,  2.39s/it]
 62%|██████▏   | 372/600 [15:30<06:57,  1.83s/it]
 62%|██████▏   | 373/600 [15:30<05:27,  1.44s/it]
 62%|██████▏   | 374/600 [15:31<04:23,  1.17s/it]
 62%|██████▎   | 375/600 [15:31<03:42,  1.01it/s]
 63%|██████▎   | 376/600 [15:32<03:10,  1.17it/s]
 63%|██████▎   | 377/600 [15:41<12:27,  3.35s/it]
 63%|██████▎   | 378/600 [15:42<09:18,  2.52s/it]
 63%|██████▎   | 379/600 [15:42<07:05,  1.92s/it]
 63%|██████▎   | 380/600 [15:43<05:31,  1.50s/it]
 64%|██████▎   | 381/600 [15:43<04:24,  1.21s/it]
 64%|██████▎   | 382/600 [15:44<03:39,  1.01s/it]
 64%|██████▍   | 383/600 [15:44<03:08,  1.15it/s]
 64%|██████▍   | 384/600 [15:45<02:46,  1.30it/s]
 64%|██████▍   | 385/600 [15:56<14:21,  4.01s/it]
 64%|██████▍   | 386/600 [15:57<10:34,  2.97s/it]
 64%|██████▍   | 387/600 [15:57<07:56,  2.24s/it]
 65%|██████▍   | 388/600 [15:58<06:05,  1.73s/it]
 65%|██████▍   | 389/600 [15:59<04:48,  1.37s/it]
 65%|██████▌   | 390/600 [15:59<03:54,  1.12s/it]
 65%|██████▌   | 391/600 [16:00<03:15,  1.07it/s]
 65%|██████▌   | 392/600 [16:00<02:49,  1.23it/s]
 66%|██████▌   | 393/600 [16:11<13:30,  3.92s/it]
 66%|██████▌   | 394/600 [16:12<09:56,  2.90s/it]
 66%|██████▌   | 395/600 [16:12<07:27,  2.18s/it]
 66%|██████▌   | 396/600 [16:13<05:46,  1.70s/it]
 66%|██████▌   | 397/600 [16:13<04:36,  1.36s/it]
 66%|██████▋   | 398/600 [16:14<03:49,  1.14s/it]
 66%|██████▋   | 399/600 [16:15<03:14,  1.03it/s]
 67%|██████▋   | 400/600 [16:15<02:51,  1.16it/s]
 67%|██████▋   | 401/600 [16:28<14:43,  4.44s/it]
 67%|██████▋   | 402/600 [16:29<10:48,  3.28s/it]
 67%|██████▋   | 403/600 [16:29<08:05,  2.46s/it]
 67%|██████▋   | 404/600 [16:30<06:12,  1.90s/it]
 68%|██████▊   | 405/600 [16:30<04:53,  1.50s/it]
 68%|██████▊   | 406/600 [16:31<03:55,  1.22s/it]
 68%|██████▊   | 407/600 [16:31<03:14,  1.01s/it]
 68%|██████▊   | 408/600 [16:32<02:45,  1.16it/s]
 68%|██████▊   | 409/600 [16:43<12:05,  3.80s/it]
 68%|██████▊   | 410/600 [16:43<08:55,  2.82s/it]
 68%|██████▊   | 411/600 [16:44<06:44,  2.14s/it]
 69%|██████▊   | 412/600 [16:44<05:12,  1.66s/it]
 69%|██████▉   | 413/600 [16:45<04:08,  1.33s/it]
 69%|██████▉   | 414/600 [16:45<03:24,  1.10s/it]
 69%|██████▉   | 415/600 [16:46<02:53,  1.07it/s]
 69%|██████▉   | 416/600 [16:46<02:32,  1.21it/s]
 70%|██████▉   | 417/600 [17:12<24:45,  8.12s/it]
 70%|██████▉   | 418/600 [17:12<17:44,  5.85s/it]
 70%|██████▉   | 419/600 [17:13<12:51,  4.26s/it]
 70%|███████   | 420/600 [17:13<09:26,  3.15s/it]
 70%|███████   | 421/600 [17:14<07:03,  2.37s/it]
 70%|███████   | 422/600 [17:14<05:25,  1.83s/it]
 70%|███████   | 423/600 [17:15<04:17,  1.46s/it]
 71%|███████   | 424/600 [17:16<03:31,  1.20s/it]
 71%|███████   | 425/600 [17:33<18:06,  6.21s/it]
 71%|███████   | 426/600 [17:34<13:05,  4.51s/it]
 71%|███████   | 427/600 [17:35<09:34,  3.32s/it]
 71%|███████▏  | 428/600 [17:35<07:07,  2.48s/it]
 72%|███████▏  | 429/600 [17:36<05:25,  1.90s/it]
 72%|███████▏  | 430/600 [17:36<04:14,  1.50s/it]
 72%|███████▏  | 431/600 [17:37<03:24,  1.21s/it]
 72%|███████▏  | 432/600 [17:37<02:49,  1.01s/it]
 72%|███████▏  | 433/600 [18:23<39:55, 14.35s/it]
 72%|███████▏  | 434/600 [18:23<28:13, 10.20s/it]
 72%|███████▎  | 435/600 [18:24<20:05,  7.31s/it]
 73%|███████▎  | 436/600 [18:24<14:25,  5.28s/it]
 73%|███████▎  | 437/600 [18:25<10:27,  3.85s/it]
 73%|███████▎  | 438/600 [18:25<07:42,  2.85s/it]
 73%|███████▎  | 439/600 [18:26<05:47,  2.16s/it]
 73%|███████▎  | 440/600 [18:26<04:26,  1.67s/it]
 74%|███████▎  | 441/600 [18:38<12:28,  4.70s/it]
 74%|███████▎  | 442/600 [18:39<09:06,  3.46s/it]
 74%|███████▍  | 443/600 [18:39<06:45,  2.58s/it]
 74%|███████▍  | 444/600 [18:40<05:06,  1.96s/it]
 74%|███████▍  | 445/600 [18:40<03:58,  1.54s/it]
 74%|███████▍  | 446/600 [18:41<03:10,  1.24s/it]
 74%|███████▍  | 447/600 [18:41<02:36,  1.02s/it]
 75%|███████▍  | 448/600 [18:42<02:13,  1.14it/s]
 75%|███████▍  | 449/600 [19:02<16:55,  6.73s/it]
 75%|███████▌  | 450/600 [19:03<12:10,  4.87s/it]
 75%|███████▌  | 451/600 [19:03<08:52,  3.57s/it]
 75%|███████▌  | 452/600 [19:04<06:36,  2.68s/it]
 76%|███████▌  | 453/600 [19:05<04:59,  2.04s/it]
 76%|███████▌  | 454/600 [19:05<03:52,  1.59s/it]
 76%|███████▌  | 455/600 [19:06<03:04,  1.27s/it]
 76%|███████▌  | 456/600 [19:06<02:31,  1.05s/it]
 76%|███████▌  | 457/600 [19:17<09:37,  4.04s/it]
 76%|███████▋  | 458/600 [19:18<07:05,  2.99s/it]
 76%|███████▋  | 459/600 [19:18<05:19,  2.26s/it]
 77%|███████▋  | 460/600 [19:19<04:06,  1.76s/it]
 77%|███████▋  | 461/600 [19:19<03:14,  1.40s/it]
 77%|███████▋  | 462/600 [19:20<02:38,  1.15s/it]
 77%|███████▋  | 463/600 [19:21<02:13,  1.03it/s]
 77%|███████▋  | 464/600 [19:21<01:56,  1.17it/s]
 78%|███████▊  | 465/600 [19:43<15:57,  7.09s/it]
 78%|███████▊  | 466/600 [19:43<11:27,  5.13s/it]
 78%|███████▊  | 467/600 [19:44<08:20,  3.76s/it]
 78%|███████▊  | 468/600 [19:44<06:09,  2.80s/it]
 78%|███████▊  | 469/600 [19:45<04:37,  2.12s/it]
 78%|███████▊  | 470/600 [19:46<03:33,  1.64s/it]
 78%|███████▊  | 471/600 [19:46<02:49,  1.32s/it]
 79%|███████▊  | 472/600 [19:47<02:18,  1.08s/it]
 79%|███████▉  | 473/600 [20:09<15:32,  7.35s/it]
 79%|███████▉  | 474/600 [20:09<11:07,  5.30s/it]
 79%|███████▉  | 475/600 [20:10<08:03,  3.87s/it]
 79%|███████▉  | 476/600 [20:10<05:55,  2.86s/it]
 80%|███████▉  | 477/600 [20:11<04:25,  2.16s/it]
 80%|███████▉  | 478/600 [20:11<03:24,  1.67s/it]
 80%|███████▉  | 479/600 [20:12<02:41,  1.33s/it]
 80%|████████  | 480/600 [20:12<02:11,  1.09s/it]
 80%|████████  | 481/600 [20:25<09:16,  4.68s/it]
 80%|████████  | 482/600 [20:26<06:45,  3.43s/it]
 80%|████████  | 483/600 [20:26<04:59,  2.56s/it]
 81%|████████  | 484/600 [20:27<03:46,  1.96s/it]
 81%|████████  | 485/600 [20:27<02:55,  1.53s/it]
 81%|████████  | 486/600 [20:28<02:20,  1.23s/it]
 81%|████████  | 487/600 [20:29<01:55,  1.02s/it]
 81%|████████▏ | 488/600 [20:29<01:38,  1.14it/s]
 82%|████████▏ | 489/600 [20:39<06:29,  3.51s/it]
 82%|████████▏ | 490/600 [20:39<04:47,  2.61s/it]
 82%|████████▏ | 491/600 [20:40<03:36,  1.98s/it]
 82%|████████▏ | 492/600 [20:40<02:46,  1.54s/it]
 82%|████████▏ | 493/600 [20:41<02:12,  1.23s/it]
 82%|████████▏ | 494/600 [20:41<01:48,  1.02s/it]
 82%|████████▎ | 495/600 [20:42<01:31,  1.15it/s]
 83%|████████▎ | 496/600 [20:42<01:19,  1.31it/s]
 83%|████████▎ | 497/600 [20:53<06:28,  3.77s/it]
 83%|████████▎ | 498/600 [20:54<04:47,  2.81s/it]
 83%|████████▎ | 499/600 [20:54<03:36,  2.14s/it]
 83%|████████▎ | 500/600 [20:56<03:12,  1.93s/it]
 84%|████████▎ | 501/600 [20:56<02:30,  1.52s/it]
 84%|████████▎ | 502/600 [20:57<02:00,  1.23s/it]
 84%|████████▍ | 503/600 [20:57<01:39,  1.03s/it]
 84%|████████▍ | 504/600 [20:58<01:25,  1.13it/s]
 84%|████████▍ | 505/600 [21:07<05:25,  3.43s/it]
 84%|████████▍ | 506/600 [21:08<04:01,  2.57s/it]
 84%|████████▍ | 507/600 [21:08<03:03,  1.98s/it]
 85%|████████▍ | 508/600 [21:09<02:22,  1.55s/it]
 85%|████████▍ | 509/600 [21:10<01:54,  1.26s/it]
 85%|████████▌ | 510/600 [21:10<01:35,  1.06s/it]
 85%|████████▌ | 511/600 [21:11<01:20,  1.10it/s]
 85%|████████▌ | 512/600 [21:11<01:10,  1.25it/s]
 86%|████████▌ | 513/600 [21:27<07:47,  5.38s/it]
 86%|████████▌ | 514/600 [21:28<05:37,  3.93s/it]
 86%|████████▌ | 515/600 [21:28<04:08,  2.92s/it]
 86%|████████▌ | 516/600 [21:29<03:05,  2.21s/it]
 86%|████████▌ | 517/600 [21:30<02:22,  1.71s/it]
 86%|████████▋ | 518/600 [21:30<01:52,  1.37s/it]
 86%|████████▋ | 519/600 [21:31<01:30,  1.12s/it]
 87%|████████▋ | 520/600 [21:31<01:16,  1.05it/s]
 87%|████████▋ | 521/600 [21:54<10:00,  7.60s/it]
 87%|████████▋ | 522/600 [21:55<07:08,  5.49s/it]
 87%|████████▋ | 523/600 [21:56<05:09,  4.02s/it]
 87%|████████▋ | 524/600 [21:56<03:46,  2.98s/it]
 88%|████████▊ | 525/600 [21:57<02:49,  2.26s/it]
 88%|████████▊ | 526/600 [21:57<02:09,  1.75s/it]
 88%|████████▊ | 527/600 [21:58<01:42,  1.40s/it]
 88%|████████▊ | 528/600 [21:58<01:22,  1.15s/it]
 88%|████████▊ | 529/600 [22:42<16:23, 13.86s/it]
 88%|████████▊ | 530/600 [22:42<11:30,  9.86s/it]
 88%|████████▊ | 531/600 [22:43<08:08,  7.08s/it]
 89%|████████▊ | 532/600 [22:44<05:48,  5.13s/it]
 89%|████████▉ | 533/600 [22:44<04:11,  3.76s/it]
 89%|████████▉ | 534/600 [22:45<03:04,  2.80s/it]
 89%|████████▉ | 535/600 [22:45<02:18,  2.13s/it]
 89%|████████▉ | 536/600 [22:46<01:46,  1.67s/it]
 90%|████████▉ | 537/600 [23:05<07:15,  6.91s/it]
 90%|████████▉ | 538/600 [23:06<05:10,  5.00s/it]
 90%|████████▉ | 539/600 [23:06<03:43,  3.67s/it]
 90%|█████████ | 540/600 [23:07<02:43,  2.73s/it]
 90%|█████████ | 541/600 [23:07<02:02,  2.08s/it]
 90%|█████████ | 542/600 [23:08<01:33,  1.62s/it]
 90%|█████████ | 543/600 [23:08<01:14,  1.31s/it]
 91%|█████████ | 544/600 [23:09<01:00,  1.08s/it]
 91%|█████████ | 545/600 [23:23<04:32,  4.95s/it]
 91%|█████████ | 546/600 [23:23<03:16,  3.63s/it]
 91%|█████████ | 547/600 [23:24<02:23,  2.70s/it]
 91%|█████████▏| 548/600 [23:24<01:46,  2.05s/it]
 92%|█████████▏| 549/600 [23:25<01:21,  1.60s/it]
 92%|█████████▏| 550/600 [23:26<01:04,  1.29s/it]
 92%|█████████▏| 551/600 [23:26<00:52,  1.07s/it]
 92%|█████████▏| 552/600 [23:27<00:44,  1.08it/s]
 92%|█████████▏| 553/600 [23:50<05:58,  7.63s/it]
 92%|█████████▏| 554/600 [23:51<04:13,  5.50s/it]
 92%|█████████▎| 555/600 [23:51<03:00,  4.01s/it]
 93%|█████████▎| 556/600 [23:52<02:10,  2.97s/it]
 93%|█████████▎| 557/600 [23:52<01:36,  2.24s/it]
 93%|█████████▎| 558/600 [23:53<01:12,  1.73s/it]
 93%|█████████▎| 559/600 [23:53<00:56,  1.37s/it]
 93%|█████████▎| 560/600 [23:54<00:44,  1.12s/it]
 94%|█████████▎| 561/600 [24:05<02:41,  4.15s/it]
 94%|█████████▎| 562/600 [24:06<01:56,  3.06s/it]
 94%|█████████▍| 563/600 [24:06<01:24,  2.29s/it]
 94%|█████████▍| 564/600 [24:07<01:03,  1.76s/it]
 94%|█████████▍| 565/600 [24:07<00:48,  1.39s/it]
 94%|█████████▍| 566/600 [24:08<00:38,  1.13s/it]
 94%|█████████▍| 567/600 [24:08<00:31,  1.06it/s]
 95%|█████████▍| 568/600 [24:09<00:26,  1.23it/s]
 95%|█████████▍| 569/600 [24:09<00:23,  1.33it/s]
 95%|█████████▌| 570/600 [24:10<00:20,  1.46it/s]
 95%|█████████▌| 571/600 [24:10<00:18,  1.57it/s]
 95%|█████████▌| 572/600 [24:11<00:16,  1.65it/s]
 96%|█████████▌| 573/600 [24:11<00:15,  1.70it/s]
 96%|█████████▌| 574/600 [24:12<00:14,  1.77it/s]
 96%|█████████▌| 575/600 [24:12<00:13,  1.81it/s]
 96%|█████████▌| 576/600 [24:13<00:13,  1.84it/s]
 96%|█████████▌| 577/600 [24:14<00:13,  1.75it/s]
 96%|█████████▋| 578/600 [24:14<00:12,  1.80it/s]
 96%|█████████▋| 579/600 [24:15<00:11,  1.83it/s]
 97%|█████████▋| 580/600 [24:15<00:10,  1.85it/s]
 97%|█████████▋| 581/600 [24:16<00:10,  1.86it/s]
 97%|█████████▋| 582/600 [24:16<00:09,  1.86it/s]
 97%|█████████▋| 583/600 [24:17<00:09,  1.87it/s]
 97%|█████████▋| 584/600 [24:17<00:08,  1.88it/s]
 98%|█████████▊| 585/600 [24:18<00:08,  1.76it/s]
 98%|█████████▊| 586/600 [24:18<00:07,  1.80it/s]
 98%|█████████▊| 587/600 [24:19<00:07,  1.82it/s]
 98%|█████████▊| 588/600 [24:19<00:06,  1.84it/s]
 98%|█████████▊| 589/600 [24:20<00:05,  1.86it/s]
 98%|█████████▊| 590/600 [24:21<00:05,  1.88it/s]
 98%|█████████▊| 591/600 [24:21<00:04,  1.88it/s]
 99%|█████████▊| 592/600 [24:22<00:04,  1.87it/s]
 99%|█████████▉| 593/600 [24:22<00:04,  1.74it/s]
 99%|█████████▉| 594/600 [24:23<00:03,  1.79it/s]
 99%|█████████▉| 595/600 [24:23<00:02,  1.81it/s]
 99%|█████████▉| 596/600 [24:24<00:02,  1.84it/s]
100%|█████████▉| 597/600 [24:24<00:01,  1.85it/s]
100%|█████████▉| 598/600 [24:25<00:01,  1.86it/s]
100%|█████████▉| 599/600 [24:25<00:00,  1.86it/s]
100%|█████████▉| 599/600 [24:26<00:02,  2.45s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/log_1_env0.json.
+MarkerInMugTask_1 complete: task_name: MarkerInMugTask, run_name: MarkerInMugTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the whiteboard marker in the mug, attributes: ['affordance', 'moderate'], success: False, episode_step: 600, duration: 40.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.810159533891484, 'joint_sparc_mean': -9.999225548215415, 'ee_isj': 187524.74639162366, 'joint_isj': 2010312.9725723993, 'ee_path_length': 10.992699790709239, 'joint_rmse_mean': 1.500756127941536, 'ee_speed_max': 9.275464057922363, 'ee_speed_mean': 0.26615869998931885}, events: {'GRIPPER_HIT_TABLE': 3, 'GRIPPER_FULLY_CLOSED': 4, 'TARGET_OBJECT_DROPPED': 4, 'OBJECT_OUT_OF_SCENE': 1, 'OBJECT_MOVED': 1}, instruction_type: default, timing: {'policy_inference_s': 1143.616, 'policy_inference_avg_ms': 1906.0, 'env_step_s': 317.991, 'env_step_avg_ms': 530.0, 'video_write_s': 4.579, 'video_write_avg_ms': 7.6, 'wall_total_s': 1466.186, 'it_per_sec': 0.41}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=marker) (step 1/2), harness_episode_id: 0f31845c995c4bcdb4bc9a45b19d2bf3-1
+[RoboLab] Running MarkerInMugTask_2: 'Put the whiteboard marker in the mug' (run 2, 1 envs)
+
  0%|          | 0/600 [00:00<?, ?it/s]
  0%|          | 1/600 [00:33<5:32:06, 33.27s/it]
  0%|          | 2/600 [00:33<2:19:52, 14.03s/it]
  0%|          | 3/600 [00:34<1:18:21,  7.88s/it]
  1%|          | 4/600 [00:34<49:24,  4.97s/it]  
  1%|          | 5/600 [00:35<33:32,  3.38s/it]
  1%|          | 6/600 [00:36<23:58,  2.42s/it]
  1%|          | 7/600 [00:36<17:51,  1.81s/it]
  1%|▏         | 8/600 [00:37<13:50,  1.40s/it]
  2%|▏         | 9/600 [00:48<43:04,  4.37s/it]
  2%|▏         | 10/600 [00:48<31:17,  3.18s/it]
  2%|▏         | 11/600 [00:49<23:13,  2.37s/it]
  2%|▏         | 12/600 [00:49<17:41,  1.80s/it]
  2%|▏         | 13/600 [00:50<13:57,  1.43s/it]
  2%|▏         | 14/600 [00:50<11:16,  1.15s/it]
  2%|▎         | 15/600 [00:51<09:25,  1.03it/s]
  3%|▎         | 16/600 [00:51<08:08,  1.20it/s]
  3%|▎         | 17/600 [01:16<1:17:44,  8.00s/it]
  3%|▎         | 18/600 [01:16<55:48,  5.75s/it]  
  3%|▎         | 19/600 [01:17<40:30,  4.18s/it]
  3%|▎         | 20/600 [01:17<29:50,  3.09s/it]
  4%|▎         | 21/600 [01:18<22:19,  2.31s/it]
  4%|▎         | 22/600 [01:18<17:04,  1.77s/it]
  4%|▍         | 23/600 [01:19<13:27,  1.40s/it]
  4%|▍         | 24/600 [01:20<10:51,  1.13s/it]
  4%|▍         | 25/600 [01:37<58:24,  6.09s/it]
  4%|▍         | 26/600 [01:38<42:18,  4.42s/it]
  4%|▍         | 27/600 [01:38<31:02,  3.25s/it]
  5%|▍         | 28/600 [01:39<23:09,  2.43s/it]
  5%|▍         | 29/600 [01:39<17:38,  1.85s/it]
  5%|▌         | 30/600 [01:40<13:46,  1.45s/it]
  5%|▌         | 31/600 [01:40<11:03,  1.17s/it]
  5%|▌         | 32/600 [01:41<09:10,  1.03it/s]
  6%|▌         | 33/600 [01:56<49:17,  5.22s/it]
  6%|▌         | 34/600 [01:56<35:57,  3.81s/it]
  6%|▌         | 35/600 [01:57<26:37,  2.83s/it]
  6%|▌         | 36/600 [01:58<20:11,  2.15s/it]
  6%|▌         | 37/600 [01:58<15:55,  1.70s/it]
  6%|▋         | 38/600 [01:59<12:38,  1.35s/it]
  6%|▋         | 39/600 [01:59<10:22,  1.11s/it]
  7%|▋         | 40/600 [02:00<08:45,  1.07it/s]
  7%|▋         | 41/600 [02:04<17:11,  1.85s/it]
  7%|▋         | 42/600 [02:04<13:31,  1.45s/it]
  7%|▋         | 43/600 [02:05<10:54,  1.17s/it]
  7%|▋         | 44/600 [02:05<09:07,  1.02it/s]
  8%|▊         | 45/600 [02:06<08:00,  1.15it/s]
  8%|▊         | 46/600 [02:07<07:09,  1.29it/s]
  8%|▊         | 47/600 [02:07<06:30,  1.42it/s]
  8%|▊         | 48/600 [02:08<06:00,  1.53it/s]
  8%|▊         | 49/600 [02:35<1:19:48,  8.69s/it]
  8%|▊         | 50/600 [02:36<57:12,  6.24s/it]  
  8%|▊         | 51/600 [02:36<41:23,  4.52s/it]
  9%|▊         | 52/600 [02:37<30:19,  3.32s/it]
  9%|▉         | 53/600 [02:37<22:37,  2.48s/it]
  9%|▉         | 54/600 [02:38<17:16,  1.90s/it]
  9%|▉         | 55/600 [02:38<13:32,  1.49s/it]
  9%|▉         | 56/600 [02:39<10:56,  1.21s/it]
 10%|▉         | 57/600 [02:44<22:48,  2.52s/it]
 10%|▉         | 58/600 [02:45<17:24,  1.93s/it]
 10%|▉         | 59/600 [02:45<13:36,  1.51s/it]
 10%|█         | 60/600 [02:46<10:59,  1.22s/it]
 10%|█         | 61/600 [02:46<09:08,  1.02s/it]
 10%|█         | 62/600 [02:47<07:48,  1.15it/s]
 10%|█         | 63/600 [02:48<06:51,  1.30it/s]
 11%|█         | 64/600 [02:48<06:12,  1.44it/s]
 11%|█         | 65/600 [03:12<1:08:07,  7.64s/it]
 11%|█         | 66/600 [03:12<48:57,  5.50s/it]  
 11%|█         | 67/600 [03:13<35:35,  4.01s/it]
 11%|█▏        | 68/600 [03:13<26:15,  2.96s/it]
 12%|█▏        | 69/600 [03:14<19:43,  2.23s/it]
 12%|█▏        | 70/600 [03:15<15:10,  1.72s/it]
 12%|█▏        | 71/600 [03:15<12:00,  1.36s/it]
 12%|█▏        | 72/600 [03:16<09:45,  1.11s/it]
 12%|█▏        | 73/600 [03:29<41:00,  4.67s/it]
 12%|█▏        | 74/600 [03:29<29:59,  3.42s/it]
 12%|█▎        | 75/600 [03:30<22:16,  2.55s/it]
 13%|█▎        | 76/600 [03:30<16:53,  1.93s/it]
 13%|█▎        | 77/600 [03:31<13:09,  1.51s/it]
 13%|█▎        | 78/600 [03:31<10:36,  1.22s/it]
 13%|█▎        | 79/600 [03:32<08:47,  1.01s/it]
 13%|█▎        | 80/600 [03:32<07:30,  1.16it/s]
 14%|█▎        | 81/600 [04:06<1:33:30, 10.81s/it]
 14%|█▎        | 82/600 [04:07<1:06:41,  7.72s/it]
 14%|█▍        | 83/600 [04:07<47:57,  5.57s/it]  
 14%|█▍        | 84/600 [04:08<34:50,  4.05s/it]
 14%|█▍        | 85/600 [04:08<25:39,  2.99s/it]
 14%|█▍        | 86/600 [04:09<19:14,  2.25s/it]
 14%|█▍        | 87/600 [04:09<14:44,  1.72s/it]
 15%|█▍        | 88/600 [04:10<11:38,  1.36s/it]
 15%|█▍        | 89/600 [04:19<30:39,  3.60s/it]
 15%|█▌        | 90/600 [04:19<22:43,  2.67s/it]
 15%|█▌        | 91/600 [04:20<17:10,  2.03s/it]
 15%|█▌        | 92/600 [04:20<13:18,  1.57s/it]
 16%|█▌        | 93/600 [04:21<10:36,  1.26s/it]
 16%|█▌        | 94/600 [04:21<08:44,  1.04s/it]
 16%|█▌        | 95/600 [04:22<07:26,  1.13it/s]
 16%|█▌        | 96/600 [04:22<06:30,  1.29it/s]
 16%|█▌        | 97/600 [04:44<59:02,  7.04s/it]
 16%|█▋        | 98/600 [04:44<42:32,  5.09s/it]
 16%|█▋        | 99/600 [04:45<31:02,  3.72s/it]
 17%|█▋        | 100/600 [04:45<23:01,  2.76s/it]
 17%|█▋        | 101/600 [04:46<17:23,  2.09s/it]
 17%|█▋        | 102/600 [04:47<13:26,  1.62s/it]
 17%|█▋        | 103/600 [04:47<10:39,  1.29s/it]
 17%|█▋        | 104/600 [04:48<08:44,  1.06s/it]
 18%|█▊        | 105/600 [04:58<32:32,  3.94s/it]
 18%|█▊        | 106/600 [04:59<24:06,  2.93s/it]
 18%|█▊        | 107/600 [04:59<18:07,  2.21s/it]
 18%|█▊        | 108/600 [05:00<13:56,  1.70s/it]
 18%|█▊        | 109/600 [05:00<10:58,  1.34s/it]
 18%|█▊        | 110/600 [05:01<09:03,  1.11s/it]
 18%|█▊        | 111/600 [05:01<07:40,  1.06it/s]
 19%|█▊        | 112/600 [05:02<06:45,  1.20it/s]
 19%|█▉        | 113/600 [05:13<31:50,  3.92s/it]
 19%|█▉        | 114/600 [05:14<23:30,  2.90s/it]
 19%|█▉        | 115/600 [05:14<17:40,  2.19s/it]
 19%|█▉        | 116/600 [05:15<13:38,  1.69s/it]
 20%|█▉        | 117/600 [05:15<10:50,  1.35s/it]
 20%|█▉        | 118/600 [05:16<08:53,  1.11s/it]
 20%|█▉        | 119/600 [05:16<07:31,  1.07it/s]
 20%|██        | 120/600 [05:17<06:32,  1.22it/s]
 20%|██        | 121/600 [05:29<33:58,  4.26s/it]
 20%|██        | 122/600 [05:30<24:59,  3.14s/it]
 20%|██        | 123/600 [05:30<18:41,  2.35s/it]
 21%|██        | 124/600 [05:31<14:17,  1.80s/it]
 21%|██        | 125/600 [05:31<11:11,  1.41s/it]
 21%|██        | 126/600 [05:32<09:03,  1.15s/it]
 21%|██        | 127/600 [05:32<07:40,  1.03it/s]
 21%|██▏       | 128/600 [05:33<06:34,  1.20it/s]
 22%|██▏       | 129/600 [05:41<22:43,  2.90s/it]
 22%|██▏       | 130/600 [05:41<17:05,  2.18s/it]
 22%|██▏       | 131/600 [05:42<13:12,  1.69s/it]
 22%|██▏       | 132/600 [05:42<10:30,  1.35s/it]
 22%|██▏       | 133/600 [05:43<08:34,  1.10s/it]
 22%|██▏       | 134/600 [05:43<07:14,  1.07it/s]
 22%|██▎       | 135/600 [05:44<06:17,  1.23it/s]
 23%|██▎       | 136/600 [05:44<05:36,  1.38it/s]
 23%|██▎       | 137/600 [05:54<25:49,  3.35s/it]
 23%|██▎       | 138/600 [05:54<19:15,  2.50s/it]
 23%|██▎       | 139/600 [05:55<14:39,  1.91s/it]
 23%|██▎       | 140/600 [05:55<11:27,  1.50s/it]
 24%|██▎       | 141/600 [05:56<09:11,  1.20s/it]
 24%|██▎       | 142/600 [05:56<07:36,  1.00it/s]
 24%|██▍       | 143/600 [05:57<06:31,  1.17it/s]
 24%|██▍       | 144/600 [05:57<05:45,  1.32it/s]
 24%|██▍       | 145/600 [06:04<19:32,  2.58s/it]
 24%|██▍       | 146/600 [06:05<14:56,  1.97s/it]
 24%|██▍       | 147/600 [06:05<11:38,  1.54s/it]
 25%|██▍       | 148/600 [06:06<09:17,  1.23s/it]
 25%|██▍       | 149/600 [06:06<07:40,  1.02s/it]
 25%|██▌       | 150/600 [06:07<06:33,  1.14it/s]
 25%|██▌       | 151/600 [06:07<05:45,  1.30it/s]
 25%|██▌       | 152/600 [06:08<05:11,  1.44it/s]
 26%|██▌       | 153/600 [06:21<32:42,  4.39s/it]
 26%|██▌       | 154/600 [06:22<24:04,  3.24s/it]
 26%|██▌       | 155/600 [06:22<18:07,  2.44s/it]
 26%|██▌       | 156/600 [06:23<13:47,  1.86s/it]
 26%|██▌       | 157/600 [06:23<10:46,  1.46s/it]
 26%|██▋       | 158/600 [06:24<08:41,  1.18s/it]
 26%|██▋       | 159/600 [06:24<07:11,  1.02it/s]
 27%|██▋       | 160/600 [06:25<06:09,  1.19it/s]
 27%|██▋       | 161/600 [06:31<19:08,  2.62s/it]
 27%|██▋       | 162/600 [06:32<14:31,  1.99s/it]
 27%|██▋       | 163/600 [06:33<11:15,  1.55s/it]
 27%|██▋       | 164/600 [06:33<09:00,  1.24s/it]
 28%|██▊       | 165/600 [06:34<07:29,  1.03s/it]
 28%|██▊       | 166/600 [06:34<06:20,  1.14it/s]
 28%|██▊       | 167/600 [06:35<05:32,  1.30it/s]
 28%|██▊       | 168/600 [06:35<05:02,  1.43it/s]
 28%|██▊       | 169/600 [06:44<23:16,  3.24s/it]
 28%|██▊       | 170/600 [06:45<17:22,  2.42s/it]
 28%|██▊       | 171/600 [06:45<13:14,  1.85s/it]
 29%|██▊       | 172/600 [06:46<10:21,  1.45s/it]
 29%|██▉       | 173/600 [06:46<08:27,  1.19s/it]
 29%|██▉       | 174/600 [06:47<07:02,  1.01it/s]
 29%|██▉       | 175/600 [06:48<06:02,  1.17it/s]
 29%|██▉       | 176/600 [06:48<05:21,  1.32it/s]
 30%|██▉       | 177/600 [07:11<51:46,  7.34s/it]
 30%|██▉       | 178/600 [07:11<37:13,  5.29s/it]
 30%|██▉       | 179/600 [07:12<27:06,  3.86s/it]
 30%|███       | 180/600 [07:12<20:03,  2.87s/it]
 30%|███       | 181/600 [07:13<15:08,  2.17s/it]
 30%|███       | 182/600 [07:13<11:43,  1.68s/it]
 30%|███       | 183/600 [07:14<09:20,  1.34s/it]
 31%|███       | 184/600 [07:15<07:40,  1.11s/it]
 31%|███       | 185/600 [07:25<26:43,  3.86s/it]
 31%|███       | 186/600 [07:25<19:46,  2.86s/it]
 31%|███       | 187/600 [07:26<14:56,  2.17s/it]
 31%|███▏      | 188/600 [07:26<11:35,  1.69s/it]
 32%|███▏      | 189/600 [07:27<09:17,  1.36s/it]
 32%|███▏      | 190/600 [07:28<07:38,  1.12s/it]
 32%|███▏      | 191/600 [07:28<06:27,  1.05it/s]
 32%|███▏      | 192/600 [07:29<05:37,  1.21it/s]
 32%|███▏      | 193/600 [07:38<22:20,  3.29s/it]
 32%|███▏      | 194/600 [07:38<16:44,  2.47s/it]
 32%|███▎      | 195/600 [07:39<12:49,  1.90s/it]
 33%|███▎      | 196/600 [07:39<10:06,  1.50s/it]
 33%|███▎      | 197/600 [07:40<08:15,  1.23s/it]
 33%|███▎      | 198/600 [07:41<06:56,  1.04s/it]
 33%|███▎      | 199/600 [07:41<06:04,  1.10it/s]
 33%|███▎      | 200/600 [07:42<05:21,  1.24it/s]
 34%|███▎      | 201/600 [08:03<46:29,  6.99s/it]
 34%|███▎      | 202/600 [08:04<33:33,  5.06s/it]
 34%|███▍      | 203/600 [08:04<24:33,  3.71s/it]
 34%|███▍      | 204/600 [08:05<18:16,  2.77s/it]
 34%|███▍      | 205/600 [08:06<13:53,  2.11s/it]
 34%|███▍      | 206/600 [08:06<10:48,  1.64s/it]
 34%|███▍      | 207/600 [08:07<08:36,  1.31s/it]
 35%|███▍      | 208/600 [08:07<07:02,  1.08s/it]
 35%|███▍      | 209/600 [08:40<1:09:32, 10.67s/it]
 35%|███▌      | 210/600 [08:41<49:35,  7.63s/it]  
 35%|███▌      | 211/600 [08:41<35:37,  5.50s/it]
 35%|███▌      | 212/600 [08:42<25:57,  4.01s/it]
 36%|███▌      | 213/600 [08:42<19:06,  2.96s/it]
 36%|███▌      | 214/600 [08:43<14:24,  2.24s/it]
 36%|███▌      | 215/600 [08:43<11:06,  1.73s/it]
 36%|███▌      | 216/600 [08:44<08:51,  1.38s/it]
 36%|███▌      | 217/600 [08:56<29:27,  4.61s/it]
 36%|███▋      | 218/600 [08:57<21:33,  3.39s/it]
 36%|███▋      | 219/600 [08:57<16:02,  2.52s/it]
 37%|███▋      | 220/600 [08:58<12:10,  1.92s/it]
 37%|███▋      | 221/600 [08:58<09:29,  1.50s/it]
 37%|███▋      | 222/600 [08:59<07:36,  1.21s/it]
 37%|███▋      | 223/600 [08:59<06:16,  1.00it/s]
 37%|███▋      | 224/600 [09:00<05:22,  1.17it/s]
 38%|███▊      | 225/600 [09:13<28:21,  4.54s/it]
 38%|███▊      | 226/600 [09:13<20:48,  3.34s/it]
 38%|███▊      | 227/600 [09:14<15:30,  2.50s/it]
 38%|███▊      | 228/600 [09:14<11:47,  1.90s/it]
 38%|███▊      | 229/600 [09:15<09:11,  1.49s/it]
 38%|███▊      | 230/600 [09:16<07:27,  1.21s/it]
 38%|███▊      | 231/600 [09:16<06:15,  1.02s/it]
 39%|███▊      | 232/600 [09:17<05:22,  1.14it/s]
 39%|███▉      | 233/600 [09:29<26:21,  4.31s/it]
 39%|███▉      | 234/600 [09:30<19:26,  3.19s/it]
 39%|███▉      | 235/600 [09:30<14:38,  2.41s/it]
 39%|███▉      | 236/600 [09:31<11:18,  1.87s/it]
 40%|███▉      | 237/600 [09:31<08:57,  1.48s/it]
 40%|███▉      | 238/600 [09:32<07:15,  1.20s/it]
 40%|███▉      | 239/600 [09:32<06:04,  1.01s/it]
 40%|████      | 240/600 [09:33<05:13,  1.15it/s]
 40%|████      | 241/600 [09:52<37:19,  6.24s/it]
 40%|████      | 242/600 [09:52<27:06,  4.54s/it]
 40%|████      | 243/600 [09:53<19:55,  3.35s/it]
 41%|████      | 244/600 [09:53<14:51,  2.50s/it]
 41%|████      | 245/600 [09:54<11:19,  1.91s/it]
 41%|████      | 246/600 [09:54<08:49,  1.50s/it]
 41%|████      | 247/600 [09:55<07:05,  1.20s/it]
 41%|████▏     | 248/600 [09:56<05:51,  1.00it/s]
 42%|████▏     | 249/600 [10:11<30:46,  5.26s/it]
 42%|████▏     | 250/600 [10:11<22:24,  3.84s/it]
 42%|████▏     | 251/600 [10:12<16:33,  2.85s/it]
 42%|████▏     | 252/600 [10:12<12:27,  2.15s/it]
 42%|████▏     | 253/600 [10:13<09:36,  1.66s/it]
 42%|████▏     | 254/600 [10:13<07:36,  1.32s/it]
 42%|████▎     | 255/600 [10:14<06:12,  1.08s/it]
 43%|████▎     | 256/600 [10:14<05:14,  1.09it/s]
 43%|████▎     | 257/600 [10:25<22:00,  3.85s/it]
 43%|████▎     | 258/600 [10:26<16:18,  2.86s/it]
 43%|████▎     | 259/600 [10:26<12:18,  2.17s/it]
 43%|████▎     | 260/600 [10:27<09:31,  1.68s/it]
 44%|████▎     | 261/600 [10:27<07:35,  1.34s/it]
 44%|████▎     | 262/600 [10:28<06:13,  1.11s/it]
 44%|████▍     | 263/600 [10:28<05:15,  1.07it/s]
 44%|████▍     | 264/600 [10:29<04:41,  1.20it/s]
 44%|████▍     | 265/600 [10:48<35:02,  6.28s/it]
 44%|████▍     | 266/600 [10:49<25:27,  4.57s/it]
 44%|████▍     | 267/600 [10:49<18:43,  3.37s/it]
 45%|████▍     | 268/600 [10:50<14:00,  2.53s/it]
 45%|████▍     | 269/600 [10:50<10:39,  1.93s/it]
 45%|████▌     | 270/600 [10:51<08:21,  1.52s/it]
 45%|████▌     | 271/600 [10:51<06:42,  1.22s/it]
 45%|████▌     | 272/600 [10:52<05:32,  1.01s/it]
 46%|████▌     | 273/600 [11:01<18:05,  3.32s/it]
 46%|████▌     | 274/600 [11:01<13:28,  2.48s/it]
 46%|████▌     | 275/600 [11:02<10:16,  1.90s/it]
 46%|████▌     | 276/600 [11:02<08:04,  1.50s/it]
 46%|████▌     | 277/600 [11:03<06:30,  1.21s/it]
 46%|████▋     | 278/600 [11:03<05:25,  1.01s/it]
 46%|████▋     | 279/600 [11:04<04:40,  1.14it/s]
 47%|████▋     | 280/600 [11:04<04:08,  1.29it/s]
 47%|████▋     | 281/600 [11:20<28:04,  5.28s/it]
 47%|████▋     | 282/600 [11:21<20:26,  3.86s/it]
 47%|████▋     | 283/600 [11:21<15:08,  2.87s/it]
 47%|████▋     | 284/600 [11:22<11:26,  2.17s/it]
 48%|████▊     | 285/600 [11:22<08:48,  1.68s/it]
 48%|████▊     | 286/600 [11:23<07:01,  1.34s/it]
 48%|████▊     | 287/600 [11:23<05:45,  1.11s/it]
 48%|████▊     | 288/600 [11:24<04:52,  1.07it/s]
 48%|████▊     | 289/600 [11:35<20:18,  3.92s/it]
 48%|████▊     | 290/600 [11:35<15:02,  2.91s/it]
 48%|████▊     | 291/600 [11:36<11:21,  2.20s/it]
 49%|████▊     | 292/600 [11:37<08:47,  1.71s/it]
 49%|████▉     | 293/600 [11:37<07:02,  1.38s/it]
 49%|████▉     | 294/600 [11:38<05:49,  1.14s/it]
 49%|████▉     | 295/600 [11:38<04:56,  1.03it/s]
 49%|████▉     | 296/600 [11:39<04:19,  1.17it/s]
 50%|████▉     | 297/600 [11:48<17:21,  3.44s/it]
 50%|████▉     | 298/600 [11:49<13:01,  2.59s/it]
 50%|████▉     | 299/600 [11:50<09:58,  1.99s/it]
 50%|█████     | 300/600 [11:50<07:51,  1.57s/it]
 50%|█████     | 301/600 [11:51<06:20,  1.27s/it]
 50%|█████     | 302/600 [11:51<05:13,  1.05s/it]
 50%|█████     | 303/600 [11:52<04:26,  1.12it/s]
 51%|█████     | 304/600 [11:52<03:53,  1.27it/s]
 51%|█████     | 305/600 [12:03<19:12,  3.91s/it]
 51%|█████     | 306/600 [12:04<14:10,  2.89s/it]
 51%|█████     | 307/600 [12:05<10:41,  2.19s/it]
 51%|█████▏    | 308/600 [12:05<08:14,  1.69s/it]
 52%|█████▏    | 309/600 [12:06<06:30,  1.34s/it]
 52%|█████▏    | 310/600 [12:06<05:18,  1.10s/it]
 52%|█████▏    | 311/600 [12:07<04:27,  1.08it/s]
 52%|█████▏    | 312/600 [12:07<03:52,  1.24it/s]
 52%|█████▏    | 313/600 [12:20<21:38,  4.52s/it]
 52%|█████▏    | 314/600 [12:21<15:53,  3.33s/it]
 52%|█████▎    | 315/600 [12:22<11:53,  2.50s/it]
 53%|█████▎    | 316/600 [12:22<09:06,  1.93s/it]
 53%|█████▎    | 317/600 [12:23<07:07,  1.51s/it]
 53%|█████▎    | 318/600 [12:23<05:45,  1.23s/it]
 53%|█████▎    | 319/600 [12:24<04:48,  1.03s/it]
 53%|█████▎    | 320/600 [12:24<04:09,  1.12it/s]
 54%|█████▎    | 321/600 [12:41<25:32,  5.49s/it]
 54%|█████▎    | 322/600 [12:41<18:35,  4.01s/it]
 54%|█████▍    | 323/600 [12:42<13:44,  2.98s/it]
 54%|█████▍    | 324/600 [12:42<10:19,  2.24s/it]
 54%|█████▍    | 325/600 [12:43<07:57,  1.74s/it]
 54%|█████▍    | 326/600 [12:43<06:19,  1.38s/it]
 55%|█████▍    | 327/600 [12:44<05:09,  1.13s/it]
 55%|█████▍    | 328/600 [12:44<04:24,  1.03it/s]
 55%|█████▍    | 329/600 [12:54<15:55,  3.53s/it]
 55%|█████▌    | 330/600 [12:55<11:52,  2.64s/it]
 55%|█████▌    | 331/600 [12:55<09:02,  2.02s/it]
 55%|█████▌    | 332/600 [12:56<07:03,  1.58s/it]
 56%|█████▌    | 333/600 [12:56<05:44,  1.29s/it]
 56%|█████▌    | 334/600 [12:57<04:45,  1.07s/it]
 56%|█████▌    | 335/600 [12:57<04:04,  1.08it/s]
 56%|█████▌    | 336/600 [12:58<03:35,  1.23it/s]
 56%|█████▌    | 337/600 [13:08<15:09,  3.46s/it]
 56%|█████▋    | 338/600 [13:08<11:15,  2.58s/it]
 56%|█████▋    | 339/600 [13:09<08:32,  1.96s/it]
 57%|█████▋    | 340/600 [13:09<06:37,  1.53s/it]
 57%|█████▋    | 341/600 [13:10<05:16,  1.22s/it]
 57%|█████▋    | 342/600 [13:10<04:20,  1.01s/it]
 57%|█████▋    | 343/600 [13:11<03:40,  1.16it/s]
 57%|█████▋    | 344/600 [13:11<03:13,  1.32it/s]
 57%|█████▊    | 345/600 [13:33<29:29,  6.94s/it]
 58%|█████▊    | 346/600 [13:33<21:17,  5.03s/it]
 58%|█████▊    | 347/600 [13:34<15:32,  3.69s/it]
 58%|█████▊    | 348/600 [13:34<11:30,  2.74s/it]
 58%|█████▊    | 349/600 [13:35<08:42,  2.08s/it]
 58%|█████▊    | 350/600 [13:35<06:45,  1.62s/it]
 58%|█████▊    | 351/600 [13:36<05:22,  1.30s/it]
 59%|█████▊    | 352/600 [13:36<04:24,  1.07s/it]
 59%|█████▉    | 353/600 [13:47<15:43,  3.82s/it]
 59%|█████▉    | 354/600 [13:47<11:36,  2.83s/it]
 59%|█████▉    | 355/600 [13:48<08:44,  2.14s/it]
 59%|█████▉    | 356/600 [13:48<06:43,  1.66s/it]
 60%|█████▉    | 357/600 [13:49<05:19,  1.32s/it]
 60%|█████▉    | 358/600 [13:49<04:22,  1.09s/it]
 60%|█████▉    | 359/600 [13:50<03:42,  1.08it/s]
 60%|██████    | 360/600 [13:50<03:12,  1.24it/s]
 60%|██████    | 361/600 [14:04<18:28,  4.64s/it]
 60%|██████    | 362/600 [14:04<13:30,  3.41s/it]
 60%|██████    | 363/600 [14:05<10:02,  2.54s/it]
 61%|██████    | 364/600 [14:06<07:36,  1.93s/it]
 61%|██████    | 365/600 [14:06<05:55,  1.51s/it]
 61%|██████    | 366/600 [14:07<04:44,  1.22s/it]
 61%|██████    | 367/600 [14:07<03:54,  1.01s/it]
 61%|██████▏   | 368/600 [14:08<03:20,  1.16it/s]
 62%|██████▏   | 369/600 [14:20<17:01,  4.42s/it]
 62%|██████▏   | 370/600 [14:21<12:28,  3.25s/it]
 62%|██████▏   | 371/600 [14:21<09:18,  2.44s/it]
 62%|██████▏   | 372/600 [14:22<07:05,  1.86s/it]
 62%|██████▏   | 373/600 [14:22<05:32,  1.46s/it]
 62%|██████▏   | 374/600 [14:23<04:25,  1.18s/it]
 62%|██████▎   | 375/600 [14:23<03:39,  1.02it/s]
 63%|██████▎   | 376/600 [14:24<03:10,  1.18it/s]
 63%|██████▎   | 377/600 [14:36<15:59,  4.30s/it]
 63%|██████▎   | 378/600 [14:37<11:45,  3.18s/it]
 63%|██████▎   | 379/600 [14:38<08:48,  2.39s/it]
 63%|██████▎   | 380/600 [14:38<06:46,  1.85s/it]
 64%|██████▎   | 381/600 [14:39<05:19,  1.46s/it]
 64%|██████▎   | 382/600 [14:39<04:17,  1.18s/it]
 64%|██████▍   | 383/600 [14:40<03:33,  1.01it/s]
 64%|██████▍   | 384/600 [14:40<03:02,  1.18it/s]
 64%|██████▍   | 385/600 [14:50<12:29,  3.48s/it]
 64%|██████▍   | 386/600 [14:50<09:17,  2.61s/it]
 64%|██████▍   | 387/600 [14:51<07:02,  1.98s/it]
 65%|██████▍   | 388/600 [14:51<05:26,  1.54s/it]
 65%|██████▍   | 389/600 [14:52<04:20,  1.24s/it]
 65%|██████▌   | 390/600 [14:53<03:34,  1.02s/it]
 65%|██████▌   | 391/600 [14:53<03:02,  1.14it/s]
 65%|██████▌   | 392/600 [14:54<02:41,  1.29it/s]
 66%|██████▌   | 393/600 [15:06<14:54,  4.32s/it]
 66%|██████▌   | 394/600 [15:07<10:54,  3.18s/it]
 66%|██████▌   | 395/600 [15:07<08:08,  2.38s/it]
 66%|██████▌   | 396/600 [15:08<06:12,  1.82s/it]
 66%|██████▌   | 397/600 [15:08<04:51,  1.44s/it]
 66%|██████▋   | 398/600 [15:09<03:55,  1.17s/it]
 66%|██████▋   | 399/600 [15:09<03:17,  1.02it/s]
 67%|██████▋   | 400/600 [15:10<02:50,  1.17it/s]
 67%|██████▋   | 401/600 [15:20<12:29,  3.77s/it]
 67%|██████▋   | 402/600 [15:21<09:14,  2.80s/it]
 67%|██████▋   | 403/600 [15:22<07:01,  2.14s/it]
 67%|██████▋   | 404/600 [15:22<05:29,  1.68s/it]
 68%|██████▊   | 405/600 [15:23<04:25,  1.36s/it]
 68%|██████▊   | 406/600 [15:23<03:39,  1.13s/it]
 68%|██████▊   | 407/600 [15:24<03:07,  1.03it/s]
 68%|██████▊   | 408/600 [15:25<02:45,  1.16it/s]
 68%|██████▊   | 409/600 [15:34<11:07,  3.49s/it]
 68%|██████▊   | 410/600 [15:35<08:18,  2.62s/it]
 68%|██████▊   | 411/600 [15:35<06:18,  2.00s/it]
 69%|██████▊   | 412/600 [15:36<04:55,  1.57s/it]
 69%|██████▉   | 413/600 [15:37<03:57,  1.27s/it]
 69%|██████▉   | 414/600 [15:37<03:15,  1.05s/it]
 69%|██████▉   | 415/600 [15:38<02:47,  1.11it/s]
 69%|██████▉   | 416/600 [15:38<02:27,  1.25it/s]
 70%|██████▉   | 417/600 [15:47<09:37,  3.16s/it]
 70%|██████▉   | 418/600 [15:47<07:11,  2.37s/it]
 70%|██████▉   | 419/600 [15:48<05:30,  1.83s/it]
 70%|███████   | 420/600 [15:49<04:21,  1.45s/it]
 70%|███████   | 421/600 [15:49<03:31,  1.18s/it]
 70%|███████   | 422/600 [15:50<02:56,  1.01it/s]
 70%|███████   | 423/600 [15:50<02:31,  1.17it/s]
 71%|███████   | 424/600 [15:51<02:14,  1.31it/s]
 71%|███████   | 425/600 [16:30<35:54, 12.31s/it]
 71%|███████   | 426/600 [16:31<25:29,  8.79s/it]
 71%|███████   | 427/600 [16:31<18:13,  6.32s/it]
 71%|███████▏  | 428/600 [16:32<13:09,  4.59s/it]
 72%|███████▏  | 429/600 [16:32<09:38,  3.38s/it]
 72%|███████▏  | 430/600 [16:33<07:10,  2.53s/it]
 72%|███████▏  | 431/600 [16:33<05:29,  1.95s/it]
 72%|███████▏  | 432/600 [16:34<04:17,  1.53s/it]
 72%|███████▏  | 433/600 [16:58<22:52,  8.22s/it]
 72%|███████▏  | 434/600 [16:58<16:24,  5.93s/it]
 72%|███████▎  | 435/600 [16:59<11:54,  4.33s/it]
 73%|███████▎  | 436/600 [17:00<08:46,  3.21s/it]
 73%|███████▎  | 437/600 [17:00<06:35,  2.43s/it]
 73%|███████▎  | 438/600 [17:01<05:03,  1.88s/it]
 73%|███████▎  | 439/600 [17:01<03:59,  1.49s/it]
 73%|███████▎  | 440/600 [17:02<03:15,  1.22s/it]
 74%|███████▎  | 441/600 [17:13<11:04,  4.18s/it]
 74%|███████▎  | 442/600 [17:14<08:10,  3.11s/it]
 74%|███████▍  | 443/600 [17:14<06:09,  2.36s/it]
 74%|███████▍  | 444/600 [17:15<04:45,  1.83s/it]
 74%|███████▍  | 445/600 [17:15<03:46,  1.46s/it]
 74%|███████▍  | 446/600 [17:16<03:04,  1.20s/it]
 74%|███████▍  | 447/600 [17:17<02:35,  1.02s/it]
 75%|███████▍  | 448/600 [17:17<02:14,  1.13it/s]
 75%|███████▍  | 449/600 [17:35<14:43,  5.85s/it]
 75%|███████▌  | 450/600 [17:35<10:42,  4.28s/it]
 75%|███████▌  | 451/600 [17:36<07:52,  3.17s/it]
 75%|███████▌  | 452/600 [17:36<05:55,  2.40s/it]
 76%|███████▌  | 453/600 [17:37<04:33,  1.86s/it]
 76%|███████▌  | 454/600 [17:38<03:36,  1.48s/it]
 76%|███████▌  | 455/600 [17:38<02:55,  1.21s/it]
 76%|███████▌  | 456/600 [17:39<02:28,  1.03s/it]
 76%|███████▌  | 457/600 [17:57<15:04,  6.32s/it]
 76%|███████▋  | 458/600 [17:58<10:54,  4.61s/it]
 76%|███████▋  | 459/600 [17:59<07:58,  3.39s/it]
 77%|███████▋  | 460/600 [17:59<05:56,  2.54s/it]
 77%|███████▋  | 461/600 [18:00<04:30,  1.95s/it]
 77%|███████▋  | 462/600 [18:00<03:31,  1.53s/it]
 77%|███████▋  | 463/600 [18:01<02:50,  1.24s/it]
 77%|███████▋  | 464/600 [18:02<02:23,  1.05s/it]
 78%|███████▊  | 465/600 [18:12<08:48,  3.92s/it]
 78%|███████▊  | 466/600 [18:13<06:30,  2.91s/it]
 78%|███████▊  | 467/600 [18:13<04:54,  2.22s/it]
 78%|███████▊  | 468/600 [18:14<03:48,  1.73s/it]
 78%|███████▊  | 469/600 [18:14<03:01,  1.39s/it]
 78%|███████▊  | 470/600 [18:15<02:28,  1.14s/it]
 78%|███████▊  | 471/600 [18:16<02:04,  1.03it/s]
 79%|███████▊  | 472/600 [18:16<01:47,  1.19it/s]
 79%|███████▉  | 473/600 [18:28<08:53,  4.20s/it]
 79%|███████▉  | 474/600 [18:29<06:32,  3.11s/it]
 79%|███████▉  | 475/600 [18:29<04:54,  2.36s/it]
 79%|███████▉  | 476/600 [18:30<03:45,  1.82s/it]
 80%|███████▉  | 477/600 [18:30<02:57,  1.44s/it]
 80%|███████▉  | 478/600 [18:31<02:24,  1.18s/it]
 80%|███████▉  | 479/600 [18:32<02:00,  1.00it/s]
 80%|████████  | 480/600 [18:32<01:44,  1.15it/s]
 80%|████████  | 481/600 [18:44<08:30,  4.29s/it]
 80%|████████  | 482/600 [18:45<06:13,  3.17s/it]
 80%|████████  | 483/600 [18:46<04:39,  2.38s/it]
 81%|████████  | 484/600 [18:46<03:33,  1.84s/it]
 81%|████████  | 485/600 [18:47<02:47,  1.46s/it]
 81%|████████  | 486/600 [18:47<02:15,  1.19s/it]
 81%|████████  | 487/600 [18:48<01:53,  1.00s/it]
 81%|████████▏ | 488/600 [18:48<01:37,  1.15it/s]
 82%|████████▏ | 489/600 [19:47<33:34, 18.15s/it]
 82%|████████▏ | 490/600 [19:47<23:36, 12.88s/it]
 82%|████████▏ | 491/600 [19:48<16:42,  9.20s/it]
 82%|████████▏ | 492/600 [19:49<11:55,  6.62s/it]
 82%|████████▏ | 493/600 [19:49<08:35,  4.82s/it]
 82%|████████▏ | 494/600 [19:50<06:17,  3.56s/it]
 82%|████████▎ | 495/600 [19:50<04:40,  2.68s/it]
 83%|████████▎ | 496/600 [19:51<03:33,  2.05s/it]
 83%|████████▎ | 497/600 [20:04<09:10,  5.35s/it]
 83%|████████▎ | 498/600 [20:05<06:38,  3.91s/it]
 83%|████████▎ | 499/600 [20:05<04:52,  2.90s/it]
 83%|████████▎ | 500/600 [20:07<04:05,  2.45s/it]
 84%|████████▎ | 501/600 [20:07<03:06,  1.88s/it]
 84%|████████▎ | 502/600 [20:08<02:24,  1.48s/it]
 84%|████████▍ | 503/600 [20:08<01:56,  1.20s/it]
 84%|████████▍ | 504/600 [20:09<01:36,  1.01s/it]
 84%|████████▍ | 505/600 [20:29<10:43,  6.78s/it]
 84%|████████▍ | 506/600 [20:30<07:42,  4.92s/it]
 84%|████████▍ | 507/600 [20:30<05:36,  3.62s/it]
 85%|████████▍ | 508/600 [20:31<04:09,  2.72s/it]
 85%|████████▍ | 509/600 [20:31<03:08,  2.07s/it]
 85%|████████▌ | 510/600 [20:32<02:25,  1.62s/it]
 85%|████████▌ | 511/600 [20:33<01:55,  1.30s/it]
 85%|████████▌ | 512/600 [20:33<01:34,  1.08s/it]
 86%|████████▌ | 513/600 [21:13<18:15, 12.59s/it]
 86%|████████▌ | 514/600 [21:13<12:53,  8.99s/it]
 86%|████████▌ | 515/600 [21:14<09:10,  6.47s/it]
 86%|████████▌ | 516/600 [21:14<06:35,  4.71s/it]
 86%|████████▌ | 517/600 [21:15<04:48,  3.47s/it]
 86%|████████▋ | 518/600 [21:15<03:33,  2.61s/it]
 86%|████████▋ | 519/600 [21:16<02:41,  2.00s/it]
 87%|████████▋ | 520/600 [21:17<02:05,  1.57s/it]
 87%|████████▋ | 521/600 [21:38<09:44,  7.40s/it]
 87%|████████▋ | 522/600 [21:38<06:57,  5.35s/it]
 87%|████████▋ | 523/600 [21:39<05:01,  3.92s/it]
 87%|████████▋ | 524/600 [21:39<03:40,  2.91s/it]
 88%|████████▊ | 525/600 [21:40<02:45,  2.20s/it]
 88%|████████▊ | 526/600 [21:40<02:07,  1.72s/it]
 88%|████████▊ | 527/600 [21:41<01:39,  1.37s/it]
 88%|████████▊ | 528/600 [21:42<01:21,  1.13s/it]
 88%|████████▊ | 529/600 [21:57<06:17,  5.31s/it]
 88%|████████▊ | 530/600 [21:57<04:32,  3.89s/it]
 88%|████████▊ | 531/600 [21:58<03:19,  2.89s/it]
 89%|████████▊ | 532/600 [21:58<02:29,  2.19s/it]
 89%|████████▉ | 533/600 [21:59<01:54,  1.70s/it]
 89%|████████▉ | 534/600 [22:00<01:29,  1.36s/it]
 89%|████████▉ | 535/600 [22:00<01:13,  1.12s/it]
 89%|████████▉ | 536/600 [22:01<01:00,  1.05it/s]
 90%|████████▉ | 537/600 [22:12<04:26,  4.23s/it]
 90%|████████▉ | 538/600 [22:13<03:13,  3.12s/it]
 90%|████████▉ | 539/600 [22:14<02:24,  2.36s/it]
 90%|█████████ | 540/600 [22:14<01:49,  1.82s/it]
 90%|█████████ | 541/600 [22:15<01:24,  1.44s/it]
 90%|█████████ | 542/600 [22:15<01:08,  1.18s/it]
 90%|█████████ | 543/600 [22:16<00:56,  1.00it/s]
 91%|█████████ | 544/600 [22:16<00:48,  1.15it/s]
 91%|█████████ | 545/600 [22:28<03:47,  4.14s/it]
 91%|█████████ | 546/600 [22:29<02:45,  3.06s/it]
 91%|█████████ | 547/600 [22:29<02:02,  2.31s/it]
 91%|█████████▏| 548/600 [22:30<01:32,  1.78s/it]
 92%|█████████▏| 549/600 [22:30<01:12,  1.42s/it]
 92%|█████████▏| 550/600 [22:31<00:59,  1.18s/it]
 92%|█████████▏| 551/600 [22:32<00:49,  1.00s/it]
 92%|█████████▏| 552/600 [22:32<00:42,  1.14it/s]
 92%|█████████▏| 553/600 [22:44<03:17,  4.20s/it]
 92%|█████████▏| 554/600 [22:45<02:23,  3.11s/it]
 92%|█████████▎| 555/600 [22:45<01:45,  2.35s/it]
 93%|█████████▎| 556/600 [22:46<01:19,  1.82s/it]
 93%|█████████▎| 557/600 [22:46<01:02,  1.44s/it]
 93%|█████████▎| 558/600 [22:47<00:49,  1.18s/it]
 93%|█████████▎| 559/600 [22:48<00:40,  1.00it/s]
 93%|█████████▎| 560/600 [22:48<00:34,  1.15it/s]
 94%|█████████▎| 561/600 [23:02<03:03,  4.70s/it]
 94%|█████████▎| 562/600 [23:02<02:11,  3.47s/it]
 94%|█████████▍| 563/600 [23:03<01:36,  2.60s/it]
 94%|█████████▍| 564/600 [23:04<01:11,  1.99s/it]
 94%|█████████▍| 565/600 [23:04<00:55,  1.57s/it]
 94%|█████████▍| 566/600 [23:05<00:43,  1.28s/it]
 94%|█████████▍| 567/600 [23:05<00:35,  1.08s/it]
 95%|█████████▍| 568/600 [23:06<00:29,  1.07it/s]
 95%|█████████▍| 569/600 [23:18<02:13,  4.30s/it]
 95%|█████████▌| 570/600 [23:19<01:35,  3.19s/it]
 95%|█████████▌| 571/600 [23:19<01:09,  2.41s/it]
 95%|█████████▌| 572/600 [23:20<00:52,  1.86s/it]
 96%|█████████▌| 573/600 [23:20<00:39,  1.48s/it]
 96%|█████████▌| 574/600 [23:21<00:31,  1.20s/it]
 96%|█████████▌| 575/600 [23:22<00:25,  1.01s/it]
 96%|█████████▌| 576/600 [23:22<00:20,  1.15it/s]
 96%|█████████▌| 577/600 [23:36<01:49,  4.76s/it]
 96%|█████████▋| 578/600 [23:37<01:17,  3.51s/it]
 96%|█████████▋| 579/600 [23:37<00:55,  2.64s/it]
 97%|█████████▋| 580/600 [23:38<00:40,  2.02s/it]
 97%|█████████▋| 581/600 [23:38<00:30,  1.59s/it]
 97%|█████████▋| 582/600 [23:39<00:23,  1.30s/it]
 97%|█████████▋| 583/600 [23:40<00:18,  1.09s/it]
 97%|█████████▋| 584/600 [23:40<00:14,  1.07it/s]
 98%|█████████▊| 585/600 [23:53<01:09,  4.61s/it]
 98%|█████████▊| 586/600 [23:54<00:47,  3.39s/it]
 98%|█████████▊| 587/600 [23:54<00:33,  2.54s/it]
 98%|█████████▊| 588/600 [23:55<00:23,  1.95s/it]
 98%|█████████▊| 589/600 [23:56<00:16,  1.53s/it]
 98%|█████████▊| 590/600 [23:56<00:12,  1.25s/it]
 98%|█████████▊| 591/600 [23:57<00:09,  1.04s/it]
 99%|█████████▊| 592/600 [23:57<00:07,  1.11it/s]
 99%|█████████▉| 593/600 [24:09<00:28,  4.00s/it]
 99%|█████████▉| 594/600 [24:09<00:17,  2.97s/it]
 99%|█████████▉| 595/600 [24:10<00:11,  2.27s/it]
 99%|█████████▉| 596/600 [24:10<00:07,  1.77s/it]
100%|█████████▉| 597/600 [24:11<00:04,  1.41s/it]
100%|█████████▉| 598/600 [24:11<00:02,  1.16s/it]
100%|█████████▉| 599/600 [24:12<00:00,  1.01it/s]
100%|█████████▉| 599/600 [24:13<00:02,  2.43s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/log_2_env0.json.
+MarkerInMugTask_2 complete: task_name: MarkerInMugTask, run_name: MarkerInMugTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the whiteboard marker in the mug, attributes: ['affordance', 'moderate'], success: False, episode_step: 600, duration: 40.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.723465342862904, 'joint_sparc_mean': -18.23617028113755, 'ee_isj': 511602.0569660788, 'joint_isj': 3873253.276755573, 'ee_path_length': 13.305451737395467, 'joint_rmse_mean': 1.5545478149328338, 'ee_speed_max': 9.237833023071289, 'ee_speed_mean': 0.3437727987766266}, events: {'GRIPPER_FULLY_CLOSED': 10, 'GRIPPER_HIT_TABLE': 3, 'TARGET_OBJECT_DROPPED': 4, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_OUT_OF_SCENE': 3, 'OBJECT_MOVED': 3, 'OBJECT_BUMPED': 7}, instruction_type: default, timing: {'policy_inference_s': 1126.699, 'policy_inference_avg_ms': 1877.8, 'env_step_s': 321.452, 'env_step_avg_ms': 535.8, 'video_write_s': 4.688, 'video_write_avg_ms': 7.8, 'wall_total_s': 1452.838, 'it_per_sec': 0.41}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=marker) (step 1/2), harness_episode_id: 026fffaeaec648b18406746dc7178c0e-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-29T18:12:27Z [4,637,663ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.209855 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-29T18:12:32Z [4,643,222ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T18:12:32Z [4,643,223ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T18:12:32Z [4,643,232ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T18:12:32Z [4,643,232ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T18:12:32Z [4,643,241ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T18:12:32Z [4,643,249ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-29T18:12:33Z [4,643,269ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-29T18:12:33Z [4,643,764ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((379))' not available in the MDL representation.
+2026-10-29T18:12:33Z [4,643,764ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((379))' not available in the MDL representation.
+2026-10-29T18:12:33Z [4,643,828ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((401))' not available in the MDL representation.
+2026-10-29T18:12:33Z [4,643,828ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((401))' not available in the MDL representation.
+2026-10-29T18:12:33Z [4,643,829ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((401))' not available in the MDL representation.
+2026-10-29T18:12:33Z [4,643,848ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((407))' not available in the MDL representation.
+2026-10-29T18:12:33Z [4,643,848ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((407))' not available in the MDL representation.
+2026-10-29T18:12:33Z [4,643,850ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((408))' not available in the MDL representation.
+2026-10-29T18:12:33Z [4,643,850ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((408))' not available in the MDL representation.
+2026-10-29T18:12:33Z [4,643,856ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-10-29T18:12:33Z [4,643,857ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-10-29T18:12:33Z [4,643,861ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((411))' not available in the MDL representation.
+2026-10-29T18:12:33Z [4,643,861ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((411))' not available in the MDL representation.
+2026-10-29T18:12:33Z [4,643,868ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((412))' not available in the MDL representation.
+2026-10-29T18:12:33Z [4,643,868ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((412))' not available in the MDL representation.
+2026-10-29T18:12:33Z [4,643,874ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((415))' not available in the MDL representation.
+2026-10-29T18:12:33Z [4,643,874ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((415))' not available in the MDL representation.
+2026-10-29T18:12:33Z [4,643,891ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((425))' not available in the MDL representation.
+2026-10-29T18:12:33Z [4,643,891ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((425))' not available in the MDL representation.
+2026-10-29T18:12:33Z [4,644,116ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((448))' not available in the MDL representation.
+2026-10-29T18:12:33Z [4,644,117ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((448))' not available in the MDL representation.
+2026-10-29T18:12:33Z [4,644,144ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((464))' not available in the MDL representation.
+2026-10-29T18:12:33Z [4,644,145ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((464))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,265ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((520))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,265ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((520))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,808ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((379))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,809ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((379))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,811ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((401))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,811ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((401))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,811ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((401))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,812ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((407))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,812ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((407))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,813ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((408))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,813ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((408))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,813ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,814ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,814ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((411))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,815ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((411))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,815ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((412))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,815ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((412))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,816ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((415))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,816ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((415))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,817ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((425))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,817ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((425))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,819ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((448))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,819ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((448))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,820ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((464))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,820ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((464))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,823ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((520))' not available in the MDL representation.
+2026-10-29T18:12:34Z [4,644,823ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((520))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 5.071764 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : SpoonInMugTask                                │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the metal spoon that's in the wooden bowl in the mug │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : SpoonInMugTaskSceneEnvCfg                     │
+│  Attributes  : affordance, spatial, moderate                 │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running SpoonInMugTask_0: 'Put the metal spoon that's in the wooden bowl in the mug' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:40<10:06:24, 40.47s/it]
  0%|          | 2/900 [00:40<4:13:48, 16.96s/it] 
  0%|          | 3/900 [00:41<2:21:00,  9.43s/it]
  0%|          | 4/900 [00:41<1:28:06,  5.90s/it]
  1%|          | 5/900 [00:42<58:50,  3.94s/it]  
  1%|          | 6/900 [00:42<41:13,  2.77s/it]
  1%|          | 7/900 [00:43<30:10,  2.03s/it]
  1%|          | 8/900 [00:43<22:57,  1.54s/it]
  1%|          | 9/900 [01:19<3:00:44, 12.17s/it]
  1%|          | 10/900 [01:19<2:07:06,  8.57s/it]
  1%|          | 11/900 [01:20<1:30:23,  6.10s/it]
  1%|▏         | 12/900 [01:20<1:05:07,  4.40s/it]
  1%|▏         | 13/900 [01:21<47:37,  3.22s/it]  
  2%|▏         | 14/900 [01:21<35:30,  2.41s/it]
  2%|▏         | 15/900 [01:22<27:03,  1.83s/it]
  2%|▏         | 16/900 [01:23<21:12,  1.44s/it]
  2%|▏         | 17/900 [01:35<1:10:14,  4.77s/it]
  2%|▏         | 18/900 [01:36<51:16,  3.49s/it]  
  2%|▏         | 19/900 [01:36<38:05,  2.59s/it]
  2%|▏         | 20/900 [01:37<28:54,  1.97s/it]
  2%|▏         | 21/900 [01:37<22:28,  1.53s/it]
  2%|▏         | 22/900 [01:38<17:59,  1.23s/it]
  3%|▎         | 23/900 [01:38<14:51,  1.02s/it]
  3%|▎         | 24/900 [01:39<12:37,  1.16it/s]
  3%|▎         | 25/900 [01:52<1:08:41,  4.71s/it]
  3%|▎         | 26/900 [01:53<50:14,  3.45s/it]  
  3%|▎         | 27/900 [01:53<37:19,  2.57s/it]
  3%|▎         | 28/900 [01:54<28:22,  1.95s/it]
  3%|▎         | 29/900 [01:54<22:02,  1.52s/it]
  3%|▎         | 30/900 [01:55<17:34,  1.21s/it]
  3%|▎         | 31/900 [01:55<14:28,  1.00it/s]
  4%|▎         | 32/900 [01:56<12:22,  1.17it/s]
  4%|▎         | 33/900 [02:07<58:39,  4.06s/it]
  4%|▍         | 34/900 [02:08<43:09,  2.99s/it]
  4%|▍         | 35/900 [02:08<32:14,  2.24s/it]
  4%|▍         | 36/900 [02:09<24:51,  1.73s/it]
  4%|▍         | 37/900 [02:09<19:38,  1.37s/it]
  4%|▍         | 38/900 [02:10<15:48,  1.10s/it]
  4%|▍         | 39/900 [02:10<13:08,  1.09it/s]
  4%|▍         | 40/900 [02:11<11:13,  1.28it/s]
  5%|▍         | 41/900 [02:23<59:55,  4.19s/it]
  5%|▍         | 42/900 [02:23<43:57,  3.07s/it]
  5%|▍         | 43/900 [02:24<32:56,  2.31s/it]
  5%|▍         | 44/900 [02:25<25:13,  1.77s/it]
  5%|▌         | 45/900 [02:25<19:52,  1.39s/it]
  5%|▌         | 46/900 [02:26<16:06,  1.13s/it]
  5%|▌         | 47/900 [02:26<13:29,  1.05it/s]
  5%|▌         | 48/900 [02:27<11:35,  1.23it/s]
  5%|▌         | 49/900 [02:39<1:01:06,  4.31s/it]
  6%|▌         | 50/900 [02:40<44:48,  3.16s/it]  
  6%|▌         | 51/900 [02:40<33:30,  2.37s/it]
  6%|▌         | 52/900 [02:41<25:36,  1.81s/it]
  6%|▌         | 53/900 [02:41<20:06,  1.42s/it]
  6%|▌         | 54/900 [02:42<16:08,  1.14s/it]
  6%|▌         | 55/900 [02:42<13:24,  1.05it/s]
  6%|▌         | 56/900 [02:43<11:25,  1.23it/s]
  6%|▋         | 57/900 [03:06<1:46:01,  7.55s/it]
  6%|▋         | 58/900 [03:06<1:16:09,  5.43s/it]
  7%|▋         | 59/900 [03:07<55:16,  3.94s/it]  
  7%|▋         | 60/900 [03:07<40:37,  2.90s/it]
  7%|▋         | 61/900 [03:08<30:24,  2.17s/it]
  7%|▋         | 62/900 [03:08<23:13,  1.66s/it]
  7%|▋         | 63/900 [03:09<18:23,  1.32s/it]
  7%|▋         | 64/900 [03:09<14:55,  1.07s/it]
  7%|▋         | 65/900 [03:25<1:17:28,  5.57s/it]
  7%|▋         | 66/900 [03:26<56:17,  4.05s/it]  
  7%|▋         | 67/900 [03:26<41:32,  2.99s/it]
  8%|▊         | 68/900 [03:27<31:06,  2.24s/it]
  8%|▊         | 69/900 [03:27<23:50,  1.72s/it]
  8%|▊         | 70/900 [03:28<18:43,  1.35s/it]
  8%|▊         | 71/900 [03:28<15:09,  1.10s/it]
  8%|▊         | 72/900 [03:29<12:39,  1.09it/s]
  8%|▊         | 73/900 [03:45<1:17:30,  5.62s/it]
  8%|▊         | 74/900 [03:46<56:17,  4.09s/it]  
  8%|▊         | 75/900 [03:46<41:28,  3.02s/it]
  8%|▊         | 76/900 [03:47<31:09,  2.27s/it]
  9%|▊         | 77/900 [03:47<23:56,  1.75s/it]
  9%|▊         | 78/900 [03:48<18:49,  1.37s/it]
  9%|▉         | 79/900 [03:48<15:13,  1.11s/it]
  9%|▉         | 80/900 [03:49<12:39,  1.08it/s]
  9%|▉         | 81/900 [03:58<47:28,  3.48s/it]
  9%|▉         | 82/900 [03:59<35:11,  2.58s/it]
  9%|▉         | 83/900 [03:59<26:35,  1.95s/it]
  9%|▉         | 84/900 [04:00<20:34,  1.51s/it]
  9%|▉         | 85/900 [04:00<16:21,  1.20s/it]
 10%|▉         | 86/900 [04:01<13:30,  1.00it/s]
 10%|▉         | 87/900 [04:01<11:36,  1.17it/s]
 10%|▉         | 88/900 [04:02<10:09,  1.33it/s]
 10%|▉         | 89/900 [04:27<1:48:18,  8.01s/it]
 10%|█         | 90/900 [04:27<1:17:41,  5.76s/it]
 10%|█         | 91/900 [04:28<56:14,  4.17s/it]  
 10%|█         | 92/900 [04:28<41:24,  3.07s/it]
 10%|█         | 93/900 [04:29<31:00,  2.31s/it]
 10%|█         | 94/900 [04:29<23:47,  1.77s/it]
 11%|█         | 95/900 [04:30<18:52,  1.41s/it]
 11%|█         | 96/900 [04:30<15:12,  1.13s/it]
 11%|█         | 97/900 [04:38<42:10,  3.15s/it]
 11%|█         | 98/900 [04:39<31:39,  2.37s/it]
 11%|█         | 99/900 [04:39<24:19,  1.82s/it]
 11%|█         | 100/900 [04:40<19:08,  1.44s/it]
 11%|█         | 101/900 [04:40<15:33,  1.17s/it]
 11%|█▏        | 102/900 [04:41<12:54,  1.03it/s]
 11%|█▏        | 103/900 [04:41<11:00,  1.21it/s]
 12%|█▏        | 104/900 [04:42<09:46,  1.36it/s]
 12%|█▏        | 105/900 [04:49<33:13,  2.51s/it]
 12%|█▏        | 106/900 [04:49<25:24,  1.92s/it]
 12%|█▏        | 107/900 [04:50<19:51,  1.50s/it]
 12%|█▏        | 108/900 [04:50<15:55,  1.21s/it]
 12%|█▏        | 109/900 [04:51<13:06,  1.01it/s]
 12%|█▏        | 110/900 [04:51<11:13,  1.17it/s]
 12%|█▏        | 111/900 [04:52<09:56,  1.32it/s]
 12%|█▏        | 112/900 [04:52<09:09,  1.44it/s]
 13%|█▎        | 113/900 [05:06<59:55,  4.57s/it]
 13%|█▎        | 114/900 [05:06<43:57,  3.36s/it]
 13%|█▎        | 115/900 [05:07<32:46,  2.51s/it]
 13%|█▎        | 116/900 [05:08<24:58,  1.91s/it]
 13%|█▎        | 117/900 [05:08<19:32,  1.50s/it]
 13%|█▎        | 118/900 [05:09<15:47,  1.21s/it]
 13%|█▎        | 119/900 [05:09<13:13,  1.02s/it]
 13%|█▎        | 120/900 [05:10<11:25,  1.14it/s]
 13%|█▎        | 121/900 [05:21<51:41,  3.98s/it]
 14%|█▎        | 122/900 [05:21<38:19,  2.96s/it]
 14%|█▎        | 123/900 [05:22<28:51,  2.23s/it]
 14%|█▍        | 124/900 [05:23<22:13,  1.72s/it]
 14%|█▍        | 125/900 [05:23<17:36,  1.36s/it]
 14%|█▍        | 126/900 [05:24<14:21,  1.11s/it]
 14%|█▍        | 127/900 [05:24<12:07,  1.06it/s]
 14%|█▍        | 128/900 [05:25<10:24,  1.24it/s]
 14%|█▍        | 129/900 [05:49<1:41:25,  7.89s/it]
 14%|█▍        | 130/900 [05:50<1:12:53,  5.68s/it]
 15%|█▍        | 131/900 [05:50<52:56,  4.13s/it]  
 15%|█▍        | 132/900 [05:51<39:04,  3.05s/it]
 15%|█▍        | 133/900 [05:51<29:25,  2.30s/it]
 15%|█▍        | 134/900 [05:52<22:35,  1.77s/it]
 15%|█▌        | 135/900 [05:52<17:47,  1.40s/it]
 15%|█▌        | 136/900 [05:53<14:27,  1.14s/it]
 15%|█▌        | 137/900 [06:20<1:52:40,  8.86s/it]
 15%|█▌        | 138/900 [06:20<1:20:44,  6.36s/it]
 15%|█▌        | 139/900 [06:21<58:34,  4.62s/it]  
 16%|█▌        | 140/900 [06:21<43:09,  3.41s/it]
 16%|█▌        | 141/900 [06:22<32:13,  2.55s/it]
 16%|█▌        | 142/900 [06:22<24:35,  1.95s/it]
 16%|█▌        | 143/900 [06:23<19:15,  1.53s/it]
 16%|█▌        | 144/900 [06:23<15:27,  1.23s/it]
 16%|█▌        | 145/900 [06:48<1:41:47,  8.09s/it]
 16%|█▌        | 146/900 [06:48<1:13:07,  5.82s/it]
 16%|█▋        | 147/900 [06:49<53:05,  4.23s/it]  
 16%|█▋        | 148/900 [06:49<39:02,  3.12s/it]
 17%|█▋        | 149/900 [06:50<29:13,  2.33s/it]
 17%|█▋        | 150/900 [06:50<22:21,  1.79s/it]
 17%|█▋        | 151/900 [06:51<17:35,  1.41s/it]
 17%|█▋        | 152/900 [06:51<14:22,  1.15s/it]
 17%|█▋        | 153/900 [07:05<1:01:07,  4.91s/it]
 17%|█▋        | 154/900 [07:06<44:58,  3.62s/it]  
 17%|█▋        | 155/900 [07:06<33:34,  2.70s/it]
 17%|█▋        | 156/900 [07:07<25:32,  2.06s/it]
 17%|█▋        | 157/900 [07:07<19:53,  1.61s/it]
 18%|█▊        | 158/900 [07:08<15:56,  1.29s/it]
 18%|█▊        | 159/900 [07:08<13:09,  1.07s/it]
 18%|█▊        | 160/900 [07:09<11:09,  1.10it/s]
 18%|█▊        | 161/900 [07:17<37:49,  3.07s/it]
 18%|█▊        | 162/900 [07:17<28:23,  2.31s/it]
 18%|█▊        | 163/900 [07:18<21:49,  1.78s/it]
 18%|█▊        | 164/900 [07:19<17:06,  1.39s/it]
 18%|█▊        | 165/900 [07:19<13:45,  1.12s/it]
 18%|█▊        | 166/900 [07:19<11:27,  1.07it/s]
 19%|█▊        | 167/900 [07:20<09:50,  1.24it/s]
 19%|█▊        | 168/900 [07:20<08:37,  1.41it/s]
 19%|█▉        | 169/900 [07:32<47:42,  3.92s/it]
 19%|█▉        | 170/900 [07:32<35:09,  2.89s/it]
 19%|█▉        | 171/900 [07:33<26:20,  2.17s/it]
 19%|█▉        | 172/900 [07:33<20:12,  1.67s/it]
 19%|█▉        | 173/900 [07:34<15:54,  1.31s/it]
 19%|█▉        | 174/900 [07:34<13:00,  1.07s/it]
 19%|█▉        | 175/900 [07:35<10:58,  1.10it/s]
 20%|█▉        | 176/900 [07:35<09:32,  1.27it/s]
 20%|█▉        | 177/900 [07:49<54:03,  4.49s/it]
 20%|█▉        | 178/900 [07:49<39:33,  3.29s/it]
 20%|█▉        | 179/900 [07:49<29:21,  2.44s/it]
 20%|██        | 180/900 [07:50<22:15,  1.85s/it]
 20%|██        | 181/900 [07:51<17:32,  1.46s/it]
 20%|██        | 182/900 [07:51<14:09,  1.18s/it]
 20%|██        | 183/900 [07:52<11:45,  1.02it/s]
 20%|██        | 184/900 [07:52<10:03,  1.19it/s]
 21%|██        | 185/900 [08:00<35:22,  2.97s/it]
 21%|██        | 186/900 [08:01<26:42,  2.25s/it]
 21%|██        | 187/900 [08:01<20:39,  1.74s/it]
 21%|██        | 188/900 [08:02<16:28,  1.39s/it]
 21%|██        | 189/900 [08:02<13:29,  1.14s/it]
 21%|██        | 190/900 [08:03<11:20,  1.04it/s]
 21%|██        | 191/900 [08:03<09:50,  1.20it/s]
 21%|██▏       | 192/900 [08:04<08:46,  1.35it/s]
 21%|██▏       | 193/900 [08:18<56:37,  4.81s/it]
 22%|██▏       | 194/900 [08:19<41:30,  3.53s/it]
 22%|██▏       | 195/900 [08:19<30:55,  2.63s/it]
 22%|██▏       | 196/900 [08:20<23:32,  2.01s/it]
 22%|██▏       | 197/900 [08:20<18:22,  1.57s/it]
 22%|██▏       | 198/900 [08:21<14:40,  1.25s/it]
 22%|██▏       | 199/900 [08:21<12:04,  1.03s/it]
 22%|██▏       | 200/900 [08:22<10:14,  1.14it/s]
 22%|██▏       | 201/900 [08:33<45:34,  3.91s/it]
 22%|██▏       | 202/900 [08:33<33:34,  2.89s/it]
 23%|██▎       | 203/900 [08:34<25:08,  2.16s/it]
 23%|██▎       | 204/900 [08:34<19:17,  1.66s/it]
 23%|██▎       | 205/900 [08:35<15:15,  1.32s/it]
 23%|██▎       | 206/900 [08:35<12:23,  1.07s/it]
 23%|██▎       | 207/900 [08:36<10:29,  1.10it/s]
 23%|██▎       | 208/900 [08:36<09:07,  1.26it/s]
 23%|██▎       | 209/900 [09:41<3:48:54, 19.88s/it]
 23%|██▎       | 210/900 [09:41<2:41:42, 14.06s/it]
 23%|██▎       | 211/900 [09:42<1:54:42,  9.99s/it]
 24%|██▎       | 212/900 [09:42<1:21:50,  7.14s/it]
 24%|██▎       | 213/900 [09:43<58:57,  5.15s/it]  
 24%|██▍       | 214/900 [09:43<42:59,  3.76s/it]
 24%|██▍       | 215/900 [09:44<31:41,  2.78s/it]
 24%|██▍       | 216/900 [09:44<23:49,  2.09s/it]
 24%|██▍       | 217/900 [09:53<45:24,  3.99s/it]
 24%|██▍       | 218/900 [09:53<33:26,  2.94s/it]
 24%|██▍       | 219/900 [09:54<25:09,  2.22s/it]
 24%|██▍       | 220/900 [09:54<19:23,  1.71s/it]
 25%|██▍       | 221/900 [09:55<15:23,  1.36s/it]
 25%|██▍       | 222/900 [09:55<12:30,  1.11s/it]
 25%|██▍       | 223/900 [09:56<10:26,  1.08it/s]
 25%|██▍       | 224/900 [09:56<08:59,  1.25it/s]
 25%|██▌       | 225/900 [10:05<36:17,  3.23s/it]
 25%|██▌       | 226/900 [10:06<27:02,  2.41s/it]
 25%|██▌       | 227/900 [10:06<20:32,  1.83s/it]
 25%|██▌       | 228/900 [10:07<15:59,  1.43s/it]
 25%|██▌       | 229/900 [10:07<12:48,  1.14s/it]
 26%|██▌       | 230/900 [10:08<10:37,  1.05it/s]
 26%|██▌       | 231/900 [10:08<09:00,  1.24it/s]
 26%|██▌       | 232/900 [10:09<07:58,  1.39it/s]
 26%|██▌       | 233/900 [10:23<54:27,  4.90s/it]
 26%|██▌       | 234/900 [10:24<39:50,  3.59s/it]
 26%|██▌       | 235/900 [10:24<29:36,  2.67s/it]
 26%|██▌       | 236/900 [10:25<22:25,  2.03s/it]
 26%|██▋       | 237/900 [10:25<17:24,  1.58s/it]
 26%|██▋       | 238/900 [10:26<13:53,  1.26s/it]
 27%|██▋       | 239/900 [10:26<11:23,  1.03s/it]
 27%|██▋       | 240/900 [10:27<09:45,  1.13it/s]
 27%|██▋       | 241/900 [10:39<48:04,  4.38s/it]
 27%|██▋       | 242/900 [10:40<35:16,  3.22s/it]
 27%|██▋       | 243/900 [10:41<26:23,  2.41s/it]
 27%|██▋       | 244/900 [10:41<20:03,  1.83s/it]
 27%|██▋       | 245/900 [10:42<15:43,  1.44s/it]
 27%|██▋       | 246/900 [10:42<12:40,  1.16s/it]
 27%|██▋       | 247/900 [10:43<10:31,  1.03it/s]
 28%|██▊       | 248/900 [10:43<09:01,  1.21it/s]
 28%|██▊       | 249/900 [10:44<08:20,  1.30it/s]
 28%|██▊       | 250/900 [10:44<07:29,  1.45it/s]
 28%|██▊       | 251/900 [10:45<06:47,  1.59it/s]
 28%|██▊       | 252/900 [10:45<06:20,  1.70it/s]
 28%|██▊       | 253/900 [10:46<06:03,  1.78it/s]
 28%|██▊       | 254/900 [10:46<05:47,  1.86it/s]
 28%|██▊       | 255/900 [10:47<05:37,  1.91it/s]
 28%|██▊       | 256/900 [10:47<05:31,  1.95it/s]
 29%|██▊       | 257/900 [11:00<46:00,  4.29s/it]
 29%|██▊       | 258/900 [11:01<34:04,  3.18s/it]
 29%|██▉       | 259/900 [11:01<25:29,  2.39s/it]
 29%|██▉       | 260/900 [11:02<19:25,  1.82s/it]
 29%|██▉       | 261/900 [11:02<15:12,  1.43s/it]
 29%|██▉       | 262/900 [11:03<12:17,  1.16s/it]
 29%|██▉       | 263/900 [11:03<10:15,  1.03it/s]
 29%|██▉       | 264/900 [11:04<08:45,  1.21it/s]
 29%|██▉       | 265/900 [11:05<08:07,  1.30it/s]
 30%|██▉       | 266/900 [11:05<07:18,  1.44it/s]
 30%|██▉       | 267/900 [11:06<06:47,  1.55it/s]
 30%|██▉       | 268/900 [11:06<06:22,  1.65it/s]
 30%|██▉       | 269/900 [11:07<06:06,  1.72it/s]
 30%|███       | 270/900 [11:07<05:52,  1.79it/s]
 30%|███       | 271/900 [11:08<05:44,  1.82it/s]
 30%|███       | 272/900 [11:08<05:37,  1.86it/s]
 30%|███       | 273/900 [11:09<05:52,  1.78it/s]
 30%|███       | 274/900 [11:09<05:47,  1.80it/s]
 31%|███       | 275/900 [11:10<05:40,  1.84it/s]
 31%|███       | 276/900 [11:10<05:35,  1.86it/s]
 31%|███       | 277/900 [11:11<05:29,  1.89it/s]
 31%|███       | 278/900 [11:11<05:25,  1.91it/s]
 31%|███       | 279/900 [11:12<05:23,  1.92it/s]
 31%|███       | 280/900 [11:12<05:17,  1.95it/s]
 31%|███       | 281/900 [11:31<1:01:42,  5.98s/it]
 31%|███▏      | 282/900 [11:32<44:44,  4.34s/it]  
 31%|███▏      | 283/900 [11:32<32:48,  3.19s/it]
 32%|███▏      | 284/900 [11:33<24:29,  2.38s/it]
 32%|███▏      | 285/900 [11:33<18:40,  1.82s/it]
 32%|███▏      | 286/900 [11:34<14:35,  1.43s/it]
 32%|███▏      | 287/900 [11:34<11:46,  1.15s/it]
 32%|███▏      | 288/900 [11:35<09:48,  1.04it/s]
 32%|███▏      | 289/900 [11:35<08:44,  1.17it/s]
 32%|███▏      | 290/900 [11:36<07:42,  1.32it/s]
 32%|███▏      | 291/900 [11:36<06:55,  1.46it/s]
 32%|███▏      | 292/900 [11:37<06:23,  1.59it/s]
 33%|███▎      | 293/900 [11:37<05:56,  1.70it/s]
 33%|███▎      | 294/900 [11:38<05:38,  1.79it/s]
 33%|███▎      | 295/900 [11:38<05:23,  1.87it/s]
 33%|███▎      | 296/900 [11:39<05:14,  1.92it/s]
 33%|███▎      | 297/900 [11:39<05:25,  1.85it/s]
 33%|███▎      | 298/900 [11:40<05:17,  1.90it/s]
 33%|███▎      | 299/900 [11:40<05:12,  1.93it/s]
 33%|███▎      | 300/900 [11:41<05:08,  1.95it/s]
 33%|███▎      | 301/900 [11:41<05:04,  1.97it/s]
 34%|███▎      | 302/900 [11:42<05:04,  1.96it/s]
 34%|███▎      | 303/900 [11:42<05:00,  1.98it/s]
 34%|███▍      | 304/900 [11:43<05:03,  1.96it/s]
 34%|███▍      | 305/900 [11:44<05:19,  1.86it/s]
 34%|███▍      | 306/900 [11:44<05:10,  1.91it/s]
 34%|███▍      | 307/900 [11:45<05:09,  1.92it/s]
 34%|███▍      | 308/900 [11:45<05:06,  1.93it/s]
 34%|███▍      | 309/900 [11:46<05:05,  1.93it/s]
 34%|███▍      | 310/900 [11:46<04:59,  1.97it/s]
 35%|███▍      | 311/900 [11:47<04:57,  1.98it/s]
 35%|███▍      | 312/900 [11:47<04:57,  1.98it/s]
 35%|███▍      | 313/900 [11:56<29:27,  3.01s/it]
 35%|███▍      | 314/900 [11:56<22:12,  2.27s/it]
 35%|███▌      | 315/900 [11:57<16:57,  1.74s/it]
 35%|███▌      | 316/900 [11:57<13:18,  1.37s/it]
 35%|███▌      | 317/900 [11:58<10:44,  1.11s/it]
 35%|███▌      | 318/900 [11:58<08:57,  1.08it/s]
 35%|███▌      | 319/900 [11:59<07:42,  1.26it/s]
 36%|███▌      | 320/900 [11:59<06:49,  1.42it/s]
 36%|███▌      | 321/900 [12:00<06:33,  1.47it/s]
 36%|███▌      | 322/900 [12:01<06:00,  1.60it/s]
 36%|███▌      | 323/900 [12:01<05:37,  1.71it/s]
 36%|███▌      | 324/900 [12:02<05:23,  1.78it/s]
 36%|███▌      | 325/900 [12:02<05:10,  1.85it/s]
 36%|███▌      | 326/900 [12:03<05:00,  1.91it/s]
 36%|███▋      | 327/900 [12:03<04:54,  1.94it/s]
 36%|███▋      | 328/900 [12:03<04:48,  1.99it/s]
 37%|███▋      | 329/900 [12:04<05:53,  1.61it/s]
 37%|███▋      | 330/900 [12:05<05:30,  1.72it/s]
 37%|███▋      | 331/900 [12:05<05:14,  1.81it/s]
 37%|███▋      | 332/900 [12:06<05:05,  1.86it/s]
 37%|███▋      | 333/900 [12:06<05:00,  1.89it/s]
 37%|███▋      | 334/900 [12:07<04:51,  1.94it/s]
 37%|███▋      | 335/900 [12:07<04:50,  1.94it/s]
 37%|███▋      | 336/900 [12:08<04:48,  1.95it/s]
 37%|███▋      | 337/900 [12:09<05:48,  1.61it/s]
 38%|███▊      | 338/900 [12:09<05:28,  1.71it/s]
 38%|███▊      | 339/900 [12:10<05:14,  1.79it/s]
 38%|███▊      | 340/900 [12:10<05:04,  1.84it/s]
 38%|███▊      | 341/900 [12:11<04:56,  1.89it/s]
 38%|███▊      | 342/900 [12:11<04:52,  1.91it/s]
 38%|███▊      | 343/900 [12:12<04:48,  1.93it/s]
 38%|███▊      | 344/900 [12:12<04:46,  1.94it/s]
 38%|███▊      | 345/900 [12:32<58:09,  6.29s/it]
 38%|███▊      | 346/900 [12:33<41:59,  4.55s/it]
 39%|███▊      | 347/900 [12:33<30:40,  3.33s/it]
 39%|███▊      | 348/900 [12:33<22:44,  2.47s/it]
 39%|███▉      | 349/900 [12:34<17:14,  1.88s/it]
 39%|███▉      | 350/900 [12:34<13:23,  1.46s/it]
 39%|███▉      | 351/900 [12:35<10:49,  1.18s/it]
 39%|███▉      | 352/900 [12:36<09:00,  1.01it/s]
 39%|███▉      | 353/900 [12:36<07:58,  1.14it/s]
 39%|███▉      | 354/900 [12:37<07:04,  1.29it/s]
 39%|███▉      | 355/900 [12:37<06:24,  1.42it/s]
 40%|███▉      | 356/900 [12:38<05:52,  1.54it/s]
 40%|███▉      | 357/900 [12:38<05:30,  1.64it/s]
 40%|███▉      | 358/900 [12:39<05:14,  1.72it/s]
 40%|███▉      | 359/900 [12:39<05:00,  1.80it/s]
 40%|████      | 360/900 [12:40<04:51,  1.85it/s]
 40%|████      | 361/900 [13:17<1:42:33, 11.42s/it]
 40%|████      | 362/900 [13:17<1:13:01,  8.14s/it]
 40%|████      | 363/900 [13:18<52:22,  5.85s/it]  
 40%|████      | 364/900 [13:18<37:52,  4.24s/it]
 41%|████      | 365/900 [13:19<27:44,  3.11s/it]
 41%|████      | 366/900 [13:19<20:39,  2.32s/it]
 41%|████      | 367/900 [13:20<15:51,  1.78s/it]
 41%|████      | 368/900 [13:20<12:21,  1.39s/it]
 41%|████      | 369/900 [13:21<10:17,  1.16s/it]
 41%|████      | 370/900 [13:21<08:27,  1.04it/s]
 41%|████      | 371/900 [13:22<07:10,  1.23it/s]
 41%|████▏     | 372/900 [13:22<06:18,  1.39it/s]
 41%|████▏     | 373/900 [13:23<05:42,  1.54it/s]
 42%|████▏     | 374/900 [13:23<05:15,  1.67it/s]
 42%|████▏     | 375/900 [13:24<04:55,  1.78it/s]
 42%|████▏     | 376/900 [13:24<04:42,  1.86it/s]
 42%|████▏     | 377/900 [13:39<41:20,  4.74s/it]
 42%|████▏     | 378/900 [13:39<30:07,  3.46s/it]
 42%|████▏     | 379/900 [13:40<22:16,  2.57s/it]
 42%|████▏     | 380/900 [13:40<16:48,  1.94s/it]
 42%|████▏     | 381/900 [13:40<12:59,  1.50s/it]
 42%|████▏     | 382/900 [13:41<10:18,  1.19s/it]
 43%|████▎     | 383/900 [13:41<08:25,  1.02it/s]
 43%|████▎     | 384/900 [13:42<07:05,  1.21it/s]
 43%|████▎     | 385/900 [13:42<06:27,  1.33it/s]
 43%|████▎     | 386/900 [13:43<05:43,  1.50it/s]
 43%|████▎     | 387/900 [13:43<05:15,  1.62it/s]
 43%|████▎     | 388/900 [13:44<04:53,  1.75it/s]
 43%|████▎     | 389/900 [13:44<04:41,  1.82it/s]
 43%|████▎     | 390/900 [13:45<04:33,  1.86it/s]
 43%|████▎     | 391/900 [13:45<04:27,  1.90it/s]
 44%|████▎     | 392/900 [13:46<04:24,  1.92it/s]
 44%|████▎     | 393/900 [14:05<52:37,  6.23s/it]
 44%|████▍     | 394/900 [14:06<37:57,  4.50s/it]
 44%|████▍     | 395/900 [14:06<27:41,  3.29s/it]
 44%|████▍     | 396/900 [14:07<20:32,  2.44s/it]
 44%|████▍     | 397/900 [14:07<15:31,  1.85s/it]
 44%|████▍     | 398/900 [14:08<12:01,  1.44s/it]
 44%|████▍     | 399/900 [14:08<09:38,  1.16s/it]
 44%|████▍     | 400/900 [14:09<07:57,  1.05it/s]
 45%|████▍     | 401/900 [14:09<07:10,  1.16it/s]
 45%|████▍     | 402/900 [14:10<06:11,  1.34it/s]
 45%|████▍     | 403/900 [14:10<05:34,  1.48it/s]
 45%|████▍     | 404/900 [14:11<05:04,  1.63it/s]
 45%|████▌     | 405/900 [14:11<04:42,  1.75it/s]
 45%|████▌     | 406/900 [14:12<04:27,  1.85it/s]
 45%|████▌     | 407/900 [14:12<04:16,  1.92it/s]
 45%|████▌     | 408/900 [14:13<04:08,  1.98it/s]
 45%|████▌     | 409/900 [14:22<25:43,  3.14s/it]
 46%|████▌     | 410/900 [14:23<19:08,  2.34s/it]
 46%|████▌     | 411/900 [14:23<14:38,  1.80s/it]
 46%|████▌     | 412/900 [14:24<11:31,  1.42s/it]
 46%|████▌     | 413/900 [14:24<09:17,  1.15s/it]
 46%|████▌     | 414/900 [14:25<07:43,  1.05it/s]
 46%|████▌     | 415/900 [14:25<06:36,  1.22it/s]
 46%|████▌     | 416/900 [14:26<05:51,  1.38it/s]
 46%|████▋     | 417/900 [14:26<05:30,  1.46it/s]
 46%|████▋     | 418/900 [14:27<04:59,  1.61it/s]
 47%|████▋     | 419/900 [14:27<04:37,  1.73it/s]
 47%|████▋     | 420/900 [14:28<04:21,  1.84it/s]
 47%|████▋     | 421/900 [14:28<04:09,  1.92it/s]
 47%|████▋     | 422/900 [14:29<04:02,  1.97it/s]
 47%|████▋     | 423/900 [14:29<03:56,  2.02it/s]
 47%|████▋     | 424/900 [14:30<03:52,  2.04it/s]
 47%|████▋     | 425/900 [14:38<21:41,  2.74s/it]
 47%|████▋     | 426/900 [14:38<16:17,  2.06s/it]
 47%|████▋     | 427/900 [14:38<12:29,  1.58s/it]
 48%|████▊     | 428/900 [14:39<09:52,  1.25s/it]
 48%|████▊     | 429/900 [14:39<08:03,  1.03s/it]
 48%|████▊     | 430/900 [14:40<06:45,  1.16it/s]
 48%|████▊     | 431/900 [14:40<05:51,  1.33it/s]
 48%|████▊     | 432/900 [14:41<05:13,  1.49it/s]
 48%|████▊     | 433/900 [14:51<26:42,  3.43s/it]
 48%|████▊     | 434/900 [14:51<19:45,  2.54s/it]
 48%|████▊     | 435/900 [14:52<14:54,  1.92s/it]
 48%|████▊     | 436/900 [14:52<11:31,  1.49s/it]
 49%|████▊     | 437/900 [14:53<09:09,  1.19s/it]
 49%|████▊     | 438/900 [14:53<07:30,  1.03it/s]
 49%|████▉     | 439/900 [14:54<06:21,  1.21it/s]
 49%|████▉     | 440/900 [14:54<05:32,  1.38it/s]
 49%|████▉     | 441/900 [15:24<1:13:09,  9.56s/it]
 49%|████▉     | 442/900 [15:25<52:11,  6.84s/it]  
 49%|████▉     | 443/900 [15:25<37:34,  4.93s/it]
 49%|████▉     | 444/900 [15:26<27:20,  3.60s/it]
 49%|████▉     | 445/900 [15:26<20:11,  2.66s/it]
 50%|████▉     | 446/900 [15:27<15:11,  2.01s/it]
 50%|████▉     | 447/900 [15:27<11:46,  1.56s/it]
 50%|████▉     | 448/900 [15:28<09:21,  1.24s/it]
 50%|████▉     | 449/900 [15:28<07:56,  1.06s/it]
 50%|█████     | 450/900 [15:29<06:39,  1.13it/s]
 50%|█████     | 451/900 [15:29<05:46,  1.30it/s]
 50%|█████     | 452/900 [15:30<05:08,  1.45it/s]
 50%|█████     | 453/900 [15:30<04:46,  1.56it/s]
 50%|█████     | 454/900 [15:31<04:26,  1.67it/s]
 51%|█████     | 455/900 [15:31<04:12,  1.76it/s]
 51%|█████     | 456/900 [15:32<04:02,  1.83it/s]
 51%|█████     | 457/900 [15:41<23:59,  3.25s/it]
 51%|█████     | 458/900 [15:42<17:50,  2.42s/it]
 51%|█████     | 459/900 [15:42<13:30,  1.84s/it]
 51%|█████     | 460/900 [15:43<10:28,  1.43s/it]
 51%|█████     | 461/900 [15:43<08:21,  1.14s/it]
 51%|█████▏    | 462/900 [15:44<06:55,  1.05it/s]
 51%|█████▏    | 463/900 [15:44<05:52,  1.24it/s]
 52%|█████▏    | 464/900 [15:45<05:11,  1.40it/s]
 52%|█████▏    | 465/900 [15:46<05:03,  1.43it/s]
 52%|█████▏    | 466/900 [15:46<04:35,  1.57it/s]
 52%|█████▏    | 467/900 [15:47<04:23,  1.64it/s]
 52%|█████▏    | 468/900 [15:47<04:06,  1.76it/s]
 52%|█████▏    | 469/900 [15:48<04:00,  1.79it/s]
 52%|█████▏    | 470/900 [15:48<03:54,  1.83it/s]
 52%|█████▏    | 471/900 [15:49<03:47,  1.89it/s]
 52%|█████▏    | 472/900 [15:49<03:39,  1.95it/s]
 53%|█████▎    | 473/900 [16:02<30:57,  4.35s/it]
 53%|█████▎    | 474/900 [16:03<22:38,  3.19s/it]
 53%|█████▎    | 475/900 [16:03<16:50,  2.38s/it]
 53%|█████▎    | 476/900 [16:04<12:46,  1.81s/it]
 53%|█████▎    | 477/900 [16:04<09:56,  1.41s/it]
 53%|█████▎    | 478/900 [16:05<07:58,  1.13s/it]
 53%|█████▎    | 479/900 [16:05<06:35,  1.06it/s]
 53%|█████▎    | 480/900 [16:06<05:37,  1.25it/s]
 53%|█████▎    | 481/900 [16:38<1:10:47, 10.14s/it]
 54%|█████▎    | 482/900 [16:38<50:25,  7.24s/it]  
 54%|█████▎    | 483/900 [16:39<36:14,  5.21s/it]
 54%|█████▍    | 484/900 [16:39<26:20,  3.80s/it]
 54%|█████▍    | 485/900 [16:40<19:22,  2.80s/it]
 54%|█████▍    | 486/900 [16:40<14:30,  2.10s/it]
 54%|█████▍    | 487/900 [16:41<11:07,  1.62s/it]
 54%|█████▍    | 488/900 [16:41<08:45,  1.27s/it]
 54%|█████▍    | 489/900 [16:54<32:44,  4.78s/it]
 54%|█████▍    | 490/900 [16:54<23:50,  3.49s/it]
 55%|█████▍    | 491/900 [16:55<17:37,  2.58s/it]
 55%|█████▍    | 492/900 [16:55<13:16,  1.95s/it]
 55%|█████▍    | 493/900 [16:56<10:13,  1.51s/it]
 55%|█████▍    | 494/900 [16:56<08:06,  1.20s/it]
 55%|█████▌    | 495/900 [16:57<06:36,  1.02it/s]
 55%|█████▌    | 496/900 [16:57<05:34,  1.21it/s]
 55%|█████▌    | 497/900 [17:30<1:09:17, 10.32s/it]
 55%|█████▌    | 498/900 [17:30<49:21,  7.37s/it]  
 55%|█████▌    | 499/900 [17:31<35:24,  5.30s/it]
 56%|█████▌    | 500/900 [17:32<27:11,  4.08s/it]
 56%|█████▌    | 501/900 [17:32<19:55,  3.00s/it]
 56%|█████▌    | 502/900 [17:33<14:51,  2.24s/it]
 56%|█████▌    | 503/900 [17:33<11:18,  1.71s/it]
 56%|█████▌    | 504/900 [17:34<08:50,  1.34s/it]
 56%|█████▌    | 505/900 [17:44<26:58,  4.10s/it]
 56%|█████▌    | 506/900 [17:45<19:45,  3.01s/it]
 56%|█████▋    | 507/900 [17:45<14:42,  2.25s/it]
 56%|█████▋    | 508/900 [17:46<11:11,  1.71s/it]
 57%|█████▋    | 509/900 [17:46<08:49,  1.36s/it]
 57%|█████▋    | 510/900 [17:47<07:05,  1.09s/it]
 57%|█████▋    | 511/900 [17:47<05:53,  1.10it/s]
 57%|█████▋    | 512/900 [17:48<05:03,  1.28it/s]
 57%|█████▋    | 513/900 [18:15<56:35,  8.77s/it]
 57%|█████▋    | 514/900 [18:16<40:26,  6.29s/it]
 57%|█████▋    | 515/900 [18:16<29:08,  4.54s/it]
 57%|█████▋    | 516/900 [18:17<21:14,  3.32s/it]
 57%|█████▋    | 517/900 [18:17<15:45,  2.47s/it]
 58%|█████▊    | 518/900 [18:18<11:57,  1.88s/it]
 58%|█████▊    | 519/900 [18:18<09:16,  1.46s/it]
 58%|█████▊    | 520/900 [18:19<07:26,  1.18s/it]
 58%|█████▊    | 521/900 [18:42<48:53,  7.74s/it]
 58%|█████▊    | 522/900 [18:42<35:04,  5.57s/it]
 58%|█████▊    | 523/900 [18:43<25:26,  4.05s/it]
 58%|█████▊    | 524/900 [18:43<18:44,  2.99s/it]
 58%|█████▊    | 525/900 [18:44<14:01,  2.24s/it]
 58%|█████▊    | 526/900 [18:44<10:43,  1.72s/it]
 59%|█████▊    | 527/900 [18:45<08:24,  1.35s/it]
 59%|█████▊    | 528/900 [18:45<06:50,  1.10s/it]
 59%|█████▉    | 529/900 [18:57<27:32,  4.45s/it]
 59%|█████▉    | 530/900 [18:58<20:13,  3.28s/it]
 59%|█████▉    | 531/900 [18:58<15:04,  2.45s/it]
 59%|█████▉    | 532/900 [18:59<11:27,  1.87s/it]
 59%|█████▉    | 533/900 [18:59<08:54,  1.46s/it]
 59%|█████▉    | 534/900 [19:00<07:04,  1.16s/it]
 59%|█████▉    | 535/900 [19:00<05:50,  1.04it/s]
 60%|█████▉    | 536/900 [19:01<04:59,  1.21it/s]
 60%|█████▉    | 537/900 [19:16<30:40,  5.07s/it]
 60%|█████▉    | 538/900 [19:16<22:18,  3.70s/it]
 60%|█████▉    | 539/900 [19:17<16:27,  2.73s/it]
 60%|██████    | 540/900 [19:17<12:21,  2.06s/it]
 60%|██████    | 541/900 [19:18<09:31,  1.59s/it]
 60%|██████    | 542/900 [19:18<07:32,  1.26s/it]
 60%|██████    | 543/900 [19:19<06:09,  1.03s/it]
 60%|██████    | 544/900 [19:19<05:09,  1.15it/s]
 61%|██████    | 545/900 [19:36<32:25,  5.48s/it]
 61%|██████    | 546/900 [19:36<23:31,  3.99s/it]
 61%|██████    | 547/900 [19:37<17:16,  2.94s/it]
 61%|██████    | 548/900 [19:37<12:55,  2.20s/it]
 61%|██████    | 549/900 [19:38<09:53,  1.69s/it]
 61%|██████    | 550/900 [19:38<07:45,  1.33s/it]
 61%|██████    | 551/900 [19:39<06:16,  1.08s/it]
 61%|██████▏   | 552/900 [19:39<05:11,  1.12it/s]
 61%|██████▏   | 553/900 [19:52<26:13,  4.53s/it]
 62%|██████▏   | 554/900 [19:53<19:10,  3.33s/it]
 62%|██████▏   | 555/900 [19:53<14:15,  2.48s/it]
 62%|██████▏   | 556/900 [19:54<10:51,  1.89s/it]
 62%|██████▏   | 557/900 [19:54<08:28,  1.48s/it]
 62%|██████▏   | 558/900 [19:55<06:48,  1.19s/it]
 62%|██████▏   | 559/900 [19:55<05:36,  1.01it/s]
 62%|██████▏   | 560/900 [19:56<04:48,  1.18it/s]
 62%|██████▏   | 561/900 [20:12<31:53,  5.64s/it]
 62%|██████▏   | 562/900 [20:13<23:04,  4.10s/it]
 63%|██████▎   | 563/900 [20:13<16:54,  3.01s/it]
 63%|██████▎   | 564/900 [20:14<12:35,  2.25s/it]
 63%|██████▎   | 565/900 [20:14<09:35,  1.72s/it]
 63%|██████▎   | 566/900 [20:15<07:30,  1.35s/it]
 63%|██████▎   | 567/900 [20:15<06:02,  1.09s/it]
 63%|██████▎   | 568/900 [20:16<05:01,  1.10it/s]
 63%|██████▎   | 569/900 [20:28<23:53,  4.33s/it]
 63%|██████▎   | 570/900 [20:29<17:31,  3.19s/it]
 63%|██████▎   | 571/900 [20:29<13:04,  2.38s/it]
 64%|██████▎   | 572/900 [20:30<09:58,  1.82s/it]
 64%|██████▎   | 573/900 [20:30<07:50,  1.44s/it]
 64%|██████▍   | 574/900 [20:31<06:17,  1.16s/it]
 64%|██████▍   | 575/900 [20:31<05:13,  1.04it/s]
 64%|██████▍   | 576/900 [20:32<04:29,  1.20it/s]
 64%|██████▍   | 577/900 [20:42<20:20,  3.78s/it]
 64%|██████▍   | 578/900 [20:43<15:00,  2.80s/it]
 64%|██████▍   | 579/900 [20:43<11:16,  2.11s/it]
 64%|██████▍   | 580/900 [20:44<08:41,  1.63s/it]
 65%|██████▍   | 581/900 [20:44<06:52,  1.29s/it]
 65%|██████▍   | 582/900 [20:45<05:36,  1.06s/it]
 65%|██████▍   | 583/900 [20:46<04:47,  1.10it/s]
 65%|██████▍   | 584/900 [20:46<04:11,  1.25it/s]
 65%|██████▌   | 585/900 [20:58<21:35,  4.11s/it]
 65%|██████▌   | 586/900 [20:58<15:51,  3.03s/it]
 65%|██████▌   | 587/900 [20:59<11:51,  2.27s/it]
 65%|██████▌   | 588/900 [20:59<09:04,  1.74s/it]
 65%|██████▌   | 589/900 [21:00<07:07,  1.38s/it]
 66%|██████▌   | 590/900 [21:01<05:49,  1.13s/it]
 66%|██████▌   | 591/900 [21:01<04:52,  1.06it/s]
 66%|██████▌   | 592/900 [21:02<04:13,  1.22it/s]
 66%|██████▌   | 593/900 [21:12<18:22,  3.59s/it]
 66%|██████▌   | 594/900 [21:12<13:36,  2.67s/it]
 66%|██████▌   | 595/900 [21:13<10:16,  2.02s/it]
 66%|██████▌   | 596/900 [21:13<07:56,  1.57s/it]
 66%|██████▋   | 597/900 [21:14<06:18,  1.25s/it]
 66%|██████▋   | 598/900 [21:14<05:09,  1.03s/it]
 67%|██████▋   | 599/900 [21:15<04:22,  1.15it/s]
 67%|██████▋   | 600/900 [21:15<03:49,  1.31it/s]
 67%|██████▋   | 601/900 [21:56<1:04:10, 12.88s/it]
 67%|██████▋   | 602/900 [21:57<45:35,  9.18s/it]  
 67%|██████▋   | 603/900 [21:57<32:37,  6.59s/it]
 67%|██████▋   | 604/900 [21:58<23:33,  4.78s/it]
 67%|██████▋   | 605/900 [21:59<17:14,  3.51s/it]
 67%|██████▋   | 606/900 [21:59<12:50,  2.62s/it]
 67%|██████▋   | 607/900 [22:00<09:43,  1.99s/it]
 68%|██████▊   | 608/900 [22:00<07:33,  1.55s/it]
 68%|██████▊   | 609/900 [22:13<24:19,  5.02s/it]
 68%|██████▊   | 610/900 [22:14<17:39,  3.65s/it]
 68%|██████▊   | 611/900 [22:14<13:00,  2.70s/it]
 68%|██████▊   | 612/900 [22:15<09:45,  2.03s/it]
 68%|██████▊   | 613/900 [22:15<07:32,  1.58s/it]
 68%|██████▊   | 614/900 [22:16<05:56,  1.25s/it]
 68%|██████▊   | 614/900 [22:16<10:22,  2.18s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/log_0_env0.json.
+SpoonInMugTask_0 complete: task_name: SpoonInMugTask, run_name: SpoonInMugTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the metal spoon that's in the wooden bowl in the mug, attributes: ['affordance', 'spatial', 'moderate'], success: True, episode_step: 615, duration: 41.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.554960880992106, 'joint_sparc_mean': -10.662477103178613, 'ee_isj': 100088.0644750489, 'joint_isj': 1840352.0388314824, 'ee_path_length': 11.411392466563372, 'joint_rmse_mean': 1.6349652595662394, 'ee_speed_max': 4.347330093383789, 'ee_speed_mean': 0.2656237483024597}, events: {'GRIPPER_HIT_OBJECT': 2, 'WRONG_OBJECT_GRABBED': 2, 'GRIPPER_FULLY_CLOSED': 3, 'TARGET_OBJECT_DROPPED': 2, 'OBJECT_BUMPED': 3, 'OBJECT_OUT_OF_SCENE': 2, 'OBJECT_MOVED': 2, 'GRIPPER_HIT_TABLE': 2, 'wrong_objects_grabbed': ['granola_bars', 'ceramic_mug']}, instruction_type: default, timing: {'policy_inference_s': 1031.431, 'policy_inference_avg_ms': 1677.1, 'env_step_s': 299.715, 'env_step_avg_ms': 487.3, 'video_write_s': 5.108, 'video_write_avg_ms': 8.3, 'wall_total_s': 1336.253, 'it_per_sec': 0.46}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: c53b4a34a6014c86bfb6ed730114665f-0
+[RoboLab] Running SpoonInMugTask_1: 'Put the metal spoon that's in the wooden bowl in the mug' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:57<14:27:34, 57.90s/it]
  0%|          | 2/900 [00:58<6:01:03, 24.12s/it] 
  0%|          | 3/900 [00:58<3:19:11, 13.32s/it]
  0%|          | 4/900 [00:59<2:03:09,  8.25s/it]
  1%|          | 5/900 [00:59<1:21:10,  5.44s/it]
  1%|          | 6/900 [01:00<55:58,  3.76s/it]  
  1%|          | 7/900 [01:00<40:06,  2.69s/it]
  1%|          | 8/900 [01:01<29:32,  1.99s/it]
  1%|          | 9/900 [01:29<2:29:25, 10.06s/it]
  1%|          | 10/900 [01:29<1:45:18,  7.10s/it]
  1%|          | 11/900 [01:29<1:15:04,  5.07s/it]
  1%|▏         | 12/900 [01:30<54:15,  3.67s/it]  
  1%|▏         | 13/900 [01:30<39:54,  2.70s/it]
  2%|▏         | 14/900 [01:31<30:05,  2.04s/it]
  2%|▏         | 15/900 [01:31<23:07,  1.57s/it]
  2%|▏         | 16/900 [01:32<18:13,  1.24s/it]
  2%|▏         | 17/900 [01:41<54:26,  3.70s/it]
  2%|▏         | 18/900 [01:42<40:06,  2.73s/it]
  2%|▏         | 19/900 [01:42<30:11,  2.06s/it]
  2%|▏         | 20/900 [01:43<23:19,  1.59s/it]
  2%|▏         | 21/900 [01:43<18:34,  1.27s/it]
  2%|▏         | 22/900 [01:44<15:11,  1.04s/it]
  3%|▎         | 23/900 [01:44<12:57,  1.13it/s]
  3%|▎         | 24/900 [01:45<11:22,  1.28it/s]
  3%|▎         | 25/900 [02:00<1:13:20,  5.03s/it]
  3%|▎         | 26/900 [02:00<53:30,  3.67s/it]  
  3%|▎         | 27/900 [02:01<39:36,  2.72s/it]
  3%|▎         | 28/900 [02:01<29:52,  2.06s/it]
  3%|▎         | 29/900 [02:02<23:12,  1.60s/it]
  3%|▎         | 30/900 [02:02<18:28,  1.27s/it]
  3%|▎         | 31/900 [02:03<15:02,  1.04s/it]
  4%|▎         | 32/900 [02:03<12:38,  1.14it/s]
  4%|▎         | 33/900 [02:22<1:28:38,  6.13s/it]
  4%|▍         | 34/900 [02:22<1:04:07,  4.44s/it]
  4%|▍         | 35/900 [02:23<46:59,  3.26s/it]  
  4%|▍         | 36/900 [02:23<35:01,  2.43s/it]
  4%|▍         | 37/900 [02:24<26:35,  1.85s/it]
  4%|▍         | 38/900 [02:24<20:40,  1.44s/it]
  4%|▍         | 39/900 [02:25<16:29,  1.15s/it]
  4%|▍         | 40/900 [02:25<13:41,  1.05it/s]
  5%|▍         | 41/900 [02:30<32:20,  2.26s/it]
  5%|▍         | 42/900 [02:31<24:48,  1.74s/it]
  5%|▍         | 43/900 [02:32<19:35,  1.37s/it]
  5%|▍         | 44/900 [02:32<15:44,  1.10s/it]
  5%|▌         | 45/900 [02:32<13:03,  1.09it/s]
  5%|▌         | 46/900 [02:33<11:12,  1.27it/s]
  5%|▌         | 47/900 [02:33<09:56,  1.43it/s]
  5%|▌         | 48/900 [02:34<09:01,  1.57it/s]
  5%|▌         | 49/900 [03:03<2:09:13,  9.11s/it]
  6%|▌         | 50/900 [03:03<1:32:23,  6.52s/it]
  6%|▌         | 51/900 [03:04<1:06:37,  4.71s/it]
  6%|▌         | 52/900 [03:04<48:42,  3.45s/it]  
  6%|▌         | 53/900 [03:05<36:04,  2.56s/it]
  6%|▌         | 54/900 [03:05<27:24,  1.94s/it]
  6%|▌         | 55/900 [03:06<21:09,  1.50s/it]
  6%|▌         | 56/900 [03:06<16:52,  1.20s/it]
  6%|▋         | 57/900 [03:14<42:29,  3.02s/it]
  6%|▋         | 58/900 [03:14<31:45,  2.26s/it]
  7%|▋         | 59/900 [03:15<24:14,  1.73s/it]
  7%|▋         | 60/900 [03:15<19:01,  1.36s/it]
  7%|▋         | 61/900 [03:16<15:27,  1.11s/it]
  7%|▋         | 62/900 [03:16<12:50,  1.09it/s]
  7%|▋         | 63/900 [03:16<11:02,  1.26it/s]
  7%|▋         | 64/900 [03:17<09:49,  1.42it/s]
  7%|▋         | 65/900 [03:34<1:18:26,  5.64s/it]
  7%|▋         | 66/900 [03:35<56:53,  4.09s/it]  
  7%|▋         | 67/900 [03:35<41:48,  3.01s/it]
  8%|▊         | 68/900 [03:36<31:14,  2.25s/it]
  8%|▊         | 69/900 [03:36<23:51,  1.72s/it]
  8%|▊         | 70/900 [03:37<18:50,  1.36s/it]
  8%|▊         | 71/900 [03:37<15:23,  1.11s/it]
  8%|▊         | 72/900 [03:38<13:00,  1.06it/s]
  8%|▊         | 73/900 [03:46<44:02,  3.20s/it]
  8%|▊         | 74/900 [03:47<33:04,  2.40s/it]
  8%|▊         | 75/900 [03:47<25:17,  1.84s/it]
  8%|▊         | 76/900 [03:48<19:56,  1.45s/it]
  9%|▊         | 77/900 [03:48<16:12,  1.18s/it]
  9%|▊         | 78/900 [03:49<13:38,  1.00it/s]
  9%|▉         | 79/900 [03:49<11:46,  1.16it/s]
  9%|▉         | 80/900 [03:50<10:24,  1.31it/s]
  9%|▉         | 81/900 [04:20<2:08:21,  9.40s/it]
  9%|▉         | 82/900 [04:20<1:31:54,  6.74s/it]
  9%|▉         | 83/900 [04:21<1:06:24,  4.88s/it]
  9%|▉         | 84/900 [04:21<48:36,  3.57s/it]  
  9%|▉         | 85/900 [04:22<36:08,  2.66s/it]
 10%|▉         | 86/900 [04:22<27:26,  2.02s/it]
 10%|▉         | 87/900 [04:23<21:24,  1.58s/it]
 10%|▉         | 88/900 [04:23<17:09,  1.27s/it]
 10%|▉         | 89/900 [04:36<1:04:48,  4.80s/it]
 10%|█         | 90/900 [04:37<47:28,  3.52s/it]  
 10%|█         | 91/900 [04:37<35:13,  2.61s/it]
 10%|█         | 92/900 [04:38<26:43,  1.98s/it]
 10%|█         | 93/900 [04:38<20:44,  1.54s/it]
 10%|█         | 94/900 [04:39<16:38,  1.24s/it]
 11%|█         | 95/900 [04:39<13:45,  1.03s/it]
 11%|█         | 96/900 [04:40<11:45,  1.14it/s]
 11%|█         | 97/900 [05:08<2:02:27,  9.15s/it]
 11%|█         | 98/900 [05:09<1:27:40,  6.56s/it]
 11%|█         | 99/900 [05:09<1:03:23,  4.75s/it]
 11%|█         | 100/900 [05:10<46:20,  3.48s/it] 
 11%|█         | 101/900 [05:10<34:22,  2.58s/it]
 11%|█▏        | 102/900 [05:11<25:57,  1.95s/it]
 11%|█▏        | 103/900 [05:11<20:10,  1.52s/it]
 12%|█▏        | 104/900 [05:12<16:07,  1.22s/it]
 12%|█▏        | 105/900 [05:24<1:00:25,  4.56s/it]
 12%|█▏        | 106/900 [05:25<44:19,  3.35s/it]  
 12%|█▏        | 107/900 [05:25<33:01,  2.50s/it]
 12%|█▏        | 108/900 [05:26<25:09,  1.91s/it]
 12%|█▏        | 109/900 [05:26<19:41,  1.49s/it]
 12%|█▏        | 110/900 [05:27<15:53,  1.21s/it]
 12%|█▏        | 111/900 [05:27<13:10,  1.00s/it]
 12%|█▏        | 112/900 [05:28<11:18,  1.16it/s]
 13%|█▎        | 113/900 [05:39<49:42,  3.79s/it]
 13%|█▎        | 114/900 [05:39<36:52,  2.81s/it]
 13%|█▎        | 115/900 [05:40<27:53,  2.13s/it]
 13%|█▎        | 116/900 [05:40<21:35,  1.65s/it]
 13%|█▎        | 117/900 [05:41<17:10,  1.32s/it]
 13%|█▎        | 118/900 [05:41<14:05,  1.08s/it]
 13%|█▎        | 119/900 [05:42<11:54,  1.09it/s]
 13%|█▎        | 120/900 [05:42<10:26,  1.25it/s]
 13%|█▎        | 121/900 [05:52<44:49,  3.45s/it]
 14%|█▎        | 122/900 [05:53<33:24,  2.58s/it]
 14%|█▎        | 123/900 [05:53<25:27,  1.97s/it]
 14%|█▍        | 124/900 [05:54<19:49,  1.53s/it]
 14%|█▍        | 125/900 [05:54<15:57,  1.24s/it]
 14%|█▍        | 126/900 [05:55<13:15,  1.03s/it]
 14%|█▍        | 127/900 [05:55<11:23,  1.13it/s]
 14%|█▍        | 128/900 [05:56<10:06,  1.27it/s]
 14%|█▍        | 129/900 [06:13<1:13:30,  5.72s/it]
 14%|█▍        | 130/900 [06:14<53:32,  4.17s/it]  
 15%|█▍        | 131/900 [06:14<39:27,  3.08s/it]
 15%|█▍        | 132/900 [06:15<29:38,  2.32s/it]
 15%|█▍        | 133/900 [06:15<22:47,  1.78s/it]
 15%|█▍        | 134/900 [06:16<17:58,  1.41s/it]
 15%|█▌        | 135/900 [06:16<14:34,  1.14s/it]
 15%|█▌        | 136/900 [06:17<12:14,  1.04it/s]
 15%|█▌        | 137/900 [06:33<1:12:17,  5.68s/it]
 15%|█▌        | 138/900 [06:34<52:29,  4.13s/it]  
 15%|█▌        | 139/900 [06:34<38:37,  3.05s/it]
 16%|█▌        | 140/900 [06:35<28:56,  2.28s/it]
 16%|█▌        | 141/900 [06:36<22:13,  1.76s/it]
 16%|█▌        | 142/900 [06:36<17:28,  1.38s/it]
 16%|█▌        | 143/900 [06:37<14:18,  1.13s/it]
 16%|█▌        | 144/900 [06:37<12:01,  1.05it/s]
 16%|█▌        | 145/900 [06:49<51:51,  4.12s/it]
 16%|█▌        | 146/900 [06:49<38:11,  3.04s/it]
 16%|█▋        | 147/900 [06:50<28:38,  2.28s/it]
 16%|█▋        | 148/900 [06:50<21:59,  1.75s/it]
 17%|█▋        | 149/900 [06:51<17:17,  1.38s/it]
 17%|█▋        | 150/900 [06:51<13:59,  1.12s/it]
 17%|█▋        | 151/900 [06:52<11:40,  1.07it/s]
 17%|█▋        | 152/900 [06:52<10:04,  1.24it/s]
 17%|█▋        | 153/900 [07:02<44:20,  3.56s/it]
 17%|█▋        | 154/900 [07:03<32:59,  2.65s/it]
 17%|█▋        | 155/900 [07:03<24:55,  2.01s/it]
 17%|█▋        | 156/900 [07:04<19:18,  1.56s/it]
 17%|█▋        | 157/900 [07:04<15:21,  1.24s/it]
 18%|█▊        | 158/900 [07:05<12:35,  1.02s/it]
 18%|█▊        | 159/900 [07:05<10:40,  1.16it/s]
 18%|█▊        | 160/900 [07:06<09:19,  1.32it/s]
 18%|█▊        | 161/900 [07:15<39:20,  3.19s/it]
 18%|█▊        | 162/900 [07:15<29:22,  2.39s/it]
 18%|█▊        | 163/900 [07:16<22:25,  1.83s/it]
 18%|█▊        | 164/900 [07:16<17:33,  1.43s/it]
 18%|█▊        | 165/900 [07:17<14:10,  1.16s/it]
 18%|█▊        | 166/900 [07:17<11:45,  1.04it/s]
 19%|█▊        | 167/900 [07:18<10:05,  1.21it/s]
 19%|█▊        | 168/900 [07:18<08:55,  1.37it/s]
 19%|█▊        | 168/900 [07:27<32:31,  2.67s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/log_1_env0.json.
+SpoonInMugTask_1 complete: task_name: SpoonInMugTask, run_name: SpoonInMugTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the metal spoon that's in the wooden bowl in the mug, attributes: ['affordance', 'spatial', 'moderate'], success: True, episode_step: 169, duration: 11.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.291805223460738, 'joint_sparc_mean': -6.219550010002818, 'ee_isj': 841.3421198947403, 'joint_isj': 71757.8144906477, 'ee_path_length': 1.6631608650168348, 'joint_rmse_mean': 0.7226037162366744, 'ee_speed_max': 0.3912363648414612, 'ee_speed_mean': 0.13999097049236298}, events: {'GRIPPER_HIT_OBJECT': 2, 'MULTIPLE_OBJECTS_GRABBED': 1, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_FULLY_CLOSED': 2, 'TARGET_OBJECT_DROPPED': 2, 'wrong_objects_grabbed': ['granola_bars']}, instruction_type: default, timing: {'policy_inference_s': 362.542, 'policy_inference_avg_ms': 2145.2, 'env_step_s': 83.357, 'env_step_avg_ms': 493.2, 'video_write_s': 1.814, 'video_write_avg_ms': 10.7, 'wall_total_s': 447.713, 'it_per_sec': 0.38}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 4eab600441bf4c01b15024592e814264-1
+[RoboLab] Running SpoonInMugTask_2: 'Put the metal spoon that's in the wooden bowl in the mug' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:46<11:42:42, 46.90s/it]
  0%|          | 2/900 [00:47<4:53:11, 19.59s/it] 
  0%|          | 3/900 [00:47<2:42:30, 10.87s/it]
  0%|          | 4/900 [00:48<1:41:18,  6.78s/it]
  1%|          | 5/900 [00:48<1:07:20,  4.51s/it]
  1%|          | 6/900 [00:49<46:56,  3.15s/it]  
  1%|          | 7/900 [00:49<34:06,  2.29s/it]
  1%|          | 8/900 [00:50<25:29,  1.72s/it]
  1%|          | 9/900 [00:57<51:04,  3.44s/it]
  1%|          | 10/900 [00:58<37:24,  2.52s/it]
  1%|          | 11/900 [00:58<28:07,  1.90s/it]
  1%|▏         | 12/900 [00:59<21:45,  1.47s/it]
  1%|▏         | 13/900 [00:59<17:17,  1.17s/it]
  2%|▏         | 14/900 [01:00<14:11,  1.04it/s]
  2%|▏         | 15/900 [01:00<12:00,  1.23it/s]
  2%|▏         | 16/900 [01:00<10:27,  1.41it/s]
  2%|▏         | 17/900 [01:10<48:12,  3.28s/it]
  2%|▏         | 18/900 [01:10<35:45,  2.43s/it]
  2%|▏         | 19/900 [01:11<27:02,  1.84s/it]
  2%|▏         | 20/900 [01:11<20:59,  1.43s/it]
  2%|▏         | 21/900 [01:12<16:41,  1.14s/it]
  2%|▏         | 22/900 [01:12<13:42,  1.07it/s]
  3%|▎         | 23/900 [01:12<11:38,  1.26it/s]
  3%|▎         | 24/900 [01:13<10:11,  1.43it/s]
  3%|▎         | 25/900 [01:26<1:02:19,  4.27s/it]
  3%|▎         | 26/900 [01:26<45:41,  3.14s/it]  
  3%|▎         | 27/900 [01:27<34:06,  2.34s/it]
  3%|▎         | 28/900 [01:27<25:57,  1.79s/it]
  3%|▎         | 29/900 [01:28<20:15,  1.40s/it]
  3%|▎         | 30/900 [01:28<16:14,  1.12s/it]
  3%|▎         | 31/900 [01:28<13:26,  1.08it/s]
  4%|▎         | 32/900 [01:29<11:28,  1.26it/s]
  4%|▎         | 33/900 [01:38<45:23,  3.14s/it]
  4%|▍         | 34/900 [01:38<33:53,  2.35s/it]
  4%|▍         | 35/900 [01:39<25:51,  1.79s/it]
  4%|▍         | 36/900 [01:39<20:09,  1.40s/it]
  4%|▍         | 37/900 [01:40<16:08,  1.12s/it]
  4%|▍         | 38/900 [01:40<13:17,  1.08it/s]
  4%|▍         | 39/900 [01:40<11:20,  1.26it/s]
  4%|▍         | 40/900 [01:41<09:56,  1.44it/s]
  5%|▍         | 41/900 [01:52<56:21,  3.94s/it]
  5%|▍         | 42/900 [01:53<41:26,  2.90s/it]
  5%|▍         | 43/900 [01:53<31:00,  2.17s/it]
  5%|▍         | 44/900 [01:54<23:43,  1.66s/it]
  5%|▌         | 45/900 [01:54<18:36,  1.31s/it]
  5%|▌         | 46/900 [01:55<15:03,  1.06s/it]
  5%|▌         | 47/900 [01:55<12:33,  1.13it/s]
  5%|▌         | 48/900 [01:56<10:58,  1.29it/s]
  5%|▌         | 49/900 [02:09<1:05:28,  4.62s/it]
  6%|▌         | 50/900 [02:10<47:51,  3.38s/it]  
  6%|▌         | 51/900 [02:10<35:30,  2.51s/it]
  6%|▌         | 52/900 [02:11<26:53,  1.90s/it]
  6%|▌         | 53/900 [02:11<20:53,  1.48s/it]
  6%|▌         | 54/900 [02:12<16:43,  1.19s/it]
  6%|▌         | 55/900 [02:12<13:48,  1.02it/s]
  6%|▌         | 56/900 [02:13<11:47,  1.19it/s]
  6%|▋         | 57/900 [02:54<3:00:04, 12.82s/it]
  6%|▋         | 58/900 [02:54<2:08:00,  9.12s/it]
  7%|▋         | 59/900 [02:55<1:31:38,  6.54s/it]
  7%|▋         | 60/900 [02:55<1:06:18,  4.74s/it]
  7%|▋         | 61/900 [02:56<48:34,  3.47s/it]  
  7%|▋         | 62/900 [02:56<36:06,  2.59s/it]
  7%|▋         | 63/900 [02:57<27:29,  1.97s/it]
  7%|▋         | 64/900 [02:57<21:22,  1.53s/it]
  7%|▋         | 65/900 [03:05<45:18,  3.26s/it]
  7%|▋         | 66/900 [03:05<33:45,  2.43s/it]
  7%|▋         | 67/900 [03:06<25:41,  1.85s/it]
  8%|▊         | 68/900 [03:06<20:02,  1.44s/it]
  8%|▊         | 69/900 [03:07<16:06,  1.16s/it]
  8%|▊         | 70/900 [03:07<13:21,  1.04it/s]
  8%|▊         | 71/900 [03:08<11:27,  1.21it/s]
  8%|▊         | 72/900 [03:08<10:05,  1.37it/s]
  8%|▊         | 73/900 [03:17<45:34,  3.31s/it]
  8%|▊         | 74/900 [03:18<33:58,  2.47s/it]
  8%|▊         | 75/900 [03:18<25:52,  1.88s/it]
  8%|▊         | 76/900 [03:19<20:11,  1.47s/it]
  9%|▊         | 77/900 [03:19<16:12,  1.18s/it]
  9%|▊         | 78/900 [03:20<13:25,  1.02it/s]
  9%|▉         | 79/900 [03:20<11:27,  1.19it/s]
  9%|▉         | 80/900 [03:21<10:04,  1.36it/s]
  9%|▉         | 81/900 [03:34<1:00:13,  4.41s/it]
  9%|▉         | 82/900 [03:34<44:10,  3.24s/it]  
  9%|▉         | 83/900 [03:35<32:53,  2.42s/it]
  9%|▉         | 84/900 [03:35<24:53,  1.83s/it]
  9%|▉         | 85/900 [03:36<19:19,  1.42s/it]
 10%|▉         | 86/900 [03:36<15:24,  1.14s/it]
 10%|▉         | 87/900 [03:37<12:42,  1.07it/s]
 10%|▉         | 88/900 [03:37<10:46,  1.26it/s]
 10%|▉         | 89/900 [03:44<33:51,  2.51s/it]
 10%|█         | 90/900 [03:44<25:39,  1.90s/it]
 10%|█         | 91/900 [03:45<20:04,  1.49s/it]
 10%|█         | 92/900 [03:45<16:04,  1.19s/it]
 10%|█         | 93/900 [03:46<13:21,  1.01it/s]
 10%|█         | 94/900 [03:46<11:23,  1.18it/s]
 11%|█         | 95/900 [03:47<09:55,  1.35it/s]
 11%|█         | 96/900 [03:47<08:55,  1.50it/s]
 11%|█         | 97/900 [04:14<1:52:18,  8.39s/it]
 11%|█         | 98/900 [04:14<1:20:36,  6.03s/it]
 11%|█         | 99/900 [04:15<58:26,  4.38s/it]  
 11%|█         | 100/900 [04:15<42:54,  3.22s/it]
 11%|█         | 101/900 [04:16<32:07,  2.41s/it]
 11%|█▏        | 102/900 [04:16<24:28,  1.84s/it]
 11%|█▏        | 103/900 [04:17<19:10,  1.44s/it]
 12%|█▏        | 104/900 [04:17<15:24,  1.16s/it]
 12%|█▏        | 105/900 [04:58<2:50:37, 12.88s/it]
 12%|█▏        | 106/900 [04:58<2:01:16,  9.16s/it]
 12%|█▏        | 107/900 [04:59<1:26:43,  6.56s/it]
 12%|█▏        | 108/900 [04:59<1:02:33,  4.74s/it]
 12%|█▏        | 109/900 [04:59<45:36,  3.46s/it]  
 12%|█▏        | 110/900 [05:00<33:48,  2.57s/it]
 12%|█▏        | 111/900 [05:00<25:30,  1.94s/it]
 12%|█▏        | 112/900 [05:01<19:42,  1.50s/it]
 13%|█▎        | 113/900 [05:08<43:08,  3.29s/it]
 13%|█▎        | 114/900 [05:09<32:02,  2.45s/it]
 13%|█▎        | 115/900 [05:09<24:14,  1.85s/it]
 13%|█▎        | 116/900 [05:10<18:54,  1.45s/it]
 13%|█▎        | 117/900 [05:10<15:05,  1.16s/it]
 13%|█▎        | 118/900 [05:11<12:30,  1.04it/s]
 13%|█▎        | 119/900 [05:11<10:39,  1.22it/s]
 13%|█▎        | 120/900 [05:12<09:18,  1.40it/s]
 13%|█▎        | 121/900 [05:18<30:54,  2.38s/it]
 14%|█▎        | 122/900 [05:19<23:25,  1.81s/it]
 14%|█▎        | 123/900 [05:19<18:15,  1.41s/it]
 14%|█▍        | 124/900 [05:19<14:35,  1.13s/it]
 14%|█▍        | 125/900 [05:20<12:00,  1.08it/s]
 14%|█▍        | 126/900 [05:20<10:13,  1.26it/s]
 14%|█▍        | 127/900 [05:21<09:00,  1.43it/s]
 14%|█▍        | 128/900 [05:21<08:06,  1.59it/s]
 14%|█▍        | 129/900 [05:34<55:32,  4.32s/it]
 14%|█▍        | 130/900 [05:35<40:40,  3.17s/it]
 15%|█▍        | 131/900 [05:35<30:18,  2.36s/it]
 15%|█▍        | 132/900 [05:36<23:08,  1.81s/it]
 15%|█▍        | 133/900 [05:36<18:01,  1.41s/it]
 15%|█▍        | 134/900 [05:37<14:28,  1.13s/it]
 15%|█▌        | 135/900 [05:37<12:08,  1.05it/s]
 15%|█▌        | 136/900 [05:38<10:25,  1.22it/s]
 15%|█▌        | 137/900 [05:47<42:44,  3.36s/it]
 15%|█▌        | 138/900 [05:48<31:49,  2.51s/it]
 15%|█▌        | 139/900 [05:48<24:22,  1.92s/it]
 16%|█▌        | 140/900 [05:49<18:58,  1.50s/it]
 16%|█▌        | 141/900 [05:49<15:10,  1.20s/it]
 16%|█▌        | 142/900 [05:50<12:30,  1.01it/s]
 16%|█▌        | 143/900 [05:50<10:41,  1.18it/s]
 16%|█▌        | 144/900 [05:51<09:28,  1.33it/s]
 16%|█▌        | 145/900 [06:06<1:05:52,  5.24s/it]
 16%|█▌        | 146/900 [06:07<47:51,  3.81s/it]  
 16%|█▋        | 147/900 [06:07<35:13,  2.81s/it]
 16%|█▋        | 148/900 [06:08<26:22,  2.10s/it]
 17%|█▋        | 149/900 [06:08<20:14,  1.62s/it]
 17%|█▋        | 150/900 [06:09<15:55,  1.27s/it]
 17%|█▋        | 151/900 [06:09<12:59,  1.04s/it]
 17%|█▋        | 152/900 [06:10<10:57,  1.14it/s]
 17%|█▋        | 153/900 [06:21<49:18,  3.96s/it]
 17%|█▋        | 154/900 [06:21<36:24,  2.93s/it]
 17%|█▋        | 155/900 [06:22<27:18,  2.20s/it]
 17%|█▋        | 156/900 [06:22<20:59,  1.69s/it]
 17%|█▋        | 157/900 [06:23<16:26,  1.33s/it]
 18%|█▊        | 158/900 [06:23<13:16,  1.07s/it]
 18%|█▊        | 159/900 [06:24<11:06,  1.11it/s]
 18%|█▊        | 160/900 [06:24<09:30,  1.30it/s]
 18%|█▊        | 161/900 [06:38<58:26,  4.74s/it]
 18%|█▊        | 162/900 [06:39<42:36,  3.46s/it]
 18%|█▊        | 163/900 [06:39<31:32,  2.57s/it]
 18%|█▊        | 164/900 [06:40<23:47,  1.94s/it]
 18%|█▊        | 165/900 [06:40<18:23,  1.50s/it]
 18%|█▊        | 166/900 [06:41<14:38,  1.20s/it]
 19%|█▊        | 167/900 [06:41<12:00,  1.02it/s]
 19%|█▊        | 168/900 [06:42<10:11,  1.20it/s]
 19%|█▉        | 169/900 [06:54<50:53,  4.18s/it]
 19%|█▉        | 170/900 [06:54<37:23,  3.07s/it]
 19%|█▉        | 171/900 [06:55<27:56,  2.30s/it]
 19%|█▉        | 172/900 [06:55<21:26,  1.77s/it]
 19%|█▉        | 173/900 [06:56<16:57,  1.40s/it]
 19%|█▉        | 174/900 [06:56<13:37,  1.13s/it]
 19%|█▉        | 175/900 [06:57<11:18,  1.07it/s]
 20%|█▉        | 176/900 [06:57<09:41,  1.25it/s]
 20%|█▉        | 177/900 [07:09<48:53,  4.06s/it]
 20%|█▉        | 178/900 [07:09<35:58,  2.99s/it]
 20%|█▉        | 179/900 [07:10<26:55,  2.24s/it]
 20%|██        | 180/900 [07:10<20:43,  1.73s/it]
 20%|██        | 181/900 [07:11<16:22,  1.37s/it]
 20%|██        | 182/900 [07:11<13:14,  1.11s/it]
 20%|██        | 183/900 [07:12<11:03,  1.08it/s]
 20%|██        | 184/900 [07:12<09:31,  1.25it/s]
 21%|██        | 185/900 [07:21<37:44,  3.17s/it]
 21%|██        | 186/900 [07:22<28:09,  2.37s/it]
 21%|██        | 187/900 [07:22<21:25,  1.80s/it]
 21%|██        | 188/900 [07:23<16:44,  1.41s/it]
 21%|██        | 189/900 [07:23<13:28,  1.14s/it]
 21%|██        | 190/900 [07:24<11:13,  1.05it/s]
 21%|██        | 191/900 [07:24<09:31,  1.24it/s]
 21%|██▏       | 192/900 [07:25<08:29,  1.39it/s]
 21%|██▏       | 193/900 [07:33<34:03,  2.89s/it]
 22%|██▏       | 194/900 [07:33<25:35,  2.17s/it]
 22%|██▏       | 195/900 [07:34<19:38,  1.67s/it]
 22%|██▏       | 196/900 [07:34<15:29,  1.32s/it]
 22%|██▏       | 197/900 [07:35<12:39,  1.08s/it]
 22%|██▏       | 198/900 [07:35<10:46,  1.09it/s]
 22%|██▏       | 199/900 [07:36<09:24,  1.24it/s]
 22%|██▏       | 200/900 [07:36<08:24,  1.39it/s]
 22%|██▏       | 201/900 [07:45<36:05,  3.10s/it]
 22%|██▏       | 202/900 [07:45<27:01,  2.32s/it]
 23%|██▎       | 203/900 [07:46<20:42,  1.78s/it]
 23%|██▎       | 204/900 [07:46<16:17,  1.40s/it]
 23%|██▎       | 205/900 [07:47<13:11,  1.14s/it]
 23%|██▎       | 206/900 [07:47<11:00,  1.05it/s]
 23%|██▎       | 207/900 [07:48<09:31,  1.21it/s]
 23%|██▎       | 208/900 [07:48<08:27,  1.36it/s]
 23%|██▎       | 209/900 [07:59<42:33,  3.70s/it]
 23%|██▎       | 210/900 [08:00<31:34,  2.75s/it]
 23%|██▎       | 211/900 [08:00<23:55,  2.08s/it]
 24%|██▎       | 212/900 [08:01<18:30,  1.61s/it]
 24%|██▎       | 213/900 [08:01<14:43,  1.29s/it]
 24%|██▍       | 214/900 [08:02<12:02,  1.05s/it]
 24%|██▍       | 215/900 [08:02<10:10,  1.12it/s]
 24%|██▍       | 216/900 [08:03<08:53,  1.28it/s]
 24%|██▍       | 217/900 [08:12<36:36,  3.22s/it]
 24%|██▍       | 218/900 [08:12<27:25,  2.41s/it]
 24%|██▍       | 219/900 [08:13<20:57,  1.85s/it]
 24%|██▍       | 220/900 [08:13<16:26,  1.45s/it]
 25%|██▍       | 221/900 [08:14<13:15,  1.17s/it]
 25%|██▍       | 222/900 [08:14<11:07,  1.02it/s]
 25%|██▍       | 223/900 [08:15<09:33,  1.18it/s]
 25%|██▍       | 224/900 [08:15<08:26,  1.34it/s]
 25%|██▌       | 225/900 [08:24<34:37,  3.08s/it]
 25%|██▌       | 226/900 [08:24<25:58,  2.31s/it]
 25%|██▌       | 227/900 [08:25<19:55,  1.78s/it]
 25%|██▌       | 228/900 [08:25<15:44,  1.41s/it]
 25%|██▌       | 229/900 [08:26<12:48,  1.15s/it]
 26%|██▌       | 230/900 [08:27<10:43,  1.04it/s]
 26%|██▌       | 231/900 [08:27<09:17,  1.20it/s]
 26%|██▌       | 232/900 [08:28<08:14,  1.35it/s]
 26%|██▌       | 233/900 [08:43<56:15,  5.06s/it]
 26%|██▌       | 234/900 [08:43<41:03,  3.70s/it]
 26%|██▌       | 235/900 [08:44<30:29,  2.75s/it]
 26%|██▌       | 236/900 [08:44<23:10,  2.09s/it]
 26%|██▋       | 237/900 [08:45<17:59,  1.63s/it]
 26%|██▋       | 238/900 [08:45<14:21,  1.30s/it]
 27%|██▋       | 239/900 [08:46<11:52,  1.08s/it]
 27%|██▋       | 240/900 [08:47<10:05,  1.09it/s]
 27%|██▋       | 241/900 [09:35<2:46:21, 15.15s/it]
 27%|██▋       | 242/900 [09:35<1:57:55, 10.75s/it]
 27%|██▋       | 243/900 [09:36<1:23:59,  7.67s/it]
 27%|██▋       | 244/900 [09:36<1:00:16,  5.51s/it]
 27%|██▋       | 245/900 [09:37<43:48,  4.01s/it]  
 27%|██▋       | 246/900 [09:37<32:15,  2.96s/it]
 27%|██▋       | 247/900 [09:38<24:17,  2.23s/it]
 28%|██▊       | 248/900 [09:38<18:37,  1.71s/it]
 28%|██▊       | 249/900 [09:49<46:59,  4.33s/it]
 28%|██▊       | 250/900 [09:49<34:23,  3.17s/it]
 28%|██▊       | 251/900 [09:50<25:38,  2.37s/it]
 28%|██▊       | 252/900 [09:50<19:27,  1.80s/it]
 28%|██▊       | 253/900 [09:51<15:07,  1.40s/it]
 28%|██▊       | 254/900 [09:51<12:11,  1.13s/it]
 28%|██▊       | 255/900 [09:52<10:18,  1.04it/s]
 28%|██▊       | 256/900 [09:52<08:51,  1.21it/s]
 29%|██▊       | 257/900 [10:17<1:26:44,  8.09s/it]
 29%|██▊       | 258/900 [10:18<1:02:10,  5.81s/it]
 29%|██▉       | 259/900 [10:18<45:00,  4.21s/it]  
 29%|██▉       | 260/900 [10:19<33:00,  3.09s/it]
 29%|██▉       | 261/900 [10:19<24:35,  2.31s/it]
 29%|██▉       | 262/900 [10:20<18:44,  1.76s/it]
 29%|██▉       | 263/900 [10:20<14:39,  1.38s/it]
 29%|██▉       | 264/900 [10:21<11:55,  1.12s/it]
 29%|██▉       | 265/900 [10:34<49:38,  4.69s/it]
 30%|██▉       | 266/900 [10:34<36:14,  3.43s/it]
 30%|██▉       | 267/900 [10:35<26:49,  2.54s/it]
 30%|██▉       | 268/900 [10:35<20:15,  1.92s/it]
 30%|██▉       | 269/900 [10:36<15:40,  1.49s/it]
 30%|███       | 270/900 [10:36<12:26,  1.19s/it]
 30%|███       | 271/900 [10:37<10:11,  1.03it/s]
 30%|███       | 272/900 [10:37<08:36,  1.22it/s]
 30%|███       | 273/900 [10:52<52:20,  5.01s/it]
 30%|███       | 274/900 [10:52<38:05,  3.65s/it]
 31%|███       | 275/900 [10:53<28:07,  2.70s/it]
 31%|███       | 276/900 [10:53<21:07,  2.03s/it]
 31%|███       | 277/900 [10:54<16:15,  1.57s/it]
 31%|███       | 278/900 [10:54<12:50,  1.24s/it]
 31%|███       | 279/900 [10:55<10:26,  1.01s/it]
 31%|███       | 280/900 [10:55<08:44,  1.18it/s]
 31%|███       | 281/900 [11:10<50:55,  4.94s/it]
 31%|███▏      | 282/900 [11:10<37:01,  3.60s/it]
 31%|███▏      | 283/900 [11:11<27:19,  2.66s/it]
 32%|███▏      | 284/900 [11:11<20:33,  2.00s/it]
 32%|███▏      | 285/900 [11:12<15:48,  1.54s/it]
 32%|███▏      | 286/900 [11:12<12:29,  1.22s/it]
 32%|███▏      | 287/900 [11:13<10:11,  1.00it/s]
 32%|███▏      | 288/900 [11:13<08:33,  1.19it/s]
 32%|███▏      | 289/900 [11:24<40:21,  3.96s/it]
 32%|███▏      | 290/900 [11:25<29:39,  2.92s/it]
 32%|███▏      | 291/900 [11:25<22:09,  2.18s/it]
 32%|███▏      | 292/900 [11:26<16:56,  1.67s/it]
 33%|███▎      | 293/900 [11:26<13:16,  1.31s/it]
 33%|███▎      | 294/900 [11:27<10:42,  1.06s/it]
 33%|███▎      | 295/900 [11:27<08:53,  1.14it/s]
 33%|███▎      | 296/900 [11:28<07:38,  1.32it/s]
 33%|███▎      | 297/900 [11:41<45:20,  4.51s/it]
 33%|███▎      | 298/900 [11:41<33:07,  3.30s/it]
 33%|███▎      | 299/900 [11:42<24:33,  2.45s/it]
 33%|███▎      | 300/900 [11:42<18:38,  1.86s/it]
 33%|███▎      | 301/900 [11:43<14:27,  1.45s/it]
 34%|███▎      | 302/900 [11:43<11:31,  1.16s/it]
 34%|███▎      | 303/900 [11:44<09:29,  1.05it/s]
 34%|███▍      | 304/900 [11:44<08:03,  1.23it/s]
 34%|███▍      | 305/900 [11:54<36:09,  3.65s/it]
 34%|███▍      | 306/900 [11:55<26:46,  2.71s/it]
 34%|███▍      | 307/900 [11:55<20:07,  2.04s/it]
 34%|███▍      | 308/900 [11:56<15:28,  1.57s/it]
 34%|███▍      | 309/900 [11:56<12:14,  1.24s/it]
 34%|███▍      | 310/900 [11:57<09:56,  1.01s/it]
 35%|███▍      | 311/900 [11:57<08:20,  1.18it/s]
 35%|███▍      | 312/900 [11:58<07:16,  1.35it/s]
 35%|███▍      | 313/900 [12:13<48:42,  4.98s/it]
 35%|███▍      | 314/900 [12:13<35:30,  3.64s/it]
 35%|███▌      | 315/900 [12:14<26:15,  2.69s/it]
 35%|███▌      | 316/900 [12:14<19:46,  2.03s/it]
 35%|███▌      | 317/900 [12:15<15:14,  1.57s/it]
 35%|███▌      | 318/900 [12:15<12:05,  1.25s/it]
 35%|███▌      | 319/900 [12:16<09:50,  1.02s/it]
 36%|███▌      | 320/900 [12:16<08:21,  1.16it/s]
 36%|███▌      | 321/900 [12:25<31:55,  3.31s/it]
 36%|███▌      | 322/900 [12:26<23:39,  2.46s/it]
 36%|███▌      | 323/900 [12:26<17:52,  1.86s/it]
 36%|███▌      | 324/900 [12:27<13:55,  1.45s/it]
 36%|███▌      | 325/900 [12:27<11:06,  1.16s/it]
 36%|███▌      | 326/900 [12:28<09:10,  1.04it/s]
 36%|███▋      | 327/900 [12:28<07:45,  1.23it/s]
 36%|███▋      | 328/900 [12:29<06:45,  1.41it/s]
 37%|███▋      | 329/900 [12:36<25:59,  2.73s/it]
 37%|███▋      | 330/900 [12:36<19:36,  2.06s/it]
 37%|███▋      | 331/900 [12:37<15:09,  1.60s/it]
 37%|███▋      | 332/900 [12:38<12:00,  1.27s/it]
 37%|███▋      | 333/900 [12:38<09:47,  1.04s/it]
 37%|███▋      | 334/900 [12:38<08:15,  1.14it/s]
 37%|███▋      | 335/900 [12:39<07:11,  1.31it/s]
 37%|███▋      | 336/900 [12:39<06:24,  1.47it/s]
 37%|███▋      | 337/900 [12:52<39:52,  4.25s/it]
 38%|███▊      | 338/900 [12:53<29:18,  3.13s/it]
 38%|███▊      | 339/900 [12:53<21:53,  2.34s/it]
 38%|███▊      | 340/900 [12:54<16:42,  1.79s/it]
 38%|███▊      | 341/900 [12:54<13:04,  1.40s/it]
 38%|███▊      | 342/900 [12:55<10:33,  1.13s/it]
 38%|███▊      | 343/900 [12:55<08:46,  1.06it/s]
 38%|███▊      | 344/900 [12:56<07:34,  1.22it/s]
 38%|███▊      | 345/900 [13:06<33:29,  3.62s/it]
 38%|███▊      | 346/900 [13:06<24:47,  2.68s/it]
 39%|███▊      | 347/900 [13:07<18:40,  2.03s/it]
 39%|███▊      | 348/900 [13:07<14:27,  1.57s/it]
 39%|███▉      | 349/900 [13:08<11:29,  1.25s/it]
 39%|███▉      | 350/900 [13:08<09:25,  1.03s/it]
 39%|███▉      | 351/900 [13:09<08:00,  1.14it/s]
 39%|███▉      | 352/900 [13:09<07:01,  1.30it/s]
 39%|███▉      | 353/900 [13:27<53:57,  5.92s/it]
 39%|███▉      | 354/900 [13:28<39:05,  4.30s/it]
 39%|███▉      | 355/900 [13:28<28:43,  3.16s/it]
 40%|███▉      | 356/900 [13:29<21:27,  2.37s/it]
 40%|███▉      | 357/900 [13:29<16:23,  1.81s/it]
 40%|███▉      | 358/900 [13:30<12:51,  1.42s/it]
 40%|███▉      | 359/900 [13:30<10:22,  1.15s/it]
 40%|████      | 360/900 [13:31<08:36,  1.04it/s]
 40%|████      | 361/900 [14:15<2:04:14, 13.83s/it]
 40%|████      | 362/900 [14:15<1:28:09,  9.83s/it]
 40%|████      | 363/900 [14:16<1:02:56,  7.03s/it]
 40%|████      | 364/900 [14:16<45:22,  5.08s/it]  
 41%|████      | 365/900 [14:17<33:03,  3.71s/it]
 41%|████      | 366/900 [14:17<24:29,  2.75s/it]
 41%|████      | 367/900 [14:18<18:28,  2.08s/it]
 41%|████      | 368/900 [14:18<14:16,  1.61s/it]
 41%|████      | 369/900 [14:30<40:45,  4.61s/it]
 41%|████      | 370/900 [14:30<29:49,  3.38s/it]
 41%|████      | 371/900 [14:31<22:10,  2.52s/it]
 41%|████▏     | 372/900 [14:31<16:54,  1.92s/it]
 41%|████▏     | 373/900 [14:32<13:08,  1.50s/it]
 42%|████▏     | 374/900 [14:32<10:29,  1.20s/it]
 42%|████▏     | 375/900 [14:33<08:39,  1.01it/s]
 42%|████▏     | 376/900 [14:33<07:23,  1.18it/s]
 42%|████▏     | 377/900 [14:42<26:50,  3.08s/it]
 42%|████▏     | 378/900 [14:42<20:07,  2.31s/it]
 42%|████▏     | 379/900 [14:43<15:25,  1.78s/it]
 42%|████▏     | 380/900 [14:43<12:14,  1.41s/it]
 42%|████▏     | 381/900 [14:44<09:59,  1.15s/it]
 42%|████▏     | 382/900 [14:44<08:23,  1.03it/s]
 43%|████▎     | 383/900 [14:45<07:17,  1.18it/s]
 43%|████▎     | 384/900 [14:46<06:30,  1.32it/s]
 43%|████▎     | 385/900 [14:58<35:47,  4.17s/it]
 43%|████▎     | 386/900 [14:58<26:25,  3.08s/it]
 43%|████▎     | 387/900 [14:59<19:49,  2.32s/it]
 43%|████▎     | 388/900 [14:59<15:17,  1.79s/it]
 43%|████▎     | 389/900 [15:00<12:04,  1.42s/it]
 43%|████▎     | 390/900 [15:00<09:48,  1.15s/it]
 43%|████▎     | 391/900 [15:01<08:15,  1.03it/s]
 44%|████▎     | 392/900 [15:02<07:08,  1.19it/s]
 44%|████▎     | 393/900 [15:16<40:59,  4.85s/it]
 44%|████▎     | 393/900 [15:16<19:42,  2.33s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/log_2_env0.json.
+SpoonInMugTask_2 complete: task_name: SpoonInMugTask, run_name: SpoonInMugTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the metal spoon that's in the wooden bowl in the mug, attributes: ['affordance', 'spatial', 'moderate'], success: True, episode_step: 394, duration: 26.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.298431206288342, 'joint_sparc_mean': -8.702765775283423, 'ee_isj': 1185.1933737714153, 'joint_isj': 75485.09998591423, 'ee_path_length': 2.836827716321581, 'joint_rmse_mean': 0.9589009601157598, 'ee_speed_max': 0.4094896614551544, 'ee_speed_mean': 0.10262841731309891}, events: {'GRIPPER_HIT_OBJECT': 2, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_FULLY_CLOSED': 4, 'TARGET_OBJECT_DROPPED': 4, 'GRIPPER_HIT_TABLE': 2, 'wrong_objects_grabbed': ['granola_bars']}, instruction_type: default, timing: {'policy_inference_s': 723.364, 'policy_inference_avg_ms': 1835.9, 'env_step_s': 189.864, 'env_step_avg_ms': 481.9, 'video_write_s': 3.365, 'video_write_avg_ms': 8.5, 'wall_total_s': 916.593, 'it_per_sec': 0.43}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 2f7d1711ce724088a7249b7b318ab7e5-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-29T18:58:46Z [7,416,937ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.233187 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-29T18:58:50Z [7,420,819ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-29T18:58:50Z [7,420,947ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T18:58:50Z [7,420,947ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T18:58:50Z [7,420,957ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T18:58:50Z [7,420,957ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T18:58:50Z [7,420,966ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T18:58:50Z [7,420,973ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-29T18:58:52Z [7,422,478ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((576))' not available in the MDL representation.
+2026-10-29T18:58:52Z [7,422,478ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((576))' not available in the MDL representation.
+2026-10-29T18:58:52Z [7,422,662ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((639))' not available in the MDL representation.
+2026-10-29T18:58:52Z [7,422,663ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((639))' not available in the MDL representation.
+2026-10-29T18:58:52Z [7,422,673ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((640))' not available in the MDL representation.
+2026-10-29T18:58:52Z [7,422,673ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((640))' not available in the MDL representation.
+2026-10-29T18:58:52Z [7,423,127ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((673))' not available in the MDL representation.
+2026-10-29T18:58:52Z [7,423,128ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((673))' not available in the MDL representation.
+2026-10-29T18:58:53Z [7,423,345ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((678))' not available in the MDL representation.
+2026-10-29T18:58:53Z [7,423,346ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((678))' not available in the MDL representation.
+2026-10-29T18:58:53Z [7,423,354ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((682))' not available in the MDL representation.
+2026-10-29T18:58:53Z [7,423,354ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((682))' not available in the MDL representation.
+2026-10-29T18:58:53Z [7,423,391ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((705))' not available in the MDL representation.
+2026-10-29T18:58:53Z [7,423,391ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((705))' not available in the MDL representation.
+2026-10-29T18:58:53Z [7,423,655ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((739))' not available in the MDL representation.
+2026-10-29T18:58:53Z [7,423,655ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((739))' not available in the MDL representation.
+2026-10-29T18:58:55Z [7,425,292ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((774))' not available in the MDL representation.
+2026-10-29T18:58:55Z [7,425,293ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((774))' not available in the MDL representation.
+2026-10-29T18:58:55Z [7,425,850ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((640))' not available in the MDL representation.
+2026-10-29T18:58:55Z [7,425,850ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((640))' not available in the MDL representation.
+2026-10-29T18:58:55Z [7,425,852ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((673))' not available in the MDL representation.
+2026-10-29T18:58:55Z [7,425,852ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((673))' not available in the MDL representation.
+2026-10-29T18:58:55Z [7,425,853ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((678))' not available in the MDL representation.
+2026-10-29T18:58:55Z [7,425,853ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((678))' not available in the MDL representation.
+2026-10-29T18:58:55Z [7,425,854ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((682))' not available in the MDL representation.
+2026-10-29T18:58:55Z [7,425,854ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((682))' not available in the MDL representation.
+2026-10-29T18:58:55Z [7,425,857ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((739))' not available in the MDL representation.
+2026-10-29T18:58:55Z [7,425,858ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((739))' not available in the MDL representation.
+2026-10-29T18:58:55Z [7,425,860ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((774))' not available in the MDL representation.
+2026-10-29T18:58:55Z [7,425,860ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((774))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 8.789148 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ClampInRightBinTask                           │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the spring clamp in the right bin         │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ClampInRightBinTaskSceneEnvCfg                │
+│  Attributes  : semantics, spatial, simple                    │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running ClampInRightBinTask_0: 'Put the spring clamp in the right bin' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:55<13:46:43, 55.18s/it]
  0%|          | 2/900 [00:55<5:42:22, 22.88s/it] 
  0%|          | 3/900 [00:55<3:07:38, 12.55s/it]
  0%|          | 4/900 [00:55<1:54:58,  7.70s/it]
  1%|          | 5/900 [00:56<1:14:49,  5.02s/it]
  1%|          | 6/900 [00:56<50:39,  3.40s/it]  
  1%|          | 7/900 [00:56<35:21,  2.38s/it]
  1%|          | 8/900 [00:57<25:20,  1.70s/it]
  1%|          | 9/900 [01:10<1:19:03,  5.32s/it]
  1%|          | 10/900 [01:10<55:51,  3.77s/it] 
  1%|          | 11/900 [01:10<39:56,  2.70s/it]
  1%|▏         | 12/900 [01:11<29:02,  1.96s/it]
  1%|▏         | 13/900 [01:11<21:25,  1.45s/it]
  2%|▏         | 14/900 [01:11<16:13,  1.10s/it]
  2%|▏         | 15/900 [01:12<12:47,  1.15it/s]
  2%|▏         | 16/900 [01:12<10:09,  1.45it/s]
  2%|▏         | 17/900 [01:19<40:39,  2.76s/it]
  2%|▏         | 18/900 [01:20<29:39,  2.02s/it]
  2%|▏         | 19/900 [01:20<21:56,  1.49s/it]
  2%|▏         | 20/900 [01:20<16:32,  1.13s/it]
  2%|▏         | 21/900 [01:21<12:50,  1.14it/s]
  2%|▏         | 22/900 [01:21<10:10,  1.44it/s]
  3%|▎         | 23/900 [01:21<08:23,  1.74it/s]
  3%|▎         | 24/900 [01:21<07:06,  2.05it/s]
  3%|▎         | 25/900 [01:42<1:34:31,  6.48s/it]
  3%|▎         | 26/900 [01:42<1:07:19,  4.62s/it]
  3%|▎         | 27/900 [01:42<48:15,  3.32s/it]  
  3%|▎         | 28/900 [01:43<34:58,  2.41s/it]
  3%|▎         | 29/900 [01:43<25:43,  1.77s/it]
  3%|▎         | 30/900 [01:43<19:21,  1.33s/it]
  3%|▎         | 31/900 [01:44<14:51,  1.03s/it]
  4%|▎         | 32/900 [01:44<11:43,  1.23it/s]
  4%|▎         | 33/900 [01:55<54:38,  3.78s/it]
  4%|▍         | 34/900 [01:55<39:28,  2.74s/it]
  4%|▍         | 35/900 [01:55<28:51,  2.00s/it]
  4%|▍         | 36/900 [01:55<21:26,  1.49s/it]
  4%|▍         | 37/900 [01:56<16:13,  1.13s/it]
  4%|▍         | 38/900 [01:56<12:35,  1.14it/s]
  4%|▍         | 39/900 [01:56<10:02,  1.43it/s]
  4%|▍         | 40/900 [01:57<08:14,  1.74it/s]
  5%|▍         | 41/900 [02:03<32:11,  2.25s/it]
  5%|▍         | 42/900 [02:03<23:40,  1.66s/it]
  5%|▍         | 43/900 [02:03<17:41,  1.24s/it]
  5%|▍         | 44/900 [02:04<13:31,  1.06it/s]
  5%|▌         | 45/900 [02:04<10:33,  1.35it/s]
  5%|▌         | 46/900 [02:04<08:29,  1.68it/s]
  5%|▌         | 47/900 [02:04<07:03,  2.01it/s]
  5%|▌         | 48/900 [02:05<06:03,  2.34it/s]
  5%|▌         | 49/900 [02:21<1:12:53,  5.14s/it]
  6%|▌         | 50/900 [02:21<52:08,  3.68s/it]  
  6%|▌         | 51/900 [02:21<37:37,  2.66s/it]
  6%|▌         | 52/900 [02:22<27:28,  1.94s/it]
  6%|▌         | 53/900 [02:22<20:22,  1.44s/it]
  6%|▌         | 54/900 [02:22<15:24,  1.09s/it]
  6%|▌         | 55/900 [02:22<11:56,  1.18it/s]
  6%|▌         | 56/900 [02:23<09:32,  1.47it/s]
  6%|▋         | 57/900 [02:38<1:10:59,  5.05s/it]
  6%|▋         | 58/900 [02:38<50:50,  3.62s/it]  
  7%|▋         | 59/900 [02:39<36:44,  2.62s/it]
  7%|▋         | 60/900 [02:39<26:53,  1.92s/it]
  7%|▋         | 61/900 [02:39<19:57,  1.43s/it]
  7%|▋         | 62/900 [02:39<15:06,  1.08s/it]
  7%|▋         | 63/900 [02:40<11:45,  1.19it/s]
  7%|▋         | 64/900 [02:40<09:22,  1.49it/s]
  7%|▋         | 65/900 [02:50<46:43,  3.36s/it]
  7%|▋         | 66/900 [02:50<33:47,  2.43s/it]
  7%|▋         | 67/900 [02:50<24:44,  1.78s/it]
  8%|▊         | 68/900 [02:50<18:26,  1.33s/it]
  8%|▊         | 69/900 [02:51<14:00,  1.01s/it]
  8%|▊         | 70/900 [02:51<10:54,  1.27it/s]
  8%|▊         | 71/900 [02:51<08:44,  1.58it/s]
  8%|▊         | 72/900 [02:51<07:13,  1.91it/s]
  8%|▊         | 73/900 [03:00<39:08,  2.84s/it]
  8%|▊         | 74/900 [03:00<28:30,  2.07s/it]
  8%|▊         | 75/900 [03:00<21:02,  1.53s/it]
  8%|▊         | 76/900 [03:00<15:48,  1.15s/it]
  9%|▊         | 77/900 [03:01<12:10,  1.13it/s]
  9%|▊         | 78/900 [03:01<09:37,  1.42it/s]
  9%|▉         | 79/900 [03:01<07:51,  1.74it/s]
  9%|▉         | 80/900 [03:02<06:35,  2.07it/s]
  9%|▉         | 81/900 [03:09<33:20,  2.44s/it]
  9%|▉         | 82/900 [03:09<24:25,  1.79s/it]
  9%|▉         | 83/900 [03:09<18:10,  1.33s/it]
  9%|▉         | 84/900 [03:09<13:48,  1.02s/it]
  9%|▉         | 85/900 [03:10<10:44,  1.26it/s]
 10%|▉         | 86/900 [03:10<08:37,  1.57it/s]
 10%|▉         | 87/900 [03:10<07:09,  1.89it/s]
 10%|▉         | 88/900 [03:11<06:09,  2.20it/s]
 10%|▉         | 89/900 [03:19<38:21,  2.84s/it]
 10%|█         | 90/900 [03:19<28:00,  2.07s/it]
 10%|█         | 91/900 [03:19<20:44,  1.54s/it]
 10%|█         | 92/900 [03:20<15:39,  1.16s/it]
 10%|█         | 93/900 [03:20<12:07,  1.11it/s]
 10%|█         | 94/900 [03:20<09:38,  1.39it/s]
 11%|█         | 95/900 [03:21<07:52,  1.70it/s]
 11%|█         | 96/900 [03:21<06:40,  2.01it/s]
 11%|█         | 97/900 [03:29<38:49,  2.90s/it]
 11%|█         | 98/900 [03:30<28:19,  2.12s/it]
 11%|█         | 99/900 [03:30<20:57,  1.57s/it]
 11%|█         | 100/900 [03:30<15:46,  1.18s/it]
 11%|█         | 101/900 [03:31<12:11,  1.09it/s]
 11%|█▏        | 102/900 [03:31<09:40,  1.37it/s]
 11%|█▏        | 103/900 [03:31<07:49,  1.70it/s]
 12%|█▏        | 104/900 [03:31<06:32,  2.03it/s]
 12%|█▏        | 105/900 [03:38<31:04,  2.35s/it]
 12%|█▏        | 106/900 [03:38<22:48,  1.72s/it]
 12%|█▏        | 107/900 [03:39<17:01,  1.29s/it]
 12%|█▏        | 108/900 [03:39<13:03,  1.01it/s]
 12%|█▏        | 109/900 [03:39<10:15,  1.29it/s]
 12%|█▏        | 110/900 [03:39<08:16,  1.59it/s]
 12%|█▏        | 111/900 [03:40<06:52,  1.91it/s]
 12%|█▏        | 112/900 [03:40<05:53,  2.23it/s]
 13%|█▎        | 113/900 [04:11<2:07:51,  9.75s/it]
 13%|█▎        | 114/900 [04:12<1:30:27,  6.91s/it]
 13%|█▎        | 115/900 [04:12<1:04:17,  4.91s/it]
 13%|█▎        | 116/900 [04:12<46:00,  3.52s/it]  
 13%|█▎        | 117/900 [04:13<33:12,  2.54s/it]
 13%|█▎        | 118/900 [04:13<24:16,  1.86s/it]
 13%|█▎        | 119/900 [04:13<18:01,  1.38s/it]
 13%|█▎        | 120/900 [04:13<13:38,  1.05s/it]
 13%|█▎        | 121/900 [04:22<45:03,  3.47s/it]
 14%|█▎        | 122/900 [04:23<32:33,  2.51s/it]
 14%|█▎        | 123/900 [04:23<23:51,  1.84s/it]
 14%|█▍        | 124/900 [04:23<17:43,  1.37s/it]
 14%|█▍        | 125/900 [04:24<13:25,  1.04s/it]
 14%|█▍        | 126/900 [04:24<10:27,  1.23it/s]
 14%|█▍        | 127/900 [04:24<08:21,  1.54it/s]
 14%|█▍        | 128/900 [04:24<06:54,  1.86it/s]
 14%|█▍        | 129/900 [04:32<34:17,  2.67s/it]
 14%|█▍        | 130/900 [04:32<25:03,  1.95s/it]
 15%|█▍        | 131/900 [04:33<18:38,  1.45s/it]
 15%|█▍        | 132/900 [04:33<14:06,  1.10s/it]
 15%|█▍        | 133/900 [04:33<10:55,  1.17it/s]
 15%|█▍        | 134/900 [04:33<08:43,  1.46it/s]
 15%|█▌        | 135/900 [04:34<07:10,  1.78it/s]
 15%|█▌        | 136/900 [04:34<06:02,  2.11it/s]
 15%|█▌        | 137/900 [04:44<41:23,  3.25s/it]
 15%|█▌        | 138/900 [04:44<30:04,  2.37s/it]
 15%|█▌        | 139/900 [04:44<22:07,  1.74s/it]
 16%|█▌        | 140/900 [04:45<16:31,  1.30s/it]
 16%|█▌        | 141/900 [04:45<12:34,  1.01it/s]
 16%|█▌        | 142/900 [04:45<09:48,  1.29it/s]
 16%|█▌        | 143/900 [04:45<07:52,  1.60it/s]
 16%|█▌        | 144/900 [04:46<06:31,  1.93it/s]
 16%|█▌        | 145/900 [04:51<24:59,  1.99s/it]
 16%|█▌        | 146/900 [04:51<18:34,  1.48s/it]
 16%|█▋        | 147/900 [04:52<14:07,  1.13s/it]
 16%|█▋        | 148/900 [04:52<10:58,  1.14it/s]
 17%|█▋        | 149/900 [04:52<08:45,  1.43it/s]
 17%|█▋        | 150/900 [04:53<07:12,  1.73it/s]
 17%|█▋        | 151/900 [04:53<06:08,  2.03it/s]
 17%|█▋        | 152/900 [04:53<05:22,  2.32it/s]
 17%|█▋        | 153/900 [05:01<32:55,  2.64s/it]
 17%|█▋        | 154/900 [05:01<24:03,  1.94s/it]
 17%|█▋        | 155/900 [05:02<17:50,  1.44s/it]
 17%|█▋        | 156/900 [05:02<13:28,  1.09s/it]
 17%|█▋        | 157/900 [05:02<10:22,  1.19it/s]
 18%|█▊        | 158/900 [05:02<08:13,  1.50it/s]
 18%|█▊        | 159/900 [05:03<06:42,  1.84it/s]
 18%|█▊        | 160/900 [05:03<05:38,  2.19it/s]
 18%|█▊        | 161/900 [05:15<48:35,  3.95s/it]
 18%|█▊        | 162/900 [05:15<34:55,  2.84s/it]
 18%|█▊        | 163/900 [05:15<25:21,  2.06s/it]
 18%|█▊        | 164/900 [05:16<18:41,  1.52s/it]
 18%|█▊        | 165/900 [05:16<14:00,  1.14s/it]
 18%|█▊        | 166/900 [05:16<10:48,  1.13it/s]
 19%|█▊        | 167/900 [05:16<08:33,  1.43it/s]
 19%|█▊        | 168/900 [05:17<06:56,  1.76it/s]
 19%|█▉        | 169/900 [05:38<1:21:47,  6.71s/it]
 19%|█▉        | 170/900 [05:38<58:08,  4.78s/it]  
 19%|█▉        | 171/900 [05:38<41:36,  3.43s/it]
 19%|█▉        | 172/900 [05:39<30:04,  2.48s/it]
 19%|█▉        | 173/900 [05:39<22:02,  1.82s/it]
 19%|█▉        | 174/900 [05:39<16:22,  1.35s/it]
 19%|█▉        | 175/900 [05:39<12:24,  1.03s/it]
 20%|█▉        | 176/900 [05:40<09:37,  1.25it/s]
 20%|█▉        | 177/900 [05:46<30:48,  2.56s/it]
 20%|█▉        | 178/900 [05:47<22:30,  1.87s/it]
 20%|█▉        | 179/900 [05:47<16:43,  1.39s/it]
 20%|██        | 180/900 [05:47<12:39,  1.05s/it]
 20%|██        | 181/900 [05:47<09:47,  1.22it/s]
 20%|██        | 182/900 [05:48<07:46,  1.54it/s]
 20%|██        | 183/900 [05:48<06:22,  1.87it/s]
 20%|██        | 184/900 [05:48<05:23,  2.21it/s]
 21%|██        | 185/900 [05:56<30:36,  2.57s/it]
 21%|██        | 186/900 [05:56<22:24,  1.88s/it]
 21%|██        | 187/900 [05:56<16:39,  1.40s/it]
 21%|██        | 188/900 [05:57<12:39,  1.07s/it]
 21%|██        | 189/900 [05:57<09:51,  1.20it/s]
 21%|██        | 190/900 [05:57<07:55,  1.49it/s]
 21%|██        | 191/900 [05:57<06:33,  1.80it/s]
 21%|██▏       | 192/900 [05:58<05:33,  2.12it/s]
 21%|██▏       | 193/900 [06:04<27:33,  2.34s/it]
 22%|██▏       | 194/900 [06:05<20:14,  1.72s/it]
 22%|██▏       | 195/900 [06:05<15:06,  1.29s/it]
 22%|██▏       | 196/900 [06:05<11:29,  1.02it/s]
 22%|██▏       | 197/900 [06:05<08:58,  1.31it/s]
 22%|██▏       | 198/900 [06:06<07:13,  1.62it/s]
 22%|██▏       | 199/900 [06:06<06:00,  1.94it/s]
 22%|██▏       | 200/900 [06:06<05:07,  2.27it/s]
 22%|██▏       | 201/900 [06:22<1:00:08,  5.16s/it]
 22%|██▏       | 202/900 [06:23<42:57,  3.69s/it]  
 23%|██▎       | 203/900 [06:23<30:57,  2.66s/it]
 23%|██▎       | 204/900 [06:23<22:39,  1.95s/it]
 23%|██▎       | 205/900 [06:24<16:49,  1.45s/it]
 23%|██▎       | 206/900 [06:24<12:45,  1.10s/it]
 23%|██▎       | 207/900 [06:24<09:55,  1.16it/s]
 23%|██▎       | 208/900 [06:24<07:56,  1.45it/s]
 23%|██▎       | 209/900 [06:31<29:12,  2.54s/it]
 23%|██▎       | 210/900 [06:32<21:25,  1.86s/it]
 23%|██▎       | 211/900 [06:32<15:54,  1.39s/it]
 24%|██▎       | 212/900 [06:32<12:03,  1.05s/it]
 24%|██▎       | 213/900 [06:32<09:21,  1.22it/s]
 24%|██▍       | 214/900 [06:33<07:28,  1.53it/s]
 24%|██▍       | 215/900 [06:33<06:11,  1.85it/s]
 24%|██▍       | 216/900 [06:33<05:15,  2.16it/s]
 24%|██▍       | 217/900 [06:46<45:44,  4.02s/it]
 24%|██▍       | 218/900 [06:46<32:55,  2.90s/it]
 24%|██▍       | 219/900 [06:46<23:55,  2.11s/it]
 24%|██▍       | 220/900 [06:46<17:36,  1.55s/it]
 25%|██▍       | 221/900 [06:47<13:11,  1.17s/it]
 25%|██▍       | 222/900 [06:47<10:07,  1.12it/s]
 25%|██▍       | 223/900 [06:47<07:57,  1.42it/s]
 25%|██▍       | 224/900 [06:47<06:27,  1.74it/s]
 25%|██▌       | 225/900 [07:01<51:21,  4.57s/it]
 25%|██▌       | 226/900 [07:02<36:47,  3.27s/it]
 25%|██▌       | 227/900 [07:02<26:36,  2.37s/it]
 25%|██▌       | 228/900 [07:02<19:28,  1.74s/it]
 25%|██▌       | 229/900 [07:02<14:29,  1.30s/it]
 26%|██▌       | 230/900 [07:03<11:00,  1.01it/s]
 26%|██▌       | 231/900 [07:03<08:34,  1.30it/s]
 26%|██▌       | 232/900 [07:03<06:54,  1.61it/s]
 26%|██▌       | 233/900 [07:10<28:46,  2.59s/it]
 26%|██▌       | 234/900 [07:11<21:03,  1.90s/it]
 26%|██▌       | 235/900 [07:11<15:40,  1.41s/it]
 26%|██▌       | 236/900 [07:11<11:51,  1.07s/it]
 26%|██▋       | 237/900 [07:11<09:10,  1.20it/s]
 26%|██▋       | 238/900 [07:12<07:19,  1.50it/s]
 27%|██▋       | 239/900 [07:12<06:04,  1.82it/s]
 27%|██▋       | 240/900 [07:12<05:11,  2.12it/s]
 27%|██▋       | 241/900 [07:45<1:51:04, 10.11s/it]
 27%|██▋       | 242/900 [07:45<1:18:36,  7.17s/it]
 27%|██▋       | 243/900 [07:45<55:53,  5.10s/it]  
 27%|██▋       | 244/900 [07:46<39:59,  3.66s/it]
 27%|██▋       | 245/900 [07:46<28:52,  2.65s/it]
 27%|██▋       | 246/900 [07:46<21:06,  1.94s/it]
 27%|██▋       | 247/900 [07:47<15:41,  1.44s/it]
 28%|██▊       | 248/900 [07:47<11:53,  1.09s/it]
 28%|██▊       | 249/900 [08:10<1:23:27,  7.69s/it]
 28%|██▊       | 250/900 [08:10<59:14,  5.47s/it]  
 28%|██▊       | 251/900 [08:11<42:18,  3.91s/it]
 28%|██▊       | 252/900 [08:11<30:27,  2.82s/it]
 28%|██▊       | 253/900 [08:11<22:10,  2.06s/it]
 28%|██▊       | 254/900 [08:11<16:19,  1.52s/it]
 28%|██▊       | 255/900 [08:12<12:17,  1.14s/it]
 28%|██▊       | 256/900 [08:12<09:27,  1.13it/s]
 29%|██▊       | 257/900 [08:21<36:32,  3.41s/it]
 29%|██▊       | 258/900 [08:21<26:21,  2.46s/it]
 29%|██▉       | 259/900 [08:22<19:15,  1.80s/it]
 29%|██▉       | 260/900 [08:22<14:17,  1.34s/it]
 29%|██▉       | 261/900 [08:22<10:49,  1.02s/it]
 29%|██▉       | 262/900 [08:22<08:24,  1.27it/s]
 29%|██▉       | 263/900 [08:23<06:41,  1.59it/s]
 29%|██▉       | 264/900 [08:23<05:30,  1.92it/s]
 29%|██▉       | 265/900 [08:31<29:16,  2.77s/it]
 30%|██▉       | 266/900 [08:31<21:16,  2.01s/it]
 30%|██▉       | 267/900 [08:32<15:41,  1.49s/it]
 30%|██▉       | 268/900 [08:32<11:47,  1.12s/it]
 30%|██▉       | 269/900 [08:32<09:04,  1.16it/s]
 30%|███       | 270/900 [08:32<07:09,  1.47it/s]
 30%|███       | 271/900 [08:33<05:50,  1.80it/s]
 30%|███       | 272/900 [08:33<04:54,  2.13it/s]
 30%|███       | 273/900 [08:40<26:33,  2.54s/it]
 30%|███       | 274/900 [08:41<19:27,  1.87s/it]
 31%|███       | 275/900 [08:41<14:29,  1.39s/it]
 31%|███       | 276/900 [08:41<11:02,  1.06s/it]
 31%|███       | 277/900 [08:41<08:35,  1.21it/s]
 31%|███       | 278/900 [08:42<06:55,  1.50it/s]
 31%|███       | 279/900 [08:42<05:43,  1.81it/s]
 31%|███       | 280/900 [08:42<04:52,  2.12it/s]
 31%|███       | 281/900 [08:49<25:31,  2.47s/it]
 31%|███▏      | 282/900 [08:50<18:42,  1.82s/it]
 31%|███▏      | 283/900 [08:50<13:55,  1.35s/it]
 32%|███▏      | 284/900 [08:50<10:35,  1.03s/it]
 32%|███▏      | 285/900 [08:50<08:15,  1.24it/s]
 32%|███▏      | 286/900 [08:51<06:37,  1.54it/s]
 32%|███▏      | 287/900 [08:51<05:31,  1.85it/s]
 32%|███▏      | 288/900 [08:51<04:42,  2.16it/s]
 32%|███▏      | 289/900 [09:03<39:18,  3.86s/it]
 32%|███▏      | 290/900 [09:03<28:15,  2.78s/it]
 32%|███▏      | 291/900 [09:04<20:33,  2.03s/it]
 32%|███▏      | 292/900 [09:04<15:10,  1.50s/it]
 33%|███▎      | 293/900 [09:04<11:23,  1.13s/it]
 33%|███▎      | 294/900 [09:04<08:45,  1.15it/s]
 33%|███▎      | 295/900 [09:05<06:55,  1.46it/s]
 33%|███▎      | 296/900 [09:05<05:38,  1.78it/s]
 33%|███▎      | 297/900 [09:20<49:00,  4.88s/it]
 33%|███▎      | 298/900 [09:20<35:02,  3.49s/it]
 33%|███▎      | 299/900 [09:20<25:17,  2.52s/it]
 33%|███▎      | 300/900 [09:21<18:27,  1.85s/it]
 33%|███▎      | 301/900 [09:21<13:41,  1.37s/it]
 34%|███▎      | 302/900 [09:21<10:21,  1.04s/it]
 34%|███▎      | 303/900 [09:22<08:03,  1.23it/s]
 34%|███▍      | 304/900 [09:22<06:25,  1.55it/s]
 34%|███▍      | 305/900 [09:36<46:04,  4.65s/it]
 34%|███▍      | 306/900 [09:36<33:06,  3.34s/it]
 34%|███▍      | 307/900 [09:36<23:55,  2.42s/it]
 34%|███▍      | 308/900 [09:37<17:30,  1.78s/it]
 34%|███▍      | 309/900 [09:37<13:02,  1.32s/it]
 34%|███▍      | 310/900 [09:37<09:53,  1.01s/it]
 35%|███▍      | 311/900 [09:37<07:41,  1.27it/s]
 35%|███▍      | 312/900 [09:38<06:11,  1.58it/s]
 35%|███▍      | 313/900 [09:54<53:11,  5.44s/it]
 35%|███▍      | 314/900 [09:55<37:57,  3.89s/it]
 35%|███▌      | 315/900 [09:55<27:18,  2.80s/it]
 35%|███▌      | 316/900 [09:55<19:52,  2.04s/it]
 35%|███▌      | 317/900 [09:55<14:40,  1.51s/it]
 35%|███▌      | 318/900 [09:56<11:01,  1.14s/it]
 35%|███▌      | 319/900 [09:56<08:29,  1.14it/s]
 36%|███▌      | 320/900 [09:56<06:43,  1.44it/s]
 36%|███▌      | 321/900 [09:57<05:47,  1.67it/s]
 36%|███▌      | 322/900 [09:57<04:51,  1.98it/s]
 36%|███▌      | 323/900 [09:57<04:11,  2.29it/s]
 36%|███▌      | 324/900 [09:57<03:42,  2.59it/s]
 36%|███▌      | 325/900 [09:58<03:20,  2.87it/s]
 36%|███▌      | 326/900 [09:58<03:05,  3.09it/s]
 36%|███▋      | 327/900 [09:58<02:54,  3.28it/s]
 36%|███▋      | 328/900 [09:58<02:48,  3.40it/s]
 37%|███▋      | 329/900 [10:16<52:03,  5.47s/it]
 37%|███▋      | 330/900 [10:16<37:07,  3.91s/it]
 37%|███▋      | 331/900 [10:17<26:41,  2.82s/it]
 37%|███▋      | 332/900 [10:17<19:25,  2.05s/it]
 37%|███▋      | 333/900 [10:17<14:19,  1.52s/it]
 37%|███▋      | 334/900 [10:17<10:45,  1.14s/it]
 37%|███▋      | 335/900 [10:18<08:16,  1.14it/s]
 37%|███▋      | 336/900 [10:18<06:32,  1.44it/s]
 37%|███▋      | 337/900 [10:29<35:25,  3.78s/it]
 38%|███▊      | 338/900 [10:29<25:30,  2.72s/it]
 38%|███▊      | 339/900 [10:29<18:33,  1.98s/it]
 38%|███▊      | 340/900 [10:30<13:42,  1.47s/it]
 38%|███▊      | 341/900 [10:30<10:18,  1.11s/it]
 38%|███▊      | 342/900 [10:30<07:56,  1.17it/s]
 38%|███▊      | 343/900 [10:30<06:17,  1.48it/s]
 38%|███▊      | 344/900 [10:31<05:07,  1.81it/s]
 38%|███▊      | 345/900 [10:39<27:25,  2.96s/it]
 38%|███▊      | 346/900 [10:40<19:56,  2.16s/it]
 39%|███▊      | 347/900 [10:40<14:43,  1.60s/it]
 39%|███▊      | 348/900 [10:40<11:05,  1.21s/it]
 39%|███▉      | 349/900 [10:40<08:32,  1.07it/s]
 39%|███▉      | 350/900 [10:41<06:45,  1.36it/s]
 39%|███▉      | 351/900 [10:41<05:31,  1.66it/s]
 39%|███▉      | 352/900 [10:41<04:38,  1.97it/s]
 39%|███▉      | 353/900 [11:01<57:58,  6.36s/it]
 39%|███▉      | 354/900 [11:02<41:13,  4.53s/it]
 39%|███▉      | 355/900 [11:02<29:31,  3.25s/it]
 40%|███▉      | 356/900 [11:02<21:20,  2.35s/it]
 40%|███▉      | 357/900 [11:02<15:37,  1.73s/it]
 40%|███▉      | 358/900 [11:03<11:37,  1.29s/it]
 40%|███▉      | 359/900 [11:03<08:50,  1.02it/s]
 40%|████      | 360/900 [11:03<06:55,  1.30it/s]
 40%|████      | 361/900 [11:21<52:06,  5.80s/it]
 40%|████      | 362/900 [11:21<37:09,  4.14s/it]
 40%|████      | 363/900 [11:21<26:44,  2.99s/it]
 40%|████      | 364/900 [11:22<19:26,  2.18s/it]
 41%|████      | 365/900 [11:22<14:18,  1.60s/it]
 41%|████      | 366/900 [11:22<10:41,  1.20s/it]
 41%|████      | 367/900 [11:22<08:12,  1.08it/s]
 41%|████      | 368/900 [11:23<06:27,  1.37it/s]
 41%|████      | 369/900 [11:30<23:46,  2.69s/it]
 41%|████      | 370/900 [11:30<17:19,  1.96s/it]
 41%|████      | 371/900 [11:30<12:47,  1.45s/it]
 41%|████▏     | 372/900 [11:31<09:40,  1.10s/it]
 41%|████▏     | 373/900 [11:31<07:28,  1.17it/s]
 42%|████▏     | 374/900 [11:31<05:56,  1.48it/s]
 42%|████▏     | 375/900 [11:32<04:51,  1.80it/s]
 42%|████▏     | 376/900 [11:32<04:05,  2.14it/s]
 42%|████▏     | 377/900 [11:40<23:14,  2.67s/it]
 42%|████▏     | 378/900 [11:40<16:57,  1.95s/it]
 42%|████▏     | 379/900 [11:40<12:32,  1.45s/it]
 42%|████▏     | 380/900 [11:40<09:27,  1.09s/it]
 42%|████▏     | 381/900 [11:41<07:18,  1.18it/s]
 42%|████▏     | 382/900 [11:41<05:49,  1.48it/s]
 43%|████▎     | 383/900 [11:41<04:48,  1.79it/s]
 43%|████▎     | 384/900 [11:42<04:04,  2.11it/s]
 43%|████▎     | 385/900 [11:56<41:11,  4.80s/it]
 43%|████▎     | 386/900 [11:57<29:30,  3.44s/it]
 43%|████▎     | 387/900 [11:57<21:18,  2.49s/it]
 43%|████▎     | 388/900 [11:57<15:35,  1.83s/it]
 43%|████▎     | 389/900 [11:58<11:37,  1.36s/it]
 43%|████▎     | 390/900 [11:58<08:51,  1.04s/it]
 43%|████▎     | 391/900 [11:58<06:54,  1.23it/s]
 44%|████▎     | 392/900 [11:58<05:32,  1.53it/s]
 44%|████▎     | 393/900 [12:09<30:25,  3.60s/it]
 44%|████▍     | 394/900 [12:09<21:56,  2.60s/it]
 44%|████▍     | 395/900 [12:09<16:00,  1.90s/it]
 44%|████▍     | 396/900 [12:10<11:50,  1.41s/it]
 44%|████▍     | 397/900 [12:10<08:56,  1.07s/it]
 44%|████▍     | 398/900 [12:10<06:55,  1.21it/s]
 44%|████▍     | 399/900 [12:10<05:29,  1.52it/s]
 44%|████▍     | 400/900 [12:11<04:29,  1.85it/s]
 45%|████▍     | 401/900 [12:26<42:03,  5.06s/it]
 45%|████▍     | 402/900 [12:27<30:01,  3.62s/it]
 45%|████▍     | 403/900 [12:27<21:37,  2.61s/it]
 45%|████▍     | 404/900 [12:27<15:46,  1.91s/it]
 45%|████▌     | 405/900 [12:27<11:40,  1.41s/it]
 45%|████▌     | 406/900 [12:28<08:47,  1.07s/it]
 45%|████▌     | 407/900 [12:28<06:47,  1.21it/s]
 45%|████▌     | 408/900 [12:28<05:23,  1.52it/s]
 45%|████▌     | 409/900 [12:36<23:22,  2.86s/it]
 46%|████▌     | 410/900 [12:36<17:00,  2.08s/it]
 46%|████▌     | 411/900 [12:37<12:31,  1.54s/it]
 46%|████▌     | 412/900 [12:37<09:24,  1.16s/it]
 46%|████▌     | 413/900 [12:37<07:14,  1.12it/s]
 46%|████▌     | 414/900 [12:37<05:41,  1.42it/s]
 46%|████▌     | 415/900 [12:38<04:38,  1.74it/s]
 46%|████▌     | 416/900 [12:38<03:53,  2.07it/s]
 46%|████▋     | 417/900 [12:47<24:29,  3.04s/it]
 46%|████▋     | 418/900 [12:47<17:47,  2.21s/it]
 47%|████▋     | 419/900 [12:48<13:05,  1.63s/it]
 47%|████▋     | 420/900 [12:48<09:48,  1.23s/it]
 47%|████▋     | 421/900 [12:48<07:29,  1.06it/s]
 47%|████▋     | 422/900 [12:48<05:55,  1.34it/s]
 47%|████▋     | 423/900 [12:49<04:47,  1.66it/s]
 47%|████▋     | 424/900 [12:49<04:02,  1.97it/s]
 47%|████▋     | 425/900 [13:01<31:07,  3.93s/it]
 47%|████▋     | 426/900 [13:01<22:26,  2.84s/it]
 47%|████▋     | 427/900 [13:01<16:21,  2.08s/it]
 48%|████▊     | 428/900 [13:02<12:06,  1.54s/it]
 48%|████▊     | 429/900 [13:02<09:06,  1.16s/it]
 48%|████▊     | 430/900 [13:02<06:58,  1.12it/s]
 48%|████▊     | 431/900 [13:03<05:29,  1.43it/s]
 48%|████▊     | 432/900 [13:03<04:26,  1.75it/s]
 48%|████▊     | 433/900 [13:18<37:44,  4.85s/it]
 48%|████▊     | 434/900 [13:18<26:59,  3.48s/it]
 48%|████▊     | 435/900 [13:18<19:27,  2.51s/it]
 48%|████▊     | 436/900 [13:18<14:12,  1.84s/it]
 49%|████▊     | 437/900 [13:19<10:34,  1.37s/it]
 49%|████▊     | 438/900 [13:19<08:01,  1.04s/it]
 49%|████▉     | 439/900 [13:19<06:14,  1.23it/s]
 49%|████▉     | 440/900 [13:20<04:59,  1.54it/s]
 49%|████▉     | 441/900 [13:27<21:18,  2.78s/it]
 49%|████▉     | 442/900 [13:28<15:31,  2.03s/it]
 49%|████▉     | 443/900 [13:28<11:29,  1.51s/it]
 49%|████▉     | 444/900 [13:28<08:38,  1.14s/it]
 49%|████▉     | 445/900 [13:28<06:40,  1.14it/s]
 50%|████▉     | 446/900 [13:29<05:18,  1.43it/s]
 50%|████▉     | 447/900 [13:29<04:21,  1.73it/s]
 50%|████▉     | 448/900 [13:29<03:42,  2.03it/s]
 50%|████▉     | 449/900 [13:38<22:10,  2.95s/it]
 50%|█████     | 450/900 [13:38<16:10,  2.16s/it]
 50%|█████     | 451/900 [13:39<11:59,  1.60s/it]
 50%|█████     | 452/900 [13:39<09:02,  1.21s/it]
 50%|█████     | 453/900 [13:39<07:01,  1.06it/s]
 50%|█████     | 454/900 [13:40<05:38,  1.32it/s]
 51%|█████     | 455/900 [13:40<04:36,  1.61it/s]
 51%|█████     | 456/900 [13:40<03:52,  1.91it/s]
 51%|█████     | 457/900 [13:50<23:31,  3.19s/it]
 51%|█████     | 458/900 [13:50<17:00,  2.31s/it]
 51%|█████     | 459/900 [13:50<12:28,  1.70s/it]
 51%|█████     | 460/900 [13:50<09:17,  1.27s/it]
 51%|█████     | 461/900 [13:51<07:04,  1.03it/s]
 51%|█████▏    | 462/900 [13:51<05:34,  1.31it/s]
 51%|█████▏    | 463/900 [13:51<04:30,  1.61it/s]
 52%|█████▏    | 464/900 [13:51<03:45,  1.93it/s]
 52%|█████▏    | 465/900 [14:26<1:17:06, 10.64s/it]
 52%|█████▏    | 466/900 [14:26<54:26,  7.53s/it]  
 52%|█████▏    | 467/900 [14:26<38:36,  5.35s/it]
 52%|█████▏    | 468/900 [14:27<27:32,  3.83s/it]
 52%|█████▏    | 469/900 [14:27<19:48,  2.76s/it]
 52%|█████▏    | 470/900 [14:27<14:25,  2.01s/it]
 52%|█████▏    | 471/900 [14:27<10:39,  1.49s/it]
 52%|█████▏    | 472/900 [14:28<08:00,  1.12s/it]
 53%|█████▎    | 473/900 [14:36<22:47,  3.20s/it]
 53%|█████▎    | 474/900 [14:36<16:29,  2.32s/it]
 53%|█████▎    | 475/900 [14:36<12:04,  1.70s/it]
 53%|█████▎    | 476/900 [14:36<09:00,  1.27s/it]
 53%|█████▎    | 477/900 [14:37<06:50,  1.03it/s]
 53%|█████▎    | 478/900 [14:37<05:20,  1.32it/s]
 53%|█████▎    | 479/900 [14:37<04:17,  1.64it/s]
 53%|█████▎    | 480/900 [14:38<03:33,  1.96it/s]
 53%|█████▎    | 481/900 [14:46<21:16,  3.05s/it]
 54%|█████▎    | 482/900 [14:47<15:25,  2.21s/it]
 54%|█████▎    | 483/900 [14:47<11:19,  1.63s/it]
 54%|█████▍    | 484/900 [14:47<08:27,  1.22s/it]
 54%|█████▍    | 485/900 [14:48<06:28,  1.07it/s]
 54%|█████▍    | 486/900 [14:48<05:04,  1.36it/s]
 54%|█████▍    | 487/900 [14:48<04:06,  1.67it/s]
 54%|█████▍    | 488/900 [14:48<03:25,  2.00it/s]
 54%|█████▍    | 489/900 [15:00<26:29,  3.87s/it]
 54%|█████▍    | 490/900 [15:00<19:02,  2.79s/it]
 55%|█████▍    | 491/900 [15:01<13:50,  2.03s/it]
 55%|█████▍    | 492/900 [15:01<10:12,  1.50s/it]
 55%|█████▍    | 493/900 [15:01<07:42,  1.14s/it]
 55%|█████▍    | 494/900 [15:01<05:59,  1.13it/s]
 55%|█████▌    | 495/900 [15:02<04:45,  1.42it/s]
 55%|█████▌    | 496/900 [15:02<03:54,  1.72it/s]
 55%|█████▌    | 497/900 [15:19<36:43,  5.47s/it]
 55%|█████▌    | 498/900 [15:19<26:12,  3.91s/it]
 55%|█████▌    | 499/900 [15:19<18:51,  2.82s/it]
 56%|█████▌    | 500/900 [15:20<14:57,  2.24s/it]
 56%|█████▌    | 501/900 [15:21<10:58,  1.65s/it]
 56%|█████▌    | 502/900 [15:21<08:11,  1.24s/it]
 56%|█████▌    | 503/900 [15:21<06:15,  1.06it/s]
 56%|█████▌    | 504/900 [15:21<04:54,  1.34it/s]
 56%|█████▌    | 505/900 [15:31<21:35,  3.28s/it]
 56%|█████▌    | 506/900 [15:31<15:36,  2.38s/it]
 56%|█████▋    | 507/900 [15:31<11:24,  1.74s/it]
 56%|█████▋    | 508/900 [15:31<08:29,  1.30s/it]
 57%|█████▋    | 509/900 [15:32<06:27,  1.01it/s]
 57%|█████▋    | 510/900 [15:32<05:01,  1.29it/s]
 57%|█████▋    | 511/900 [15:32<04:01,  1.61it/s]
 57%|█████▋    | 512/900 [15:33<03:20,  1.93it/s]
 57%|█████▋    | 513/900 [15:53<42:25,  6.58s/it]
 57%|█████▋    | 514/900 [15:54<30:09,  4.69s/it]
 57%|█████▋    | 515/900 [15:54<21:38,  3.37s/it]
 57%|█████▋    | 516/900 [15:54<15:38,  2.44s/it]
 57%|█████▋    | 517/900 [15:54<11:27,  1.79s/it]
 58%|█████▊    | 518/900 [15:55<08:34,  1.35s/it]
 58%|█████▊    | 519/900 [15:55<06:34,  1.03s/it]
 58%|█████▊    | 520/900 [15:55<05:09,  1.23it/s]
 58%|█████▊    | 521/900 [16:04<20:41,  3.27s/it]
 58%|█████▊    | 522/900 [16:05<15:00,  2.38s/it]
 58%|█████▊    | 523/900 [16:05<11:02,  1.76s/it]
 58%|█████▊    | 524/900 [16:05<08:14,  1.32s/it]
 58%|█████▊    | 525/900 [16:06<06:18,  1.01s/it]
 58%|█████▊    | 526/900 [16:06<04:57,  1.26it/s]
 59%|█████▊    | 527/900 [16:06<03:58,  1.56it/s]
 59%|█████▊    | 528/900 [16:06<03:18,  1.88it/s]
 59%|█████▉    | 529/900 [16:22<31:08,  5.04s/it]
 59%|█████▉    | 530/900 [16:22<22:16,  3.61s/it]
 59%|█████▉    | 531/900 [16:22<16:03,  2.61s/it]
 59%|█████▉    | 532/900 [16:23<11:41,  1.91s/it]
 59%|█████▉    | 533/900 [16:23<08:39,  1.42s/it]
 59%|█████▉    | 534/900 [16:23<06:31,  1.07s/it]
 59%|█████▉    | 535/900 [16:24<05:02,  1.21it/s]
 60%|█████▉    | 536/900 [16:24<04:01,  1.51it/s]
 60%|█████▉    | 537/900 [16:36<25:50,  4.27s/it]
 60%|█████▉    | 538/900 [16:37<18:31,  3.07s/it]
 60%|█████▉    | 539/900 [16:37<13:25,  2.23s/it]
 60%|██████    | 540/900 [16:37<09:52,  1.65s/it]
 60%|██████    | 541/900 [16:38<07:24,  1.24s/it]
 60%|██████    | 542/900 [16:38<05:39,  1.05it/s]
 60%|██████    | 543/900 [16:38<04:26,  1.34it/s]
 60%|██████    | 544/900 [16:38<03:36,  1.65it/s]
 61%|██████    | 545/900 [16:48<19:04,  3.22s/it]
 61%|██████    | 546/900 [16:48<13:48,  2.34s/it]
 61%|██████    | 547/900 [16:48<10:08,  1.72s/it]
 61%|██████    | 548/900 [16:49<07:34,  1.29s/it]
 61%|██████    | 549/900 [16:49<05:46,  1.01it/s]
 61%|██████    | 550/900 [16:49<04:32,  1.29it/s]
 61%|██████    | 551/900 [16:49<03:38,  1.60it/s]
 61%|██████▏   | 552/900 [16:50<03:01,  1.92it/s]
 61%|██████▏   | 553/900 [17:05<27:46,  4.80s/it]
 62%|██████▏   | 554/900 [17:05<19:51,  3.44s/it]
 62%|██████▏   | 555/900 [17:05<14:19,  2.49s/it]
 62%|██████▏   | 556/900 [17:05<10:28,  1.83s/it]
 62%|██████▏   | 557/900 [17:06<07:47,  1.36s/it]
 62%|██████▏   | 558/900 [17:06<05:56,  1.04s/it]
 62%|██████▏   | 559/900 [17:06<04:38,  1.22it/s]
 62%|██████▏   | 560/900 [17:07<03:44,  1.51it/s]
 62%|██████▏   | 561/900 [17:19<24:25,  4.32s/it]
 62%|██████▏   | 562/900 [17:20<17:32,  3.11s/it]
 63%|██████▎   | 563/900 [17:20<12:43,  2.27s/it]
 63%|██████▎   | 564/900 [17:20<09:21,  1.67s/it]
 63%|██████▎   | 565/900 [17:21<07:00,  1.26s/it]
 63%|██████▎   | 566/900 [17:21<05:21,  1.04it/s]
 63%|██████▎   | 567/900 [17:21<04:11,  1.32it/s]
 63%|██████▎   | 568/900 [17:21<03:24,  1.62it/s]
 63%|██████▎   | 569/900 [17:35<25:42,  4.66s/it]
 63%|██████▎   | 570/900 [17:36<18:24,  3.35s/it]
 63%|██████▎   | 571/900 [17:36<13:17,  2.42s/it]
 64%|██████▎   | 572/900 [17:36<09:42,  1.78s/it]
 64%|██████▎   | 573/900 [17:37<07:12,  1.32s/it]
 64%|██████▍   | 574/900 [17:37<05:28,  1.01s/it]
 64%|██████▍   | 575/900 [17:37<04:14,  1.28it/s]
 64%|██████▍   | 576/900 [17:37<03:23,  1.59it/s]
 64%|██████▍   | 577/900 [17:47<17:22,  3.23s/it]
 64%|██████▍   | 578/900 [17:47<12:33,  2.34s/it]
 64%|██████▍   | 579/900 [17:47<09:11,  1.72s/it]
 64%|██████▍   | 580/900 [17:47<06:51,  1.28s/it]
 65%|██████▍   | 581/900 [17:48<05:11,  1.02it/s]
 65%|██████▍   | 582/900 [17:48<04:02,  1.31it/s]
 65%|██████▍   | 583/900 [17:48<03:14,  1.63it/s]
 65%|██████▍   | 584/900 [17:48<02:40,  1.97it/s]
 65%|██████▌   | 585/900 [17:59<18:31,  3.53s/it]
 65%|██████▌   | 586/900 [17:59<13:22,  2.56s/it]
 65%|██████▌   | 587/900 [18:00<09:46,  1.87s/it]
 65%|██████▌   | 588/900 [18:00<07:15,  1.40s/it]
 65%|██████▌   | 589/900 [18:00<05:30,  1.06s/it]
 66%|██████▌   | 590/900 [18:00<04:17,  1.20it/s]
 66%|██████▌   | 591/900 [18:01<03:26,  1.50it/s]
 66%|██████▌   | 592/900 [18:01<02:50,  1.80it/s]
 66%|██████▌   | 593/900 [18:12<18:49,  3.68s/it]
 66%|██████▌   | 594/900 [18:12<13:34,  2.66s/it]
 66%|██████▌   | 595/900 [18:13<09:55,  1.95s/it]
 66%|██████▌   | 596/900 [18:13<07:22,  1.45s/it]
 66%|██████▋   | 597/900 [18:13<05:34,  1.11s/it]
 66%|██████▋   | 598/900 [18:13<04:19,  1.16it/s]
 67%|██████▋   | 599/900 [18:14<03:27,  1.45it/s]
 67%|██████▋   | 600/900 [18:14<02:50,  1.76it/s]
 67%|██████▋   | 601/900 [18:37<36:58,  7.42s/it]
 67%|██████▋   | 602/900 [18:38<26:11,  5.27s/it]
 67%|██████▋   | 603/900 [18:38<18:40,  3.77s/it]
 67%|██████▋   | 604/900 [18:38<13:25,  2.72s/it]
 67%|██████▋   | 605/900 [18:39<09:45,  1.98s/it]
 67%|██████▋   | 606/900 [18:39<07:12,  1.47s/it]
 67%|██████▋   | 607/900 [18:39<05:26,  1.11s/it]
 68%|██████▊   | 608/900 [18:39<04:11,  1.16it/s]
 68%|██████▊   | 609/900 [18:51<19:30,  4.02s/it]
 68%|██████▊   | 610/900 [18:51<13:58,  2.89s/it]
 68%|██████▊   | 611/900 [18:51<10:07,  2.10s/it]
 68%|██████▊   | 612/900 [18:52<07:26,  1.55s/it]
 68%|██████▊   | 613/900 [18:52<05:33,  1.16s/it]
 68%|██████▊   | 614/900 [18:52<04:15,  1.12it/s]
 68%|██████▊   | 615/900 [18:52<03:19,  1.43it/s]
 68%|██████▊   | 616/900 [18:53<02:41,  1.76it/s]
 69%|██████▊   | 617/900 [19:09<24:30,  5.20s/it]
 69%|██████▊   | 618/900 [19:09<17:27,  3.72s/it]
 69%|██████▉   | 619/900 [19:09<12:32,  2.68s/it]
 69%|██████▉   | 620/900 [19:09<09:07,  1.96s/it]
 69%|██████▉   | 621/900 [19:10<06:44,  1.45s/it]
 69%|██████▉   | 622/900 [19:10<05:04,  1.09s/it]
 69%|██████▉   | 623/900 [19:10<03:53,  1.19it/s]
 69%|██████▉   | 624/900 [19:10<03:04,  1.49it/s]
 69%|██████▉   | 625/900 [19:21<16:25,  3.58s/it]
 70%|██████▉   | 626/900 [19:21<11:49,  2.59s/it]
 70%|██████▉   | 627/900 [19:21<08:36,  1.89s/it]
 70%|██████▉   | 628/900 [19:22<06:21,  1.40s/it]
 70%|██████▉   | 629/900 [19:22<04:47,  1.06s/it]
 70%|███████   | 630/900 [19:22<03:42,  1.21it/s]
 70%|███████   | 631/900 [19:22<02:56,  1.52it/s]
 70%|███████   | 632/900 [19:23<02:25,  1.84it/s]
 70%|███████   | 633/900 [19:39<23:24,  5.26s/it]
 70%|███████   | 634/900 [19:39<16:43,  3.77s/it]
 71%|███████   | 635/900 [19:40<12:04,  2.73s/it]
 71%|███████   | 636/900 [19:40<08:48,  2.00s/it]
 71%|███████   | 637/900 [19:40<06:32,  1.49s/it]
 71%|███████   | 638/900 [19:40<04:57,  1.14s/it]
 71%|███████   | 639/900 [19:41<03:50,  1.13it/s]
 71%|███████   | 640/900 [19:41<03:03,  1.42it/s]
 71%|███████   | 641/900 [19:55<20:13,  4.69s/it]
 71%|███████▏  | 642/900 [19:55<14:30,  3.37s/it]
 71%|███████▏  | 643/900 [19:56<10:28,  2.45s/it]
 72%|███████▏  | 644/900 [19:56<07:39,  1.80s/it]
 72%|███████▏  | 645/900 [19:56<05:42,  1.34s/it]
 72%|███████▏  | 646/900 [19:56<04:20,  1.03s/it]
 72%|███████▏  | 647/900 [19:57<03:22,  1.25it/s]
 72%|███████▏  | 648/900 [19:57<02:42,  1.55it/s]
 72%|███████▏  | 649/900 [20:30<43:50, 10.48s/it]
 72%|███████▏  | 650/900 [20:31<30:54,  7.42s/it]
 72%|███████▏  | 651/900 [20:31<21:52,  5.27s/it]
 72%|███████▏  | 652/900 [20:31<15:35,  3.77s/it]
 73%|███████▎  | 653/900 [20:32<11:11,  2.72s/it]
 73%|███████▎  | 654/900 [20:32<08:08,  1.98s/it]
 73%|███████▎  | 655/900 [20:32<06:00,  1.47s/it]
 73%|███████▎  | 656/900 [20:32<04:30,  1.11s/it]
 73%|███████▎  | 657/900 [20:45<17:58,  4.44s/it]
 73%|███████▎  | 658/900 [20:45<12:52,  3.19s/it]
 73%|███████▎  | 659/900 [20:45<09:18,  2.32s/it]
 73%|███████▎  | 660/900 [20:45<06:49,  1.71s/it]
 73%|███████▎  | 661/900 [20:46<05:04,  1.27s/it]
 74%|███████▎  | 662/900 [20:46<03:51,  1.03it/s]
 74%|███████▎  | 663/900 [20:46<03:01,  1.30it/s]
 74%|███████▍  | 664/900 [20:46<02:26,  1.62it/s]
 74%|███████▍  | 665/900 [20:57<14:11,  3.62s/it]
 74%|███████▍  | 666/900 [20:57<10:12,  2.62s/it]
 74%|███████▍  | 667/900 [20:58<07:25,  1.91s/it]
 74%|███████▍  | 668/900 [20:58<05:29,  1.42s/it]
 74%|███████▍  | 669/900 [20:58<04:08,  1.08s/it]
 74%|███████▍  | 670/900 [20:58<03:11,  1.20it/s]
 75%|███████▍  | 671/900 [20:59<02:31,  1.51it/s]
 75%|███████▍  | 672/900 [20:59<02:04,  1.84it/s]
 75%|███████▍  | 673/900 [21:09<12:46,  3.38s/it]
 75%|███████▍  | 674/900 [21:09<09:13,  2.45s/it]
 75%|███████▌  | 675/900 [21:10<06:45,  1.80s/it]
 75%|███████▌  | 676/900 [21:10<05:02,  1.35s/it]
 75%|███████▌  | 677/900 [21:10<03:50,  1.03s/it]
 75%|███████▌  | 678/900 [21:10<03:00,  1.23it/s]
 75%|███████▌  | 679/900 [21:11<02:24,  1.53it/s]
 76%|███████▌  | 680/900 [21:11<02:00,  1.83it/s]
 76%|███████▌  | 681/900 [21:21<11:58,  3.28s/it]
 76%|███████▌  | 682/900 [21:21<08:39,  2.38s/it]
 76%|███████▌  | 683/900 [21:21<06:20,  1.75s/it]
 76%|███████▌  | 684/900 [21:22<04:42,  1.31s/it]
 76%|███████▌  | 685/900 [21:22<03:33,  1.01it/s]
 76%|███████▌  | 686/900 [21:22<02:46,  1.29it/s]
 76%|███████▋  | 687/900 [21:22<02:13,  1.59it/s]
 76%|███████▋  | 688/900 [21:23<01:50,  1.91it/s]
 77%|███████▋  | 689/900 [21:48<27:43,  7.88s/it]
 77%|███████▋  | 690/900 [21:48<19:37,  5.61s/it]
 77%|███████▋  | 691/900 [21:48<13:58,  4.01s/it]
 77%|███████▋  | 692/900 [21:49<10:01,  2.89s/it]
 77%|███████▋  | 693/900 [21:49<07:17,  2.11s/it]
 77%|███████▋  | 694/900 [21:49<05:22,  1.56s/it]
 77%|███████▋  | 695/900 [21:49<04:02,  1.18s/it]
 77%|███████▋  | 696/900 [21:50<03:05,  1.10it/s]
 77%|███████▋  | 697/900 [21:59<12:04,  3.57s/it]
 78%|███████▊  | 698/900 [22:00<08:40,  2.58s/it]
 78%|███████▊  | 699/900 [22:00<06:19,  1.89s/it]
 78%|███████▊  | 700/900 [22:00<04:41,  1.41s/it]
 78%|███████▊  | 701/900 [22:01<03:33,  1.07s/it]
 78%|███████▊  | 702/900 [22:01<02:46,  1.19it/s]
 78%|███████▊  | 703/900 [22:01<02:13,  1.48it/s]
 78%|███████▊  | 704/900 [22:01<01:50,  1.77it/s]
 78%|███████▊  | 705/900 [22:13<12:50,  3.95s/it]
 78%|███████▊  | 706/900 [22:14<09:14,  2.86s/it]
 79%|███████▊  | 707/900 [22:14<06:42,  2.09s/it]
 79%|███████▊  | 708/900 [22:14<04:57,  1.55s/it]
 79%|███████▉  | 709/900 [22:14<03:43,  1.17s/it]
 79%|███████▉  | 710/900 [22:15<02:52,  1.10it/s]
 79%|███████▉  | 711/900 [22:15<02:17,  1.37it/s]
 79%|███████▉  | 712/900 [22:15<01:52,  1.67it/s]
 79%|███████▉  | 713/900 [22:28<12:53,  4.14s/it]
 79%|███████▉  | 714/900 [22:28<09:14,  2.98s/it]
 79%|███████▉  | 715/900 [22:28<06:41,  2.17s/it]
 80%|███████▉  | 716/900 [22:29<04:54,  1.60s/it]
 80%|███████▉  | 717/900 [22:29<03:39,  1.20s/it]
 80%|███████▉  | 718/900 [22:29<02:47,  1.08it/s]
 80%|███████▉  | 719/900 [22:29<02:11,  1.37it/s]
 80%|████████  | 720/900 [22:30<01:46,  1.69it/s]
 80%|████████  | 721/900 [22:50<19:25,  6.51s/it]
 80%|████████  | 722/900 [22:50<13:45,  4.64s/it]
 80%|████████  | 723/900 [22:51<09:49,  3.33s/it]
 80%|████████  | 724/900 [22:51<07:04,  2.41s/it]
 81%|████████  | 725/900 [22:51<05:10,  1.77s/it]
 81%|████████  | 726/900 [22:51<03:50,  1.32s/it]
 81%|████████  | 727/900 [22:52<02:54,  1.01s/it]
 81%|████████  | 728/900 [22:52<02:15,  1.27it/s]
 81%|████████  | 729/900 [23:03<10:46,  3.78s/it]
 81%|████████  | 730/900 [23:03<07:44,  2.73s/it]
 81%|████████  | 731/900 [23:03<05:36,  1.99s/it]
 81%|████████▏ | 732/900 [23:04<04:08,  1.48s/it]
 81%|████████▏ | 733/900 [23:04<03:06,  1.12s/it]
 82%|████████▏ | 734/900 [23:04<02:23,  1.16it/s]
 82%|████████▏ | 735/900 [23:04<01:53,  1.46it/s]
 82%|████████▏ | 736/900 [23:05<01:31,  1.78it/s]
 82%|████████▏ | 737/900 [23:32<23:17,  8.58s/it]
 82%|████████▏ | 738/900 [23:32<16:25,  6.08s/it]
 82%|████████▏ | 739/900 [23:32<11:38,  4.34s/it]
 82%|████████▏ | 740/900 [23:33<08:18,  3.12s/it]
 82%|████████▏ | 741/900 [23:33<05:59,  2.26s/it]
 82%|████████▏ | 742/900 [23:33<04:22,  1.66s/it]
 83%|████████▎ | 743/900 [23:33<03:14,  1.24s/it]
 83%|████████▎ | 744/900 [23:34<02:28,  1.05it/s]
 83%|████████▎ | 745/900 [23:45<10:18,  3.99s/it]
 83%|████████▎ | 746/900 [23:45<07:22,  2.87s/it]
 83%|████████▎ | 747/900 [23:45<05:20,  2.09s/it]
 83%|████████▎ | 748/900 [23:46<03:54,  1.54s/it]
 83%|████████▎ | 749/900 [23:46<02:55,  1.16s/it]
 83%|████████▎ | 750/900 [23:46<02:15,  1.11it/s]
 83%|████████▎ | 751/900 [23:47<01:46,  1.39it/s]
 84%|████████▎ | 752/900 [23:47<01:27,  1.70it/s]
 84%|████████▎ | 753/900 [24:01<11:27,  4.68s/it]
 84%|████████▍ | 754/900 [24:01<08:10,  3.36s/it]
 84%|████████▍ | 755/900 [24:02<05:52,  2.43s/it]
 84%|████████▍ | 756/900 [24:02<04:16,  1.78s/it]
 84%|████████▍ | 757/900 [24:02<03:09,  1.33s/it]
 84%|████████▍ | 758/900 [24:02<02:23,  1.01s/it]
 84%|████████▍ | 759/900 [24:03<01:50,  1.27it/s]
 84%|████████▍ | 760/900 [24:03<01:27,  1.59it/s]
 85%|████████▍ | 761/900 [24:28<18:26,  7.96s/it]
 85%|████████▍ | 762/900 [24:28<13:00,  5.65s/it]
 85%|████████▍ | 763/900 [24:29<09:13,  4.04s/it]
 85%|████████▍ | 764/900 [24:29<06:36,  2.91s/it]
 85%|████████▌ | 765/900 [24:29<04:46,  2.12s/it]
 85%|████████▌ | 766/900 [24:29<03:29,  1.56s/it]
 85%|████████▌ | 767/900 [24:30<02:36,  1.18s/it]
 85%|████████▌ | 768/900 [24:30<02:00,  1.10it/s]
 85%|████████▌ | 769/900 [24:39<07:38,  3.50s/it]
 86%|████████▌ | 770/900 [24:40<05:29,  2.53s/it]
 86%|████████▌ | 771/900 [24:40<03:59,  1.86s/it]
 86%|████████▌ | 772/900 [24:40<02:56,  1.38s/it]
 86%|████████▌ | 773/900 [24:41<02:13,  1.05s/it]
 86%|████████▌ | 774/900 [24:41<01:43,  1.22it/s]
 86%|████████▌ | 775/900 [24:41<01:21,  1.53it/s]
 86%|████████▌ | 776/900 [24:41<01:07,  1.84it/s]
 86%|████████▋ | 777/900 [24:51<06:42,  3.27s/it]
 86%|████████▋ | 778/900 [24:51<04:48,  2.37s/it]
 87%|████████▋ | 779/900 [24:52<03:30,  1.74s/it]
 87%|████████▋ | 780/900 [24:52<02:35,  1.30s/it]
 87%|████████▋ | 781/900 [24:52<01:57,  1.01it/s]
 87%|████████▋ | 782/900 [24:52<01:30,  1.30it/s]
 87%|████████▋ | 783/900 [24:53<01:12,  1.61it/s]
 87%|████████▋ | 784/900 [24:53<00:59,  1.95it/s]
 87%|████████▋ | 785/900 [25:07<08:55,  4.66s/it]
 87%|████████▋ | 786/900 [25:07<06:21,  3.35s/it]
 87%|████████▋ | 787/900 [25:08<04:34,  2.43s/it]
 88%|████████▊ | 788/900 [25:08<03:19,  1.78s/it]
 88%|████████▊ | 789/900 [25:08<02:28,  1.33s/it]
 88%|████████▊ | 790/900 [25:09<01:52,  1.02s/it]
 88%|████████▊ | 791/900 [25:09<01:26,  1.25it/s]
 88%|████████▊ | 792/900 [25:09<01:09,  1.55it/s]
 88%|████████▊ | 793/900 [25:29<11:12,  6.29s/it]
 88%|████████▊ | 794/900 [25:29<07:55,  4.49s/it]
 88%|████████▊ | 795/900 [25:29<05:39,  3.23s/it]
 88%|████████▊ | 796/900 [25:29<04:04,  2.35s/it]
 89%|████████▊ | 797/900 [25:30<02:58,  1.73s/it]
 89%|████████▊ | 798/900 [25:30<02:12,  1.30s/it]
 89%|████████▉ | 799/900 [25:30<01:40,  1.00it/s]
 89%|████████▉ | 800/900 [25:31<01:18,  1.27it/s]
 89%|████████▉ | 801/900 [25:44<07:28,  4.53s/it]
 89%|████████▉ | 802/900 [25:44<05:19,  3.27s/it]
 89%|████████▉ | 803/900 [25:45<03:50,  2.38s/it]
 89%|████████▉ | 804/900 [25:45<02:47,  1.74s/it]
 89%|████████▉ | 805/900 [25:45<02:03,  1.30s/it]
 90%|████████▉ | 806/900 [25:45<01:33,  1.01it/s]
 90%|████████▉ | 807/900 [25:46<01:12,  1.29it/s]
 90%|████████▉ | 808/900 [25:46<00:57,  1.60it/s]
 90%|████████▉ | 809/900 [26:00<07:13,  4.76s/it]
 90%|█████████ | 810/900 [26:01<05:07,  3.42s/it]
 90%|█████████ | 811/900 [26:01<03:40,  2.47s/it]
 90%|█████████ | 812/900 [26:01<02:40,  1.82s/it]
 90%|█████████ | 813/900 [26:01<01:57,  1.35s/it]
 90%|█████████ | 814/900 [26:02<01:28,  1.03s/it]
 91%|█████████ | 815/900 [26:02<01:08,  1.24it/s]
 91%|█████████ | 816/900 [26:02<00:54,  1.54it/s]
 91%|█████████ | 817/900 [26:14<05:42,  4.12s/it]
 91%|█████████ | 818/900 [26:15<04:03,  2.97s/it]
 91%|█████████ | 819/900 [26:15<02:55,  2.17s/it]
 91%|█████████ | 820/900 [26:15<02:08,  1.61s/it]
 91%|█████████ | 821/900 [26:16<01:36,  1.22s/it]
 91%|█████████▏| 822/900 [26:16<01:13,  1.06it/s]
 91%|█████████▏| 823/900 [26:16<00:57,  1.33it/s]
 92%|█████████▏| 824/900 [26:17<00:46,  1.63it/s]
 92%|█████████▏| 825/900 [26:29<05:09,  4.13s/it]
 92%|█████████▏| 826/900 [26:29<03:40,  2.98s/it]
 92%|█████████▏| 827/900 [26:29<02:38,  2.17s/it]
 92%|█████████▏| 828/900 [26:30<01:56,  1.61s/it]
 92%|█████████▏| 829/900 [26:30<01:26,  1.22s/it]
 92%|█████████▏| 830/900 [26:30<01:06,  1.06it/s]
 92%|█████████▏| 831/900 [26:31<00:51,  1.33it/s]
 92%|█████████▏| 832/900 [26:31<00:41,  1.63it/s]
 93%|█████████▎| 833/900 [26:42<04:19,  3.87s/it]
 93%|█████████▎| 834/900 [26:43<03:04,  2.80s/it]
 93%|█████████▎| 835/900 [26:43<02:12,  2.05s/it]
 93%|█████████▎| 836/900 [26:43<01:37,  1.52s/it]
 93%|█████████▎| 837/900 [26:44<01:12,  1.14s/it]
 93%|█████████▎| 838/900 [26:44<00:54,  1.13it/s]
 93%|█████████▎| 839/900 [26:44<00:42,  1.42it/s]
 93%|█████████▎| 840/900 [26:44<00:34,  1.75it/s]
 93%|█████████▎| 841/900 [26:57<04:01,  4.09s/it]
 94%|█████████▎| 842/900 [26:57<02:50,  2.95s/it]
 94%|█████████▎| 843/900 [26:57<02:02,  2.15s/it]
 94%|█████████▍| 844/900 [26:58<01:28,  1.59s/it]
 94%|█████████▍| 845/900 [26:58<01:05,  1.19s/it]
 94%|█████████▍| 846/900 [26:58<00:49,  1.09it/s]
 94%|█████████▍| 847/900 [26:58<00:38,  1.38it/s]
 94%|█████████▍| 848/900 [26:59<00:30,  1.70it/s]
 94%|█████████▍| 849/900 [27:11<03:31,  4.15s/it]
 94%|█████████▍| 850/900 [27:11<02:29,  2.99s/it]
 95%|█████████▍| 851/900 [27:12<01:46,  2.17s/it]
 95%|█████████▍| 852/900 [27:12<01:16,  1.60s/it]
 95%|█████████▍| 853/900 [27:12<00:56,  1.20s/it]
 95%|█████████▍| 854/900 [27:12<00:42,  1.09it/s]
 95%|█████████▌| 855/900 [27:13<00:32,  1.38it/s]
 95%|█████████▌| 856/900 [27:13<00:25,  1.71it/s]
 95%|█████████▌| 857/900 [27:25<02:47,  3.88s/it]
 95%|█████████▌| 858/900 [27:25<01:57,  2.80s/it]
 95%|█████████▌| 859/900 [27:25<01:23,  2.04s/it]
 96%|█████████▌| 860/900 [27:25<01:00,  1.52s/it]
 96%|█████████▌| 861/900 [27:26<00:44,  1.15s/it]
 96%|█████████▌| 862/900 [27:26<00:33,  1.12it/s]
 96%|█████████▌| 863/900 [27:26<00:26,  1.42it/s]
 96%|█████████▌| 864/900 [27:27<00:20,  1.72it/s]
 96%|█████████▌| 865/900 [27:46<03:33,  6.09s/it]
 96%|█████████▌| 866/900 [27:46<02:28,  4.35s/it]
 96%|█████████▋| 867/900 [27:46<01:43,  3.13s/it]
 96%|█████████▋| 868/900 [27:46<01:12,  2.27s/it]
 97%|█████████▋| 869/900 [27:47<00:51,  1.67s/it]
 97%|█████████▋| 870/900 [27:47<00:37,  1.25s/it]
 97%|█████████▋| 871/900 [27:47<00:27,  1.04it/s]
 97%|█████████▋| 872/900 [27:47<00:21,  1.31it/s]
 97%|█████████▋| 873/900 [28:00<01:53,  4.21s/it]
 97%|█████████▋| 874/900 [28:00<01:18,  3.03s/it]
 97%|█████████▋| 875/900 [28:00<00:54,  2.20s/it]
 97%|█████████▋| 876/900 [28:01<00:38,  1.62s/it]
 97%|█████████▋| 877/900 [28:01<00:27,  1.21s/it]
 98%|█████████▊| 878/900 [28:01<00:20,  1.08it/s]
 98%|█████████▊| 879/900 [28:01<00:15,  1.37it/s]
 98%|█████████▊| 880/900 [28:02<00:11,  1.69it/s]
 98%|█████████▊| 881/900 [28:24<02:17,  7.23s/it]
 98%|█████████▊| 882/900 [28:25<01:32,  5.14s/it]
 98%|█████████▊| 883/900 [28:25<01:02,  3.68s/it]
 98%|█████████▊| 884/900 [28:25<00:42,  2.66s/it]
 98%|█████████▊| 885/900 [28:25<00:29,  1.94s/it]
 98%|█████████▊| 886/900 [28:26<00:20,  1.44s/it]
 99%|█████████▊| 887/900 [28:26<00:14,  1.09s/it]
 99%|█████████▊| 888/900 [28:26<00:10,  1.19it/s]
 99%|█████████▉| 889/900 [28:40<00:52,  4.82s/it]
 99%|█████████▉| 890/900 [28:41<00:34,  3.45s/it]
 99%|█████████▉| 891/900 [28:41<00:22,  2.50s/it]
 99%|█████████▉| 892/900 [28:41<00:14,  1.83s/it]
 99%|█████████▉| 893/900 [28:41<00:09,  1.36s/it]
 99%|█████████▉| 894/900 [28:42<00:06,  1.03s/it]
 99%|█████████▉| 895/900 [28:42<00:04,  1.25it/s]
100%|█████████▉| 896/900 [28:42<00:02,  1.56it/s]
100%|█████████▉| 897/900 [28:54<00:12,  4.03s/it]
100%|█████████▉| 898/900 [28:54<00:05,  2.91s/it]
100%|█████████▉| 899/900 [28:55<00:02,  2.12s/it]
100%|█████████▉| 899/900 [28:55<00:01,  1.93s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/log_0_env0.json.
+ClampInRightBinTask_0 complete: task_name: ClampInRightBinTask, run_name: ClampInRightBinTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the spring clamp in the right bin, attributes: ['semantics', 'spatial', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -15.723298361991649, 'joint_sparc_mean': -21.77094805106248, 'ee_isj': 4490.17435362638, 'joint_isj': 706714.5420090813, 'ee_path_length': 5.793951496638654, 'joint_rmse_mean': 1.098702500881492, 'ee_speed_max': 0.8279572129249573, 'ee_speed_mean': 0.09320259094238281}, events: {'TARGET_OBJECT_DROPPED': 24, 'GRIPPER_FULLY_CLOSED': 20, 'GRIPPER_HIT_TABLE': 1, 'GRIPPER_HIT_OBJECT': 1}, instruction_type: default, timing: {'policy_inference_s': 1494.58, 'policy_inference_avg_ms': 1660.6, 'env_step_s': 231.438, 'env_step_avg_ms': 257.2, 'video_write_s': 8.99, 'video_write_avg_ms': 10.0, 'wall_total_s': 1735.008, 'it_per_sec': 0.52}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spring_clamp) (step 1/2), harness_episode_id: 0214ca2a25e04eb28f41b0d2c068da7b-0
+[RoboLab] Running ClampInRightBinTask_1: 'Put the spring clamp in the right bin' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:37<9:16:29, 37.14s/it]
  0%|          | 2/900 [00:37<3:51:27, 15.46s/it]
  0%|          | 3/900 [00:37<2:07:30,  8.53s/it]
  0%|          | 4/900 [00:37<1:18:40,  5.27s/it]
  1%|          | 5/900 [00:38<51:43,  3.47s/it]  
  1%|          | 6/900 [00:38<35:27,  2.38s/it]
  1%|          | 7/900 [00:38<25:10,  1.69s/it]
  1%|          | 8/900 [00:39<18:26,  1.24s/it]
  1%|          | 9/900 [01:34<4:28:14, 18.06s/it]
  1%|          | 10/900 [01:34<3:06:26, 12.57s/it]
  1%|          | 11/900 [01:34<2:10:27,  8.80s/it]
  1%|▏         | 12/900 [01:34<1:31:51,  6.21s/it]
  1%|▏         | 13/900 [01:35<1:05:07,  4.41s/it]
  2%|▏         | 14/900 [01:35<46:34,  3.15s/it]  
  2%|▏         | 15/900 [01:35<33:40,  2.28s/it]
  2%|▏         | 16/900 [01:35<24:39,  1.67s/it]
  2%|▏         | 17/900 [02:04<2:24:08,  9.79s/it]
  2%|▏         | 18/900 [02:04<1:41:52,  6.93s/it]
  2%|▏         | 19/900 [02:05<1:12:21,  4.93s/it]
  2%|▏         | 20/900 [02:05<51:45,  3.53s/it]  
  2%|▏         | 21/900 [02:05<37:20,  2.55s/it]
  2%|▏         | 22/900 [02:05<27:15,  1.86s/it]
  3%|▎         | 23/900 [02:06<20:13,  1.38s/it]
  3%|▎         | 24/900 [02:06<15:19,  1.05s/it]
  3%|▎         | 25/900 [02:14<47:24,  3.25s/it]
  3%|▎         | 26/900 [02:15<34:19,  2.36s/it]
  3%|▎         | 27/900 [02:15<25:08,  1.73s/it]
  3%|▎         | 28/900 [02:15<18:46,  1.29s/it]
  3%|▎         | 29/900 [02:15<14:20,  1.01it/s]
  3%|▎         | 30/900 [02:16<11:20,  1.28it/s]
  3%|▎         | 31/900 [02:16<09:14,  1.57it/s]
  4%|▎         | 32/900 [02:16<07:46,  1.86it/s]
  4%|▎         | 33/900 [02:31<1:07:36,  4.68s/it]
  4%|▍         | 34/900 [02:31<48:26,  3.36s/it]  
  4%|▍         | 35/900 [02:31<35:00,  2.43s/it]
  4%|▍         | 36/900 [02:32<25:38,  1.78s/it]
  4%|▍         | 37/900 [02:32<19:06,  1.33s/it]
  4%|▍         | 38/900 [02:32<14:38,  1.02s/it]
  4%|▍         | 39/900 [02:32<11:34,  1.24it/s]
  4%|▍         | 40/900 [02:33<09:21,  1.53it/s]
  5%|▍         | 41/900 [02:42<47:56,  3.35s/it]
  5%|▍         | 42/900 [02:43<34:41,  2.43s/it]
  5%|▍         | 43/900 [02:43<25:29,  1.78s/it]
  5%|▍         | 44/900 [02:43<19:08,  1.34s/it]
  5%|▌         | 45/900 [02:44<14:42,  1.03s/it]
  5%|▌         | 46/900 [02:44<11:31,  1.23it/s]
  5%|▌         | 47/900 [02:44<09:19,  1.52it/s]
  5%|▌         | 48/900 [02:44<07:46,  1.82it/s]
  5%|▌         | 49/900 [02:50<30:57,  2.18s/it]
  6%|▌         | 50/900 [02:51<22:56,  1.62s/it]
  6%|▌         | 51/900 [02:51<17:15,  1.22s/it]
  6%|▌         | 52/900 [02:51<13:17,  1.06it/s]
  6%|▌         | 53/900 [02:52<10:29,  1.35it/s]
  6%|▌         | 54/900 [02:52<08:32,  1.65it/s]
  6%|▌         | 55/900 [02:52<07:12,  1.95it/s]
  6%|▌         | 56/900 [02:52<06:14,  2.26it/s]
  6%|▋         | 57/900 [02:58<29:39,  2.11s/it]
  6%|▋         | 58/900 [02:59<21:57,  1.56s/it]
  7%|▋         | 59/900 [02:59<16:32,  1.18s/it]
  7%|▋         | 60/900 [02:59<12:46,  1.10it/s]
  7%|▋         | 61/900 [03:00<10:09,  1.38it/s]
  7%|▋         | 62/900 [03:00<08:16,  1.69it/s]
  7%|▋         | 63/900 [03:00<06:58,  2.00it/s]
  7%|▋         | 64/900 [03:00<06:02,  2.31it/s]
  7%|▋         | 65/900 [03:09<38:24,  2.76s/it]
  7%|▋         | 66/900 [03:09<28:01,  2.02s/it]
  7%|▋         | 67/900 [03:09<20:45,  1.50s/it]
  8%|▊         | 68/900 [03:09<15:41,  1.13s/it]
  8%|▊         | 69/900 [03:10<12:10,  1.14it/s]
  8%|▊         | 70/900 [03:10<09:44,  1.42it/s]
  8%|▊         | 71/900 [03:10<08:00,  1.73it/s]
  8%|▊         | 72/900 [03:11<06:46,  2.04it/s]
  8%|▊         | 73/900 [03:17<30:46,  2.23s/it]
  8%|▊         | 74/900 [03:17<22:43,  1.65s/it]
  8%|▊         | 75/900 [03:18<17:06,  1.24s/it]
  8%|▊         | 76/900 [03:18<13:18,  1.03it/s]
  9%|▊         | 77/900 [03:18<10:25,  1.31it/s]
  9%|▊         | 78/900 [03:18<08:25,  1.62it/s]
  9%|▉         | 79/900 [03:19<07:04,  1.93it/s]
  9%|▉         | 80/900 [03:19<06:04,  2.25it/s]
  9%|▉         | 81/900 [03:31<52:08,  3.82s/it]
  9%|▉         | 82/900 [03:31<37:34,  2.76s/it]
  9%|▉         | 83/900 [03:31<27:22,  2.01s/it]
  9%|▉         | 84/900 [03:31<20:17,  1.49s/it]
  9%|▉         | 85/900 [03:32<15:18,  1.13s/it]
 10%|▉         | 86/900 [03:32<11:53,  1.14it/s]
 10%|▉         | 87/900 [03:32<09:29,  1.43it/s]
 10%|▉         | 88/900 [03:33<07:45,  1.74it/s]
 10%|▉         | 89/900 [03:47<1:03:05,  4.67s/it]
 10%|█         | 90/900 [03:47<45:10,  3.35s/it]  
 10%|█         | 91/900 [03:47<32:40,  2.42s/it]
 10%|█         | 92/900 [03:48<23:54,  1.78s/it]
 10%|█         | 93/900 [03:48<17:50,  1.33s/it]
 10%|█         | 94/900 [03:48<13:34,  1.01s/it]
 11%|█         | 95/900 [03:48<10:34,  1.27it/s]
 11%|█         | 96/900 [03:49<08:30,  1.58it/s]
 11%|█         | 97/900 [04:00<51:11,  3.82s/it]
 11%|█         | 98/900 [04:00<36:51,  2.76s/it]
 11%|█         | 99/900 [04:01<26:53,  2.01s/it]
 11%|█         | 100/900 [04:01<19:52,  1.49s/it]
 11%|█         | 101/900 [04:01<14:58,  1.12s/it]
 11%|█▏        | 102/900 [04:01<11:36,  1.15it/s]
 11%|█▏        | 103/900 [04:02<09:16,  1.43it/s]
 12%|█▏        | 104/900 [04:02<07:39,  1.73it/s]
 12%|█▏        | 105/900 [04:09<34:22,  2.59s/it]
 12%|█▏        | 106/900 [04:10<25:13,  1.91s/it]
 12%|█▏        | 107/900 [04:10<18:49,  1.42s/it]
 12%|█▏        | 108/900 [04:10<14:20,  1.09s/it]
 12%|█▏        | 109/900 [04:10<11:11,  1.18it/s]
 12%|█▏        | 110/900 [04:11<09:00,  1.46it/s]
 12%|█▏        | 111/900 [04:11<07:26,  1.77it/s]
 12%|█▏        | 112/900 [04:11<06:22,  2.06it/s]
 13%|█▎        | 113/900 [04:16<24:45,  1.89s/it]
 13%|█▎        | 114/900 [04:17<18:26,  1.41s/it]
 13%|█▎        | 115/900 [04:17<14:01,  1.07s/it]
 13%|█▎        | 116/900 [04:17<10:57,  1.19it/s]
 13%|█▎        | 117/900 [04:18<08:46,  1.49it/s]
 13%|█▎        | 118/900 [04:18<07:17,  1.79it/s]
 13%|█▎        | 119/900 [04:18<06:14,  2.08it/s]
 13%|█▎        | 120/900 [04:19<05:34,  2.33it/s]
 13%|█▎        | 121/900 [04:26<33:19,  2.57s/it]
 14%|█▎        | 122/900 [04:26<24:24,  1.88s/it]
 14%|█▎        | 123/900 [04:27<18:05,  1.40s/it]
 14%|█▍        | 124/900 [04:27<13:39,  1.06s/it]
 14%|█▍        | 125/900 [04:27<10:33,  1.22it/s]
 14%|█▍        | 126/900 [04:27<08:23,  1.54it/s]
 14%|█▍        | 127/900 [04:28<06:50,  1.88it/s]
 14%|█▍        | 128/900 [04:28<05:47,  2.22it/s]
 14%|█▍        | 129/900 [04:46<1:12:54,  5.67s/it]
 14%|█▍        | 130/900 [04:46<52:04,  4.06s/it]  
 15%|█▍        | 131/900 [04:46<37:30,  2.93s/it]
 15%|█▍        | 132/900 [04:47<27:21,  2.14s/it]
 15%|█▍        | 133/900 [04:47<20:12,  1.58s/it]
 15%|█▍        | 134/900 [04:47<15:13,  1.19s/it]
 15%|█▌        | 135/900 [04:48<11:44,  1.09it/s]
 15%|█▌        | 136/900 [04:48<09:18,  1.37it/s]
 15%|█▌        | 137/900 [05:32<2:55:23, 13.79s/it]
 15%|█▌        | 138/900 [05:32<2:03:36,  9.73s/it]
 15%|█▌        | 139/900 [05:33<1:27:24,  6.89s/it]
 16%|█▌        | 140/900 [05:33<1:02:09,  4.91s/it]
 16%|█▌        | 141/900 [05:33<44:28,  3.52s/it]  
 16%|█▌        | 142/900 [05:33<32:05,  2.54s/it]
 16%|█▌        | 143/900 [05:34<23:27,  1.86s/it]
 16%|█▌        | 144/900 [05:34<17:28,  1.39s/it]
 16%|█▌        | 145/900 [05:39<30:22,  2.41s/it]
 16%|█▌        | 146/900 [05:39<22:17,  1.77s/it]
 16%|█▋        | 147/900 [05:39<16:37,  1.32s/it]
 16%|█▋        | 148/900 [05:40<12:41,  1.01s/it]
 17%|█▋        | 149/900 [05:40<09:54,  1.26it/s]
 17%|█▋        | 150/900 [05:40<07:58,  1.57it/s]
 17%|█▋        | 151/900 [05:40<06:36,  1.89it/s]
 17%|█▋        | 152/900 [05:41<05:39,  2.20it/s]
 17%|█▋        | 153/900 [05:46<25:27,  2.04s/it]
 17%|█▋        | 154/900 [05:47<18:48,  1.51s/it]
 17%|█▋        | 155/900 [05:47<14:07,  1.14s/it]
 17%|█▋        | 156/900 [05:47<10:51,  1.14it/s]
 17%|█▋        | 157/900 [05:48<08:34,  1.44it/s]
 18%|█▊        | 158/900 [05:48<06:56,  1.78it/s]
 18%|█▊        | 159/900 [05:48<05:48,  2.12it/s]
 18%|█▊        | 160/900 [05:48<05:01,  2.45it/s]
 18%|█▊        | 161/900 [06:00<46:44,  3.79s/it]
 18%|█▊        | 162/900 [06:00<33:38,  2.73s/it]
 18%|█▊        | 163/900 [06:01<24:28,  1.99s/it]
 18%|█▊        | 164/900 [06:01<18:06,  1.48s/it]
 18%|█▊        | 165/900 [06:01<13:38,  1.11s/it]
 18%|█▊        | 166/900 [06:01<10:28,  1.17it/s]
 19%|█▊        | 167/900 [06:02<08:20,  1.46it/s]
 19%|█▊        | 168/900 [06:02<06:48,  1.79it/s]
 19%|█▉        | 169/900 [06:11<37:05,  3.05s/it]
 19%|█▉        | 170/900 [06:11<26:58,  2.22s/it]
 19%|█▉        | 171/900 [06:11<19:55,  1.64s/it]
 19%|█▉        | 172/900 [06:12<14:58,  1.23s/it]
 19%|█▉        | 173/900 [06:12<11:31,  1.05it/s]
 19%|█▉        | 174/900 [06:12<09:07,  1.33it/s]
 19%|█▉        | 175/900 [06:12<07:25,  1.63it/s]
 20%|█▉        | 176/900 [06:13<06:15,  1.93it/s]
 20%|█▉        | 177/900 [06:21<32:19,  2.68s/it]
 20%|█▉        | 178/900 [06:21<23:38,  1.97s/it]
 20%|█▉        | 179/900 [06:21<17:34,  1.46s/it]
 20%|██        | 180/900 [06:21<13:20,  1.11s/it]
 20%|██        | 181/900 [06:22<10:26,  1.15it/s]
 20%|██        | 182/900 [06:22<08:39,  1.38it/s]
 20%|██        | 183/900 [06:22<07:10,  1.66it/s]
 20%|██        | 184/900 [06:23<06:07,  1.95it/s]
 21%|██        | 185/900 [06:29<26:48,  2.25s/it]
 21%|██        | 186/900 [06:29<19:49,  1.67s/it]
 21%|██        | 187/900 [06:30<15:00,  1.26s/it]
 21%|██        | 188/900 [06:30<11:36,  1.02it/s]
 21%|██        | 189/900 [06:30<09:13,  1.29it/s]
 21%|██        | 190/900 [06:31<07:30,  1.58it/s]
 21%|██        | 191/900 [06:31<06:17,  1.88it/s]
 21%|██▏       | 192/900 [06:31<05:27,  2.16it/s]
 21%|██▏       | 193/900 [06:45<53:14,  4.52s/it]
 22%|██▏       | 194/900 [06:45<38:09,  3.24s/it]
 22%|██▏       | 195/900 [06:46<27:36,  2.35s/it]
 22%|██▏       | 196/900 [06:46<20:12,  1.72s/it]
 22%|██▏       | 197/900 [06:46<15:04,  1.29s/it]
 22%|██▏       | 198/900 [06:46<11:30,  1.02it/s]
 22%|██▏       | 199/900 [06:47<09:00,  1.30it/s]
 22%|██▏       | 200/900 [06:47<07:13,  1.61it/s]
 22%|██▏       | 201/900 [06:56<36:59,  3.18s/it]
 22%|██▏       | 202/900 [06:56<26:46,  2.30s/it]
 23%|██▎       | 203/900 [06:57<19:39,  1.69s/it]
 23%|██▎       | 204/900 [06:57<14:41,  1.27s/it]
 23%|██▎       | 205/900 [06:57<11:13,  1.03it/s]
 23%|██▎       | 206/900 [06:57<08:46,  1.32it/s]
 23%|██▎       | 207/900 [06:58<07:04,  1.63it/s]
 23%|██▎       | 208/900 [06:58<05:53,  1.96it/s]
 23%|██▎       | 209/900 [07:04<24:01,  2.09s/it]
 23%|██▎       | 210/900 [07:04<17:43,  1.54s/it]
 23%|██▎       | 211/900 [07:04<13:17,  1.16s/it]
 24%|██▎       | 212/900 [07:05<10:15,  1.12it/s]
 24%|██▎       | 213/900 [07:05<08:05,  1.41it/s]
 24%|██▍       | 214/900 [07:05<06:34,  1.74it/s]
 24%|██▍       | 215/900 [07:05<05:31,  2.07it/s]
 24%|██▍       | 216/900 [07:06<04:49,  2.37it/s]
 24%|██▍       | 217/900 [07:13<28:43,  2.52s/it]
 24%|██▍       | 218/900 [07:13<21:06,  1.86s/it]
 24%|██▍       | 219/900 [07:14<15:43,  1.39s/it]
 24%|██▍       | 220/900 [07:14<11:58,  1.06s/it]
 25%|██▍       | 221/900 [07:14<09:20,  1.21it/s]
 25%|██▍       | 222/900 [07:15<07:31,  1.50it/s]
 25%|██▍       | 223/900 [07:15<06:15,  1.80it/s]
 25%|██▍       | 224/900 [07:15<05:22,  2.09it/s]
 25%|██▌       | 225/900 [07:26<38:59,  3.47s/it]
 25%|██▌       | 226/900 [07:26<28:12,  2.51s/it]
 25%|██▌       | 227/900 [07:26<20:37,  1.84s/it]
 25%|██▌       | 228/900 [07:26<15:18,  1.37s/it]
 25%|██▌       | 229/900 [07:27<11:34,  1.03s/it]
 26%|██▌       | 230/900 [07:27<08:57,  1.25it/s]
 26%|██▌       | 231/900 [07:27<07:07,  1.56it/s]
 26%|██▌       | 232/900 [07:27<05:50,  1.90it/s]
 26%|██▌       | 233/900 [07:37<37:18,  3.36s/it]
 26%|██▌       | 234/900 [07:38<27:00,  2.43s/it]
 26%|██▌       | 235/900 [07:38<19:48,  1.79s/it]
 26%|██▌       | 236/900 [07:38<14:44,  1.33s/it]
 26%|██▋       | 237/900 [07:39<11:12,  1.01s/it]
 26%|██▋       | 238/900 [07:39<08:43,  1.26it/s]
 27%|██▋       | 239/900 [07:39<07:01,  1.57it/s]
 27%|██▋       | 240/900 [07:39<05:48,  1.90it/s]
 27%|██▋       | 241/900 [07:50<37:49,  3.44s/it]
 27%|██▋       | 242/900 [07:50<27:23,  2.50s/it]
 27%|██▋       | 243/900 [07:50<20:05,  1.83s/it]
 27%|██▋       | 244/900 [07:50<14:59,  1.37s/it]
 27%|██▋       | 245/900 [07:51<11:28,  1.05s/it]
 27%|██▋       | 246/900 [07:51<08:57,  1.22it/s]
 27%|██▋       | 247/900 [07:51<07:10,  1.52it/s]
 28%|██▊       | 248/900 [07:52<05:56,  1.83it/s]
 28%|██▊       | 249/900 [08:01<36:06,  3.33s/it]
 28%|██▊       | 250/900 [08:02<26:09,  2.41s/it]
 28%|██▊       | 251/900 [08:02<19:12,  1.78s/it]
 28%|██▊       | 252/900 [08:02<14:22,  1.33s/it]
 28%|██▊       | 253/900 [08:03<10:58,  1.02s/it]
 28%|██▊       | 254/900 [08:03<08:36,  1.25it/s]
 28%|██▊       | 255/900 [08:03<06:56,  1.55it/s]
 28%|██▊       | 256/900 [08:03<05:46,  1.86it/s]
 29%|██▊       | 257/900 [08:14<39:20,  3.67s/it]
 29%|██▊       | 258/900 [08:15<28:25,  2.66s/it]
 29%|██▉       | 259/900 [08:15<20:47,  1.95s/it]
 29%|██▉       | 260/900 [08:15<15:26,  1.45s/it]
 29%|██▉       | 261/900 [08:16<11:41,  1.10s/it]
 29%|██▉       | 262/900 [08:16<09:05,  1.17it/s]
 29%|██▉       | 263/900 [08:16<07:15,  1.46it/s]
 29%|██▉       | 264/900 [08:16<05:57,  1.78it/s]
 29%|██▉       | 265/900 [08:35<1:02:34,  5.91s/it]
 30%|██▉       | 266/900 [08:35<44:34,  4.22s/it]  
 30%|██▉       | 267/900 [08:35<32:00,  3.03s/it]
 30%|██▉       | 268/900 [08:36<23:11,  2.20s/it]
 30%|██▉       | 269/900 [08:36<17:02,  1.62s/it]
 30%|███       | 270/900 [08:36<12:44,  1.21s/it]
 30%|███       | 271/900 [08:36<09:43,  1.08it/s]
 30%|███       | 272/900 [08:37<07:37,  1.37it/s]
 30%|███       | 273/900 [08:46<34:15,  3.28s/it]
 30%|███       | 274/900 [08:46<24:45,  2.37s/it]
 31%|███       | 275/900 [08:46<18:07,  1.74s/it]
 31%|███       | 276/900 [08:47<13:29,  1.30s/it]
 31%|███       | 277/900 [08:47<10:14,  1.01it/s]
 31%|███       | 278/900 [08:47<07:58,  1.30it/s]
 31%|███       | 279/900 [08:47<06:22,  1.62it/s]
 31%|███       | 280/900 [08:48<05:16,  1.96it/s]
 31%|███       | 281/900 [08:59<37:55,  3.68s/it]
 31%|███▏      | 282/900 [08:59<27:19,  2.65s/it]
 31%|███▏      | 283/900 [08:59<19:56,  1.94s/it]
 32%|███▏      | 284/900 [09:00<14:44,  1.44s/it]
 32%|███▏      | 285/900 [09:00<11:06,  1.08s/it]
 32%|███▏      | 286/900 [09:00<08:33,  1.19it/s]
 32%|███▏      | 287/900 [09:00<06:46,  1.51it/s]
 32%|███▏      | 288/900 [09:01<05:33,  1.83it/s]
 32%|███▏      | 289/900 [09:09<27:55,  2.74s/it]
 32%|███▏      | 290/900 [09:09<20:21,  2.00s/it]
 32%|███▏      | 291/900 [09:09<15:02,  1.48s/it]
 32%|███▏      | 292/900 [09:09<11:20,  1.12s/it]
 33%|███▎      | 293/900 [09:10<08:46,  1.15it/s]
 33%|███▎      | 294/900 [09:10<06:59,  1.45it/s]
 33%|███▎      | 295/900 [09:10<05:44,  1.75it/s]
 33%|███▎      | 296/900 [09:10<04:52,  2.07it/s]
 33%|███▎      | 297/900 [09:19<29:26,  2.93s/it]
 33%|███▎      | 298/900 [09:19<21:32,  2.15s/it]
 33%|███▎      | 299/900 [09:20<15:56,  1.59s/it]
 33%|███▎      | 300/900 [09:20<12:02,  1.20s/it]
 33%|███▎      | 301/900 [09:20<09:20,  1.07it/s]
 34%|███▎      | 302/900 [09:21<07:25,  1.34it/s]
 34%|███▎      | 303/900 [09:21<06:03,  1.64it/s]
 34%|███▍      | 304/900 [09:21<05:05,  1.95it/s]
 34%|███▍      | 305/900 [09:29<27:19,  2.75s/it]
 34%|███▍      | 306/900 [09:30<19:59,  2.02s/it]
 34%|███▍      | 307/900 [09:30<14:49,  1.50s/it]
 34%|███▍      | 308/900 [09:30<11:12,  1.14s/it]
 34%|███▍      | 309/900 [09:30<08:41,  1.13it/s]
 34%|███▍      | 310/900 [09:31<06:57,  1.41it/s]
 35%|███▍      | 311/900 [09:31<05:42,  1.72it/s]
 35%|███▍      | 312/900 [09:31<04:51,  2.02it/s]
 35%|███▍      | 313/900 [09:39<25:39,  2.62s/it]
 35%|███▍      | 314/900 [09:39<18:49,  1.93s/it]
 35%|███▌      | 315/900 [09:39<14:04,  1.44s/it]
 35%|███▌      | 316/900 [09:40<10:43,  1.10s/it]
 35%|███▌      | 317/900 [09:40<08:25,  1.15it/s]
 35%|███▌      | 318/900 [09:40<06:47,  1.43it/s]
 35%|███▌      | 319/900 [09:41<05:42,  1.70it/s]
 36%|███▌      | 320/900 [09:41<04:51,  1.99it/s]
 36%|███▌      | 321/900 [09:49<25:14,  2.62s/it]
 36%|███▌      | 322/900 [09:49<18:31,  1.92s/it]
 36%|███▌      | 323/900 [09:49<13:50,  1.44s/it]
 36%|███▌      | 324/900 [09:50<10:34,  1.10s/it]
 36%|███▌      | 325/900 [09:50<08:17,  1.16it/s]
 36%|███▌      | 326/900 [09:50<06:40,  1.43it/s]
 36%|███▋      | 327/900 [09:50<05:33,  1.72it/s]
 36%|███▋      | 328/900 [09:51<04:45,  2.01it/s]
 37%|███▋      | 329/900 [10:04<40:06,  4.21s/it]
 37%|███▋      | 330/900 [10:04<28:51,  3.04s/it]
 37%|███▋      | 331/900 [10:04<21:02,  2.22s/it]
 37%|███▋      | 332/900 [10:05<15:31,  1.64s/it]
 37%|███▋      | 333/900 [10:05<11:40,  1.24s/it]
 37%|███▋      | 334/900 [10:05<08:58,  1.05it/s]
 37%|███▋      | 334/900 [10:05<17:06,  1.81s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/log_1_env0.json.
+ClampInRightBinTask_1 complete: task_name: ClampInRightBinTask, run_name: ClampInRightBinTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the spring clamp in the right bin, attributes: ['semantics', 'spatial', 'simple'], success: True, episode_step: 335, duration: 22.333333333333332, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.344893487682066, 'joint_sparc_mean': -10.253261299386415, 'ee_isj': 1029.665122980563, 'joint_isj': 18721.233302629887, 'ee_path_length': 2.2140195385354473, 'joint_rmse_mean': 1.0453374290848685, 'ee_speed_max': 0.5058739185333252, 'ee_speed_mean': 0.0958196371793747}, events: {'GRIPPER_HIT_TABLE': 2, 'WRONG_OBJECT_GRABBED': 2, 'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 4, 'TARGET_OBJECT_DROPPED': 6, 'wrong_objects_grabbed': ['cordless_drill', 'cordless_drill']}, instruction_type: default, timing: {'policy_inference_s': 514.015, 'policy_inference_avg_ms': 1534.4, 'env_step_s': 87.863, 'env_step_avg_ms': 262.3, 'video_write_s': 3.918, 'video_write_avg_ms': 11.7, 'wall_total_s': 605.796, 'it_per_sec': 0.55}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 43905b16fc9443f6976ae574ac24449d-1
+[RoboLab] Running ClampInRightBinTask_2: 'Put the spring clamp in the right bin' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:37<9:21:26, 37.47s/it]
  0%|          | 2/900 [00:37<3:53:17, 15.59s/it]
  0%|          | 3/900 [00:38<2:08:30,  8.60s/it]
  0%|          | 4/900 [00:38<1:19:20,  5.31s/it]
  1%|          | 5/900 [00:38<52:07,  3.49s/it]  
  1%|          | 6/900 [00:38<35:42,  2.40s/it]
  1%|          | 7/900 [00:39<25:16,  1.70s/it]
  1%|          | 8/900 [00:39<18:26,  1.24s/it]
  1%|          | 9/900 [01:12<2:47:36, 11.29s/it]
  1%|          | 10/900 [01:12<1:56:55,  7.88s/it]
  1%|          | 11/900 [01:13<1:22:12,  5.55s/it]
  1%|▏         | 12/900 [01:13<58:19,  3.94s/it]  
  1%|▏         | 13/900 [01:13<41:45,  2.82s/it]
  2%|▏         | 14/900 [01:14<30:16,  2.05s/it]
  2%|▏         | 15/900 [01:14<22:17,  1.51s/it]
  2%|▏         | 16/900 [01:14<16:44,  1.14s/it]
  2%|▏         | 17/900 [01:28<1:12:31,  4.93s/it]
  2%|▏         | 18/900 [01:28<51:47,  3.52s/it]  
  2%|▏         | 19/900 [01:28<37:21,  2.54s/it]
  2%|▏         | 20/900 [01:29<27:14,  1.86s/it]
  2%|▏         | 21/900 [01:29<20:12,  1.38s/it]
  2%|▏         | 22/900 [01:29<15:16,  1.04s/it]
  3%|▎         | 23/900 [01:29<11:49,  1.24it/s]
  3%|▎         | 24/900 [01:30<09:24,  1.55it/s]
  3%|▎         | 25/900 [01:38<42:11,  2.89s/it]
  3%|▎         | 26/900 [01:38<30:38,  2.10s/it]
  3%|▎         | 27/900 [01:38<22:34,  1.55s/it]
  3%|▎         | 28/900 [01:39<16:56,  1.17s/it]
  3%|▎         | 29/900 [01:39<12:58,  1.12it/s]
  3%|▎         | 30/900 [01:39<10:12,  1.42it/s]
  3%|▎         | 31/900 [01:39<08:15,  1.75it/s]
  4%|▎         | 32/900 [01:40<06:55,  2.09it/s]
  4%|▎         | 33/900 [01:46<33:01,  2.29s/it]
  4%|▍         | 34/900 [01:46<24:12,  1.68s/it]
  4%|▍         | 35/900 [01:47<18:04,  1.25s/it]
  4%|▍         | 36/900 [01:47<13:46,  1.05it/s]
  4%|▍         | 37/900 [01:47<10:45,  1.34it/s]
  4%|▍         | 38/900 [01:47<08:37,  1.67it/s]
  4%|▍         | 39/900 [01:48<07:07,  2.01it/s]
  4%|▍         | 40/900 [01:48<06:06,  2.35it/s]
  5%|▍         | 41/900 [01:57<45:09,  3.15s/it]
  5%|▍         | 42/900 [01:58<32:40,  2.28s/it]
  5%|▍         | 43/900 [01:58<23:58,  1.68s/it]
  5%|▍         | 44/900 [01:58<17:53,  1.25s/it]
  5%|▌         | 45/900 [01:58<13:36,  1.05it/s]
  5%|▌         | 46/900 [01:59<10:36,  1.34it/s]
  5%|▌         | 47/900 [01:59<08:32,  1.66it/s]
  5%|▌         | 48/900 [01:59<07:06,  2.00it/s]
  5%|▌         | 49/900 [02:05<29:36,  2.09s/it]
  6%|▌         | 50/900 [02:05<21:49,  1.54s/it]
  6%|▌         | 51/900 [02:06<16:22,  1.16s/it]
  6%|▌         | 52/900 [02:06<12:36,  1.12it/s]
  6%|▌         | 53/900 [02:06<09:55,  1.42it/s]
  6%|▌         | 54/900 [02:06<08:06,  1.74it/s]
  6%|▌         | 55/900 [02:07<06:52,  2.05it/s]
  6%|▌         | 56/900 [02:07<06:00,  2.34it/s]
  6%|▋         | 57/900 [02:12<25:48,  1.84s/it]
  6%|▋         | 58/900 [02:12<19:13,  1.37s/it]
  7%|▋         | 59/900 [02:13<14:36,  1.04s/it]
  7%|▋         | 60/900 [02:13<11:21,  1.23it/s]
  7%|▋         | 61/900 [02:13<09:06,  1.54it/s]
  7%|▋         | 62/900 [02:13<07:30,  1.86it/s]
  7%|▋         | 63/900 [02:14<06:28,  2.15it/s]
  7%|▋         | 64/900 [02:14<05:44,  2.43it/s]
  7%|▋         | 65/900 [02:19<26:15,  1.89s/it]
  7%|▋         | 66/900 [02:20<19:34,  1.41s/it]
  7%|▋         | 67/900 [02:20<14:52,  1.07s/it]
  8%|▊         | 68/900 [02:20<11:34,  1.20it/s]
  8%|▊         | 69/900 [02:21<09:15,  1.50it/s]
  8%|▊         | 70/900 [02:21<07:33,  1.83it/s]
  8%|▊         | 71/900 [02:21<06:27,  2.14it/s]
  8%|▊         | 72/900 [02:21<05:40,  2.43it/s]
  8%|▊         | 73/900 [02:33<53:52,  3.91s/it]
  8%|▊         | 74/900 [02:34<38:47,  2.82s/it]
  8%|▊         | 75/900 [02:34<28:14,  2.05s/it]
  8%|▊         | 76/900 [02:34<20:55,  1.52s/it]
  9%|▊         | 77/900 [02:35<15:49,  1.15s/it]
  9%|▊         | 78/900 [02:35<12:14,  1.12it/s]
  9%|▉         | 79/900 [02:35<09:38,  1.42it/s]
  9%|▉         | 80/900 [02:35<07:49,  1.75it/s]
  9%|▉         | 81/900 [03:19<3:04:38, 13.53s/it]
  9%|▉         | 82/900 [03:19<2:10:08,  9.55s/it]
  9%|▉         | 83/900 [03:20<1:32:02,  6.76s/it]
  9%|▉         | 84/900 [03:20<1:05:27,  4.81s/it]
  9%|▉         | 85/900 [03:20<46:52,  3.45s/it]  
 10%|▉         | 86/900 [03:20<33:48,  2.49s/it]
 10%|▉         | 87/900 [03:21<24:40,  1.82s/it]
 10%|▉         | 88/900 [03:21<18:18,  1.35s/it]
 10%|▉         | 89/900 [03:49<2:07:09,  9.41s/it]
 10%|█         | 90/900 [03:49<1:29:58,  6.66s/it]
 10%|█         | 91/900 [03:50<1:04:00,  4.75s/it]
 10%|█         | 92/900 [03:50<45:54,  3.41s/it]  
 10%|█         | 93/900 [03:50<33:12,  2.47s/it]
 10%|█         | 94/900 [03:51<24:18,  1.81s/it]
 11%|█         | 95/900 [03:51<18:06,  1.35s/it]
 11%|█         | 96/900 [03:51<13:47,  1.03s/it]
 11%|█         | 97/900 [04:00<44:31,  3.33s/it]
 11%|█         | 98/900 [04:00<32:14,  2.41s/it]
 11%|█         | 99/900 [04:00<23:36,  1.77s/it]
 11%|█         | 100/900 [04:01<17:35,  1.32s/it]
 11%|█         | 101/900 [04:01<13:22,  1.00s/it]
 11%|█▏        | 102/900 [04:01<10:26,  1.27it/s]
 11%|█▏        | 103/900 [04:01<08:27,  1.57it/s]
 12%|█▏        | 104/900 [04:02<07:01,  1.89it/s]
 12%|█▏        | 105/900 [04:11<40:21,  3.05s/it]
 12%|█▏        | 106/900 [04:11<29:18,  2.21s/it]
 12%|█▏        | 107/900 [04:11<21:39,  1.64s/it]
 12%|█▏        | 108/900 [04:11<16:14,  1.23s/it]
 12%|█▏        | 109/900 [04:12<12:27,  1.06it/s]
 12%|█▏        | 110/900 [04:12<09:47,  1.34it/s]
 12%|█▏        | 111/900 [04:12<07:56,  1.66it/s]
 12%|█▏        | 112/900 [04:13<06:37,  1.98it/s]
 13%|█▎        | 113/900 [04:24<48:41,  3.71s/it]
 13%|█▎        | 114/900 [04:24<35:08,  2.68s/it]
 13%|█▎        | 115/900 [04:24<25:36,  1.96s/it]
 13%|█▎        | 116/900 [04:25<18:54,  1.45s/it]
 13%|█▎        | 117/900 [04:25<14:15,  1.09s/it]
 13%|█▎        | 118/900 [04:25<10:59,  1.19it/s]
 13%|█▎        | 119/900 [04:25<08:46,  1.48it/s]
 13%|█▎        | 120/900 [04:26<07:10,  1.81it/s]
 13%|█▎        | 121/900 [04:35<39:55,  3.08s/it]
 14%|█▎        | 122/900 [04:35<28:59,  2.24s/it]
 14%|█▎        | 123/900 [04:35<21:17,  1.64s/it]
 14%|█▍        | 124/900 [04:35<15:54,  1.23s/it]
 14%|█▍        | 125/900 [04:36<12:09,  1.06it/s]
 14%|█▍        | 126/900 [04:36<09:32,  1.35it/s]
 14%|█▍        | 127/900 [04:36<07:42,  1.67it/s]
 14%|█▍        | 128/900 [04:36<06:25,  2.00it/s]
 14%|█▍        | 129/900 [04:43<27:59,  2.18s/it]
 14%|█▍        | 130/900 [04:43<20:41,  1.61s/it]
 15%|█▍        | 131/900 [04:43<15:29,  1.21s/it]
 15%|█▍        | 132/900 [04:43<11:55,  1.07it/s]
 15%|█▍        | 133/900 [04:44<09:26,  1.35it/s]
 15%|█▍        | 134/900 [04:44<07:42,  1.66it/s]
 15%|█▌        | 135/900 [04:44<06:28,  1.97it/s]
 15%|█▌        | 136/900 [04:45<05:35,  2.28it/s]
 15%|█▌        | 137/900 [04:58<56:41,  4.46s/it]
 15%|█▌        | 138/900 [04:59<40:36,  3.20s/it]
 15%|█▌        | 139/900 [04:59<29:21,  2.32s/it]
 16%|█▌        | 140/900 [04:59<21:30,  1.70s/it]
 16%|█▌        | 141/900 [04:59<16:01,  1.27s/it]
 16%|█▌        | 142/900 [05:00<12:10,  1.04it/s]
 16%|█▌        | 143/900 [05:00<09:28,  1.33it/s]
 16%|█▌        | 144/900 [05:00<07:36,  1.66it/s]
 16%|█▌        | 145/900 [05:06<28:11,  2.24s/it]
 16%|█▌        | 146/900 [05:06<20:41,  1.65s/it]
 16%|█▋        | 147/900 [05:07<15:27,  1.23s/it]
 16%|█▋        | 148/900 [05:07<11:47,  1.06it/s]
 17%|█▋        | 149/900 [05:07<09:15,  1.35it/s]
 17%|█▋        | 150/900 [05:08<07:28,  1.67it/s]
 17%|█▋        | 151/900 [05:08<06:20,  1.97it/s]
 17%|█▋        | 152/900 [05:08<05:38,  2.21it/s]
 17%|█▋        | 153/900 [05:16<34:31,  2.77s/it]
 17%|█▋        | 154/900 [05:17<25:11,  2.03s/it]
 17%|█▋        | 155/900 [05:17<18:40,  1.50s/it]
 17%|█▋        | 156/900 [05:17<14:06,  1.14s/it]
 17%|█▋        | 157/900 [05:18<10:54,  1.13it/s]
 18%|█▊        | 158/900 [05:18<08:39,  1.43it/s]
 18%|█▊        | 159/900 [05:18<07:05,  1.74it/s]
 18%|█▊        | 160/900 [05:18<05:59,  2.06it/s]
 18%|█▊        | 161/900 [05:26<34:01,  2.76s/it]
 18%|█▊        | 162/900 [05:27<24:50,  2.02s/it]
 18%|█▊        | 163/900 [05:27<18:26,  1.50s/it]
 18%|█▊        | 164/900 [05:27<13:56,  1.14s/it]
 18%|█▊        | 165/900 [05:28<10:48,  1.13it/s]
 18%|█▊        | 166/900 [05:28<08:34,  1.43it/s]
 19%|█▊        | 167/900 [05:28<07:01,  1.74it/s]
 19%|█▊        | 168/900 [05:28<05:57,  2.05it/s]
 19%|█▉        | 169/900 [05:41<50:32,  4.15s/it]
 19%|█▉        | 170/900 [05:41<36:23,  2.99s/it]
 19%|█▉        | 171/900 [05:42<26:28,  2.18s/it]
 19%|█▉        | 172/900 [05:42<19:31,  1.61s/it]
 19%|█▉        | 173/900 [05:42<14:39,  1.21s/it]
 19%|█▉        | 174/900 [05:43<11:12,  1.08it/s]
 19%|█▉        | 175/900 [05:43<08:47,  1.37it/s]
 20%|█▉        | 176/900 [05:43<07:05,  1.70it/s]
 20%|█▉        | 177/900 [05:55<48:10,  4.00s/it]
 20%|█▉        | 178/900 [05:55<34:38,  2.88s/it]
 20%|█▉        | 179/900 [05:56<25:09,  2.09s/it]
 20%|██        | 180/900 [05:56<18:31,  1.54s/it]
 20%|██        | 181/900 [05:56<13:53,  1.16s/it]
 20%|██        | 182/900 [05:56<10:40,  1.12it/s]
 20%|██        | 183/900 [05:57<08:26,  1.42it/s]
 20%|██        | 184/900 [05:57<06:50,  1.74it/s]
 21%|██        | 185/900 [06:07<39:28,  3.31s/it]
 21%|██        | 186/900 [06:07<28:32,  2.40s/it]
 21%|██        | 187/900 [06:07<20:57,  1.76s/it]
 21%|██        | 188/900 [06:07<15:35,  1.31s/it]
 21%|██        | 189/900 [06:08<11:53,  1.00s/it]
 21%|██        | 190/900 [06:08<09:16,  1.28it/s]
 21%|██        | 191/900 [06:08<07:27,  1.58it/s]
 21%|██▏       | 192/900 [06:08<06:08,  1.92it/s]
 21%|██▏       | 193/900 [06:17<36:05,  3.06s/it]
 22%|██▏       | 194/900 [06:18<26:08,  2.22s/it]
 22%|██▏       | 195/900 [06:18<19:11,  1.63s/it]
 22%|██▏       | 196/900 [06:18<14:19,  1.22s/it]
 22%|██▏       | 197/900 [06:18<10:56,  1.07it/s]
 22%|██▏       | 198/900 [06:19<08:36,  1.36it/s]
 22%|██▏       | 199/900 [06:19<07:01,  1.66it/s]
 22%|██▏       | 200/900 [06:19<05:56,  1.96it/s]
 22%|██▏       | 201/900 [06:27<32:15,  2.77s/it]
 22%|██▏       | 202/900 [06:28<23:39,  2.03s/it]
 23%|██▎       | 203/900 [06:28<17:38,  1.52s/it]
 23%|██▎       | 204/900 [06:28<13:23,  1.16s/it]
 23%|██▎       | 205/900 [06:29<10:22,  1.12it/s]
 23%|██▎       | 206/900 [06:29<08:17,  1.39it/s]
 23%|██▎       | 207/900 [06:29<06:49,  1.69it/s]
 23%|██▎       | 208/900 [06:30<05:47,  1.99it/s]
 23%|██▎       | 209/900 [06:37<31:26,  2.73s/it]
 23%|██▎       | 210/900 [06:38<22:59,  2.00s/it]
 23%|██▎       | 211/900 [06:38<17:06,  1.49s/it]
 24%|██▎       | 212/900 [06:38<12:59,  1.13s/it]
 24%|██▎       | 213/900 [06:39<10:04,  1.14it/s]
 24%|██▍       | 214/900 [06:39<08:05,  1.41it/s]
 24%|██▍       | 215/900 [06:39<06:41,  1.71it/s]
 24%|██▍       | 216/900 [06:40<05:44,  1.99it/s]
 24%|██▍       | 217/900 [06:47<29:24,  2.58s/it]
 24%|██▍       | 218/900 [06:47<21:30,  1.89s/it]
 24%|██▍       | 219/900 [06:48<15:57,  1.41s/it]
 24%|██▍       | 220/900 [06:48<12:03,  1.06s/it]
 25%|██▍       | 221/900 [06:48<09:19,  1.21it/s]
 25%|██▍       | 222/900 [06:48<07:24,  1.53it/s]
 25%|██▍       | 223/900 [06:49<06:03,  1.86it/s]
 25%|██▍       | 224/900 [06:49<05:07,  2.20it/s]
 25%|██▌       | 225/900 [07:18<1:43:23,  9.19s/it]
 25%|██▌       | 226/900 [07:19<1:13:10,  6.51s/it]
 25%|██▌       | 227/900 [07:19<52:02,  4.64s/it]  
 25%|██▌       | 228/900 [07:19<37:16,  3.33s/it]
 25%|██▌       | 229/900 [07:19<26:56,  2.41s/it]
 26%|██▌       | 230/900 [07:20<19:42,  1.77s/it]
 26%|██▌       | 231/900 [07:20<14:39,  1.31s/it]
 26%|██▌       | 232/900 [07:20<11:07,  1.00it/s]
 26%|██▌       | 233/900 [07:28<32:18,  2.91s/it]
 26%|██▌       | 234/900 [07:28<23:27,  2.11s/it]
 26%|██▌       | 235/900 [07:28<17:16,  1.56s/it]
 26%|██▌       | 236/900 [07:28<12:56,  1.17s/it]
 26%|██▋       | 237/900 [07:29<09:54,  1.11it/s]
 26%|██▋       | 238/900 [07:29<07:47,  1.42it/s]
 27%|██▋       | 239/900 [07:29<06:18,  1.75it/s]
 27%|██▋       | 240/900 [07:29<05:15,  2.09it/s]
 27%|██▋       | 241/900 [07:36<25:53,  2.36s/it]
 27%|██▋       | 242/900 [07:36<18:58,  1.73s/it]
 27%|██▋       | 243/900 [07:37<14:07,  1.29s/it]
 27%|██▋       | 244/900 [07:37<10:46,  1.01it/s]
 27%|██▋       | 245/900 [07:37<08:28,  1.29it/s]
 27%|██▋       | 246/900 [07:38<06:51,  1.59it/s]
 27%|██▋       | 247/900 [07:38<05:40,  1.92it/s]
 28%|██▊       | 248/900 [07:38<04:53,  2.22it/s]
 28%|██▊       | 249/900 [08:03<1:23:35,  7.70s/it]
 28%|██▊       | 250/900 [08:03<59:18,  5.48s/it]  
 28%|██▊       | 251/900 [08:03<42:17,  3.91s/it]
 28%|██▊       | 252/900 [08:04<30:24,  2.82s/it]
 28%|██▊       | 253/900 [08:04<22:05,  2.05s/it]
 28%|██▊       | 254/900 [08:04<16:16,  1.51s/it]
 28%|██▊       | 255/900 [08:04<12:12,  1.14s/it]
 28%|██▊       | 256/900 [08:05<09:24,  1.14it/s]
 29%|██▊       | 257/900 [08:13<33:34,  3.13s/it]
 29%|██▊       | 258/900 [08:13<24:18,  2.27s/it]
 29%|██▉       | 259/900 [08:14<17:51,  1.67s/it]
 29%|██▉       | 260/900 [08:14<13:20,  1.25s/it]
 29%|██▉       | 261/900 [08:14<10:12,  1.04it/s]
 29%|██▉       | 262/900 [08:14<07:58,  1.33it/s]
 29%|██▉       | 263/900 [08:15<06:23,  1.66it/s]
 29%|██▉       | 264/900 [08:15<05:17,  2.00it/s]
 29%|██▉       | 265/900 [08:25<34:39,  3.27s/it]
 30%|██▉       | 266/900 [08:25<25:02,  2.37s/it]
 30%|██▉       | 267/900 [08:25<18:19,  1.74s/it]
 30%|██▉       | 268/900 [08:25<13:37,  1.29s/it]
 30%|██▉       | 269/900 [08:26<10:20,  1.02it/s]
 30%|███       | 270/900 [08:26<08:02,  1.31it/s]
 30%|███       | 271/900 [08:26<06:26,  1.63it/s]
 30%|███       | 272/900 [08:26<05:18,  1.97it/s]
 30%|███       | 273/900 [08:38<38:51,  3.72s/it]
 30%|███       | 274/900 [08:38<27:59,  2.68s/it]
 31%|███       | 275/900 [08:38<20:23,  1.96s/it]
 31%|███       | 276/900 [08:38<15:04,  1.45s/it]
 31%|███       | 277/900 [08:39<11:22,  1.10s/it]
 31%|███       | 278/900 [08:39<08:46,  1.18it/s]
 31%|███       | 279/900 [08:39<06:58,  1.48it/s]
 31%|███       | 280/900 [08:40<05:42,  1.81it/s]
 31%|███       | 281/900 [08:47<26:30,  2.57s/it]
 31%|███▏      | 282/900 [08:47<19:25,  1.89s/it]
 31%|███▏      | 283/900 [08:47<14:28,  1.41s/it]
 32%|███▏      | 284/900 [08:48<10:58,  1.07s/it]
 32%|███▏      | 285/900 [08:48<08:31,  1.20it/s]
 32%|███▏      | 286/900 [08:48<06:47,  1.51it/s]
 32%|███▏      | 287/900 [08:48<05:38,  1.81it/s]
 32%|███▏      | 288/900 [08:49<04:48,  2.12it/s]
 32%|███▏      | 289/900 [08:56<24:10,  2.37s/it]
 32%|███▏      | 290/900 [08:56<17:46,  1.75s/it]
 32%|███▏      | 291/900 [08:56<13:18,  1.31s/it]
 32%|███▏      | 292/900 [08:56<10:09,  1.00s/it]
 33%|███▎      | 293/900 [08:57<07:52,  1.28it/s]
 33%|███▎      | 294/900 [08:57<06:18,  1.60it/s]
 33%|███▎      | 295/900 [08:57<05:12,  1.94it/s]
 33%|███▎      | 296/900 [08:57<04:25,  2.28it/s]
 33%|███▎      | 297/900 [09:08<35:01,  3.48s/it]
 33%|███▎      | 298/900 [09:08<25:15,  2.52s/it]
 33%|███▎      | 299/900 [09:09<18:25,  1.84s/it]
 33%|███▎      | 300/900 [09:09<13:39,  1.37s/it]
 33%|███▎      | 301/900 [09:09<10:19,  1.03s/it]
 34%|███▎      | 302/900 [09:09<08:00,  1.24it/s]
 34%|███▎      | 303/900 [09:10<06:26,  1.54it/s]
 34%|███▍      | 304/900 [09:10<05:22,  1.85it/s]
 34%|███▍      | 305/900 [09:35<1:18:07,  7.88s/it]
 34%|███▍      | 306/900 [09:35<55:25,  5.60s/it]  
 34%|███▍      | 307/900 [09:36<39:34,  4.00s/it]
 34%|███▍      | 308/900 [09:36<28:24,  2.88s/it]
 34%|███▍      | 309/900 [09:36<20:36,  2.09s/it]
 34%|███▍      | 310/900 [09:36<15:09,  1.54s/it]
 35%|███▍      | 311/900 [09:37<11:20,  1.16s/it]
 35%|███▍      | 312/900 [09:37<08:40,  1.13it/s]
 35%|███▍      | 313/900 [09:46<31:36,  3.23s/it]
 35%|███▍      | 314/900 [09:46<22:51,  2.34s/it]
 35%|███▌      | 315/900 [09:46<16:43,  1.72s/it]
 35%|███▌      | 316/900 [09:46<12:26,  1.28s/it]
 35%|███▌      | 317/900 [09:47<09:26,  1.03it/s]
 35%|███▌      | 318/900 [09:47<07:22,  1.32it/s]
 35%|███▌      | 319/900 [09:47<05:55,  1.63it/s]
 36%|███▌      | 320/900 [09:47<04:54,  1.97it/s]
 36%|███▌      | 321/900 [09:54<23:09,  2.40s/it]
 36%|███▌      | 322/900 [09:54<17:00,  1.77s/it]
 36%|███▌      | 323/900 [09:55<12:42,  1.32s/it]
 36%|███▌      | 324/900 [09:55<09:41,  1.01s/it]
 36%|███▌      | 325/900 [09:55<07:36,  1.26it/s]
 36%|███▌      | 326/900 [09:56<06:11,  1.55it/s]
 36%|███▋      | 327/900 [09:56<05:09,  1.85it/s]
 36%|███▋      | 328/900 [09:56<04:26,  2.15it/s]
 37%|███▋      | 329/900 [10:04<23:59,  2.52s/it]
 37%|███▋      | 330/900 [10:04<17:35,  1.85s/it]
 37%|███▋      | 331/900 [10:04<13:06,  1.38s/it]
 37%|███▋      | 332/900 [10:04<09:58,  1.05s/it]
 37%|███▋      | 333/900 [10:05<07:45,  1.22it/s]
 37%|███▋      | 334/900 [10:05<06:11,  1.52it/s]
 37%|███▋      | 335/900 [10:05<05:06,  1.84it/s]
 37%|███▋      | 336/900 [10:06<04:25,  2.12it/s]
 37%|███▋      | 337/900 [10:13<25:03,  2.67s/it]
 38%|███▊      | 338/900 [10:14<18:15,  1.95s/it]
 38%|███▊      | 339/900 [10:14<13:28,  1.44s/it]
 38%|███▊      | 340/900 [10:14<10:10,  1.09s/it]
 38%|███▊      | 341/900 [10:14<07:51,  1.18it/s]
 38%|███▊      | 342/900 [10:15<06:13,  1.49it/s]
 38%|███▊      | 343/900 [10:15<05:04,  1.83it/s]
 38%|███▊      | 344/900 [10:15<04:16,  2.17it/s]
 38%|███▊      | 345/900 [10:35<58:42,  6.35s/it]
 38%|███▊      | 346/900 [10:35<41:45,  4.52s/it]
 39%|███▊      | 347/900 [10:36<29:54,  3.24s/it]
 39%|███▊      | 348/900 [10:36<21:36,  2.35s/it]
 39%|███▉      | 349/900 [10:36<15:49,  1.72s/it]
 39%|███▉      | 350/900 [10:37<11:46,  1.28s/it]
 39%|███▉      | 351/900 [10:37<08:57,  1.02it/s]
 39%|███▉      | 352/900 [10:37<06:58,  1.31it/s]
 39%|███▉      | 353/900 [11:01<1:10:16,  7.71s/it]
 39%|███▉      | 354/900 [11:01<49:48,  5.47s/it]  
 39%|███▉      | 355/900 [11:02<35:31,  3.91s/it]
 40%|███▉      | 356/900 [11:02<25:31,  2.82s/it]
 40%|███▉      | 357/900 [11:02<18:31,  2.05s/it]
 40%|███▉      | 358/900 [11:02<13:38,  1.51s/it]
 40%|███▉      | 359/900 [11:03<10:13,  1.13s/it]
 40%|████      | 360/900 [11:03<07:51,  1.14it/s]
 40%|████      | 361/900 [11:10<25:52,  2.88s/it]
 40%|████      | 362/900 [11:11<18:46,  2.09s/it]
 40%|████      | 363/900 [11:11<13:47,  1.54s/it]
 40%|████      | 364/900 [11:11<10:19,  1.16s/it]
 41%|████      | 365/900 [11:11<07:53,  1.13it/s]
 41%|████      | 366/900 [11:12<06:13,  1.43it/s]
 41%|████      | 367/900 [11:12<05:02,  1.76it/s]
 41%|████      | 368/900 [11:12<04:14,  2.09it/s]
 41%|████      | 369/900 [11:25<37:45,  4.27s/it]
 41%|████      | 370/900 [11:26<27:03,  3.06s/it]
 41%|████      | 371/900 [11:26<19:35,  2.22s/it]
 41%|████▏     | 372/900 [11:26<14:22,  1.63s/it]
 41%|████▏     | 373/900 [11:26<10:43,  1.22s/it]
 42%|████▏     | 374/900 [11:27<08:10,  1.07it/s]
 42%|████▏     | 375/900 [11:27<06:23,  1.37it/s]
 42%|████▏     | 376/900 [11:27<05:08,  1.70it/s]
 42%|████▏     | 377/900 [11:35<24:58,  2.87s/it]
 42%|████▏     | 378/900 [11:36<18:07,  2.08s/it]
 42%|████▏     | 379/900 [11:36<13:20,  1.54s/it]
 42%|████▏     | 380/900 [11:36<09:59,  1.15s/it]
 42%|████▏     | 381/900 [11:36<07:39,  1.13it/s]
 42%|████▏     | 382/900 [11:37<06:01,  1.43it/s]
 43%|████▎     | 383/900 [11:37<04:52,  1.77it/s]
 43%|████▎     | 384/900 [11:37<04:04,  2.11it/s]
 43%|████▎     | 385/900 [11:46<25:20,  2.95s/it]
 43%|████▎     | 386/900 [11:46<18:22,  2.15s/it]
 43%|████▎     | 387/900 [11:46<13:31,  1.58s/it]
 43%|████▎     | 388/900 [11:47<10:08,  1.19s/it]
 43%|████▎     | 389/900 [11:47<07:50,  1.09it/s]
 43%|████▎     | 390/900 [11:47<06:13,  1.37it/s]
 43%|████▎     | 391/900 [11:48<05:06,  1.66it/s]
 44%|████▎     | 392/900 [11:48<04:20,  1.95it/s]
 44%|████▎     | 393/900 [12:00<34:15,  4.05s/it]
 44%|████▍     | 394/900 [12:00<24:39,  2.92s/it]
 44%|████▍     | 395/900 [12:01<17:58,  2.14s/it]
 44%|████▍     | 396/900 [12:01<13:18,  1.58s/it]
 44%|████▍     | 397/900 [12:01<10:02,  1.20s/it]
 44%|████▍     | 398/900 [12:02<07:45,  1.08it/s]
 44%|████▍     | 399/900 [12:02<06:08,  1.36it/s]
 44%|████▍     | 400/900 [12:02<05:01,  1.66it/s]
 45%|████▍     | 401/900 [12:31<1:15:24,  9.07s/it]
 45%|████▍     | 402/900 [12:31<53:20,  6.43s/it]  
 45%|████▍     | 403/900 [12:32<37:55,  4.58s/it]
 45%|████▍     | 404/900 [12:32<27:08,  3.28s/it]
 45%|████▌     | 405/900 [12:32<19:38,  2.38s/it]
 45%|████▌     | 406/900 [12:32<14:22,  1.74s/it]
 45%|████▌     | 407/900 [12:33<10:41,  1.30s/it]
 45%|████▌     | 408/900 [12:33<08:07,  1.01it/s]
 45%|████▌     | 409/900 [12:42<29:17,  3.58s/it]
 46%|████▌     | 410/900 [12:43<21:07,  2.59s/it]
 46%|████▌     | 411/900 [12:43<15:26,  1.89s/it]
 46%|████▌     | 412/900 [12:43<11:26,  1.41s/it]
 46%|████▌     | 413/900 [12:44<08:38,  1.06s/it]
 46%|████▌     | 414/900 [12:44<06:40,  1.21it/s]
 46%|████▌     | 415/900 [12:44<05:19,  1.52it/s]
 46%|████▌     | 416/900 [12:44<04:21,  1.85it/s]
 46%|████▋     | 417/900 [12:53<24:34,  3.05s/it]
 46%|████▋     | 418/900 [12:54<17:48,  2.22s/it]
 47%|████▋     | 419/900 [12:54<13:04,  1.63s/it]
 47%|████▋     | 420/900 [12:54<09:45,  1.22s/it]
 47%|████▋     | 421/900 [12:54<07:26,  1.07it/s]
 47%|████▋     | 422/900 [12:55<05:49,  1.37it/s]
 47%|████▋     | 423/900 [12:55<04:41,  1.70it/s]
 47%|████▋     | 424/900 [12:55<03:53,  2.04it/s]
 47%|████▋     | 425/900 [13:03<22:33,  2.85s/it]
 47%|████▋     | 426/900 [13:04<16:24,  2.08s/it]
 47%|████▋     | 427/900 [13:04<12:05,  1.53s/it]
 48%|████▊     | 428/900 [13:04<09:04,  1.15s/it]
 48%|████▊     | 429/900 [13:05<06:57,  1.13it/s]
 48%|████▊     | 430/900 [13:05<05:30,  1.42it/s]
 48%|████▊     | 431/900 [13:05<04:29,  1.74it/s]
 48%|████▊     | 432/900 [13:05<03:46,  2.06it/s]
 48%|████▊     | 433/900 [13:24<45:20,  5.83s/it]
 48%|████▊     | 434/900 [13:24<32:17,  4.16s/it]
 48%|████▊     | 435/900 [13:24<23:09,  2.99s/it]
 48%|████▊     | 436/900 [13:24<16:47,  2.17s/it]
 49%|████▊     | 437/900 [13:25<12:19,  1.60s/it]
 49%|████▊     | 438/900 [13:25<09:13,  1.20s/it]
 49%|████▉     | 439/900 [13:25<07:02,  1.09it/s]
 49%|████▉     | 440/900 [13:25<05:31,  1.39it/s]
 49%|████▉     | 441/900 [13:34<22:33,  2.95s/it]
 49%|████▉     | 442/900 [13:34<16:21,  2.14s/it]
 49%|████▉     | 443/900 [13:34<12:01,  1.58s/it]
 49%|████▉     | 444/900 [13:34<09:00,  1.19s/it]
 49%|████▉     | 445/900 [13:35<06:57,  1.09it/s]
 50%|████▉     | 446/900 [13:35<05:31,  1.37it/s]
 50%|████▉     | 447/900 [13:35<04:30,  1.68it/s]
 50%|████▉     | 448/900 [13:36<03:46,  1.99it/s]
 50%|████▉     | 449/900 [14:06<1:12:03,  9.59s/it]
 50%|█████     | 450/900 [14:07<50:55,  6.79s/it]  
 50%|█████     | 451/900 [14:07<36:09,  4.83s/it]
 50%|█████     | 452/900 [14:07<25:50,  3.46s/it]
 50%|█████     | 453/900 [14:07<18:37,  2.50s/it]
 50%|█████     | 454/900 [14:08<13:35,  1.83s/it]
 51%|█████     | 455/900 [14:08<10:04,  1.36s/it]
 51%|█████     | 456/900 [14:08<07:36,  1.03s/it]
 51%|█████     | 457/900 [14:18<27:27,  3.72s/it]
 51%|█████     | 458/900 [14:18<19:46,  2.68s/it]
 51%|█████     | 459/900 [14:19<14:23,  1.96s/it]
 51%|█████     | 460/900 [14:19<10:37,  1.45s/it]
 51%|█████     | 461/900 [14:19<08:00,  1.09s/it]
 51%|█████▏    | 462/900 [14:20<06:09,  1.18it/s]
 51%|█████▏    | 463/900 [14:20<04:52,  1.50it/s]
 52%|█████▏    | 464/900 [14:20<03:57,  1.83it/s]
 52%|█████▏    | 465/900 [14:29<22:06,  3.05s/it]
 52%|█████▏    | 466/900 [14:29<16:00,  2.21s/it]
 52%|█████▏    | 467/900 [14:29<11:44,  1.63s/it]
 52%|█████▏    | 468/900 [14:30<08:45,  1.22s/it]
 52%|█████▏    | 469/900 [14:30<06:40,  1.08it/s]
 52%|█████▏    | 470/900 [14:30<05:12,  1.37it/s]
 52%|█████▏    | 471/900 [14:30<04:12,  1.70it/s]
 52%|█████▏    | 472/900 [14:31<03:29,  2.04it/s]
 53%|█████▎    | 473/900 [14:42<26:49,  3.77s/it]
 53%|█████▎    | 474/900 [14:42<19:18,  2.72s/it]
 53%|█████▎    | 475/900 [14:43<14:02,  1.98s/it]
 53%|█████▎    | 476/900 [14:43<10:24,  1.47s/it]
 53%|█████▎    | 477/900 [14:43<07:51,  1.12s/it]
 53%|█████▎    | 478/900 [14:44<06:05,  1.15it/s]
 53%|█████▎    | 479/900 [14:44<04:51,  1.44it/s]
 53%|█████▎    | 480/900 [14:44<03:59,  1.75it/s]
 53%|█████▎    | 481/900 [14:55<25:50,  3.70s/it]
 54%|█████▎    | 482/900 [14:55<18:37,  2.67s/it]
 54%|█████▎    | 483/900 [14:56<13:32,  1.95s/it]
 54%|█████▍    | 484/900 [14:56<10:00,  1.44s/it]
 54%|█████▍    | 485/900 [14:56<07:32,  1.09s/it]
 54%|█████▍    | 486/900 [14:56<05:48,  1.19it/s]
 54%|█████▍    | 487/900 [14:57<04:36,  1.49it/s]
 54%|█████▍    | 488/900 [14:57<03:45,  1.83it/s]
 54%|█████▍    | 489/900 [15:23<56:48,  8.29s/it]
 54%|█████▍    | 490/900 [15:24<40:11,  5.88s/it]
 55%|█████▍    | 491/900 [15:24<28:36,  4.20s/it]
 55%|█████▍    | 492/900 [15:24<20:30,  3.01s/it]
 55%|█████▍    | 493/900 [15:24<14:50,  2.19s/it]
 55%|█████▍    | 494/900 [15:25<10:53,  1.61s/it]
 55%|█████▌    | 495/900 [15:25<08:07,  1.20s/it]
 55%|█████▌    | 496/900 [15:25<06:12,  1.08it/s]
 55%|█████▌    | 497/900 [15:52<58:27,  8.70s/it]
 55%|█████▌    | 498/900 [15:52<41:20,  6.17s/it]
 55%|█████▌    | 499/900 [15:53<29:23,  4.40s/it]
 56%|█████▌    | 500/900 [15:53<22:17,  3.34s/it]
 56%|█████▌    | 501/900 [15:54<16:06,  2.42s/it]
 56%|█████▌    | 502/900 [15:54<11:47,  1.78s/it]
 56%|█████▌    | 503/900 [15:54<08:47,  1.33s/it]
 56%|█████▌    | 504/900 [15:55<06:40,  1.01s/it]
 56%|█████▌    | 505/900 [16:03<21:38,  3.29s/it]
 56%|█████▌    | 506/900 [16:03<15:40,  2.39s/it]
 56%|█████▋    | 507/900 [16:04<11:30,  1.76s/it]
 56%|█████▋    | 508/900 [16:04<08:34,  1.31s/it]
 57%|█████▋    | 509/900 [16:04<06:30,  1.00it/s]
 57%|█████▋    | 510/900 [16:05<05:04,  1.28it/s]
 57%|█████▋    | 511/900 [16:05<04:04,  1.59it/s]
 57%|█████▋    | 512/900 [16:05<03:21,  1.92it/s]
 57%|█████▋    | 513/900 [16:43<1:16:43, 11.89s/it]
 57%|█████▋    | 514/900 [16:44<54:06,  8.41s/it]  
 57%|█████▋    | 515/900 [16:44<38:18,  5.97s/it]
 57%|█████▋    | 516/900 [16:44<27:15,  4.26s/it]
 57%|█████▋    | 517/900 [16:45<19:33,  3.06s/it]
 58%|█████▊    | 518/900 [16:45<14:10,  2.23s/it]
 58%|█████▊    | 519/900 [16:45<10:25,  1.64s/it]
 58%|█████▊    | 520/900 [16:45<07:48,  1.23s/it]
 58%|█████▊    | 521/900 [16:55<22:50,  3.62s/it]
 58%|█████▊    | 522/900 [16:55<16:27,  2.61s/it]
 58%|█████▊    | 523/900 [16:55<12:00,  1.91s/it]
 58%|█████▊    | 524/900 [16:55<08:55,  1.42s/it]
 58%|█████▊    | 525/900 [16:56<06:44,  1.08s/it]
 58%|█████▊    | 526/900 [16:56<05:14,  1.19it/s]
 59%|█████▊    | 527/900 [16:56<04:09,  1.50it/s]
 59%|█████▊    | 528/900 [16:57<03:24,  1.82it/s]
 59%|█████▉    | 529/900 [17:21<48:07,  7.78s/it]
 59%|█████▉    | 530/900 [17:21<34:06,  5.53s/it]
 59%|█████▉    | 531/900 [17:22<24:19,  3.95s/it]
 59%|█████▉    | 532/900 [17:22<17:28,  2.85s/it]
 59%|█████▉    | 533/900 [17:22<12:41,  2.08s/it]
 59%|█████▉    | 534/900 [17:23<09:21,  1.53s/it]
 59%|█████▉    | 535/900 [17:23<07:02,  1.16s/it]
 60%|█████▉    | 536/900 [17:23<05:25,  1.12it/s]
 60%|█████▉    | 537/900 [17:32<20:46,  3.43s/it]
 60%|█████▉    | 538/900 [17:33<15:00,  2.49s/it]
 60%|█████▉    | 539/900 [17:33<11:00,  1.83s/it]
 60%|██████    | 540/900 [17:33<08:10,  1.36s/it]
 60%|██████    | 541/900 [17:34<06:11,  1.03s/it]
 60%|██████    | 542/900 [17:34<04:48,  1.24it/s]
 60%|██████    | 543/900 [17:34<03:50,  1.55it/s]
 60%|██████    | 544/900 [17:34<03:09,  1.88it/s]
 61%|██████    | 545/900 [17:43<18:02,  3.05s/it]
 61%|██████    | 546/900 [17:44<13:04,  2.22s/it]
 61%|██████    | 547/900 [17:44<09:36,  1.63s/it]
 61%|██████    | 548/900 [17:44<07:11,  1.22s/it]
 61%|██████    | 549/900 [17:44<05:28,  1.07it/s]
 61%|██████    | 550/900 [17:45<04:17,  1.36it/s]
 61%|██████    | 551/900 [17:45<03:29,  1.67it/s]
 61%|██████▏   | 552/900 [17:45<02:55,  1.98it/s]
 61%|██████▏   | 553/900 [17:55<18:36,  3.22s/it]
 62%|██████▏   | 554/900 [17:55<13:27,  2.33s/it]
 62%|██████▏   | 555/900 [17:55<09:51,  1.71s/it]
 62%|██████▏   | 556/900 [17:56<07:21,  1.28s/it]
 62%|██████▏   | 557/900 [17:56<05:35,  1.02it/s]
 62%|██████▏   | 558/900 [17:56<04:21,  1.31it/s]
 62%|██████▏   | 559/900 [17:56<03:30,  1.62it/s]
 62%|██████▏   | 560/900 [17:57<02:54,  1.94it/s]
 62%|██████▏   | 561/900 [18:43<1:20:44, 14.29s/it]
 62%|██████▏   | 562/900 [18:43<56:48, 10.08s/it]  
 63%|██████▎   | 563/900 [18:44<40:05,  7.14s/it]
 63%|██████▎   | 564/900 [18:44<28:25,  5.08s/it]
 63%|██████▎   | 565/900 [18:44<20:17,  3.63s/it]
 63%|██████▎   | 566/900 [18:44<14:37,  2.63s/it]
 63%|██████▎   | 567/900 [18:45<10:38,  1.92s/it]
 63%|██████▎   | 568/900 [18:45<07:52,  1.42s/it]
 63%|██████▎   | 569/900 [18:57<25:21,  4.60s/it]
 63%|██████▎   | 570/900 [18:57<18:08,  3.30s/it]
 63%|██████▎   | 571/900 [18:58<13:06,  2.39s/it]
 64%|██████▎   | 572/900 [18:58<09:34,  1.75s/it]
 64%|██████▎   | 573/900 [18:58<07:07,  1.31s/it]
 64%|██████▍   | 574/900 [18:58<05:24,  1.00it/s]
 64%|██████▍   | 575/900 [18:59<04:12,  1.29it/s]
 64%|██████▍   | 576/900 [18:59<03:22,  1.60it/s]
 64%|██████▍   | 577/900 [19:09<17:55,  3.33s/it]
 64%|██████▍   | 578/900 [19:09<13:00,  2.43s/it]
 64%|██████▍   | 579/900 [19:09<09:33,  1.79s/it]
 64%|██████▍   | 580/900 [19:09<07:09,  1.34s/it]
 65%|██████▍   | 581/900 [19:10<05:29,  1.03s/it]
 65%|██████▍   | 582/900 [19:10<04:18,  1.23it/s]
 65%|██████▍   | 583/900 [19:10<03:29,  1.51it/s]
 65%|██████▍   | 584/900 [19:11<02:54,  1.81it/s]
 65%|██████▌   | 585/900 [19:22<20:32,  3.91s/it]
 65%|██████▌   | 586/900 [19:23<14:47,  2.83s/it]
 65%|██████▌   | 587/900 [19:23<10:46,  2.07s/it]
 65%|██████▌   | 588/900 [19:23<07:58,  1.53s/it]
 65%|██████▌   | 589/900 [19:24<06:01,  1.16s/it]
 66%|██████▌   | 590/900 [19:24<04:39,  1.11it/s]
 66%|██████▌   | 591/900 [19:24<03:42,  1.39it/s]
 66%|██████▌   | 592/900 [19:24<03:02,  1.69it/s]
 66%|██████▌   | 593/900 [19:34<16:26,  3.21s/it]
 66%|██████▌   | 594/900 [19:34<11:53,  2.33s/it]
 66%|██████▌   | 595/900 [19:34<08:42,  1.71s/it]
 66%|██████▌   | 596/900 [19:35<06:29,  1.28s/it]
 66%|██████▋   | 597/900 [19:35<04:56,  1.02it/s]
 66%|██████▋   | 598/900 [19:35<03:52,  1.30it/s]
 67%|██████▋   | 599/900 [19:35<03:05,  1.62it/s]
 67%|██████▋   | 600/900 [19:36<02:33,  1.95it/s]
 67%|██████▋   | 601/900 [19:51<25:13,  5.06s/it]
 67%|██████▋   | 602/900 [19:52<18:02,  3.63s/it]
 67%|██████▋   | 603/900 [19:52<13:01,  2.63s/it]
 67%|██████▋   | 604/900 [19:52<09:30,  1.93s/it]
 67%|██████▋   | 605/900 [19:52<07:01,  1.43s/it]
 67%|██████▋   | 606/900 [19:53<05:17,  1.08s/it]
 67%|██████▋   | 607/900 [19:53<04:05,  1.19it/s]
 68%|██████▊   | 608/900 [19:53<03:14,  1.50it/s]
 68%|██████▊   | 609/900 [20:02<15:31,  3.20s/it]
 68%|██████▊   | 610/900 [20:03<11:12,  2.32s/it]
 68%|██████▊   | 611/900 [20:03<08:12,  1.70s/it]
 68%|██████▊   | 612/900 [20:03<06:06,  1.27s/it]
 68%|██████▊   | 613/900 [20:03<04:39,  1.03it/s]
 68%|██████▊   | 614/900 [20:04<03:37,  1.32it/s]
 68%|██████▊   | 615/900 [20:04<02:54,  1.63it/s]
 68%|██████▊   | 616/900 [20:04<02:24,  1.97it/s]
 69%|██████▊   | 617/900 [20:14<15:45,  3.34s/it]
 69%|██████▊   | 618/900 [20:14<11:21,  2.42s/it]
 69%|██████▉   | 619/900 [20:15<08:17,  1.77s/it]
 69%|██████▉   | 620/900 [20:15<06:09,  1.32s/it]
 69%|██████▉   | 621/900 [20:15<04:40,  1.01s/it]
 69%|██████▉   | 622/900 [20:16<03:38,  1.28it/s]
 69%|██████▉   | 623/900 [20:16<02:54,  1.59it/s]
 69%|██████▉   | 624/900 [20:16<02:23,  1.92it/s]
 69%|██████▉   | 625/900 [20:41<35:28,  7.74s/it]
 70%|██████▉   | 626/900 [20:41<25:07,  5.50s/it]
 70%|██████▉   | 627/900 [20:41<17:53,  3.93s/it]
 70%|██████▉   | 628/900 [20:42<12:51,  2.84s/it]
 70%|██████▉   | 629/900 [20:42<09:20,  2.07s/it]
 70%|███████   | 630/900 [20:42<06:53,  1.53s/it]
 70%|███████   | 631/900 [20:42<05:11,  1.16s/it]
 70%|███████   | 632/900 [20:43<03:58,  1.12it/s]
 70%|███████   | 633/900 [20:52<15:13,  3.42s/it]
 70%|███████   | 634/900 [20:52<11:00,  2.48s/it]
 71%|███████   | 635/900 [20:53<08:03,  1.82s/it]
 71%|███████   | 636/900 [20:53<05:59,  1.36s/it]
 71%|███████   | 637/900 [20:53<04:33,  1.04s/it]
 71%|███████   | 638/900 [20:53<03:32,  1.23it/s]
 71%|███████   | 639/900 [20:54<02:50,  1.53it/s]
 71%|███████   | 640/900 [20:54<02:21,  1.84it/s]
 71%|███████   | 641/900 [21:21<36:46,  8.52s/it]
 71%|███████▏  | 642/900 [21:21<25:58,  6.04s/it]
 71%|███████▏  | 643/900 [21:22<18:26,  4.31s/it]
 72%|███████▏  | 644/900 [21:22<13:12,  3.09s/it]
 72%|███████▏  | 645/900 [21:22<09:32,  2.25s/it]
 72%|███████▏  | 646/900 [21:22<06:59,  1.65s/it]
 72%|███████▏  | 647/900 [21:23<05:12,  1.23s/it]
 72%|███████▏  | 648/900 [21:23<03:57,  1.06it/s]
 72%|███████▏  | 649/900 [21:39<22:57,  5.49s/it]
 72%|███████▏  | 650/900 [21:39<16:21,  3.92s/it]
 72%|███████▏  | 651/900 [21:40<11:44,  2.83s/it]
 72%|███████▏  | 652/900 [21:40<08:31,  2.06s/it]
 73%|███████▎  | 653/900 [21:40<06:16,  1.52s/it]
 73%|███████▎  | 654/900 [21:40<04:42,  1.15s/it]
 73%|███████▎  | 655/900 [21:41<03:36,  1.13it/s]
 73%|███████▎  | 656/900 [21:41<02:50,  1.43it/s]
 73%|███████▎  | 657/900 [22:08<34:43,  8.57s/it]
 73%|███████▎  | 658/900 [22:08<24:32,  6.09s/it]
 73%|███████▎  | 659/900 [22:08<17:26,  4.34s/it]
 73%|███████▎  | 660/900 [22:09<12:28,  3.12s/it]
 73%|███████▎  | 661/900 [22:09<09:00,  2.26s/it]
 74%|███████▎  | 662/900 [22:09<06:36,  1.66s/it]
 74%|███████▎  | 663/900 [22:09<04:55,  1.25s/it]
 74%|███████▍  | 664/900 [22:10<03:46,  1.04it/s]
 74%|███████▍  | 665/900 [22:22<17:05,  4.37s/it]
 74%|███████▍  | 666/900 [22:22<12:14,  3.14s/it]
 74%|███████▍  | 667/900 [22:23<08:50,  2.28s/it]
 74%|███████▍  | 668/900 [22:23<06:28,  1.68s/it]
 74%|███████▍  | 669/900 [22:23<04:49,  1.25s/it]
 74%|███████▍  | 670/900 [22:23<03:40,  1.04it/s]
 75%|███████▍  | 671/900 [22:24<02:52,  1.32it/s]
 75%|███████▍  | 672/900 [22:24<02:18,  1.64it/s]
 75%|███████▍  | 673/900 [22:44<24:20,  6.43s/it]
 75%|███████▍  | 674/900 [22:44<17:15,  4.58s/it]
 75%|███████▌  | 675/900 [22:45<12:19,  3.29s/it]
 75%|███████▌  | 676/900 [22:45<08:53,  2.38s/it]
 75%|███████▌  | 677/900 [22:45<06:28,  1.74s/it]
 75%|███████▌  | 678/900 [22:45<04:48,  1.30s/it]
 75%|███████▌  | 679/900 [22:46<03:38,  1.01it/s]
 76%|███████▌  | 680/900 [22:46<02:49,  1.30it/s]
 76%|███████▌  | 681/900 [23:09<27:48,  7.62s/it]
 76%|███████▌  | 682/900 [23:10<19:40,  5.41s/it]
 76%|███████▌  | 683/900 [23:10<13:59,  3.87s/it]
 76%|███████▌  | 684/900 [23:10<10:02,  2.79s/it]
 76%|███████▌  | 685/900 [23:11<07:16,  2.03s/it]
 76%|███████▌  | 686/900 [23:11<05:21,  1.50s/it]
 76%|███████▋  | 687/900 [23:11<04:01,  1.13s/it]
 76%|███████▋  | 688/900 [23:11<03:05,  1.14it/s]
 77%|███████▋  | 689/900 [23:25<16:21,  4.65s/it]
 77%|███████▋  | 690/900 [23:25<11:40,  3.34s/it]
 77%|███████▋  | 691/900 [23:25<08:24,  2.41s/it]
 77%|███████▋  | 692/900 [23:26<06:07,  1.77s/it]
 77%|███████▋  | 693/900 [23:26<04:32,  1.32s/it]
 77%|███████▋  | 694/900 [23:26<03:25,  1.00it/s]
 77%|███████▋  | 695/900 [23:26<02:39,  1.29it/s]
 77%|███████▋  | 696/900 [23:27<02:06,  1.61it/s]
 77%|███████▋  | 697/900 [23:50<25:34,  7.56s/it]
 78%|███████▊  | 698/900 [23:51<18:04,  5.37s/it]
 78%|███████▊  | 699/900 [23:51<12:51,  3.84s/it]
 78%|███████▊  | 700/900 [23:51<09:12,  2.76s/it]
 78%|███████▊  | 701/900 [23:51<06:40,  2.01s/it]
 78%|███████▊  | 702/900 [23:52<04:54,  1.49s/it]
 78%|███████▊  | 703/900 [23:52<03:42,  1.13s/it]
 78%|███████▊  | 704/900 [23:52<02:52,  1.14it/s]
 78%|███████▊  | 705/900 [24:07<16:38,  5.12s/it]
 78%|███████▊  | 706/900 [24:08<11:51,  3.67s/it]
 79%|███████▊  | 707/900 [24:08<08:31,  2.65s/it]
 79%|███████▊  | 708/900 [24:08<06:12,  1.94s/it]
 79%|███████▉  | 709/900 [24:08<04:34,  1.44s/it]
 79%|███████▉  | 710/900 [24:09<03:26,  1.09s/it]
 79%|███████▉  | 711/900 [24:09<02:38,  1.19it/s]
 79%|███████▉  | 712/900 [24:09<02:05,  1.50it/s]
 79%|███████▉  | 713/900 [24:21<12:34,  4.03s/it]
 79%|███████▉  | 714/900 [24:21<09:00,  2.90s/it]
 79%|███████▉  | 715/900 [24:22<06:30,  2.11s/it]
 80%|███████▉  | 716/900 [24:22<04:46,  1.56s/it]
 80%|███████▉  | 717/900 [24:22<03:34,  1.17s/it]
 80%|███████▉  | 718/900 [24:22<02:44,  1.11it/s]
 80%|███████▉  | 719/900 [24:23<02:09,  1.39it/s]
 80%|████████  | 720/900 [24:23<01:45,  1.70it/s]
 80%|████████  | 721/900 [24:34<11:26,  3.84s/it]
 80%|████████  | 722/900 [24:35<08:12,  2.77s/it]
 80%|████████  | 723/900 [24:35<05:56,  2.01s/it]
 80%|████████  | 724/900 [24:35<04:22,  1.49s/it]
 81%|████████  | 725/900 [24:35<03:16,  1.12s/it]
 81%|████████  | 726/900 [24:36<02:31,  1.15it/s]
 81%|████████  | 727/900 [24:36<02:00,  1.44it/s]
 81%|████████  | 728/900 [24:36<01:37,  1.76it/s]
 81%|████████  | 729/900 [25:00<21:12,  7.44s/it]
 81%|████████  | 730/900 [25:00<14:59,  5.29s/it]
 81%|████████  | 731/900 [25:00<10:39,  3.78s/it]
 81%|████████▏ | 732/900 [25:01<07:38,  2.73s/it]
 81%|████████▏ | 733/900 [25:01<05:32,  1.99s/it]
 82%|████████▏ | 734/900 [25:01<04:05,  1.48s/it]
 82%|████████▏ | 735/900 [25:01<03:03,  1.11s/it]
 82%|████████▏ | 736/900 [25:02<02:20,  1.17it/s]
 82%|████████▏ | 737/900 [25:13<11:12,  4.13s/it]
 82%|████████▏ | 738/900 [25:14<08:01,  2.97s/it]
 82%|████████▏ | 739/900 [25:14<05:47,  2.16s/it]
 82%|████████▏ | 740/900 [25:14<04:14,  1.59s/it]
 82%|████████▏ | 741/900 [25:14<03:10,  1.20s/it]
 82%|████████▏ | 742/900 [25:15<02:24,  1.09it/s]
 83%|████████▎ | 743/900 [25:15<01:53,  1.38it/s]
 83%|████████▎ | 744/900 [25:15<01:31,  1.70it/s]
 83%|████████▎ | 745/900 [25:35<16:23,  6.35s/it]
 83%|████████▎ | 746/900 [25:35<11:36,  4.52s/it]
 83%|████████▎ | 747/900 [25:36<08:17,  3.25s/it]
 83%|████████▎ | 748/900 [25:36<05:57,  2.35s/it]
 83%|████████▎ | 749/900 [25:36<04:20,  1.73s/it]
 83%|████████▎ | 750/900 [25:36<03:12,  1.29s/it]
 83%|████████▎ | 751/900 [25:37<02:25,  1.02it/s]
 84%|████████▎ | 752/900 [25:37<01:53,  1.31it/s]
 84%|████████▎ | 753/900 [25:49<09:54,  4.05s/it]
 84%|████████▍ | 754/900 [25:49<07:04,  2.91s/it]
 84%|████████▍ | 755/900 [25:49<05:07,  2.12s/it]
 84%|████████▍ | 756/900 [25:49<03:46,  1.57s/it]
 84%|████████▍ | 757/900 [25:50<02:49,  1.19s/it]
 84%|████████▍ | 758/900 [25:50<02:09,  1.09it/s]
 84%|████████▍ | 759/900 [25:50<01:41,  1.38it/s]
 84%|████████▍ | 760/900 [25:51<01:22,  1.69it/s]
 85%|████████▍ | 761/900 [26:09<13:33,  5.85s/it]
 85%|████████▍ | 762/900 [26:09<09:36,  4.18s/it]
 85%|████████▍ | 763/900 [26:09<06:52,  3.01s/it]
 85%|████████▍ | 764/900 [26:10<04:57,  2.19s/it]
 85%|████████▌ | 765/900 [26:10<03:37,  1.61s/it]
 85%|████████▌ | 766/900 [26:10<02:42,  1.21s/it]
 85%|████████▌ | 767/900 [26:10<02:03,  1.07it/s]
 85%|████████▌ | 768/900 [26:11<01:37,  1.36it/s]
 85%|████████▌ | 769/900 [26:21<08:10,  3.74s/it]
 86%|████████▌ | 770/900 [26:22<05:51,  2.70s/it]
 86%|████████▌ | 771/900 [26:22<04:15,  1.98s/it]
 86%|████████▌ | 772/900 [26:22<03:08,  1.47s/it]
 86%|████████▌ | 773/900 [26:23<02:21,  1.11s/it]
 86%|████████▌ | 774/900 [26:23<01:48,  1.16it/s]
 86%|████████▌ | 775/900 [26:23<01:26,  1.45it/s]
 86%|████████▌ | 776/900 [26:23<01:10,  1.76it/s]
 86%|████████▋ | 777/900 [26:40<10:43,  5.23s/it]
 86%|████████▋ | 778/900 [26:40<07:36,  3.74s/it]
 87%|████████▋ | 779/900 [26:40<05:26,  2.70s/it]
 87%|████████▋ | 780/900 [26:40<03:56,  1.97s/it]
 87%|████████▋ | 781/900 [26:41<02:53,  1.46s/it]
 87%|████████▋ | 782/900 [26:41<02:09,  1.10s/it]
 87%|████████▋ | 783/900 [26:41<01:40,  1.17it/s]
 87%|████████▋ | 784/900 [26:41<01:18,  1.47it/s]
 87%|████████▋ | 785/900 [27:03<13:27,  7.02s/it]
 87%|████████▋ | 786/900 [27:03<09:29,  4.99s/it]
 87%|████████▋ | 787/900 [27:04<06:43,  3.57s/it]
 88%|████████▊ | 788/900 [27:04<04:49,  2.58s/it]
 88%|████████▊ | 789/900 [27:04<03:29,  1.89s/it]
 88%|████████▊ | 790/900 [27:05<02:34,  1.40s/it]
 88%|████████▊ | 791/900 [27:05<01:56,  1.06s/it]
 88%|████████▊ | 792/900 [27:05<01:29,  1.21it/s]
 88%|████████▊ | 793/900 [27:18<07:44,  4.34s/it]
 88%|████████▊ | 794/900 [27:18<05:30,  3.12s/it]
 88%|████████▊ | 795/900 [27:18<03:57,  2.26s/it]
 88%|████████▊ | 796/900 [27:18<02:53,  1.67s/it]
 89%|████████▊ | 797/900 [27:19<02:08,  1.25s/it]
 89%|████████▊ | 798/900 [27:19<01:37,  1.05it/s]
 89%|████████▉ | 799/900 [27:19<01:15,  1.34it/s]
 89%|████████▉ | 800/900 [27:19<01:00,  1.66it/s]
 89%|████████▉ | 801/900 [27:34<08:02,  4.87s/it]
 89%|████████▉ | 802/900 [27:35<05:42,  3.50s/it]
 89%|████████▉ | 803/900 [27:35<04:05,  2.53s/it]
 89%|████████▉ | 804/900 [27:35<02:59,  1.87s/it]
 89%|████████▉ | 805/900 [27:35<02:12,  1.39s/it]
 90%|████████▉ | 806/900 [27:36<01:39,  1.06s/it]
 90%|████████▉ | 807/900 [27:36<01:16,  1.21it/s]
 90%|████████▉ | 808/900 [27:36<01:01,  1.50it/s]
 90%|████████▉ | 809/900 [27:49<06:28,  4.27s/it]
 90%|█████████ | 810/900 [27:49<04:36,  3.07s/it]
 90%|█████████ | 811/900 [27:50<03:19,  2.24s/it]
 90%|█████████ | 812/900 [27:50<02:25,  1.65s/it]
 90%|█████████ | 813/900 [27:50<01:48,  1.25s/it]
 90%|█████████ | 814/900 [27:50<01:22,  1.04it/s]
 91%|█████████ | 815/900 [27:51<01:04,  1.32it/s]
 91%|█████████ | 816/900 [27:51<00:51,  1.62it/s]
 91%|█████████ | 817/900 [28:04<06:08,  4.44s/it]
 91%|█████████ | 818/900 [28:05<04:21,  3.19s/it]
 91%|█████████ | 819/900 [28:05<03:08,  2.32s/it]
 91%|█████████ | 820/900 [28:05<02:16,  1.71s/it]
 91%|█████████ | 821/900 [28:06<01:41,  1.28s/it]
 91%|█████████▏| 822/900 [28:06<01:16,  1.02it/s]
 91%|█████████▏| 823/900 [28:06<00:58,  1.31it/s]
 92%|█████████▏| 824/900 [28:06<00:46,  1.62it/s]
 92%|█████████▏| 825/900 [28:19<05:17,  4.23s/it]
 92%|█████████▏| 826/900 [28:19<03:45,  3.04s/it]
 92%|█████████▏| 827/900 [28:20<02:41,  2.21s/it]
 92%|█████████▏| 828/900 [28:20<01:57,  1.63s/it]
 92%|█████████▏| 829/900 [28:20<01:27,  1.23s/it]
 92%|█████████▏| 830/900 [28:20<01:05,  1.06it/s]
 92%|█████████▏| 831/900 [28:21<00:50,  1.36it/s]
 92%|█████████▏| 832/900 [28:21<00:40,  1.68it/s]
 93%|█████████▎| 833/900 [29:08<16:23, 14.67s/it]
 93%|█████████▎| 834/900 [29:09<11:23, 10.35s/it]
 93%|█████████▎| 835/900 [29:09<07:56,  7.33s/it]
 93%|█████████▎| 836/900 [29:09<05:33,  5.21s/it]
 93%|█████████▎| 837/900 [29:09<03:54,  3.72s/it]
 93%|█████████▎| 838/900 [29:10<02:46,  2.69s/it]
 93%|█████████▎| 839/900 [29:10<01:59,  1.96s/it]
 93%|█████████▎| 840/900 [29:10<01:27,  1.45s/it]
 93%|█████████▎| 841/900 [29:25<05:25,  5.51s/it]
 94%|█████████▎| 842/900 [29:26<03:48,  3.94s/it]
 94%|█████████▎| 843/900 [29:26<02:41,  2.84s/it]
 94%|█████████▍| 844/900 [29:26<01:55,  2.07s/it]
 94%|█████████▍| 845/900 [29:26<01:23,  1.53s/it]
 94%|█████████▍| 846/900 [29:27<01:02,  1.15s/it]
 94%|█████████▍| 847/900 [29:27<00:46,  1.13it/s]
 94%|█████████▍| 848/900 [29:27<00:36,  1.43it/s]
 94%|█████████▍| 849/900 [30:11<11:34, 13.62s/it]
 94%|█████████▍| 850/900 [30:11<08:00,  9.62s/it]
 95%|█████████▍| 851/900 [30:11<05:33,  6.81s/it]
 95%|█████████▍| 852/900 [30:12<03:52,  4.85s/it]
 95%|█████████▍| 853/900 [30:12<02:43,  3.48s/it]
 95%|█████████▍| 854/900 [30:12<01:55,  2.52s/it]
 95%|█████████▌| 855/900 [30:13<01:23,  1.85s/it]
 95%|█████████▌| 856/900 [30:13<01:00,  1.38s/it]
 95%|█████████▌| 857/900 [30:24<03:09,  4.41s/it]
 95%|█████████▌| 858/900 [30:25<02:13,  3.17s/it]
 95%|█████████▌| 859/900 [30:25<01:34,  2.30s/it]
 96%|█████████▌| 860/900 [30:25<01:07,  1.69s/it]
 96%|█████████▌| 861/900 [30:25<00:49,  1.27s/it]
 96%|█████████▌| 862/900 [30:26<00:36,  1.03it/s]
 96%|█████████▌| 863/900 [30:26<00:28,  1.32it/s]
 96%|█████████▌| 864/900 [30:26<00:21,  1.64it/s]
 96%|█████████▌| 865/900 [30:47<03:49,  6.55s/it]
 96%|█████████▌| 866/900 [30:47<02:38,  4.67s/it]
 96%|█████████▋| 867/900 [30:47<01:50,  3.35s/it]
 96%|█████████▋| 868/900 [30:48<01:17,  2.44s/it]
 97%|█████████▋| 869/900 [30:48<00:55,  1.79s/it]
 97%|█████████▋| 870/900 [30:48<00:40,  1.35s/it]
 97%|█████████▋| 871/900 [30:48<00:29,  1.03s/it]
 97%|█████████▋| 872/900 [30:49<00:22,  1.23it/s]
 97%|█████████▋| 873/900 [31:05<02:26,  5.43s/it]
 97%|█████████▋| 874/900 [31:05<01:40,  3.88s/it]
 97%|█████████▋| 875/900 [31:05<01:10,  2.80s/it]
 97%|█████████▋| 876/900 [31:06<00:48,  2.04s/it]
 97%|█████████▋| 877/900 [31:06<00:34,  1.51s/it]
 98%|█████████▊| 878/900 [31:06<00:24,  1.14s/it]
 98%|█████████▊| 879/900 [31:07<00:18,  1.14it/s]
 98%|█████████▊| 880/900 [31:07<00:13,  1.44it/s]
 98%|█████████▊| 881/900 [31:23<01:40,  5.27s/it]
 98%|█████████▊| 882/900 [31:23<01:07,  3.77s/it]
 98%|█████████▊| 883/900 [31:23<00:46,  2.72s/it]
 98%|█████████▊| 884/900 [31:24<00:31,  1.99s/it]
 98%|█████████▊| 885/900 [31:24<00:22,  1.47s/it]
 98%|█████████▊| 886/900 [31:24<00:15,  1.11s/it]
 99%|█████████▊| 887/900 [31:24<00:11,  1.16it/s]
 99%|█████████▊| 888/900 [31:25<00:08,  1.46it/s]
 99%|█████████▉| 889/900 [31:43<01:05,  5.92s/it]
 99%|█████████▉| 890/900 [31:43<00:42,  4.22s/it]
 99%|█████████▉| 891/900 [31:43<00:27,  3.04s/it]
 99%|█████████▉| 892/900 [31:44<00:17,  2.20s/it]
 99%|█████████▉| 893/900 [31:44<00:11,  1.62s/it]
 99%|█████████▉| 894/900 [31:44<00:07,  1.22s/it]
 99%|█████████▉| 895/900 [31:44<00:04,  1.08it/s]
100%|█████████▉| 896/900 [31:45<00:02,  1.37it/s]
100%|█████████▉| 897/900 [31:55<00:10,  3.62s/it]
100%|█████████▉| 898/900 [31:55<00:05,  2.62s/it]
100%|█████████▉| 899/900 [31:56<00:01,  1.91s/it]
100%|█████████▉| 899/900 [31:56<00:02,  2.13s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/log_2_env0.json.
+ClampInRightBinTask_2 complete: task_name: ClampInRightBinTask, run_name: ClampInRightBinTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the spring clamp in the right bin, attributes: ['semantics', 'spatial', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -11.346537738067488, 'joint_sparc_mean': -16.36764617820813, 'ee_isj': 4578.21021575408, 'joint_isj': 632034.8489409257, 'ee_path_length': 6.798273856999193, 'joint_rmse_mean': 1.2809423531008304, 'ee_speed_max': 0.5711781978607178, 'ee_speed_mean': 0.10775471478700638}, events: {'GRIPPER_FULLY_CLOSED': 23, 'GRIPPER_HIT_OBJECT': 2, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 13, 'wrong_objects_grabbed': ['cordless_drill']}, instruction_type: default, timing: {'policy_inference_s': 1679.146, 'policy_inference_avg_ms': 1865.7, 'env_step_s': 228.16, 'env_step_avg_ms': 253.5, 'video_write_s': 8.625, 'video_write_avg_ms': 9.6, 'wall_total_s': 1915.931, 'it_per_sec': 0.47}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spring_clamp) (step 1/2), harness_episode_id: c9f87bd2cd1e4ef0a50dbadc8de16e3a-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-29T20:11:09Z [11,759,784ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.211153 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-29T20:11:13Z [11,764,149ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T20:11:13Z [11,764,149ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T20:11:13Z [11,764,216ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T20:11:13Z [11,764,216ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T20:11:14Z [11,764,297ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T20:11:14Z [11,764,462ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-29T20:11:14Z [11,764,868ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((883))' not available in the MDL representation.
+2026-10-29T20:11:14Z [11,764,869ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((883))' not available in the MDL representation.
+2026-10-29T20:11:15Z [11,765,519ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((940))' not available in the MDL representation.
+2026-10-29T20:11:15Z [11,765,519ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((940))' not available in the MDL representation.
+2026-10-29T20:11:15Z [11,765,543ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((954))' not available in the MDL representation.
+2026-10-29T20:11:15Z [11,765,544ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((954))' not available in the MDL representation.
+2026-10-29T20:11:15Z [11,765,548ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((956))' not available in the MDL representation.
+2026-10-29T20:11:15Z [11,765,548ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((956))' not available in the MDL representation.
+2026-10-29T20:11:16Z [11,766,858ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((883))' not available in the MDL representation.
+2026-10-29T20:11:16Z [11,766,858ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((883))' not available in the MDL representation.
+2026-10-29T20:11:16Z [11,766,862ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((940))' not available in the MDL representation.
+2026-10-29T20:11:16Z [11,766,862ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((940))' not available in the MDL representation.
+2026-10-29T20:11:16Z [11,766,863ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((954))' not available in the MDL representation.
+2026-10-29T20:11:16Z [11,766,863ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((954))' not available in the MDL representation.
+2026-10-29T20:11:16Z [11,766,864ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((956))' not available in the MDL representation.
+2026-10-29T20:11:16Z [11,766,864ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((956))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.977712 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : FoodPacking1BoxesTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pack boxed foods into the bin                 │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : FoodPacking1BoxesTaskSceneEnvCfg              │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running FoodPacking1BoxesTask_0: 'Pack boxed foods into the bin' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:24<6:10:39, 24.74s/it]
  0%|          | 2/900 [00:24<2:34:34, 10.33s/it]
  0%|          | 3/900 [00:25<1:25:26,  5.71s/it]
  0%|          | 4/900 [00:25<52:57,  3.55s/it]  
  1%|          | 5/900 [00:25<35:01,  2.35s/it]
  1%|          | 6/900 [00:25<24:16,  1.63s/it]
  1%|          | 7/900 [00:26<17:24,  1.17s/it]
  1%|          | 8/900 [00:26<13:01,  1.14it/s]
  1%|          | 9/900 [00:29<24:13,  1.63s/it]
  1%|          | 10/900 [00:29<17:49,  1.20s/it]
  1%|          | 11/900 [00:30<13:24,  1.10it/s]
  1%|▏         | 12/900 [00:30<10:21,  1.43it/s]
  1%|▏         | 13/900 [00:30<08:14,  1.79it/s]
  2%|▏         | 14/900 [00:30<06:51,  2.15it/s]
  2%|▏         | 15/900 [00:31<05:48,  2.54it/s]
  2%|▏         | 16/900 [00:31<05:04,  2.90it/s]
  2%|▏         | 17/900 [00:45<1:08:01,  4.62s/it]
  2%|▏         | 18/900 [00:46<48:35,  3.31s/it]  
  2%|▏         | 19/900 [00:46<34:58,  2.38s/it]
  2%|▏         | 20/900 [00:46<25:27,  1.74s/it]
  2%|▏         | 21/900 [00:46<18:49,  1.29s/it]
  2%|▏         | 22/900 [00:47<14:11,  1.03it/s]
  3%|▎         | 23/900 [00:47<10:55,  1.34it/s]
  3%|▎         | 24/900 [00:47<08:39,  1.69it/s]
  3%|▎         | 25/900 [00:53<30:56,  2.12s/it]
  3%|▎         | 26/900 [00:53<22:38,  1.55s/it]
  3%|▎         | 27/900 [00:53<16:50,  1.16s/it]
  3%|▎         | 28/900 [00:53<12:47,  1.14it/s]
  3%|▎         | 29/900 [00:54<09:57,  1.46it/s]
  3%|▎         | 30/900 [00:54<07:59,  1.82it/s]
  3%|▎         | 31/900 [00:54<06:35,  2.19it/s]
  4%|▎         | 32/900 [00:54<05:37,  2.57it/s]
  4%|▎         | 33/900 [01:03<42:02,  2.91s/it]
  4%|▍         | 34/900 [01:03<30:29,  2.11s/it]
  4%|▍         | 35/900 [01:04<22:26,  1.56s/it]
  4%|▍         | 36/900 [01:04<16:45,  1.16s/it]
  4%|▍         | 37/900 [01:04<12:46,  1.13it/s]
  4%|▍         | 38/900 [01:04<10:00,  1.43it/s]
  4%|▍         | 39/900 [01:05<08:05,  1.77it/s]
  4%|▍         | 40/900 [01:05<06:45,  2.12it/s]
  5%|▍         | 41/900 [01:16<53:00,  3.70s/it]
  5%|▍         | 42/900 [01:16<38:09,  2.67s/it]
  5%|▍         | 43/900 [01:17<27:43,  1.94s/it]
  5%|▍         | 44/900 [01:17<20:22,  1.43s/it]
  5%|▌         | 45/900 [01:17<15:18,  1.07s/it]
  5%|▌         | 46/900 [01:17<11:43,  1.21it/s]
  5%|▌         | 47/900 [01:18<09:12,  1.54it/s]
  5%|▌         | 48/900 [01:18<07:26,  1.91it/s]
  5%|▌         | 49/900 [01:31<1:03:26,  4.47s/it]
  6%|▌         | 50/900 [01:32<45:21,  3.20s/it]  
  6%|▌         | 51/900 [01:32<32:48,  2.32s/it]
  6%|▌         | 52/900 [01:32<24:00,  1.70s/it]
  6%|▌         | 53/900 [01:32<17:50,  1.26s/it]
  6%|▌         | 54/900 [01:33<13:34,  1.04it/s]
  6%|▌         | 55/900 [01:33<10:36,  1.33it/s]
  6%|▌         | 56/900 [01:33<08:27,  1.66it/s]
  6%|▋         | 57/900 [01:41<37:45,  2.69s/it]
  6%|▋         | 58/900 [01:41<27:21,  1.95s/it]
  7%|▋         | 59/900 [01:41<20:06,  1.43s/it]
  7%|▋         | 60/900 [01:41<15:00,  1.07s/it]
  7%|▋         | 61/900 [01:42<11:28,  1.22it/s]
  7%|▋         | 62/900 [01:42<09:00,  1.55it/s]
  7%|▋         | 63/900 [01:42<07:15,  1.92it/s]
  7%|▋         | 64/900 [01:42<06:00,  2.32it/s]
  7%|▋         | 65/900 [01:52<43:32,  3.13s/it]
  7%|▋         | 66/900 [01:52<31:23,  2.26s/it]
  7%|▋         | 67/900 [01:52<22:56,  1.65s/it]
  8%|▊         | 68/900 [01:53<17:02,  1.23s/it]
  8%|▊         | 69/900 [01:53<12:52,  1.08it/s]
  8%|▊         | 70/900 [01:53<09:58,  1.39it/s]
  8%|▊         | 71/900 [01:53<07:54,  1.75it/s]
  8%|▊         | 72/900 [01:53<06:29,  2.13it/s]
  8%|▊         | 73/900 [02:00<29:56,  2.17s/it]
  8%|▊         | 74/900 [02:00<21:51,  1.59s/it]
  8%|▊         | 75/900 [02:00<16:13,  1.18s/it]
  8%|▊         | 76/900 [02:00<12:17,  1.12it/s]
  9%|▊         | 77/900 [02:01<09:33,  1.44it/s]
  9%|▊         | 78/900 [02:01<07:36,  1.80it/s]
  9%|▉         | 79/900 [02:01<06:15,  2.19it/s]
  9%|▉         | 80/900 [02:01<05:18,  2.57it/s]
  9%|▉         | 81/900 [02:06<25:16,  1.85s/it]
  9%|▉         | 82/900 [02:07<18:43,  1.37s/it]
  9%|▉         | 83/900 [02:07<14:10,  1.04s/it]
  9%|▉         | 84/900 [02:07<10:57,  1.24it/s]
  9%|▉         | 85/900 [02:08<08:40,  1.57it/s]
 10%|▉         | 86/900 [02:08<07:07,  1.90it/s]
 10%|▉         | 87/900 [02:08<06:00,  2.25it/s]
 10%|▉         | 88/900 [02:08<05:13,  2.59it/s]
 10%|▉         | 89/900 [02:27<1:17:42,  5.75s/it]
 10%|█         | 90/900 [02:27<55:20,  4.10s/it]  
 10%|█         | 91/900 [02:27<39:36,  2.94s/it]
 10%|█         | 92/900 [02:27<28:35,  2.12s/it]
 10%|█         | 93/900 [02:27<20:54,  1.55s/it]
 10%|█         | 94/900 [02:28<15:32,  1.16s/it]
 11%|█         | 95/900 [02:28<11:46,  1.14it/s]
 11%|█         | 96/900 [02:28<09:08,  1.47it/s]
 11%|█         | 97/900 [02:52<1:43:18,  7.72s/it]
 11%|█         | 98/900 [02:53<1:13:09,  5.47s/it]
 11%|█         | 99/900 [02:53<52:03,  3.90s/it]  
 11%|█         | 100/900 [02:53<37:18,  2.80s/it]
 11%|█         | 101/900 [02:53<26:58,  2.03s/it]
 11%|█▏        | 102/900 [02:53<19:48,  1.49s/it]
 11%|█▏        | 103/900 [02:54<14:47,  1.11s/it]
 12%|█▏        | 104/900 [02:54<11:15,  1.18it/s]
 12%|█▏        | 105/900 [03:06<54:34,  4.12s/it]
 12%|█▏        | 106/900 [03:06<39:04,  2.95s/it]
 12%|█▏        | 107/900 [03:06<28:14,  2.14s/it]
 12%|█▏        | 108/900 [03:06<20:39,  1.57s/it]
 12%|█▏        | 109/900 [03:07<15:22,  1.17s/it]
 12%|█▏        | 110/900 [03:07<11:42,  1.12it/s]
 12%|█▏        | 111/900 [03:07<09:07,  1.44it/s]
 12%|█▏        | 112/900 [03:07<07:19,  1.79it/s]
 13%|█▎        | 113/900 [03:14<29:59,  2.29s/it]
 13%|█▎        | 114/900 [03:14<21:52,  1.67s/it]
 13%|█▎        | 115/900 [03:14<16:11,  1.24s/it]
 13%|█▎        | 116/900 [03:14<12:13,  1.07it/s]
 13%|█▎        | 117/900 [03:15<09:27,  1.38it/s]
 13%|█▎        | 118/900 [03:15<07:30,  1.74it/s]
 13%|█▎        | 119/900 [03:15<06:08,  2.12it/s]
 13%|█▎        | 120/900 [03:15<05:11,  2.51it/s]
 13%|█▎        | 121/900 [03:39<1:36:46,  7.45s/it]
 14%|█▎        | 122/900 [03:39<1:08:32,  5.29s/it]
 14%|█▎        | 123/900 [03:40<48:47,  3.77s/it]  
 14%|█▍        | 124/900 [03:40<34:59,  2.71s/it]
 14%|█▍        | 125/900 [03:40<25:19,  1.96s/it]
 14%|█▍        | 126/900 [03:40<18:35,  1.44s/it]
 14%|█▍        | 127/900 [03:41<13:53,  1.08s/it]
 14%|█▍        | 128/900 [03:41<10:41,  1.20it/s]
 14%|█▍        | 129/900 [03:49<39:40,  3.09s/it]
 14%|█▍        | 130/900 [03:49<28:38,  2.23s/it]
 15%|█▍        | 131/900 [03:50<20:56,  1.63s/it]
 15%|█▍        | 132/900 [03:50<15:35,  1.22s/it]
 15%|█▍        | 133/900 [03:50<11:47,  1.08it/s]
 15%|█▍        | 134/900 [03:50<09:06,  1.40it/s]
 15%|█▌        | 135/900 [03:51<07:16,  1.75it/s]
 15%|█▌        | 136/900 [03:51<05:56,  2.14it/s]
 15%|█▌        | 137/900 [03:59<35:19,  2.78s/it]
 15%|█▌        | 138/900 [03:59<25:32,  2.01s/it]
 15%|█▌        | 139/900 [03:59<18:42,  1.48s/it]
 16%|█▌        | 140/900 [04:00<13:57,  1.10s/it]
 16%|█▌        | 141/900 [04:00<10:36,  1.19it/s]
 16%|█▌        | 142/900 [04:00<08:15,  1.53it/s]
 16%|█▌        | 143/900 [04:00<06:38,  1.90it/s]
 16%|█▌        | 144/900 [04:01<05:29,  2.30it/s]
 16%|█▌        | 145/900 [04:08<32:57,  2.62s/it]
 16%|█▌        | 146/900 [04:08<23:53,  1.90s/it]
 16%|█▋        | 147/900 [04:09<17:34,  1.40s/it]
 16%|█▋        | 148/900 [04:09<13:08,  1.05s/it]
 17%|█▋        | 149/900 [04:09<10:00,  1.25it/s]
 17%|█▋        | 150/900 [04:09<07:50,  1.59it/s]
 17%|█▋        | 151/900 [04:10<06:19,  1.97it/s]
 17%|█▋        | 152/900 [04:10<05:14,  2.38it/s]
 17%|█▋        | 153/900 [04:25<1:02:05,  4.99s/it]
 17%|█▋        | 154/900 [04:26<44:13,  3.56s/it]  
 17%|█▋        | 155/900 [04:26<31:44,  2.56s/it]
 17%|█▋        | 156/900 [04:26<23:02,  1.86s/it]
 17%|█▋        | 157/900 [04:26<16:58,  1.37s/it]
 18%|█▊        | 158/900 [04:27<12:53,  1.04s/it]
 18%|█▊        | 159/900 [04:27<10:01,  1.23it/s]
 18%|█▊        | 160/900 [04:27<07:58,  1.55it/s]
 18%|█▊        | 161/900 [04:46<1:13:31,  5.97s/it]
 18%|█▊        | 162/900 [04:46<52:18,  4.25s/it]  
 18%|█▊        | 163/900 [04:46<37:26,  3.05s/it]
 18%|█▊        | 164/900 [04:46<27:01,  2.20s/it]
 18%|█▊        | 165/900 [04:46<19:45,  1.61s/it]
 18%|█▊        | 166/900 [04:47<14:41,  1.20s/it]
 19%|█▊        | 167/900 [04:47<11:09,  1.09it/s]
 19%|█▊        | 168/900 [04:47<08:41,  1.40it/s]
 19%|█▉        | 169/900 [04:52<24:27,  2.01s/it]
 19%|█▉        | 170/900 [04:52<17:55,  1.47s/it]
 19%|█▉        | 171/900 [04:53<13:20,  1.10s/it]
 19%|█▉        | 172/900 [04:53<10:08,  1.20it/s]
 19%|█▉        | 173/900 [04:53<07:54,  1.53it/s]
 19%|█▉        | 174/900 [04:53<06:21,  1.90it/s]
 19%|█▉        | 175/900 [04:54<05:15,  2.30it/s]
 20%|█▉        | 176/900 [04:54<04:29,  2.69it/s]
 20%|█▉        | 177/900 [05:00<25:28,  2.11s/it]
 20%|█▉        | 178/900 [05:00<18:36,  1.55s/it]
 20%|█▉        | 179/900 [05:00<13:49,  1.15s/it]
 20%|██        | 180/900 [05:01<10:28,  1.14it/s]
 20%|██        | 181/900 [05:01<08:08,  1.47it/s]
 20%|██        | 182/900 [05:01<06:29,  1.84it/s]
 20%|██        | 183/900 [05:01<05:20,  2.24it/s]
 20%|██        | 184/900 [05:02<04:33,  2.62it/s]
 21%|██        | 185/900 [05:17<56:52,  4.77s/it]
 21%|██        | 186/900 [05:17<40:32,  3.41s/it]
 21%|██        | 187/900 [05:17<29:08,  2.45s/it]
 21%|██        | 188/900 [05:17<21:12,  1.79s/it]
 21%|██        | 189/900 [05:18<15:38,  1.32s/it]
 21%|██        | 190/900 [05:18<11:44,  1.01it/s]
 21%|██        | 191/900 [05:18<09:01,  1.31it/s]
 21%|██▏       | 192/900 [05:18<07:07,  1.66it/s]
 21%|██▏       | 193/900 [05:28<37:56,  3.22s/it]
 22%|██▏       | 194/900 [05:28<27:24,  2.33s/it]
 22%|██▏       | 195/900 [05:28<20:03,  1.71s/it]
 22%|██▏       | 196/900 [05:28<14:54,  1.27s/it]
 22%|██▏       | 197/900 [05:29<11:17,  1.04it/s]
 22%|██▏       | 198/900 [05:29<08:45,  1.34it/s]
 22%|██▏       | 199/900 [05:29<06:59,  1.67it/s]
 22%|██▏       | 200/900 [05:29<05:47,  2.02it/s]
 22%|██▏       | 201/900 [05:41<44:15,  3.80s/it]
 22%|██▏       | 202/900 [05:41<31:50,  2.74s/it]
 23%|██▎       | 203/900 [05:41<23:05,  1.99s/it]
 23%|██▎       | 204/900 [05:42<16:56,  1.46s/it]
 23%|██▎       | 205/900 [05:42<12:37,  1.09s/it]
 23%|██▎       | 206/900 [05:42<09:36,  1.20it/s]
 23%|██▎       | 207/900 [05:42<07:28,  1.54it/s]
 23%|██▎       | 208/900 [05:42<06:00,  1.92it/s]
 23%|██▎       | 209/900 [05:55<46:34,  4.04s/it]
 23%|██▎       | 210/900 [05:55<33:19,  2.90s/it]
 23%|██▎       | 211/900 [05:55<24:03,  2.10s/it]
 24%|██▎       | 212/900 [05:55<17:35,  1.53s/it]
 24%|██▎       | 213/900 [05:56<13:03,  1.14s/it]
 24%|██▍       | 214/900 [05:56<09:53,  1.16it/s]
 24%|██▍       | 215/900 [05:56<07:41,  1.49it/s]
 24%|██▍       | 216/900 [05:56<06:08,  1.86it/s]
 24%|██▍       | 217/900 [06:02<23:29,  2.06s/it]
 24%|██▍       | 218/900 [06:02<17:13,  1.52s/it]
 24%|██▍       | 219/900 [06:02<12:49,  1.13s/it]
 24%|██▍       | 220/900 [06:03<09:44,  1.16it/s]
 25%|██▍       | 221/900 [06:03<07:33,  1.50it/s]
 25%|██▍       | 222/900 [06:03<06:03,  1.87it/s]
 25%|██▍       | 223/900 [06:03<05:00,  2.25it/s]
 25%|██▍       | 224/900 [06:03<04:15,  2.65it/s]
 25%|██▌       | 225/900 [06:12<31:39,  2.81s/it]
 25%|██▌       | 226/900 [06:12<22:56,  2.04s/it]
 25%|██▌       | 227/900 [06:12<16:50,  1.50s/it]
 25%|██▌       | 228/900 [06:13<12:35,  1.12s/it]
 25%|██▌       | 229/900 [06:13<09:36,  1.16it/s]
 26%|██▌       | 230/900 [06:13<07:31,  1.48it/s]
 26%|██▌       | 231/900 [06:13<06:07,  1.82it/s]
 26%|██▌       | 232/900 [06:14<05:07,  2.17it/s]
 26%|██▌       | 233/900 [06:21<26:51,  2.42s/it]
 26%|██▌       | 234/900 [06:21<19:37,  1.77s/it]
 26%|██▌       | 235/900 [06:21<14:32,  1.31s/it]
 26%|██▌       | 236/900 [06:21<10:58,  1.01it/s]
 26%|██▋       | 237/900 [06:22<08:28,  1.30it/s]
 26%|██▋       | 238/900 [06:22<06:44,  1.64it/s]
 27%|██▋       | 239/900 [06:22<05:28,  2.01it/s]
 27%|██▋       | 240/900 [06:22<04:34,  2.41it/s]
 27%|██▋       | 241/900 [06:40<1:00:11,  5.48s/it]
 27%|██▋       | 242/900 [06:40<42:50,  3.91s/it]  
 27%|██▋       | 243/900 [06:40<30:41,  2.80s/it]
 27%|██▋       | 244/900 [06:40<22:13,  2.03s/it]
 27%|██▋       | 245/900 [06:41<16:16,  1.49s/it]
 27%|██▋       | 246/900 [06:41<12:07,  1.11s/it]
 27%|██▋       | 247/900 [06:41<09:13,  1.18it/s]
 28%|██▊       | 248/900 [06:41<07:17,  1.49it/s]
 28%|██▊       | 249/900 [06:50<33:41,  3.11s/it]
 28%|██▊       | 250/900 [06:50<24:20,  2.25s/it]
 28%|██▊       | 251/900 [06:51<17:47,  1.65s/it]
 28%|██▊       | 252/900 [06:51<13:13,  1.22s/it]
 28%|██▊       | 253/900 [06:51<10:02,  1.07it/s]
 28%|██▊       | 254/900 [06:51<07:50,  1.37it/s]
 28%|██▊       | 255/900 [06:52<06:18,  1.71it/s]
 28%|██▊       | 256/900 [06:52<05:14,  2.05it/s]
 29%|██▊       | 257/900 [07:22<1:42:00,  9.52s/it]
 29%|██▊       | 258/900 [07:23<1:12:10,  6.75s/it]
 29%|██▉       | 259/900 [07:23<51:17,  4.80s/it]  
 29%|██▉       | 260/900 [07:23<36:39,  3.44s/it]
 29%|██▉       | 261/900 [07:23<26:26,  2.48s/it]
 29%|██▉       | 262/900 [07:24<19:15,  1.81s/it]
 29%|██▉       | 263/900 [07:24<14:12,  1.34s/it]
 29%|██▉       | 264/900 [07:24<10:41,  1.01s/it]
 29%|██▉       | 265/900 [07:33<36:53,  3.49s/it]
 30%|██▉       | 266/900 [07:34<26:32,  2.51s/it]
 30%|██▉       | 267/900 [07:34<19:19,  1.83s/it]
 30%|██▉       | 268/900 [07:34<14:14,  1.35s/it]
 30%|██▉       | 269/900 [07:34<10:42,  1.02s/it]
 30%|███       | 270/900 [07:35<08:13,  1.28it/s]
 30%|███       | 271/900 [07:35<06:29,  1.62it/s]
 30%|███       | 272/900 [07:35<05:17,  1.98it/s]
 30%|███       | 273/900 [07:44<31:01,  2.97s/it]
 30%|███       | 274/900 [07:44<22:25,  2.15s/it]
 31%|███       | 275/900 [07:44<16:25,  1.58s/it]
 31%|███       | 276/900 [07:45<12:12,  1.17s/it]
 31%|███       | 277/900 [07:45<09:16,  1.12it/s]
 31%|███       | 278/900 [07:45<07:14,  1.43it/s]
 31%|███       | 279/900 [07:45<05:50,  1.77it/s]
 31%|███       | 280/900 [07:46<04:52,  2.12it/s]
 31%|███       | 281/900 [07:54<30:15,  2.93s/it]
 31%|███▏      | 282/900 [07:54<21:55,  2.13s/it]
 31%|███▏      | 283/900 [07:55<16:05,  1.56s/it]
 32%|███▏      | 284/900 [07:55<11:59,  1.17s/it]
 32%|███▏      | 285/900 [07:55<09:08,  1.12it/s]
 32%|███▏      | 286/900 [07:55<07:09,  1.43it/s]
 32%|███▏      | 287/900 [07:56<05:45,  1.77it/s]
 32%|███▏      | 288/900 [07:56<04:46,  2.14it/s]
 32%|███▏      | 289/900 [08:03<25:45,  2.53s/it]
 32%|███▏      | 290/900 [08:04<18:47,  1.85s/it]
 32%|███▏      | 291/900 [08:04<13:55,  1.37s/it]
 32%|███▏      | 292/900 [08:04<10:29,  1.04s/it]
 33%|███▎      | 293/900 [08:04<08:06,  1.25it/s]
 33%|███▎      | 294/900 [08:05<06:27,  1.56it/s]
 33%|███▎      | 295/900 [08:05<05:16,  1.91it/s]
 33%|███▎      | 296/900 [08:05<04:24,  2.28it/s]
 33%|███▎      | 297/900 [08:25<1:02:52,  6.26s/it]
 33%|███▎      | 298/900 [08:25<44:41,  4.46s/it]  
 33%|███▎      | 299/900 [08:25<31:59,  3.19s/it]
 33%|███▎      | 300/900 [08:26<23:06,  2.31s/it]
 33%|███▎      | 301/900 [08:26<16:53,  1.69s/it]
 34%|███▎      | 302/900 [08:26<12:32,  1.26s/it]
 34%|███▎      | 303/900 [08:26<09:30,  1.05it/s]
 34%|███▍      | 304/900 [08:27<07:23,  1.35it/s]
 34%|███▍      | 305/900 [08:38<38:30,  3.88s/it]
 34%|███▍      | 306/900 [08:38<27:41,  2.80s/it]
 34%|███▍      | 307/900 [08:38<20:06,  2.03s/it]
 34%|███▍      | 308/900 [08:39<14:48,  1.50s/it]
 34%|███▍      | 309/900 [08:39<11:04,  1.12s/it]
 34%|███▍      | 310/900 [08:39<08:27,  1.16it/s]
 35%|███▍      | 311/900 [08:39<06:39,  1.48it/s]
 35%|███▍      | 312/900 [08:40<05:23,  1.82it/s]
 35%|███▍      | 313/900 [08:46<23:49,  2.44s/it]
 35%|███▍      | 314/900 [08:47<17:24,  1.78s/it]
 35%|███▌      | 315/900 [08:47<12:53,  1.32s/it]
 35%|███▌      | 316/900 [08:47<09:42,  1.00it/s]
 35%|███▌      | 317/900 [08:47<07:28,  1.30it/s]
 35%|███▌      | 318/900 [08:48<05:54,  1.64it/s]
 35%|███▌      | 319/900 [08:48<04:48,  2.02it/s]
 36%|███▌      | 320/900 [08:48<04:03,  2.38it/s]
 36%|███▌      | 321/900 [09:16<1:23:38,  8.67s/it]
 36%|███▌      | 322/900 [09:16<59:06,  6.14s/it]  
 36%|███▌      | 323/900 [09:17<41:57,  4.36s/it]
 36%|███▌      | 324/900 [09:17<30:00,  3.13s/it]
 36%|███▌      | 325/900 [09:17<21:40,  2.26s/it]
 36%|███▌      | 326/900 [09:17<15:51,  1.66s/it]
 36%|███▋      | 327/900 [09:17<11:44,  1.23s/it]
 36%|███▋      | 328/900 [09:18<08:51,  1.08it/s]
 37%|███▋      | 329/900 [09:32<46:04,  4.84s/it]
 37%|███▋      | 330/900 [09:32<32:50,  3.46s/it]
 37%|███▋      | 331/900 [09:32<23:35,  2.49s/it]
 37%|███▋      | 332/900 [09:32<17:07,  1.81s/it]
 37%|███▋      | 333/900 [09:33<12:37,  1.34s/it]
 37%|███▋      | 334/900 [09:33<09:29,  1.01s/it]
 37%|███▋      | 335/900 [09:33<07:17,  1.29it/s]
 37%|███▋      | 336/900 [09:33<05:44,  1.64it/s]
 37%|███▋      | 337/900 [10:01<1:21:14,  8.66s/it]
 38%|███▊      | 338/900 [10:01<57:30,  6.14s/it]  
 38%|███▊      | 339/900 [10:01<40:58,  4.38s/it]
 38%|███▊      | 340/900 [10:02<29:18,  3.14s/it]
 38%|███▊      | 341/900 [10:02<21:09,  2.27s/it]
 38%|███▊      | 342/900 [10:02<15:28,  1.66s/it]
 38%|███▊      | 343/900 [10:02<11:29,  1.24s/it]
 38%|███▊      | 344/900 [10:02<08:40,  1.07it/s]
 38%|███▊      | 345/900 [10:23<1:04:00,  6.92s/it]
 38%|███▊      | 346/900 [10:24<45:23,  4.92s/it]  
 39%|███▊      | 347/900 [10:24<32:22,  3.51s/it]
 39%|███▊      | 348/900 [10:24<23:17,  2.53s/it]
 39%|███▉      | 349/900 [10:24<16:55,  1.84s/it]
 39%|███▉      | 350/900 [10:25<12:28,  1.36s/it]
 39%|███▉      | 351/900 [10:25<09:22,  1.02s/it]
 39%|███▉      | 352/900 [10:25<07:10,  1.27it/s]
 39%|███▉      | 353/900 [10:40<45:15,  4.96s/it]
 39%|███▉      | 354/900 [10:40<32:16,  3.55s/it]
 39%|███▉      | 355/900 [10:40<23:11,  2.55s/it]
 40%|███▉      | 356/900 [10:40<16:50,  1.86s/it]
 40%|███▉      | 357/900 [10:41<12:23,  1.37s/it]
 40%|███▉      | 358/900 [10:41<09:18,  1.03s/it]
 40%|███▉      | 359/900 [10:41<07:10,  1.26it/s]
 40%|████      | 360/900 [10:41<05:43,  1.57it/s]
 40%|████      | 361/900 [10:49<25:21,  2.82s/it]
 40%|████      | 362/900 [10:50<18:24,  2.05s/it]
 40%|████      | 363/900 [10:50<13:33,  1.52s/it]
 40%|████      | 364/900 [10:50<10:09,  1.14s/it]
 41%|████      | 365/900 [10:50<07:46,  1.15it/s]
 41%|████      | 366/900 [10:51<06:04,  1.47it/s]
 41%|████      | 367/900 [10:51<04:53,  1.82it/s]
 41%|████      | 368/900 [10:51<04:02,  2.20it/s]
 41%|████      | 369/900 [11:01<28:51,  3.26s/it]
 41%|████      | 370/900 [11:01<20:48,  2.36s/it]
 41%|████      | 371/900 [11:01<15:11,  1.72s/it]
 41%|████▏     | 372/900 [11:02<11:18,  1.29s/it]
 41%|████▏     | 373/900 [11:02<08:34,  1.02it/s]
 42%|████▏     | 374/900 [11:02<06:38,  1.32it/s]
 42%|████▏     | 375/900 [11:02<05:15,  1.67it/s]
 42%|████▏     | 376/900 [11:03<04:15,  2.05it/s]
 42%|████▏     | 377/900 [11:14<32:32,  3.73s/it]
 42%|████▏     | 378/900 [11:14<23:22,  2.69s/it]
 42%|████▏     | 379/900 [11:14<16:58,  1.95s/it]
 42%|████▏     | 380/900 [11:15<12:29,  1.44s/it]
 42%|████▏     | 381/900 [11:15<09:21,  1.08s/it]
 42%|████▏     | 382/900 [11:15<07:09,  1.21it/s]
 43%|████▎     | 383/900 [11:15<05:37,  1.53it/s]
 43%|████▎     | 384/900 [11:16<04:31,  1.90it/s]
 43%|████▎     | 385/900 [11:29<37:42,  4.39s/it]
 43%|████▎     | 386/900 [11:29<26:57,  3.15s/it]
 43%|████▎     | 387/900 [11:29<19:26,  2.27s/it]
 43%|████▎     | 388/900 [11:30<14:11,  1.66s/it]
 43%|████▎     | 389/900 [11:30<10:30,  1.23s/it]
 43%|████▎     | 390/900 [11:30<07:56,  1.07it/s]
 43%|████▎     | 391/900 [11:30<06:08,  1.38it/s]
 44%|████▎     | 392/900 [11:31<04:52,  1.74it/s]
 44%|████▎     | 393/900 [11:41<30:38,  3.63s/it]
 44%|████▍     | 394/900 [11:42<22:04,  2.62s/it]
 44%|████▍     | 395/900 [11:42<16:01,  1.90s/it]
 44%|████▍     | 396/900 [11:42<11:47,  1.40s/it]
 44%|████▍     | 397/900 [11:42<08:48,  1.05s/it]
 44%|████▍     | 398/900 [11:43<06:43,  1.24it/s]
 44%|████▍     | 399/900 [11:43<05:16,  1.58it/s]
 44%|████▍     | 400/900 [11:43<04:15,  1.96it/s]
 45%|████▍     | 401/900 [11:51<23:49,  2.87s/it]
 45%|████▍     | 402/900 [11:52<17:14,  2.08s/it]
 45%|████▍     | 403/900 [11:52<12:37,  1.52s/it]
 45%|████▍     | 404/900 [11:52<09:27,  1.14s/it]
 45%|████▌     | 405/900 [11:52<07:15,  1.14it/s]
 45%|████▌     | 406/900 [11:53<05:40,  1.45it/s]
 45%|████▌     | 407/900 [11:53<04:35,  1.79it/s]
 45%|████▌     | 408/900 [11:53<03:48,  2.16it/s]
 45%|████▌     | 409/900 [12:11<47:03,  5.75s/it]
 46%|████▌     | 410/900 [12:11<33:27,  4.10s/it]
 46%|████▌     | 411/900 [12:12<23:56,  2.94s/it]
 46%|████▌     | 412/900 [12:12<17:26,  2.14s/it]
 46%|████▌     | 413/900 [12:12<12:47,  1.58s/it]
 46%|████▌     | 414/900 [12:12<09:31,  1.18s/it]
 46%|████▌     | 415/900 [12:13<07:15,  1.11it/s]
 46%|████▌     | 416/900 [12:13<05:39,  1.43it/s]
 46%|████▋     | 417/900 [12:24<31:39,  3.93s/it]
 46%|████▋     | 418/900 [12:25<22:42,  2.83s/it]
 47%|████▋     | 419/900 [12:25<16:26,  2.05s/it]
 47%|████▋     | 420/900 [12:25<12:04,  1.51s/it]
 47%|████▋     | 421/900 [12:25<09:04,  1.14s/it]
 47%|████▋     | 422/900 [12:26<06:57,  1.14it/s]
 47%|████▋     | 423/900 [12:26<05:29,  1.45it/s]
 47%|████▋     | 424/900 [12:26<04:24,  1.80it/s]
 47%|████▋     | 425/900 [12:44<44:32,  5.63s/it]
 47%|████▋     | 426/900 [12:44<31:42,  4.01s/it]
 47%|████▋     | 427/900 [12:44<22:43,  2.88s/it]
 48%|████▊     | 428/900 [12:44<16:28,  2.09s/it]
 48%|████▊     | 429/900 [12:45<12:06,  1.54s/it]
 48%|████▊     | 430/900 [12:45<09:02,  1.16s/it]
 48%|████▊     | 431/900 [12:45<06:54,  1.13it/s]
 48%|████▊     | 432/900 [12:45<05:23,  1.44it/s]
 48%|████▊     | 433/900 [12:53<20:49,  2.68s/it]
 48%|████▊     | 434/900 [12:53<15:05,  1.94s/it]
 48%|████▊     | 435/900 [12:53<11:05,  1.43s/it]
 48%|████▊     | 436/900 [12:53<08:17,  1.07s/it]
 49%|████▊     | 437/900 [12:54<06:20,  1.22it/s]
 49%|████▊     | 438/900 [12:54<04:57,  1.55it/s]
 49%|████▉     | 439/900 [12:54<04:00,  1.92it/s]
 49%|████▉     | 440/900 [12:54<03:20,  2.29it/s]
 49%|████▉     | 441/900 [13:06<28:36,  3.74s/it]
 49%|████▉     | 442/900 [13:06<20:32,  2.69s/it]
 49%|████▉     | 443/900 [13:06<14:54,  1.96s/it]
 49%|████▉     | 444/900 [13:07<10:57,  1.44s/it]
 49%|████▉     | 445/900 [13:07<08:13,  1.08s/it]
 50%|████▉     | 446/900 [13:07<06:18,  1.20it/s]
 50%|████▉     | 447/900 [13:07<04:58,  1.52it/s]
 50%|████▉     | 448/900 [13:08<04:02,  1.87it/s]
 50%|████▉     | 449/900 [13:17<23:36,  3.14s/it]
 50%|█████     | 450/900 [13:17<17:02,  2.27s/it]
 50%|█████     | 451/900 [13:17<12:26,  1.66s/it]
 50%|█████     | 452/900 [13:18<09:14,  1.24s/it]
 50%|█████     | 453/900 [13:18<07:00,  1.06it/s]
 50%|█████     | 454/900 [13:18<05:26,  1.37it/s]
 51%|█████     | 455/900 [13:18<04:19,  1.71it/s]
 51%|█████     | 456/900 [13:18<03:34,  2.07it/s]
 51%|█████     | 457/900 [13:36<42:10,  5.71s/it]
 51%|█████     | 458/900 [13:37<29:59,  4.07s/it]
 51%|█████     | 459/900 [13:37<21:30,  2.93s/it]
 51%|█████     | 460/900 [13:37<15:32,  2.12s/it]
 51%|█████     | 461/900 [13:37<11:23,  1.56s/it]
 51%|█████▏    | 462/900 [13:38<08:29,  1.16s/it]
 51%|█████▏    | 463/900 [13:38<06:27,  1.13it/s]
 52%|█████▏    | 464/900 [13:38<05:02,  1.44it/s]
 52%|█████▏    | 465/900 [13:56<42:43,  5.89s/it]
 52%|█████▏    | 466/900 [13:56<30:21,  4.20s/it]
 52%|█████▏    | 467/900 [13:57<21:44,  3.01s/it]
 52%|█████▏    | 468/900 [13:57<15:42,  2.18s/it]
 52%|█████▏    | 469/900 [13:57<11:30,  1.60s/it]
 52%|█████▏    | 470/900 [13:57<08:34,  1.20s/it]
 52%|█████▏    | 471/900 [13:58<06:30,  1.10it/s]
 52%|█████▏    | 472/900 [13:58<05:03,  1.41it/s]
 53%|█████▎    | 473/900 [14:10<29:04,  4.09s/it]
 53%|█████▎    | 474/900 [14:10<20:49,  2.93s/it]
 53%|█████▎    | 475/900 [14:10<15:02,  2.12s/it]
 53%|█████▎    | 476/900 [14:11<11:01,  1.56s/it]
 53%|█████▎    | 477/900 [14:11<08:13,  1.17s/it]
 53%|█████▎    | 478/900 [14:11<06:14,  1.13it/s]
 53%|█████▎    | 479/900 [14:11<04:53,  1.44it/s]
 53%|█████▎    | 480/900 [14:12<03:55,  1.78it/s]
 53%|█████▎    | 481/900 [14:24<29:08,  4.17s/it]
 54%|█████▎    | 482/900 [14:24<20:50,  2.99s/it]
 54%|█████▎    | 483/900 [14:25<15:02,  2.16s/it]
 54%|█████▍    | 484/900 [14:25<11:00,  1.59s/it]
 54%|█████▍    | 485/900 [14:25<08:10,  1.18s/it]
 54%|█████▍    | 486/900 [14:25<06:11,  1.11it/s]
 54%|█████▍    | 487/900 [14:26<04:48,  1.43it/s]
 54%|█████▍    | 488/900 [14:26<03:50,  1.79it/s]
 54%|█████▍    | 489/900 [14:39<30:31,  4.46s/it]
 54%|█████▍    | 490/900 [14:40<21:47,  3.19s/it]
 55%|█████▍    | 491/900 [14:40<15:41,  2.30s/it]
 55%|█████▍    | 492/900 [14:40<11:27,  1.69s/it]
 55%|█████▍    | 493/900 [14:40<08:30,  1.25s/it]
 55%|█████▍    | 494/900 [14:41<06:24,  1.05it/s]
 55%|█████▌    | 495/900 [14:41<05:00,  1.35it/s]
 55%|█████▌    | 496/900 [14:41<03:59,  1.69it/s]
 55%|█████▌    | 497/900 [14:56<32:44,  4.87s/it]
 55%|█████▌    | 498/900 [14:56<23:20,  3.48s/it]
 55%|█████▌    | 499/900 [14:56<16:48,  2.52s/it]
 56%|█████▌    | 500/900 [14:57<13:23,  2.01s/it]
 56%|█████▌    | 501/900 [14:57<09:50,  1.48s/it]
 56%|█████▌    | 502/900 [14:58<07:21,  1.11s/it]
 56%|█████▌    | 503/900 [14:58<05:37,  1.18it/s]
 56%|█████▌    | 504/900 [14:58<04:23,  1.50it/s]
 56%|█████▌    | 505/900 [15:17<41:01,  6.23s/it]
 56%|█████▌    | 506/900 [15:18<29:07,  4.44s/it]
 56%|█████▋    | 507/900 [15:18<20:48,  3.18s/it]
 56%|█████▋    | 508/900 [15:18<15:00,  2.30s/it]
 57%|█████▋    | 509/900 [15:18<10:56,  1.68s/it]
 57%|█████▋    | 510/900 [15:19<08:06,  1.25s/it]
 57%|█████▋    | 511/900 [15:19<06:07,  1.06it/s]
 57%|█████▋    | 512/900 [15:19<04:43,  1.37it/s]
 57%|█████▋    | 513/900 [15:36<36:54,  5.72s/it]
 57%|█████▋    | 514/900 [15:37<26:13,  4.08s/it]
 57%|█████▋    | 515/900 [15:37<18:45,  2.92s/it]
 57%|█████▋    | 516/900 [15:37<13:32,  2.12s/it]
 57%|█████▋    | 517/900 [15:37<09:53,  1.55s/it]
 58%|█████▊    | 518/900 [15:38<07:20,  1.15s/it]
 58%|█████▊    | 519/900 [15:38<05:34,  1.14it/s]
 58%|█████▊    | 520/900 [15:38<04:19,  1.46it/s]
 58%|█████▊    | 521/900 [15:47<19:34,  3.10s/it]
 58%|█████▊    | 522/900 [15:47<14:06,  2.24s/it]
 58%|█████▊    | 523/900 [15:47<10:18,  1.64s/it]
 58%|█████▊    | 524/900 [15:48<07:37,  1.22s/it]
 58%|█████▊    | 525/900 [15:48<05:46,  1.08it/s]
 58%|█████▊    | 526/900 [15:48<04:28,  1.39it/s]
 59%|█████▊    | 527/900 [15:48<03:33,  1.75it/s]
 59%|█████▊    | 528/900 [15:48<02:56,  2.11it/s]
 59%|█████▉    | 529/900 [15:57<17:22,  2.81s/it]
 59%|█████▉    | 530/900 [15:57<12:33,  2.04s/it]
 59%|█████▉    | 531/900 [15:57<09:12,  1.50s/it]
 59%|█████▉    | 532/900 [15:57<06:51,  1.12s/it]
 59%|█████▉    | 533/900 [15:58<05:13,  1.17it/s]
 59%|█████▉    | 534/900 [15:58<04:05,  1.49it/s]
 59%|█████▉    | 535/900 [15:58<03:17,  1.84it/s]
 60%|█████▉    | 536/900 [15:58<02:44,  2.22it/s]
 60%|█████▉    | 537/900 [16:07<17:34,  2.90s/it]
 60%|█████▉    | 538/900 [16:07<12:43,  2.11s/it]
 60%|█████▉    | 539/900 [16:08<09:19,  1.55s/it]
 60%|██████    | 540/900 [16:08<06:57,  1.16s/it]
 60%|██████    | 541/900 [16:08<05:18,  1.13it/s]
 60%|██████    | 542/900 [16:08<04:08,  1.44it/s]
 60%|██████    | 543/900 [16:09<03:20,  1.78it/s]
 60%|██████    | 544/900 [16:09<02:45,  2.16it/s]
 61%|██████    | 545/900 [16:22<25:03,  4.24s/it]
 61%|██████    | 546/900 [16:22<17:56,  3.04s/it]
 61%|██████    | 547/900 [16:22<12:56,  2.20s/it]
 61%|██████    | 548/900 [16:23<09:28,  1.61s/it]
 61%|██████    | 549/900 [16:23<07:02,  1.21s/it]
 61%|██████    | 550/900 [16:23<05:19,  1.09it/s]
 61%|██████    | 551/900 [16:23<04:08,  1.40it/s]
 61%|██████▏   | 552/900 [16:23<03:19,  1.74it/s]
 61%|██████▏   | 553/900 [16:33<19:12,  3.32s/it]
 62%|██████▏   | 554/900 [16:33<13:50,  2.40s/it]
 62%|██████▏   | 555/900 [16:34<10:05,  1.76s/it]
 62%|██████▏   | 556/900 [16:34<07:28,  1.30s/it]
 62%|██████▏   | 557/900 [16:34<05:38,  1.01it/s]
 62%|██████▏   | 558/900 [16:34<04:20,  1.31it/s]
 62%|██████▏   | 559/900 [16:35<03:28,  1.64it/s]
 62%|██████▏   | 560/900 [16:35<02:50,  1.99it/s]
 62%|██████▏   | 561/900 [16:46<20:12,  3.58s/it]
 62%|██████▏   | 562/900 [16:46<14:31,  2.58s/it]
 63%|██████▎   | 563/900 [16:46<10:32,  1.88s/it]
 63%|██████▎   | 564/900 [16:46<07:46,  1.39s/it]
 63%|██████▎   | 565/900 [16:47<05:50,  1.05s/it]
 63%|██████▎   | 566/900 [16:47<04:30,  1.23it/s]
 63%|██████▎   | 567/900 [16:47<03:33,  1.56it/s]
 63%|██████▎   | 568/900 [16:47<02:53,  1.91it/s]
 63%|██████▎   | 569/900 [16:59<20:50,  3.78s/it]
 63%|██████▎   | 570/900 [16:59<14:57,  2.72s/it]
 63%|██████▎   | 571/900 [16:59<10:49,  1.97s/it]
 64%|██████▎   | 572/900 [17:00<07:56,  1.45s/it]
 64%|██████▎   | 573/900 [17:00<05:57,  1.09s/it]
 64%|██████▍   | 574/900 [17:00<04:33,  1.19it/s]
 64%|██████▍   | 575/900 [17:00<03:34,  1.51it/s]
 64%|██████▍   | 576/900 [17:01<02:54,  1.86it/s]
 64%|██████▍   | 577/900 [17:14<23:38,  4.39s/it]
 64%|██████▍   | 578/900 [17:14<16:54,  3.15s/it]
 64%|██████▍   | 579/900 [17:14<12:11,  2.28s/it]
 64%|██████▍   | 580/900 [17:15<08:54,  1.67s/it]
 65%|██████▍   | 581/900 [17:15<06:35,  1.24s/it]
 65%|██████▍   | 582/900 [17:15<04:58,  1.06it/s]
 65%|██████▍   | 583/900 [17:15<03:51,  1.37it/s]
 65%|██████▍   | 584/900 [17:16<03:04,  1.72it/s]
 65%|██████▌   | 585/900 [17:24<15:53,  3.03s/it]
 65%|██████▌   | 586/900 [17:25<11:28,  2.19s/it]
 65%|██████▌   | 587/900 [17:25<08:24,  1.61s/it]
 65%|██████▌   | 588/900 [17:25<06:14,  1.20s/it]
 65%|██████▌   | 589/900 [17:25<04:44,  1.09it/s]
 66%|██████▌   | 590/900 [17:26<03:40,  1.41it/s]
 66%|██████▌   | 591/900 [17:26<02:55,  1.76it/s]
 66%|██████▌   | 592/900 [17:26<02:25,  2.12it/s]
 66%|██████▌   | 593/900 [17:45<30:51,  6.03s/it]
 66%|██████▌   | 594/900 [17:45<21:55,  4.30s/it]
 66%|██████▌   | 595/900 [17:46<15:39,  3.08s/it]
 66%|██████▌   | 596/900 [17:46<11:18,  2.23s/it]
 66%|██████▋   | 597/900 [17:46<08:15,  1.63s/it]
 66%|██████▋   | 598/900 [17:46<06:07,  1.22s/it]
 67%|██████▋   | 599/900 [17:47<04:38,  1.08it/s]
 67%|██████▋   | 600/900 [17:47<03:37,  1.38it/s]
 67%|██████▋   | 601/900 [17:57<17:03,  3.42s/it]
 67%|██████▋   | 602/900 [17:57<12:16,  2.47s/it]
 67%|██████▋   | 603/900 [17:57<08:55,  1.80s/it]
 67%|██████▋   | 604/900 [17:57<06:34,  1.33s/it]
 67%|██████▋   | 605/900 [17:58<04:57,  1.01s/it]
 67%|██████▋   | 606/900 [17:58<03:49,  1.28it/s]
 67%|██████▋   | 607/900 [17:58<03:01,  1.61it/s]
 68%|██████▊   | 608/900 [17:58<02:28,  1.97it/s]
 68%|██████▊   | 609/900 [18:09<16:38,  3.43s/it]
 68%|██████▊   | 610/900 [18:09<11:58,  2.48s/it]
 68%|██████▊   | 611/900 [18:09<08:42,  1.81s/it]
 68%|██████▊   | 612/900 [18:09<06:26,  1.34s/it]
 68%|██████▊   | 613/900 [18:10<04:52,  1.02s/it]
 68%|██████▊   | 614/900 [18:10<03:45,  1.27it/s]
 68%|██████▊   | 615/900 [18:10<02:58,  1.60it/s]
 68%|██████▊   | 616/900 [18:10<02:24,  1.96it/s]
 69%|██████▊   | 617/900 [18:45<51:08, 10.84s/it]
 69%|██████▊   | 618/900 [18:45<36:01,  7.66s/it]
 69%|██████▉   | 619/900 [18:46<25:27,  5.44s/it]
 69%|██████▉   | 620/900 [18:46<18:06,  3.88s/it]
 69%|██████▉   | 621/900 [18:46<12:57,  2.79s/it]
 69%|██████▉   | 622/900 [18:46<09:23,  2.03s/it]
 69%|██████▉   | 623/900 [18:47<06:53,  1.49s/it]
 69%|██████▉   | 624/900 [18:47<05:08,  1.12s/it]
 69%|██████▉   | 625/900 [19:01<22:48,  4.98s/it]
 70%|██████▉   | 626/900 [19:01<16:16,  3.57s/it]
 70%|██████▉   | 627/900 [19:01<11:43,  2.58s/it]
 70%|██████▉   | 628/900 [19:02<08:32,  1.88s/it]
 70%|██████▉   | 629/900 [19:02<06:19,  1.40s/it]
 70%|███████   | 630/900 [19:02<04:47,  1.06s/it]
 70%|███████   | 631/900 [19:03<03:41,  1.21it/s]
 70%|███████   | 632/900 [19:03<02:56,  1.52it/s]
 70%|███████   | 633/900 [19:12<14:26,  3.25s/it]
 70%|███████   | 634/900 [19:12<10:26,  2.35s/it]
 71%|███████   | 635/900 [19:13<07:37,  1.73s/it]
 71%|███████   | 636/900 [19:13<05:39,  1.29s/it]
 71%|███████   | 637/900 [19:13<04:17,  1.02it/s]
 71%|███████   | 638/900 [19:13<03:20,  1.31it/s]
 71%|███████   | 639/900 [19:14<02:40,  1.63it/s]
 71%|███████   | 640/900 [19:14<02:12,  1.96it/s]
 71%|███████   | 641/900 [19:23<13:11,  3.06s/it]
 71%|███████▏  | 642/900 [19:23<09:33,  2.22s/it]
 71%|███████▏  | 643/900 [19:23<06:59,  1.63s/it]
 72%|███████▏  | 644/900 [19:24<05:13,  1.22s/it]
 72%|███████▏  | 645/900 [19:24<03:58,  1.07it/s]
 72%|███████▏  | 646/900 [19:24<03:07,  1.36it/s]
 72%|███████▏  | 647/900 [19:25<02:31,  1.67it/s]
 72%|███████▏  | 648/900 [19:25<02:05,  2.01it/s]
 72%|███████▏  | 649/900 [19:38<18:10,  4.34s/it]
 72%|███████▏  | 650/900 [19:38<13:00,  3.12s/it]
 72%|███████▏  | 651/900 [19:39<09:24,  2.27s/it]
 72%|███████▏  | 652/900 [19:39<06:53,  1.67s/it]
 73%|███████▎  | 653/900 [19:39<05:07,  1.25s/it]
 73%|███████▎  | 654/900 [19:39<03:52,  1.06it/s]
 73%|███████▎  | 655/900 [19:40<02:59,  1.36it/s]
 73%|███████▎  | 656/900 [19:40<02:23,  1.70it/s]
 73%|███████▎  | 657/900 [20:10<38:43,  9.56s/it]
 73%|███████▎  | 658/900 [20:11<27:17,  6.77s/it]
 73%|███████▎  | 659/900 [20:11<19:18,  4.81s/it]
 73%|███████▎  | 660/900 [20:11<13:44,  3.44s/it]
 73%|███████▎  | 661/900 [20:11<09:51,  2.48s/it]
 74%|███████▎  | 662/900 [20:12<07:09,  1.81s/it]
 74%|███████▎  | 663/900 [20:12<05:16,  1.34s/it]
 74%|███████▍  | 664/900 [20:12<03:57,  1.01s/it]
 74%|███████▍  | 665/900 [20:26<19:07,  4.88s/it]
 74%|███████▍  | 666/900 [20:26<13:37,  3.49s/it]
 74%|███████▍  | 667/900 [20:27<09:47,  2.52s/it]
 74%|███████▍  | 668/900 [20:27<07:07,  1.84s/it]
 74%|███████▍  | 669/900 [20:27<05:14,  1.36s/it]
 74%|███████▍  | 670/900 [20:27<03:55,  1.03s/it]
 75%|███████▍  | 671/900 [20:28<03:01,  1.26it/s]
 75%|███████▍  | 672/900 [20:28<02:23,  1.59it/s]
 75%|███████▍  | 673/900 [20:54<30:54,  8.17s/it]
 75%|███████▍  | 674/900 [20:54<21:48,  5.79s/it]
 75%|███████▌  | 675/900 [20:54<15:28,  4.13s/it]
 75%|███████▌  | 676/900 [20:54<11:02,  2.96s/it]
 75%|███████▌  | 677/900 [20:55<07:58,  2.14s/it]
 75%|███████▌  | 678/900 [20:55<05:48,  1.57s/it]
 75%|███████▌  | 679/900 [20:55<04:19,  1.17s/it]
 76%|███████▌  | 680/900 [20:55<03:16,  1.12it/s]
 76%|███████▌  | 681/900 [21:10<18:51,  5.17s/it]
 76%|███████▌  | 682/900 [21:11<13:24,  3.69s/it]
 76%|███████▌  | 683/900 [21:11<09:36,  2.65s/it]
 76%|███████▌  | 684/900 [21:11<06:57,  1.93s/it]
 76%|███████▌  | 685/900 [21:11<05:06,  1.43s/it]
 76%|███████▌  | 686/900 [21:12<03:49,  1.07s/it]
 76%|███████▋  | 687/900 [21:12<02:55,  1.21it/s]
 76%|███████▋  | 688/900 [21:12<02:17,  1.54it/s]
 77%|███████▋  | 689/900 [21:22<12:11,  3.47s/it]
 77%|███████▋  | 690/900 [21:22<08:46,  2.51s/it]
 77%|███████▋  | 691/900 [21:23<06:21,  1.83s/it]
 77%|███████▋  | 692/900 [21:23<04:40,  1.35s/it]
 77%|███████▋  | 693/900 [21:23<03:30,  1.02s/it]
 77%|███████▋  | 694/900 [21:23<02:41,  1.27it/s]
 77%|███████▋  | 695/900 [21:24<02:07,  1.60it/s]
 77%|███████▋  | 696/900 [21:24<01:43,  1.96it/s]
 77%|███████▋  | 697/900 [21:38<15:44,  4.65s/it]
 78%|███████▊  | 698/900 [21:38<11:13,  3.33s/it]
 78%|███████▊  | 699/900 [21:39<08:04,  2.41s/it]
 78%|███████▊  | 700/900 [21:39<05:51,  1.76s/it]
 78%|███████▊  | 701/900 [21:39<04:19,  1.31s/it]
 78%|███████▊  | 702/900 [21:39<03:15,  1.01it/s]
 78%|███████▊  | 703/900 [21:40<02:30,  1.31it/s]
 78%|███████▊  | 704/900 [21:40<01:59,  1.64it/s]
 78%|███████▊  | 705/900 [22:01<21:57,  6.76s/it]
 78%|███████▊  | 706/900 [22:01<15:32,  4.81s/it]
 79%|███████▊  | 707/900 [22:02<11:04,  3.45s/it]
 79%|███████▊  | 708/900 [22:02<07:57,  2.49s/it]
 79%|███████▉  | 709/900 [22:02<05:47,  1.82s/it]
 79%|███████▉  | 710/900 [22:02<04:16,  1.35s/it]
 79%|███████▉  | 711/900 [22:03<03:11,  1.02s/it]
 79%|███████▉  | 712/900 [22:03<02:27,  1.27it/s]
 79%|███████▉  | 713/900 [22:25<22:57,  7.36s/it]
 79%|███████▉  | 714/900 [22:26<16:12,  5.23s/it]
 79%|███████▉  | 715/900 [22:26<11:30,  3.73s/it]
 80%|███████▉  | 716/900 [22:26<08:14,  2.69s/it]
 80%|███████▉  | 717/900 [22:26<05:57,  1.96s/it]
 80%|███████▉  | 718/900 [22:27<04:22,  1.44s/it]
 80%|███████▉  | 719/900 [22:27<03:16,  1.09s/it]
 80%|████████  | 720/900 [22:27<02:30,  1.20it/s]
 80%|████████  | 721/900 [22:37<10:47,  3.62s/it]
 80%|████████  | 722/900 [22:38<07:44,  2.61s/it]
 80%|████████  | 723/900 [22:38<05:36,  1.90s/it]
 80%|████████  | 724/900 [22:38<04:07,  1.40s/it]
 81%|████████  | 725/900 [22:38<03:04,  1.06s/it]
 81%|████████  | 726/900 [22:39<02:21,  1.23it/s]
 81%|████████  | 727/900 [22:39<01:50,  1.57it/s]
 81%|████████  | 728/900 [22:39<01:28,  1.93it/s]
 81%|████████  | 729/900 [22:51<10:53,  3.82s/it]
 81%|████████  | 730/900 [22:51<07:46,  2.75s/it]
 81%|████████  | 731/900 [22:51<05:37,  1.99s/it]
 81%|████████▏ | 732/900 [22:51<04:07,  1.47s/it]
 81%|████████▏ | 733/900 [22:52<03:04,  1.10s/it]
 82%|████████▏ | 734/900 [22:52<02:20,  1.18it/s]
 82%|████████▏ | 735/900 [22:52<01:50,  1.50it/s]
 82%|████████▏ | 736/900 [22:52<01:28,  1.85it/s]
 82%|████████▏ | 737/900 [23:02<09:11,  3.38s/it]
 82%|████████▏ | 738/900 [23:03<06:35,  2.44s/it]
 82%|████████▏ | 739/900 [23:03<04:46,  1.78s/it]
 82%|████████▏ | 740/900 [23:03<03:31,  1.32s/it]
 82%|████████▏ | 741/900 [23:03<02:38,  1.00it/s]
 82%|████████▏ | 742/900 [23:04<02:02,  1.29it/s]
 83%|████████▎ | 743/900 [23:04<01:37,  1.61it/s]
 83%|████████▎ | 744/900 [23:04<01:19,  1.95it/s]
 83%|████████▎ | 745/900 [23:16<10:03,  3.90s/it]
 83%|████████▎ | 746/900 [23:16<07:11,  2.80s/it]
 83%|████████▎ | 747/900 [23:16<05:11,  2.04s/it]
 83%|████████▎ | 748/900 [23:17<03:48,  1.50s/it]
 83%|████████▎ | 749/900 [23:17<02:50,  1.13s/it]
 83%|████████▎ | 750/900 [23:17<02:11,  1.14it/s]
 83%|████████▎ | 751/900 [23:17<01:42,  1.45it/s]
 84%|████████▎ | 752/900 [23:18<01:22,  1.79it/s]
 84%|████████▎ | 753/900 [23:30<09:57,  4.06s/it]
 84%|████████▍ | 754/900 [23:30<07:06,  2.92s/it]
 84%|████████▍ | 755/900 [23:30<05:06,  2.12s/it]
 84%|████████▍ | 756/900 [23:31<03:43,  1.55s/it]
 84%|████████▍ | 757/900 [23:31<02:45,  1.16s/it]
 84%|████████▍ | 758/900 [23:31<02:05,  1.13it/s]
 84%|████████▍ | 759/900 [23:31<01:38,  1.44it/s]
 84%|████████▍ | 760/900 [23:32<01:18,  1.77it/s]
 85%|████████▍ | 761/900 [23:46<11:05,  4.79s/it]
 85%|████████▍ | 762/900 [23:46<07:52,  3.43s/it]
 85%|████████▍ | 763/900 [23:47<05:38,  2.47s/it]
 85%|████████▍ | 764/900 [23:47<04:05,  1.81s/it]
 85%|████████▌ | 765/900 [23:47<03:00,  1.34s/it]
 85%|████████▌ | 766/900 [23:47<02:16,  1.02s/it]
 85%|████████▌ | 767/900 [23:48<01:44,  1.28it/s]
 85%|████████▌ | 768/900 [23:48<01:22,  1.61it/s]
 85%|████████▌ | 769/900 [24:01<09:24,  4.31s/it]
 86%|████████▌ | 770/900 [24:01<06:41,  3.09s/it]
 86%|████████▌ | 771/900 [24:01<04:48,  2.24s/it]
 86%|████████▌ | 772/900 [24:02<03:29,  1.64s/it]
 86%|████████▌ | 773/900 [24:02<02:35,  1.22s/it]
 86%|████████▌ | 774/900 [24:02<01:56,  1.08it/s]
 86%|████████▌ | 775/900 [24:02<01:30,  1.39it/s]
 86%|████████▌ | 776/900 [24:03<01:11,  1.74it/s]
 86%|████████▋ | 777/900 [24:14<07:35,  3.71s/it]
 86%|████████▋ | 778/900 [24:14<05:25,  2.67s/it]
 87%|████████▋ | 779/900 [24:14<03:54,  1.94s/it]
 87%|████████▋ | 780/900 [24:14<02:51,  1.43s/it]
 87%|████████▋ | 781/900 [24:15<02:08,  1.08s/it]
 87%|████████▋ | 782/900 [24:15<01:37,  1.21it/s]
 87%|████████▋ | 783/900 [24:15<01:16,  1.52it/s]
 87%|████████▋ | 784/900 [24:15<01:02,  1.87it/s]
 87%|████████▋ | 785/900 [24:28<08:14,  4.30s/it]
 87%|████████▋ | 786/900 [24:29<05:52,  3.09s/it]
 87%|████████▋ | 787/900 [24:29<04:13,  2.25s/it]
 88%|████████▊ | 788/900 [24:29<03:04,  1.65s/it]
 88%|████████▊ | 789/900 [24:29<02:16,  1.23s/it]
 88%|████████▊ | 790/900 [24:30<01:43,  1.06it/s]
 88%|████████▊ | 791/900 [24:30<01:20,  1.36it/s]
 88%|████████▊ | 792/900 [24:30<01:03,  1.69it/s]
 88%|████████▊ | 793/900 [24:43<07:20,  4.12s/it]
 88%|████████▊ | 794/900 [24:43<05:14,  2.96s/it]
 88%|████████▊ | 795/900 [24:43<03:45,  2.15s/it]
 88%|████████▊ | 796/900 [24:43<02:44,  1.58s/it]
 89%|████████▊ | 797/900 [24:44<02:02,  1.18s/it]
 89%|████████▊ | 798/900 [24:44<01:32,  1.10it/s]
 89%|████████▉ | 799/900 [24:44<01:12,  1.40it/s]
 89%|████████▉ | 800/900 [24:44<00:58,  1.72it/s]
 89%|████████▉ | 801/900 [24:55<05:54,  3.58s/it]
 89%|████████▉ | 802/900 [24:55<04:13,  2.59s/it]
 89%|████████▉ | 803/900 [24:56<03:03,  1.89s/it]
 89%|████████▉ | 804/900 [24:56<02:15,  1.41s/it]
 89%|████████▉ | 805/900 [24:56<01:41,  1.06s/it]
 90%|████████▉ | 806/900 [24:56<01:17,  1.22it/s]
 90%|████████▉ | 807/900 [24:57<01:00,  1.53it/s]
 90%|████████▉ | 808/900 [24:57<00:49,  1.86it/s]
 90%|████████▉ | 809/900 [25:13<07:43,  5.09s/it]
 90%|█████████ | 810/900 [25:13<05:27,  3.64s/it]
 90%|█████████ | 811/900 [25:13<03:53,  2.63s/it]
 90%|█████████ | 812/900 [25:13<02:48,  1.92s/it]
 90%|█████████ | 813/900 [25:14<02:03,  1.42s/it]
 90%|█████████ | 814/900 [25:14<01:32,  1.08s/it]
 91%|█████████ | 815/900 [25:14<01:10,  1.20it/s]
 91%|█████████ | 816/900 [25:14<00:55,  1.52it/s]
 91%|█████████ | 817/900 [25:26<05:25,  3.92s/it]
 91%|█████████ | 818/900 [25:26<03:50,  2.82s/it]
 91%|█████████ | 819/900 [25:26<02:45,  2.04s/it]
 91%|█████████ | 820/900 [25:27<02:00,  1.50s/it]
 91%|█████████ | 821/900 [25:27<01:28,  1.12s/it]
 91%|█████████▏| 822/900 [25:27<01:06,  1.17it/s]
 91%|█████████▏| 823/900 [25:27<00:51,  1.50it/s]
 92%|█████████▏| 824/900 [25:28<00:40,  1.86it/s]
 92%|█████████▏| 825/900 [25:49<08:23,  6.72s/it]
 92%|█████████▏| 826/900 [25:49<05:53,  4.77s/it]
 92%|█████████▏| 827/900 [25:49<04:09,  3.41s/it]
 92%|█████████▏| 828/900 [25:49<02:57,  2.46s/it]
 92%|█████████▏| 829/900 [25:50<02:07,  1.80s/it]
 92%|█████████▏| 830/900 [25:50<01:33,  1.33s/it]
 92%|█████████▏| 831/900 [25:50<01:09,  1.01s/it]
 92%|█████████▏| 832/900 [25:50<00:52,  1.29it/s]
 93%|█████████▎| 833/900 [26:09<06:41,  5.99s/it]
 93%|█████████▎| 834/900 [26:09<04:41,  4.26s/it]
 93%|█████████▎| 835/900 [26:09<03:18,  3.06s/it]
 93%|█████████▎| 836/900 [26:09<02:21,  2.21s/it]
 93%|█████████▎| 837/900 [26:10<01:42,  1.63s/it]
 93%|█████████▎| 838/900 [26:10<01:15,  1.21s/it]
 93%|█████████▎| 839/900 [26:10<00:56,  1.08it/s]
 93%|█████████▎| 840/900 [26:10<00:43,  1.39it/s]
 93%|█████████▎| 841/900 [26:23<04:21,  4.43s/it]
 94%|█████████▎| 842/900 [26:24<03:04,  3.17s/it]
 94%|█████████▎| 843/900 [26:24<02:10,  2.30s/it]
 94%|█████████▍| 844/900 [26:24<01:34,  1.68s/it]
 94%|█████████▍| 845/900 [26:24<01:09,  1.25s/it]
 94%|█████████▍| 846/900 [26:25<00:51,  1.05it/s]
 94%|█████████▍| 847/900 [26:25<00:39,  1.35it/s]
 94%|█████████▍| 848/900 [26:25<00:30,  1.68it/s]
 94%|█████████▍| 849/900 [26:37<03:26,  4.04s/it]
 94%|█████████▍| 850/900 [26:38<02:25,  2.91s/it]
 95%|█████████▍| 851/900 [26:38<01:43,  2.11s/it]
 95%|█████████▍| 852/900 [26:38<01:14,  1.55s/it]
 95%|█████████▍| 853/900 [26:38<00:54,  1.16s/it]
 95%|█████████▍| 854/900 [26:38<00:40,  1.13it/s]
 95%|█████████▌| 855/900 [26:39<00:31,  1.45it/s]
 95%|█████████▌| 856/900 [26:39<00:24,  1.80it/s]
 95%|█████████▌| 857/900 [26:54<03:36,  5.03s/it]
 95%|█████████▌| 858/900 [26:55<02:31,  3.60s/it]
 95%|█████████▌| 859/900 [26:55<01:46,  2.59s/it]
 96%|█████████▌| 860/900 [26:55<01:15,  1.89s/it]
 96%|█████████▌| 861/900 [26:55<00:54,  1.40s/it]
 96%|█████████▌| 862/900 [26:56<00:39,  1.05s/it]
 96%|█████████▌| 863/900 [26:56<00:29,  1.24it/s]
 96%|█████████▌| 864/900 [26:56<00:23,  1.56it/s]
 96%|█████████▌| 865/900 [27:17<03:50,  6.57s/it]
 96%|█████████▌| 866/900 [27:17<02:38,  4.67s/it]
 96%|█████████▋| 867/900 [27:17<01:50,  3.35s/it]
 96%|█████████▋| 868/900 [27:17<01:17,  2.42s/it]
 97%|█████████▋| 869/900 [27:18<00:54,  1.77s/it]
 97%|█████████▋| 870/900 [27:18<00:39,  1.31s/it]
 97%|█████████▋| 871/900 [27:18<00:28,  1.01it/s]
 97%|█████████▋| 872/900 [27:18<00:21,  1.31it/s]
 97%|█████████▋| 873/900 [27:30<01:46,  3.94s/it]
 97%|█████████▋| 874/900 [27:30<01:13,  2.83s/it]
 97%|█████████▋| 875/900 [27:30<00:51,  2.05s/it]
 97%|█████████▋| 876/900 [27:30<00:36,  1.51s/it]
 97%|█████████▋| 877/900 [27:31<00:25,  1.13s/it]
 98%|█████████▊| 878/900 [27:31<00:18,  1.16it/s]
 98%|█████████▊| 879/900 [27:31<00:14,  1.48it/s]
 98%|█████████▊| 880/900 [27:31<00:10,  1.82it/s]
 98%|█████████▊| 881/900 [27:44<01:21,  4.31s/it]
 98%|█████████▊| 882/900 [27:45<00:55,  3.08s/it]
 98%|█████████▊| 883/900 [27:45<00:37,  2.23s/it]
 98%|█████████▊| 884/900 [27:45<00:26,  1.64s/it]
 98%|█████████▊| 885/900 [27:45<00:18,  1.22s/it]
 98%|█████████▊| 886/900 [27:46<00:12,  1.08it/s]
 99%|█████████▊| 887/900 [27:46<00:09,  1.39it/s]
 99%|█████████▊| 888/900 [27:46<00:06,  1.74it/s]
 99%|█████████▉| 889/900 [27:46<00:05,  1.93it/s]
 99%|█████████▉| 890/900 [27:47<00:04,  2.30it/s]
 99%|█████████▉| 891/900 [27:47<00:03,  2.65it/s]
 99%|█████████▉| 892/900 [27:47<00:02,  2.97it/s]
 99%|█████████▉| 893/900 [27:47<00:02,  3.27it/s]
 99%|█████████▉| 894/900 [27:48<00:01,  3.52it/s]
 99%|█████████▉| 895/900 [27:48<00:01,  3.71it/s]
100%|█████████▉| 896/900 [27:48<00:01,  3.84it/s]
100%|█████████▉| 897/900 [27:49<00:00,  3.49it/s]
100%|█████████▉| 898/900 [27:49<00:00,  3.65it/s]
100%|█████████▉| 899/900 [27:49<00:00,  3.79it/s]
100%|█████████▉| 899/900 [27:49<00:01,  1.86s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/log_0_env0.json.
+FoodPacking1BoxesTask_0 complete: task_name: FoodPacking1BoxesTask, run_name: FoodPacking1BoxesTask_0, run: 0, env_id: 0, policy: harness, instruction: Pack boxed foods into the bin, attributes: ['semantics', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.117607448678166, 'joint_sparc_mean': -12.17260434650299, 'ee_isj': 754313.1317248911, 'joint_isj': 7451491.2065321505, 'ee_path_length': 30.338558757136607, 'joint_rmse_mean': 1.6029841146143737, 'ee_speed_max': 8.661161422729492, 'ee_speed_mean': 0.5041112899780273}, events: {'GRIPPER_FULLY_CLOSED': 7, 'TARGET_OBJECT_DROPPED': 12, 'OBJECT_BUMPED': 7, 'OBJECT_OUT_OF_SCENE': 2, 'OBJECT_MOVED': 2, 'GRIPPER_HIT_TABLE': 1}, instruction_type: default, timing: {'policy_inference_s': 1458.737, 'policy_inference_avg_ms': 1620.8, 'env_step_s': 200.581, 'env_step_avg_ms': 222.9, 'video_write_s': 9.988, 'video_write_avg_ms': 11.1, 'wall_total_s': 1669.305, 'it_per_sec': 0.54}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=cheez_it) (step 1/2), harness_episode_id: 37cbd15592744ec8bb7f96cfa2c90aca-0
+[RoboLab] Running FoodPacking1BoxesTask_1: 'Pack boxed foods into the bin' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:35<8:50:14, 35.39s/it]
  0%|          | 2/900 [00:35<3:40:17, 14.72s/it]
  0%|          | 3/900 [00:35<2:01:12,  8.11s/it]
  0%|          | 4/900 [00:36<1:14:41,  5.00s/it]
  1%|          | 5/900 [00:36<49:01,  3.29s/it]  
  1%|          | 6/900 [00:36<33:28,  2.25s/it]
  1%|          | 7/900 [00:36<23:35,  1.59s/it]
  1%|          | 8/900 [00:37<17:07,  1.15s/it]
  1%|          | 9/900 [00:43<41:07,  2.77s/it]
  1%|          | 10/900 [00:43<29:27,  1.99s/it]
  1%|          | 11/900 [00:43<21:27,  1.45s/it]
  1%|▏         | 12/900 [00:44<15:56,  1.08s/it]
  1%|▏         | 13/900 [00:44<12:07,  1.22it/s]
  2%|▏         | 14/900 [00:44<09:29,  1.56it/s]
  2%|▏         | 15/900 [00:44<07:38,  1.93it/s]
  2%|▏         | 16/900 [00:44<06:20,  2.32it/s]
  2%|▏         | 17/900 [00:52<39:18,  2.67s/it]
  2%|▏         | 18/900 [00:53<28:28,  1.94s/it]
  2%|▏         | 19/900 [00:53<20:54,  1.42s/it]
  2%|▏         | 20/900 [00:53<15:37,  1.07s/it]
  2%|▏         | 21/900 [00:53<11:56,  1.23it/s]
  2%|▏         | 22/900 [00:54<09:23,  1.56it/s]
  3%|▎         | 23/900 [00:54<07:33,  1.93it/s]
  3%|▎         | 24/900 [00:54<06:18,  2.31it/s]
  3%|▎         | 25/900 [01:01<34:43,  2.38s/it]
  3%|▎         | 26/900 [01:01<25:16,  1.74s/it]
  3%|▎         | 27/900 [01:01<18:45,  1.29s/it]
  3%|▎         | 28/900 [01:02<14:12,  1.02it/s]
  3%|▎         | 29/900 [01:02<11:00,  1.32it/s]
  3%|▎         | 30/900 [01:02<08:46,  1.65it/s]
  3%|▎         | 31/900 [01:02<07:10,  2.02it/s]
  4%|▎         | 32/900 [01:03<06:06,  2.37it/s]
  4%|▎         | 33/900 [01:36<2:29:04, 10.32s/it]
  4%|▍         | 34/900 [01:36<1:45:16,  7.29s/it]
  4%|▍         | 35/900 [01:36<1:14:36,  5.18s/it]
  4%|▍         | 36/900 [01:37<53:17,  3.70s/it]  
  4%|▍         | 37/900 [01:37<38:26,  2.67s/it]
  4%|▍         | 38/900 [01:37<28:03,  1.95s/it]
  4%|▍         | 39/900 [01:38<20:38,  1.44s/it]
  4%|▍         | 40/900 [01:38<15:27,  1.08s/it]
  5%|▍         | 41/900 [01:43<32:42,  2.28s/it]
  5%|▍         | 42/900 [01:43<23:52,  1.67s/it]
  5%|▍         | 43/900 [01:43<17:40,  1.24s/it]
  5%|▍         | 44/900 [01:44<13:21,  1.07it/s]
  5%|▌         | 45/900 [01:44<10:20,  1.38it/s]
  5%|▌         | 46/900 [01:44<08:15,  1.72it/s]
  5%|▌         | 47/900 [01:44<06:49,  2.08it/s]
  5%|▌         | 48/900 [01:45<05:47,  2.45it/s]
  5%|▌         | 49/900 [01:54<45:11,  3.19s/it]
  6%|▌         | 50/900 [01:54<32:41,  2.31s/it]
  6%|▌         | 51/900 [01:55<23:54,  1.69s/it]
  6%|▌         | 52/900 [01:55<17:43,  1.25s/it]
  6%|▌         | 53/900 [01:55<13:24,  1.05it/s]
  6%|▌         | 54/900 [01:55<10:24,  1.35it/s]
  6%|▌         | 55/900 [01:56<08:20,  1.69it/s]
  6%|▌         | 56/900 [01:56<06:52,  2.05it/s]
  6%|▋         | 57/900 [02:02<32:01,  2.28s/it]
  6%|▋         | 58/900 [02:03<23:22,  1.67s/it]
  7%|▋         | 59/900 [02:03<17:19,  1.24s/it]
  7%|▋         | 60/900 [02:03<13:05,  1.07it/s]
  7%|▋         | 61/900 [02:03<10:06,  1.38it/s]
  7%|▋         | 62/900 [02:04<08:01,  1.74it/s]
  7%|▋         | 63/900 [02:04<06:34,  2.12it/s]
  7%|▋         | 64/900 [02:04<05:37,  2.48it/s]
  7%|▋         | 65/900 [02:19<1:08:10,  4.90s/it]
  7%|▋         | 66/900 [02:20<48:40,  3.50s/it]  
  7%|▋         | 67/900 [02:20<34:59,  2.52s/it]
  8%|▊         | 68/900 [02:20<25:27,  1.84s/it]
  8%|▊         | 69/900 [02:20<18:47,  1.36s/it]
  8%|▊         | 70/900 [02:21<14:07,  1.02s/it]
  8%|▊         | 71/900 [02:21<10:51,  1.27it/s]
  8%|▊         | 72/900 [02:21<08:33,  1.61it/s]
  8%|▊         | 73/900 [02:38<1:15:16,  5.46s/it]
  8%|▊         | 74/900 [02:38<53:37,  3.90s/it]  
  8%|▊         | 75/900 [02:38<38:28,  2.80s/it]
  8%|▊         | 76/900 [02:39<27:53,  2.03s/it]
  9%|▊         | 77/900 [02:39<20:27,  1.49s/it]
  9%|▊         | 78/900 [02:39<15:17,  1.12s/it]
  9%|▉         | 79/900 [02:39<11:39,  1.17it/s]
  9%|▉         | 80/900 [02:39<09:07,  1.50it/s]
  9%|▉         | 81/900 [02:45<28:37,  2.10s/it]
  9%|▉         | 82/900 [02:45<20:59,  1.54s/it]
  9%|▉         | 83/900 [02:45<15:38,  1.15s/it]
  9%|▉         | 84/900 [02:46<11:53,  1.14it/s]
  9%|▉         | 85/900 [02:46<09:15,  1.47it/s]
 10%|▉         | 86/900 [02:46<07:25,  1.83it/s]
 10%|▉         | 87/900 [02:46<06:09,  2.20it/s]
 10%|▉         | 88/900 [02:47<05:17,  2.56it/s]
 10%|▉         | 89/900 [03:07<1:28:15,  6.53s/it]
 10%|█         | 90/900 [03:08<1:02:40,  4.64s/it]
 10%|█         | 91/900 [03:08<44:45,  3.32s/it]  
 10%|█         | 92/900 [03:08<32:13,  2.39s/it]
 10%|█         | 93/900 [03:08<23:29,  1.75s/it]
 10%|█         | 94/900 [03:09<17:22,  1.29s/it]
 11%|█         | 95/900 [03:09<13:06,  1.02it/s]
 11%|█         | 96/900 [03:09<10:06,  1.32it/s]
 11%|█         | 97/900 [03:26<1:13:50,  5.52s/it]
 11%|█         | 98/900 [03:26<52:38,  3.94s/it]  
 11%|█         | 99/900 [03:26<37:45,  2.83s/it]
 11%|█         | 100/900 [03:26<27:21,  2.05s/it]
 11%|█         | 101/900 [03:27<20:04,  1.51s/it]
 11%|█▏        | 102/900 [03:27<14:58,  1.13s/it]
 11%|█▏        | 103/900 [03:27<11:26,  1.16it/s]
 12%|█▏        | 104/900 [03:27<08:56,  1.48it/s]
 12%|█▏        | 105/900 [03:33<29:37,  2.24s/it]
 12%|█▏        | 106/900 [03:34<21:39,  1.64s/it]
 12%|█▏        | 107/900 [03:34<16:03,  1.21s/it]
 12%|█▏        | 108/900 [03:34<12:11,  1.08it/s]
 12%|█▏        | 109/900 [03:34<09:31,  1.38it/s]
 12%|█▏        | 110/900 [03:34<07:37,  1.73it/s]
 12%|█▏        | 111/900 [03:35<06:17,  2.09it/s]
 12%|█▏        | 112/900 [03:35<05:22,  2.45it/s]
 13%|█▎        | 113/900 [03:42<29:25,  2.24s/it]
 13%|█▎        | 114/900 [03:42<21:35,  1.65s/it]
 13%|█▎        | 115/900 [03:42<16:06,  1.23s/it]
 13%|█▎        | 116/900 [03:42<12:17,  1.06it/s]
 13%|█▎        | 117/900 [03:43<09:35,  1.36it/s]
 13%|█▎        | 118/900 [03:43<07:45,  1.68it/s]
 13%|█▎        | 119/900 [03:43<06:28,  2.01it/s]
 13%|█▎        | 120/900 [03:43<05:33,  2.34it/s]
 13%|█▎        | 121/900 [03:52<38:21,  2.95s/it]
 14%|█▎        | 122/900 [03:52<27:47,  2.14s/it]
 14%|█▎        | 123/900 [03:53<20:21,  1.57s/it]
 14%|█▍        | 124/900 [03:53<15:08,  1.17s/it]
 14%|█▍        | 125/900 [03:53<11:30,  1.12it/s]
 14%|█▍        | 126/900 [03:53<08:56,  1.44it/s]
 14%|█▍        | 127/900 [03:54<07:09,  1.80it/s]
 14%|█▍        | 128/900 [03:54<05:55,  2.17it/s]
 14%|█▍        | 129/900 [03:59<22:40,  1.76s/it]
 14%|█▍        | 130/900 [03:59<16:45,  1.31s/it]
 15%|█▍        | 131/900 [03:59<12:37,  1.02it/s]
 15%|█▍        | 132/900 [03:59<09:44,  1.31it/s]
 15%|█▍        | 133/900 [04:00<07:42,  1.66it/s]
 15%|█▍        | 134/900 [04:00<06:17,  2.03it/s]
 15%|█▌        | 135/900 [04:00<05:18,  2.40it/s]
 15%|█▌        | 136/900 [04:00<04:35,  2.77it/s]
 15%|█▌        | 137/900 [04:10<41:38,  3.27s/it]
 15%|█▌        | 138/900 [04:11<30:00,  2.36s/it]
 15%|█▌        | 139/900 [04:11<21:51,  1.72s/it]
 16%|█▌        | 140/900 [04:11<16:08,  1.27s/it]
 16%|█▌        | 141/900 [04:11<12:11,  1.04it/s]
 16%|█▌        | 142/900 [04:12<09:25,  1.34it/s]
 16%|█▌        | 143/900 [04:12<07:28,  1.69it/s]
 16%|█▌        | 144/900 [04:12<06:05,  2.07it/s]
 16%|█▌        | 145/900 [04:22<43:31,  3.46s/it]
 16%|█▌        | 146/900 [04:23<31:16,  2.49s/it]
 16%|█▋        | 147/900 [04:23<22:44,  1.81s/it]
 16%|█▋        | 148/900 [04:23<16:46,  1.34s/it]
 17%|█▋        | 149/900 [04:23<12:36,  1.01s/it]
 17%|█▋        | 150/900 [04:24<09:43,  1.28it/s]
 17%|█▋        | 151/900 [04:24<07:42,  1.62it/s]
 17%|█▋        | 152/900 [04:24<06:18,  1.97it/s]
 17%|█▋        | 153/900 [04:52<1:49:27,  8.79s/it]
 17%|█▋        | 154/900 [04:52<1:17:27,  6.23s/it]
 17%|█▋        | 155/900 [04:53<55:03,  4.43s/it]  
 17%|█▋        | 156/900 [04:53<39:25,  3.18s/it]
 17%|█▋        | 157/900 [04:53<28:27,  2.30s/it]
 18%|█▊        | 158/900 [04:53<20:46,  1.68s/it]
 18%|█▊        | 159/900 [04:54<15:21,  1.24s/it]
 18%|█▊        | 160/900 [04:54<11:34,  1.07it/s]
 18%|█▊        | 161/900 [04:59<28:46,  2.34s/it]
 18%|█▊        | 162/900 [05:00<21:02,  1.71s/it]
 18%|█▊        | 163/900 [05:00<15:40,  1.28s/it]
 18%|█▊        | 164/900 [05:00<11:56,  1.03it/s]
 18%|█▊        | 165/900 [05:01<09:19,  1.31it/s]
 18%|█▊        | 166/900 [05:01<07:30,  1.63it/s]
 19%|█▊        | 167/900 [05:01<06:13,  1.96it/s]
 19%|█▊        | 168/900 [05:01<05:19,  2.29it/s]
 19%|█▉        | 169/900 [05:08<29:26,  2.42s/it]
 19%|█▉        | 170/900 [05:09<21:30,  1.77s/it]
 19%|█▉        | 171/900 [05:09<15:57,  1.31s/it]
 19%|█▉        | 172/900 [05:09<12:05,  1.00it/s]
 19%|█▉        | 173/900 [05:09<09:21,  1.29it/s]
 19%|█▉        | 174/900 [05:10<07:27,  1.62it/s]
 19%|█▉        | 175/900 [05:10<06:08,  1.97it/s]
 20%|█▉        | 176/900 [05:10<05:13,  2.31it/s]
 20%|█▉        | 177/900 [05:18<31:48,  2.64s/it]
 20%|█▉        | 178/900 [05:18<23:05,  1.92s/it]
 20%|█▉        | 179/900 [05:18<16:58,  1.41s/it]
 20%|██        | 180/900 [05:19<12:42,  1.06s/it]
 20%|██        | 181/900 [05:19<09:42,  1.23it/s]
 20%|██        | 182/900 [05:19<07:39,  1.56it/s]
 20%|██        | 183/900 [05:19<06:10,  1.93it/s]
 20%|██        | 184/900 [05:20<05:08,  2.32it/s]
 21%|██        | 185/900 [05:35<59:20,  4.98s/it]
 21%|██        | 186/900 [05:35<42:18,  3.56s/it]
 21%|██        | 187/900 [05:36<30:24,  2.56s/it]
 21%|██        | 188/900 [05:36<22:06,  1.86s/it]
 21%|██        | 189/900 [05:36<16:17,  1.37s/it]
 21%|██        | 190/900 [05:36<12:12,  1.03s/it]
 21%|██        | 191/900 [05:37<09:22,  1.26it/s]
 21%|██▏       | 192/900 [05:37<07:24,  1.59it/s]
 21%|██▏       | 193/900 [05:43<25:26,  2.16s/it]
 22%|██▏       | 194/900 [05:43<18:38,  1.58s/it]
 22%|██▏       | 195/900 [05:43<13:54,  1.18s/it]
 22%|██▏       | 196/900 [05:43<10:34,  1.11it/s]
 22%|██▏       | 197/900 [05:44<08:12,  1.43it/s]
 22%|██▏       | 198/900 [05:44<06:33,  1.78it/s]
 22%|██▏       | 199/900 [05:44<05:23,  2.17it/s]
 22%|██▏       | 200/900 [05:44<04:35,  2.54it/s]
 22%|██▏       | 201/900 [05:59<56:16,  4.83s/it]
 22%|██▏       | 202/900 [06:00<40:08,  3.45s/it]
 23%|██▎       | 203/900 [06:00<28:52,  2.49s/it]
 23%|██▎       | 204/900 [06:00<21:00,  1.81s/it]
 23%|██▎       | 205/900 [06:00<15:31,  1.34s/it]
 23%|██▎       | 206/900 [06:01<11:41,  1.01s/it]
 23%|██▎       | 207/900 [06:01<08:59,  1.28it/s]
 23%|██▎       | 208/900 [06:01<07:06,  1.62it/s]
 23%|██▎       | 209/900 [06:07<24:47,  2.15s/it]
 23%|██▎       | 210/900 [06:07<18:07,  1.58s/it]
 23%|██▎       | 211/900 [06:07<13:27,  1.17s/it]
 24%|██▎       | 212/900 [06:07<10:11,  1.13it/s]
 24%|██▎       | 213/900 [06:08<07:56,  1.44it/s]
 24%|██▍       | 214/900 [06:08<06:22,  1.80it/s]
 24%|██▍       | 215/900 [06:08<05:15,  2.17it/s]
 24%|██▍       | 216/900 [06:08<04:29,  2.54it/s]
 24%|██▍       | 217/900 [06:26<1:01:51,  5.43s/it]
 24%|██▍       | 218/900 [06:26<44:02,  3.87s/it]  
 24%|██▍       | 219/900 [06:26<31:33,  2.78s/it]
 24%|██▍       | 220/900 [06:26<22:51,  2.02s/it]
 25%|██▍       | 221/900 [06:27<16:47,  1.48s/it]
 25%|██▍       | 222/900 [06:27<12:32,  1.11s/it]
 25%|██▍       | 223/900 [06:27<09:32,  1.18it/s]
 25%|██▍       | 224/900 [06:27<07:27,  1.51it/s]
 25%|██▌       | 225/900 [06:37<38:01,  3.38s/it]
 25%|██▌       | 226/900 [06:37<27:23,  2.44s/it]
 25%|██▌       | 227/900 [06:37<19:58,  1.78s/it]
 25%|██▌       | 228/900 [06:38<14:48,  1.32s/it]
 25%|██▌       | 229/900 [06:38<11:11,  1.00s/it]
 26%|██▌       | 230/900 [06:38<08:40,  1.29it/s]
 26%|██▌       | 231/900 [06:38<06:52,  1.62it/s]
 26%|██▌       | 232/900 [06:39<05:37,  1.98it/s]
 26%|██▌       | 233/900 [06:48<36:23,  3.27s/it]
 26%|██▌       | 234/900 [06:49<26:15,  2.37s/it]
 26%|██▌       | 235/900 [06:49<19:07,  1.73s/it]
 26%|██▌       | 236/900 [06:49<14:07,  1.28s/it]
 26%|██▋       | 237/900 [06:49<10:37,  1.04it/s]
 26%|██▋       | 238/900 [06:50<08:10,  1.35it/s]
 27%|██▋       | 239/900 [06:50<06:27,  1.70it/s]
 27%|██▋       | 240/900 [06:50<05:15,  2.09it/s]
 27%|██▋       | 241/900 [06:57<25:02,  2.28s/it]
 27%|██▋       | 242/900 [06:57<18:23,  1.68s/it]
 27%|██▋       | 243/900 [06:57<13:41,  1.25s/it]
 27%|██▋       | 244/900 [06:57<10:22,  1.05it/s]
 27%|██▋       | 245/900 [06:58<08:05,  1.35it/s]
 27%|██▋       | 246/900 [06:58<06:30,  1.67it/s]
 27%|██▋       | 247/900 [06:58<05:22,  2.02it/s]
 28%|██▊       | 248/900 [06:58<04:34,  2.37it/s]
 28%|██▊       | 249/900 [07:05<26:17,  2.42s/it]
 28%|██▊       | 250/900 [07:06<19:14,  1.78s/it]
 28%|██▊       | 251/900 [07:06<14:13,  1.32s/it]
 28%|██▊       | 252/900 [07:06<10:45,  1.00it/s]
 28%|██▊       | 253/900 [07:06<08:18,  1.30it/s]
 28%|██▊       | 254/900 [07:07<06:37,  1.62it/s]
 28%|██▊       | 255/900 [07:07<05:27,  1.97it/s]
 28%|██▊       | 256/900 [07:07<04:37,  2.32it/s]
 29%|██▊       | 257/900 [07:15<29:43,  2.77s/it]
 29%|██▊       | 258/900 [07:16<21:37,  2.02s/it]
 29%|██▉       | 259/900 [07:16<15:56,  1.49s/it]
 29%|██▉       | 260/900 [07:16<11:59,  1.12s/it]
 29%|██▉       | 261/900 [07:16<09:10,  1.16it/s]
 29%|██▉       | 262/900 [07:17<07:09,  1.48it/s]
 29%|██▉       | 263/900 [07:17<05:45,  1.84it/s]
 29%|██▉       | 264/900 [07:17<04:46,  2.22it/s]
 29%|██▉       | 265/900 [07:51<1:49:40, 10.36s/it]
 30%|██▉       | 266/900 [07:51<1:17:23,  7.32s/it]
 30%|██▉       | 267/900 [07:51<54:50,  5.20s/it]  
 30%|██▉       | 268/900 [07:51<39:05,  3.71s/it]
 30%|██▉       | 269/900 [07:52<28:03,  2.67s/it]
 30%|███       | 270/900 [07:52<20:22,  1.94s/it]
 30%|███       | 271/900 [07:52<14:59,  1.43s/it]
 30%|███       | 272/900 [07:52<11:15,  1.08s/it]
 30%|███       | 273/900 [08:02<38:06,  3.65s/it]
 30%|███       | 274/900 [08:02<27:23,  2.63s/it]
 31%|███       | 275/900 [08:02<19:52,  1.91s/it]
 31%|███       | 276/900 [08:03<14:37,  1.41s/it]
 31%|███       | 277/900 [08:03<10:58,  1.06s/it]
 31%|███       | 278/900 [08:03<08:25,  1.23it/s]
 31%|███       | 279/900 [08:03<06:38,  1.56it/s]
 31%|███       | 280/900 [08:04<05:24,  1.91it/s]
 31%|███       | 281/900 [08:12<28:03,  2.72s/it]
 31%|███▏      | 282/900 [08:12<20:23,  1.98s/it]
 31%|███▏      | 283/900 [08:12<14:59,  1.46s/it]
 32%|███▏      | 284/900 [08:12<11:16,  1.10s/it]
 32%|███▏      | 285/900 [08:13<08:39,  1.18it/s]
 32%|███▏      | 286/900 [08:13<06:51,  1.49it/s]
 32%|███▏      | 287/900 [08:13<05:35,  1.83it/s]
 32%|███▏      | 288/900 [08:13<04:42,  2.17it/s]
 32%|███▏      | 289/900 [08:33<1:04:17,  6.31s/it]
 32%|███▏      | 290/900 [08:34<45:42,  4.50s/it]  
 32%|███▏      | 291/900 [08:34<32:44,  3.23s/it]
 32%|███▏      | 292/900 [08:34<23:39,  2.34s/it]
 33%|███▎      | 293/900 [08:34<17:17,  1.71s/it]
 33%|███▎      | 294/900 [08:35<12:52,  1.27s/it]
 33%|███▎      | 295/900 [08:35<09:44,  1.04it/s]
 33%|███▎      | 296/900 [08:35<07:33,  1.33it/s]
 33%|███▎      | 297/900 [08:43<30:05,  2.99s/it]
 33%|███▎      | 298/900 [08:44<21:46,  2.17s/it]
 33%|███▎      | 299/900 [08:44<15:58,  1.60s/it]
 33%|███▎      | 300/900 [08:44<11:54,  1.19s/it]
 33%|███▎      | 301/900 [08:44<09:05,  1.10it/s]
 34%|███▎      | 302/900 [08:45<07:06,  1.40it/s]
 34%|███▎      | 303/900 [08:45<05:43,  1.74it/s]
 34%|███▍      | 304/900 [08:45<04:46,  2.08it/s]
 34%|███▍      | 305/900 [09:13<1:25:05,  8.58s/it]
 34%|███▍      | 306/900 [09:13<1:00:14,  6.08s/it]
 34%|███▍      | 307/900 [09:13<42:50,  4.34s/it]  
 34%|███▍      | 308/900 [09:13<30:41,  3.11s/it]
 34%|███▍      | 309/900 [09:14<22:12,  2.26s/it]
 34%|███▍      | 310/900 [09:14<16:18,  1.66s/it]
 35%|███▍      | 311/900 [09:14<12:07,  1.23s/it]
 35%|███▍      | 312/900 [09:14<09:11,  1.07it/s]
 35%|███▍      | 313/900 [09:23<32:52,  3.36s/it]
 35%|███▍      | 314/900 [09:24<23:42,  2.43s/it]
 35%|███▌      | 315/900 [09:24<17:16,  1.77s/it]
 35%|███▌      | 316/900 [09:24<12:46,  1.31s/it]
 35%|███▌      | 317/900 [09:24<09:39,  1.01it/s]
 35%|███▌      | 318/900 [09:25<07:27,  1.30it/s]
 35%|███▌      | 319/900 [09:25<05:56,  1.63it/s]
 36%|███▌      | 320/900 [09:25<04:51,  1.99it/s]
 36%|███▌      | 321/900 [09:36<33:49,  3.51s/it]
 36%|███▌      | 322/900 [09:36<24:20,  2.53s/it]
 36%|███▌      | 323/900 [09:36<17:42,  1.84s/it]
 36%|███▌      | 324/900 [09:36<13:05,  1.36s/it]
 36%|███▌      | 325/900 [09:37<09:52,  1.03s/it]
 36%|███▌      | 326/900 [09:37<07:37,  1.26it/s]
 36%|███▋      | 327/900 [09:37<06:01,  1.59it/s]
 36%|███▋      | 328/900 [09:37<04:56,  1.93it/s]
 37%|███▋      | 329/900 [09:52<45:38,  4.80s/it]
 37%|███▋      | 330/900 [09:52<32:36,  3.43s/it]
 37%|███▋      | 331/900 [09:53<23:27,  2.47s/it]
 37%|███▋      | 332/900 [09:53<17:04,  1.80s/it]
 37%|███▋      | 333/900 [09:53<12:38,  1.34s/it]
 37%|███▋      | 334/900 [09:53<09:32,  1.01s/it]
 37%|███▋      | 335/900 [09:54<07:22,  1.28it/s]
 37%|███▋      | 336/900 [09:54<05:51,  1.60it/s]
 37%|███▋      | 337/900 [10:09<46:49,  4.99s/it]
 38%|███▊      | 338/900 [10:09<33:25,  3.57s/it]
 38%|███▊      | 339/900 [10:10<24:01,  2.57s/it]
 38%|███▊      | 340/900 [10:10<17:28,  1.87s/it]
 38%|███▊      | 341/900 [10:10<12:51,  1.38s/it]
 38%|███▊      | 342/900 [10:10<09:39,  1.04s/it]
 38%|███▊      | 343/900 [10:10<07:24,  1.25it/s]
 38%|███▊      | 344/900 [10:11<05:50,  1.58it/s]
 38%|███▊      | 345/900 [10:21<32:42,  3.54s/it]
 38%|███▊      | 346/900 [10:21<23:35,  2.55s/it]
 39%|███▊      | 347/900 [10:22<17:12,  1.87s/it]
 39%|███▊      | 348/900 [10:22<12:44,  1.39s/it]
 39%|███▉      | 349/900 [10:22<09:36,  1.05s/it]
 39%|███▉      | 350/900 [10:22<07:25,  1.23it/s]
 39%|███▉      | 351/900 [10:23<05:55,  1.55it/s]
 39%|███▉      | 352/900 [10:23<04:51,  1.88it/s]
 39%|███▉      | 353/900 [10:33<31:33,  3.46s/it]
 39%|███▉      | 354/900 [10:33<22:45,  2.50s/it]
 39%|███▉      | 355/900 [10:34<16:37,  1.83s/it]
 40%|███▉      | 356/900 [10:34<12:18,  1.36s/it]
 40%|███▉      | 357/900 [10:34<09:16,  1.02s/it]
 40%|███▉      | 358/900 [10:34<07:08,  1.26it/s]
 40%|███▉      | 359/900 [10:35<05:41,  1.59it/s]
 40%|████      | 360/900 [10:35<04:40,  1.93it/s]
 40%|████      | 361/900 [11:09<1:34:43, 10.55s/it]
 40%|████      | 362/900 [11:09<1:06:54,  7.46s/it]
 40%|████      | 363/900 [11:09<47:22,  5.29s/it]  
 40%|████      | 364/900 [11:10<33:44,  3.78s/it]
 41%|████      | 365/900 [11:10<24:12,  2.71s/it]
 41%|████      | 366/900 [11:10<17:31,  1.97s/it]
 41%|████      | 367/900 [11:10<12:52,  1.45s/it]
 41%|████      | 368/900 [11:11<09:37,  1.09s/it]
 41%|████      | 369/900 [11:17<24:53,  2.81s/it]
 41%|████      | 370/900 [11:18<17:59,  2.04s/it]
 41%|████      | 371/900 [11:18<13:12,  1.50s/it]
 41%|████▏     | 372/900 [11:18<09:50,  1.12s/it]
 41%|████▏     | 373/900 [11:18<07:29,  1.17it/s]
 42%|████▏     | 374/900 [11:19<05:50,  1.50it/s]
 42%|████▏     | 375/900 [11:19<04:41,  1.87it/s]
 42%|████▏     | 376/900 [11:19<03:53,  2.25it/s]
 42%|████▏     | 377/900 [11:31<33:05,  3.80s/it]
 42%|████▏     | 378/900 [11:31<23:42,  2.73s/it]
 42%|████▏     | 379/900 [11:31<17:09,  1.98s/it]
 42%|████▏     | 380/900 [11:31<12:34,  1.45s/it]
 42%|████▏     | 381/900 [11:32<09:22,  1.08s/it]
 42%|████▏     | 382/900 [11:32<07:09,  1.21it/s]
 43%|████▎     | 383/900 [11:32<05:36,  1.54it/s]
 43%|████▎     | 384/900 [11:32<04:32,  1.89it/s]
 43%|████▎     | 385/900 [12:31<2:33:41, 17.91s/it]
 43%|████▎     | 386/900 [12:31<1:47:59, 12.61s/it]
 43%|████▎     | 387/900 [12:31<1:16:03,  8.90s/it]
 43%|████▎     | 388/900 [12:31<53:44,  6.30s/it]  
 43%|████▎     | 389/900 [12:32<38:09,  4.48s/it]
 43%|████▎     | 390/900 [12:32<27:16,  3.21s/it]
 43%|████▎     | 391/900 [12:32<19:41,  2.32s/it]
 44%|████▎     | 392/900 [12:32<14:23,  1.70s/it]
 44%|████▎     | 393/900 [12:50<54:24,  6.44s/it]
 44%|████▍     | 394/900 [12:50<38:37,  4.58s/it]
 44%|████▍     | 395/900 [12:50<27:37,  3.28s/it]
 44%|████▍     | 396/900 [12:51<19:55,  2.37s/it]
 44%|████▍     | 397/900 [12:51<14:33,  1.74s/it]
 44%|████▍     | 398/900 [12:51<10:48,  1.29s/it]
 44%|████▍     | 399/900 [12:51<08:11,  1.02it/s]
 44%|████▍     | 400/900 [12:52<06:22,  1.31it/s]
 45%|████▍     | 401/900 [13:01<28:38,  3.44s/it]
 45%|████▍     | 402/900 [13:02<20:38,  2.49s/it]
 45%|████▍     | 403/900 [13:02<15:03,  1.82s/it]
 45%|████▍     | 404/900 [13:02<11:07,  1.35s/it]
 45%|████▌     | 405/900 [13:02<08:24,  1.02s/it]
 45%|████▌     | 406/900 [13:03<06:29,  1.27it/s]
 45%|████▌     | 407/900 [13:03<05:09,  1.59it/s]
 45%|████▌     | 408/900 [13:03<04:13,  1.94it/s]
 45%|████▌     | 409/900 [13:15<32:13,  3.94s/it]
 46%|████▌     | 410/900 [13:15<23:08,  2.83s/it]
 46%|████▌     | 411/900 [13:16<16:48,  2.06s/it]
 46%|████▌     | 412/900 [13:16<12:22,  1.52s/it]
 46%|████▌     | 413/900 [13:16<09:15,  1.14s/it]
 46%|████▌     | 414/900 [13:16<07:06,  1.14it/s]
 46%|████▌     | 415/900 [13:17<05:34,  1.45it/s]
 46%|████▌     | 416/900 [13:17<04:32,  1.78it/s]
 46%|████▋     | 417/900 [13:26<26:00,  3.23s/it]
 46%|████▋     | 418/900 [13:27<18:46,  2.34s/it]
 47%|████▋     | 419/900 [13:27<13:44,  1.71s/it]
 47%|████▋     | 420/900 [13:27<10:14,  1.28s/it]
 47%|████▋     | 421/900 [13:27<07:47,  1.02it/s]
 47%|████▋     | 422/900 [13:28<06:01,  1.32it/s]
 47%|████▋     | 423/900 [13:28<04:46,  1.66it/s]
 47%|████▋     | 424/900 [13:28<03:54,  2.03it/s]
 47%|████▋     | 425/900 [14:22<2:11:52, 16.66s/it]
 47%|████▋     | 426/900 [14:23<1:32:42, 11.73s/it]
 47%|████▋     | 427/900 [14:23<1:05:20,  8.29s/it]
 48%|████▊     | 428/900 [14:23<46:12,  5.87s/it]  
 48%|████▊     | 429/900 [14:23<32:49,  4.18s/it]
 48%|████▊     | 430/900 [14:24<23:29,  3.00s/it]
 48%|████▊     | 431/900 [14:24<16:57,  2.17s/it]
 48%|████▊     | 432/900 [14:24<12:25,  1.59s/it]
 48%|████▊     | 433/900 [14:31<25:43,  3.30s/it]
 48%|████▊     | 434/900 [14:32<18:31,  2.39s/it]
 48%|████▊     | 435/900 [14:32<13:29,  1.74s/it]
 48%|████▊     | 436/900 [14:32<09:58,  1.29s/it]
 49%|████▊     | 437/900 [14:32<07:31,  1.02it/s]
 49%|████▊     | 438/900 [14:33<05:48,  1.33it/s]
 49%|████▉     | 439/900 [14:33<04:36,  1.67it/s]
 49%|████▉     | 440/900 [14:33<03:48,  2.01it/s]
 49%|████▉     | 441/900 [14:42<22:16,  2.91s/it]
 49%|████▉     | 442/900 [14:42<16:08,  2.11s/it]
 49%|████▉     | 443/900 [14:42<11:51,  1.56s/it]
 49%|████▉     | 444/900 [14:42<08:51,  1.17s/it]
 49%|████▉     | 445/900 [14:43<06:46,  1.12it/s]
 50%|████▉     | 446/900 [14:43<05:18,  1.42it/s]
 50%|████▉     | 447/900 [14:43<04:18,  1.75it/s]
 50%|████▉     | 448/900 [14:43<03:34,  2.10it/s]
 50%|████▉     | 449/900 [15:02<44:00,  5.86s/it]
 50%|█████     | 450/900 [15:02<31:19,  4.18s/it]
 50%|█████     | 451/900 [15:02<22:27,  3.00s/it]
 50%|█████     | 452/900 [15:03<16:17,  2.18s/it]
 50%|█████     | 453/900 [15:03<11:57,  1.61s/it]
 50%|█████     | 454/900 [15:03<08:57,  1.20s/it]
 51%|█████     | 455/900 [15:03<06:49,  1.09it/s]
 51%|█████     | 456/900 [15:04<05:18,  1.39it/s]
 51%|█████     | 457/900 [15:25<51:16,  6.94s/it]
 51%|█████     | 458/900 [15:25<36:22,  4.94s/it]
 51%|█████     | 459/900 [15:26<25:56,  3.53s/it]
 51%|█████     | 460/900 [15:26<18:38,  2.54s/it]
 51%|█████     | 461/900 [15:26<13:34,  1.85s/it]
 51%|█████▏    | 462/900 [15:26<10:00,  1.37s/it]
 51%|█████▏    | 463/900 [15:27<07:31,  1.03s/it]
 52%|█████▏    | 464/900 [15:27<05:46,  1.26it/s]
 52%|█████▏    | 465/900 [15:48<49:59,  6.90s/it]
 52%|█████▏    | 466/900 [15:48<35:26,  4.90s/it]
 52%|█████▏    | 467/900 [15:49<25:15,  3.50s/it]
 52%|█████▏    | 468/900 [15:49<18:10,  2.52s/it]
 52%|█████▏    | 469/900 [15:49<13:13,  1.84s/it]
 52%|█████▏    | 470/900 [15:49<09:43,  1.36s/it]
 52%|█████▏    | 471/900 [15:49<07:16,  1.02s/it]
 52%|█████▏    | 472/900 [15:50<05:35,  1.28it/s]
 53%|█████▎    | 473/900 [16:12<52:08,  7.33s/it]
 53%|█████▎    | 474/900 [16:13<36:54,  5.20s/it]
 53%|█████▎    | 475/900 [16:13<26:15,  3.71s/it]
 53%|█████▎    | 476/900 [16:13<18:49,  2.66s/it]
 53%|█████▎    | 477/900 [16:13<13:38,  1.94s/it]
 53%|█████▎    | 478/900 [16:13<10:01,  1.43s/it]
 53%|█████▎    | 479/900 [16:14<07:29,  1.07s/it]
 53%|█████▎    | 480/900 [16:14<05:42,  1.23it/s]
 53%|█████▎    | 481/900 [16:23<23:01,  3.30s/it]
 54%|█████▎    | 482/900 [16:23<16:33,  2.38s/it]
 54%|█████▎    | 483/900 [16:23<12:02,  1.73s/it]
 54%|█████▍    | 484/900 [16:24<08:54,  1.28s/it]
 54%|█████▍    | 485/900 [16:24<06:42,  1.03it/s]
 54%|█████▍    | 486/900 [16:24<05:10,  1.33it/s]
 54%|█████▍    | 487/900 [16:24<04:06,  1.68it/s]
 54%|█████▍    | 488/900 [16:25<03:22,  2.03it/s]
 54%|█████▍    | 489/900 [16:34<22:27,  3.28s/it]
 54%|█████▍    | 490/900 [16:35<16:12,  2.37s/it]
 55%|█████▍    | 491/900 [16:35<11:50,  1.74s/it]
 55%|█████▍    | 492/900 [16:35<08:47,  1.29s/it]
 55%|█████▍    | 493/900 [16:35<06:38,  1.02it/s]
 55%|█████▍    | 494/900 [16:36<05:07,  1.32it/s]
 55%|█████▌    | 495/900 [16:36<04:04,  1.66it/s]
 55%|█████▌    | 496/900 [16:36<03:19,  2.02it/s]
 55%|█████▌    | 497/900 [16:50<30:24,  4.53s/it]
 55%|█████▌    | 498/900 [16:50<21:46,  3.25s/it]
 55%|█████▌    | 499/900 [16:51<15:42,  2.35s/it]
 56%|█████▌    | 500/900 [16:52<12:42,  1.91s/it]
 56%|█████▌    | 501/900 [16:52<09:23,  1.41s/it]
 56%|█████▌    | 502/900 [16:52<07:04,  1.07s/it]
 56%|█████▌    | 503/900 [16:52<05:25,  1.22it/s]
 56%|█████▌    | 504/900 [16:53<04:16,  1.54it/s]
 56%|█████▌    | 505/900 [17:02<21:04,  3.20s/it]
 56%|█████▌    | 506/900 [17:02<15:14,  2.32s/it]
 56%|█████▋    | 507/900 [17:02<11:09,  1.70s/it]
 56%|█████▋    | 508/900 [17:02<08:17,  1.27s/it]
 57%|█████▋    | 509/900 [17:03<06:17,  1.04it/s]
 57%|█████▋    | 510/900 [17:03<04:53,  1.33it/s]
 57%|█████▋    | 511/900 [17:03<03:52,  1.68it/s]
 57%|█████▋    | 512/900 [17:03<03:08,  2.05it/s]
 57%|█████▋    | 513/900 [17:21<37:01,  5.74s/it]
 57%|█████▋    | 514/900 [17:22<26:18,  4.09s/it]
 57%|█████▋    | 515/900 [17:22<18:49,  2.93s/it]
 57%|█████▋    | 516/900 [17:22<13:35,  2.12s/it]
 57%|█████▋    | 517/900 [17:22<09:57,  1.56s/it]
 58%|█████▊    | 518/900 [17:23<07:27,  1.17s/it]
 58%|█████▊    | 519/900 [17:23<05:41,  1.12it/s]
 58%|█████▊    | 520/900 [17:23<04:28,  1.41it/s]
 58%|█████▊    | 521/900 [17:37<28:42,  4.55s/it]
 58%|█████▊    | 522/900 [17:37<20:29,  3.25s/it]
 58%|█████▊    | 523/900 [17:37<14:45,  2.35s/it]
 58%|█████▊    | 524/900 [17:37<10:44,  1.71s/it]
 58%|█████▊    | 525/900 [17:38<07:56,  1.27s/it]
 58%|█████▊    | 526/900 [17:38<05:58,  1.04it/s]
 59%|█████▊    | 527/900 [17:38<04:38,  1.34it/s]
 59%|█████▊    | 528/900 [17:38<03:43,  1.67it/s]
 59%|█████▉    | 529/900 [17:48<20:24,  3.30s/it]
 59%|█████▉    | 530/900 [17:48<14:41,  2.38s/it]
 59%|█████▉    | 531/900 [17:48<10:41,  1.74s/it]
 59%|█████▉    | 532/900 [17:49<07:54,  1.29s/it]
 59%|█████▉    | 533/900 [17:49<05:58,  1.02it/s]
 59%|█████▉    | 534/900 [17:49<04:38,  1.31it/s]
 59%|█████▉    | 535/900 [17:49<03:41,  1.65it/s]
 60%|█████▉    | 536/900 [17:50<03:01,  2.01it/s]
 60%|█████▉    | 537/900 [18:13<44:58,  7.43s/it]
 60%|█████▉    | 538/900 [18:14<31:49,  5.27s/it]
 60%|█████▉    | 539/900 [18:14<22:38,  3.76s/it]
 60%|██████    | 540/900 [18:14<16:13,  2.71s/it]
 60%|██████    | 541/900 [18:14<11:44,  1.96s/it]
 60%|██████    | 542/900 [18:14<08:36,  1.44s/it]
 60%|██████    | 543/900 [18:15<06:25,  1.08s/it]
 60%|██████    | 544/900 [18:15<04:54,  1.21it/s]
 61%|██████    | 545/900 [18:23<17:27,  2.95s/it]
 61%|██████    | 546/900 [18:23<12:37,  2.14s/it]
 61%|██████    | 547/900 [18:23<09:17,  1.58s/it]
 61%|██████    | 548/900 [18:24<06:57,  1.19s/it]
 61%|██████    | 549/900 [18:24<05:20,  1.10it/s]
 61%|██████    | 550/900 [18:24<04:10,  1.40it/s]
 61%|██████    | 551/900 [18:24<03:21,  1.73it/s]
 61%|██████▏   | 552/900 [18:25<02:47,  2.08it/s]
 61%|██████▏   | 553/900 [18:35<18:59,  3.28s/it]
 62%|██████▏   | 554/900 [18:35<13:41,  2.38s/it]
 62%|██████▏   | 555/900 [18:35<10:00,  1.74s/it]
 62%|██████▏   | 556/900 [18:35<07:25,  1.30s/it]
 62%|██████▏   | 557/900 [18:36<05:37,  1.02it/s]
 62%|██████▏   | 558/900 [18:36<04:21,  1.31it/s]
 62%|██████▏   | 559/900 [18:36<03:28,  1.63it/s]
 62%|██████▏   | 560/900 [18:36<02:53,  1.96it/s]
 62%|██████▏   | 561/900 [18:50<25:39,  4.54s/it]
 62%|██████▏   | 562/900 [18:51<18:20,  3.26s/it]
 63%|██████▎   | 563/900 [18:51<13:15,  2.36s/it]
 63%|██████▎   | 564/900 [18:51<09:39,  1.73s/it]
 63%|██████▎   | 565/900 [18:51<07:07,  1.28s/it]
 63%|██████▎   | 566/900 [18:52<05:22,  1.04it/s]
 63%|██████▎   | 567/900 [18:52<04:07,  1.34it/s]
 63%|██████▎   | 568/900 [18:52<03:15,  1.70it/s]
 63%|██████▎   | 569/900 [19:18<44:59,  8.15s/it]
 63%|██████▎   | 570/900 [19:18<31:46,  5.78s/it]
 63%|██████▎   | 571/900 [19:18<22:33,  4.11s/it]
 64%|██████▎   | 572/900 [19:18<16:07,  2.95s/it]
 64%|██████▎   | 573/900 [19:19<11:37,  2.13s/it]
 64%|██████▍   | 574/900 [19:19<08:29,  1.56s/it]
 64%|██████▍   | 575/900 [19:19<06:19,  1.17s/it]
 64%|██████▍   | 576/900 [19:19<04:46,  1.13it/s]
 64%|██████▍   | 577/900 [19:28<17:59,  3.34s/it]
 64%|██████▍   | 578/900 [19:29<12:58,  2.42s/it]
 64%|██████▍   | 579/900 [19:29<09:28,  1.77s/it]
 64%|██████▍   | 580/900 [19:29<07:00,  1.32s/it]
 65%|██████▍   | 581/900 [19:29<05:17,  1.00it/s]
 65%|██████▍   | 582/900 [19:30<04:05,  1.29it/s]
 65%|██████▍   | 583/900 [19:30<03:14,  1.63it/s]
 65%|██████▍   | 584/900 [19:30<02:38,  2.00it/s]
 65%|██████▌   | 585/900 [19:55<41:31,  7.91s/it]
 65%|██████▌   | 586/900 [19:56<29:21,  5.61s/it]
 65%|██████▌   | 587/900 [19:56<20:51,  4.00s/it]
 65%|██████▌   | 588/900 [19:56<14:55,  2.87s/it]
 65%|██████▌   | 589/900 [19:56<10:46,  2.08s/it]
 66%|██████▌   | 590/900 [19:57<07:53,  1.53s/it]
 66%|██████▌   | 591/900 [19:57<05:52,  1.14s/it]
 66%|██████▌   | 592/900 [19:57<04:28,  1.15it/s]
 66%|██████▌   | 593/900 [20:09<21:45,  4.25s/it]
 66%|██████▌   | 594/900 [20:10<15:36,  3.06s/it]
 66%|██████▌   | 595/900 [20:10<11:18,  2.22s/it]
 66%|██████▌   | 596/900 [20:10<08:15,  1.63s/it]
 66%|██████▋   | 597/900 [20:10<06:08,  1.22s/it]
 66%|██████▋   | 598/900 [20:11<04:40,  1.08it/s]
 67%|██████▋   | 599/900 [20:11<03:38,  1.38it/s]
 67%|██████▋   | 600/900 [20:11<02:55,  1.71it/s]
 67%|██████▋   | 601/900 [20:20<15:55,  3.20s/it]
 67%|██████▋   | 602/900 [20:21<11:30,  2.32s/it]
 67%|██████▋   | 603/900 [20:21<08:25,  1.70s/it]
 67%|██████▋   | 604/900 [20:21<06:15,  1.27s/it]
 67%|██████▋   | 605/900 [20:21<04:43,  1.04it/s]
 67%|██████▋   | 606/900 [20:22<03:38,  1.34it/s]
 67%|██████▋   | 607/900 [20:22<02:52,  1.70it/s]
 68%|██████▊   | 608/900 [20:22<02:20,  2.07it/s]
 68%|██████▊   | 609/900 [20:48<38:39,  7.97s/it]
 68%|██████▊   | 610/900 [20:48<27:18,  5.65s/it]
 68%|██████▊   | 611/900 [20:48<19:22,  4.02s/it]
 68%|██████▊   | 612/900 [20:48<13:51,  2.89s/it]
 68%|██████▊   | 613/900 [20:48<09:59,  2.09s/it]
 68%|██████▊   | 614/900 [20:49<07:18,  1.53s/it]
 68%|██████▊   | 615/900 [20:49<05:25,  1.14s/it]
 68%|██████▊   | 616/900 [20:49<04:07,  1.15it/s]
 69%|██████▊   | 617/900 [21:01<18:56,  4.02s/it]
 69%|██████▊   | 618/900 [21:01<13:32,  2.88s/it]
 69%|██████▉   | 619/900 [21:01<09:47,  2.09s/it]
 69%|██████▉   | 620/900 [21:01<07:09,  1.54s/it]
 69%|██████▉   | 621/900 [21:01<05:19,  1.15s/it]
 69%|██████▉   | 622/900 [21:02<04:02,  1.14it/s]
 69%|██████▉   | 623/900 [21:02<03:08,  1.47it/s]
 69%|██████▉   | 624/900 [21:02<02:31,  1.82it/s]
 69%|██████▉   | 625/900 [21:17<21:34,  4.71s/it]
 70%|██████▉   | 626/900 [21:17<15:22,  3.37s/it]
 70%|██████▉   | 627/900 [21:17<11:02,  2.43s/it]
 70%|██████▉   | 628/900 [21:17<08:02,  1.77s/it]
 70%|██████▉   | 629/900 [21:18<05:55,  1.31s/it]
 70%|███████   | 630/900 [21:18<04:26,  1.01it/s]
 70%|███████   | 631/900 [21:18<03:26,  1.30it/s]
 70%|███████   | 632/900 [21:18<02:42,  1.65it/s]
 70%|███████   | 633/900 [21:32<20:38,  4.64s/it]
 70%|███████   | 634/900 [21:33<14:42,  3.32s/it]
 71%|███████   | 635/900 [21:33<10:34,  2.39s/it]
 71%|███████   | 636/900 [21:33<07:41,  1.75s/it]
 71%|███████   | 637/900 [21:33<05:41,  1.30s/it]
 71%|███████   | 638/900 [21:34<04:16,  1.02it/s]
 71%|███████   | 639/900 [21:34<03:17,  1.32it/s]
 71%|███████   | 640/900 [21:34<02:35,  1.67it/s]
 71%|███████   | 641/900 [21:47<18:46,  4.35s/it]
 71%|███████▏  | 642/900 [21:47<13:23,  3.12s/it]
 71%|███████▏  | 643/900 [21:48<09:38,  2.25s/it]
 72%|███████▏  | 644/900 [21:48<07:01,  1.65s/it]
 72%|███████▏  | 645/900 [21:48<05:12,  1.23s/it]
 72%|███████▏  | 646/900 [21:48<03:57,  1.07it/s]
 72%|███████▏  | 647/900 [21:49<03:05,  1.37it/s]
 72%|███████▏  | 648/900 [21:49<02:26,  1.72it/s]
 72%|███████▏  | 649/900 [21:59<13:56,  3.33s/it]
 72%|███████▏  | 650/900 [21:59<10:01,  2.40s/it]
 72%|███████▏  | 651/900 [21:59<07:16,  1.75s/it]
 72%|███████▏  | 652/900 [21:59<05:21,  1.30s/it]
 73%|███████▎  | 653/900 [21:59<04:01,  1.02it/s]
 73%|███████▎  | 654/900 [22:00<03:05,  1.33it/s]
 73%|███████▎  | 655/900 [22:00<02:26,  1.67it/s]
 73%|███████▎  | 656/900 [22:00<01:59,  2.04it/s]
 73%|███████▎  | 657/900 [22:13<17:01,  4.20s/it]
 73%|███████▎  | 658/900 [22:13<12:09,  3.01s/it]
 73%|███████▎  | 659/900 [22:14<08:45,  2.18s/it]
 73%|███████▎  | 660/900 [22:14<06:24,  1.60s/it]
 73%|███████▎  | 661/900 [22:14<04:45,  1.19s/it]
 74%|███████▎  | 662/900 [22:14<03:35,  1.10it/s]
 74%|███████▎  | 663/900 [22:14<02:47,  1.42it/s]
 74%|███████▍  | 664/900 [22:15<02:13,  1.77it/s]
 74%|███████▍  | 665/900 [22:24<12:46,  3.26s/it]
 74%|███████▍  | 666/900 [22:24<09:10,  2.35s/it]
 74%|███████▍  | 667/900 [22:25<06:40,  1.72s/it]
 74%|███████▍  | 668/900 [22:25<04:55,  1.27s/it]
 74%|███████▍  | 669/900 [22:25<03:42,  1.04it/s]
 74%|███████▍  | 670/900 [22:25<02:51,  1.34it/s]
 75%|███████▍  | 671/900 [22:26<02:15,  1.69it/s]
 75%|███████▍  | 672/900 [22:26<01:50,  2.05it/s]
 75%|███████▍  | 673/900 [22:39<15:43,  4.16s/it]
 75%|███████▍  | 674/900 [22:39<11:13,  2.98s/it]
 75%|███████▌  | 675/900 [22:39<08:05,  2.16s/it]
 75%|███████▌  | 676/900 [22:39<05:54,  1.58s/it]
 75%|███████▌  | 677/900 [22:40<04:22,  1.18s/it]
 75%|███████▌  | 678/900 [22:40<03:19,  1.11it/s]
 75%|███████▌  | 679/900 [22:40<02:34,  1.43it/s]
 76%|███████▌  | 680/900 [22:40<02:02,  1.79it/s]
 76%|███████▌  | 681/900 [22:49<11:01,  3.02s/it]
 76%|███████▌  | 682/900 [22:49<07:56,  2.19s/it]
 76%|███████▌  | 683/900 [22:50<05:47,  1.60s/it]
 76%|███████▌  | 684/900 [22:50<04:17,  1.19s/it]
 76%|███████▌  | 685/900 [22:50<03:14,  1.10it/s]
 76%|███████▌  | 686/900 [22:50<02:30,  1.42it/s]
 76%|███████▋  | 687/900 [22:50<01:59,  1.78it/s]
 76%|███████▋  | 688/900 [22:51<01:38,  2.16it/s]
 77%|███████▋  | 689/900 [23:15<26:17,  7.48s/it]
 77%|███████▋  | 690/900 [23:15<18:34,  5.31s/it]
 77%|███████▋  | 691/900 [23:15<13:10,  3.78s/it]
 77%|███████▋  | 692/900 [23:15<09:25,  2.72s/it]
 77%|███████▋  | 693/900 [23:15<06:48,  1.97s/it]
 77%|███████▋  | 694/900 [23:16<04:59,  1.45s/it]
 77%|███████▋  | 695/900 [23:16<03:42,  1.09s/it]
 77%|███████▋  | 696/900 [23:16<02:49,  1.21it/s]
 77%|███████▋  | 697/900 [23:35<20:54,  6.18s/it]
 78%|███████▊  | 698/900 [23:35<14:48,  4.40s/it]
 78%|███████▊  | 699/900 [23:35<10:33,  3.15s/it]
 78%|███████▊  | 700/900 [23:36<07:36,  2.28s/it]
 78%|███████▊  | 701/900 [23:36<05:32,  1.67s/it]
 78%|███████▊  | 702/900 [23:36<04:05,  1.24s/it]
 78%|███████▊  | 703/900 [23:36<03:06,  1.06it/s]
 78%|███████▊  | 704/900 [23:37<02:23,  1.37it/s]
 78%|███████▊  | 705/900 [23:51<15:42,  4.83s/it]
 78%|███████▊  | 706/900 [23:51<11:09,  3.45s/it]
 79%|███████▊  | 707/900 [23:51<07:59,  2.49s/it]
 79%|███████▊  | 708/900 [23:52<05:47,  1.81s/it]
 79%|███████▉  | 709/900 [23:52<04:15,  1.34s/it]
 79%|███████▉  | 710/900 [23:52<03:11,  1.01s/it]
 79%|███████▉  | 711/900 [23:52<02:27,  1.28it/s]
 79%|███████▉  | 712/900 [23:53<01:55,  1.63it/s]
 79%|███████▉  | 713/900 [24:05<12:51,  4.13s/it]
 79%|███████▉  | 714/900 [24:05<09:10,  2.96s/it]
 79%|███████▉  | 715/900 [24:05<06:35,  2.14s/it]
 80%|███████▉  | 716/900 [24:06<04:48,  1.57s/it]
 80%|███████▉  | 717/900 [24:06<03:33,  1.17s/it]
 80%|███████▉  | 718/900 [24:06<02:41,  1.13it/s]
 80%|███████▉  | 719/900 [24:06<02:05,  1.44it/s]
 80%|████████  | 720/900 [24:07<01:40,  1.80it/s]
 80%|████████  | 721/900 [24:20<13:26,  4.51s/it]
 80%|████████  | 722/900 [24:21<09:34,  3.23s/it]
 80%|████████  | 723/900 [24:21<06:52,  2.33s/it]
 80%|████████  | 724/900 [24:21<04:59,  1.70s/it]
 81%|████████  | 725/900 [24:21<03:40,  1.26s/it]
 81%|████████  | 726/900 [24:21<02:46,  1.05it/s]
 81%|████████  | 727/900 [24:22<02:08,  1.35it/s]
 81%|████████  | 728/900 [24:22<01:41,  1.69it/s]
 81%|████████  | 729/900 [24:33<10:36,  3.72s/it]
 81%|████████  | 730/900 [24:33<07:35,  2.68s/it]
 81%|████████  | 731/900 [24:33<05:28,  1.95s/it]
 81%|████████▏ | 732/900 [24:34<04:01,  1.44s/it]
 81%|████████▏ | 733/900 [24:34<03:00,  1.08s/it]
 82%|████████▏ | 734/900 [24:34<02:17,  1.21it/s]
 82%|████████▏ | 735/900 [24:34<01:47,  1.54it/s]
 82%|████████▏ | 736/900 [24:35<01:27,  1.88it/s]
 82%|████████▏ | 737/900 [24:59<20:56,  7.71s/it]
 82%|████████▏ | 738/900 [24:59<14:47,  5.48s/it]
 82%|████████▏ | 739/900 [25:00<10:30,  3.91s/it]
 82%|████████▏ | 740/900 [25:00<07:31,  2.82s/it]
 82%|████████▏ | 741/900 [25:00<05:26,  2.05s/it]
 82%|████████▏ | 742/900 [25:00<03:59,  1.52s/it]
 83%|████████▎ | 743/900 [25:01<02:58,  1.14s/it]
 83%|████████▎ | 744/900 [25:01<02:16,  1.14it/s]
 83%|████████▎ | 745/900 [25:11<09:07,  3.53s/it]
 83%|████████▎ | 746/900 [25:11<06:32,  2.55s/it]
 83%|████████▎ | 747/900 [25:11<04:45,  1.86s/it]
 83%|████████▎ | 748/900 [25:12<03:30,  1.38s/it]
 83%|████████▎ | 749/900 [25:12<02:38,  1.05s/it]
 83%|████████▎ | 750/900 [25:12<02:01,  1.23it/s]
 83%|████████▎ | 751/900 [25:12<01:36,  1.55it/s]
 84%|████████▎ | 752/900 [25:13<01:18,  1.88it/s]
 84%|████████▎ | 753/900 [25:26<10:56,  4.47s/it]
 84%|████████▍ | 754/900 [25:26<07:48,  3.21s/it]
 84%|████████▍ | 755/900 [25:27<05:37,  2.33s/it]
 84%|████████▍ | 756/900 [25:27<04:06,  1.71s/it]
 84%|████████▍ | 757/900 [25:27<03:01,  1.27s/it]
 84%|████████▍ | 758/900 [25:27<02:16,  1.04it/s]
 84%|████████▍ | 759/900 [25:28<01:44,  1.34it/s]
 84%|████████▍ | 760/900 [25:28<01:22,  1.69it/s]
 85%|████████▍ | 761/900 [25:53<18:05,  7.81s/it]
 85%|████████▍ | 762/900 [25:53<12:44,  5.54s/it]
 85%|████████▍ | 763/900 [25:53<09:01,  3.95s/it]
 85%|████████▍ | 764/900 [25:53<06:25,  2.84s/it]
 85%|████████▌ | 765/900 [25:54<04:38,  2.06s/it]
 85%|████████▌ | 766/900 [25:54<03:23,  1.52s/it]
 85%|████████▌ | 767/900 [25:54<02:31,  1.14s/it]
 85%|████████▌ | 768/900 [25:54<01:54,  1.15it/s]
 85%|████████▌ | 769/900 [26:20<18:14,  8.36s/it]
 86%|████████▌ | 770/900 [26:20<12:49,  5.92s/it]
 86%|████████▌ | 771/900 [26:21<09:03,  4.21s/it]
 86%|████████▌ | 772/900 [26:21<06:26,  3.02s/it]
 86%|████████▌ | 773/900 [26:21<04:37,  2.19s/it]
 86%|████████▌ | 774/900 [26:21<03:21,  1.60s/it]
 86%|████████▌ | 775/900 [26:22<02:28,  1.19s/it]
 86%|████████▌ | 776/900 [26:22<01:51,  1.11it/s]
 86%|████████▋ | 777/900 [27:15<33:47, 16.48s/it]
 86%|████████▋ | 778/900 [27:15<23:36, 11.61s/it]
 87%|████████▋ | 779/900 [27:15<16:31,  8.20s/it]
 87%|████████▋ | 780/900 [27:15<11:37,  5.81s/it]
 87%|████████▋ | 781/900 [27:16<08:12,  4.14s/it]
 87%|████████▋ | 782/900 [27:16<05:50,  2.97s/it]
 87%|████████▋ | 783/900 [27:16<04:11,  2.15s/it]
 87%|████████▋ | 784/900 [27:16<03:02,  1.57s/it]
 87%|████████▋ | 785/900 [27:28<08:38,  4.51s/it]
 87%|████████▋ | 786/900 [27:28<06:07,  3.23s/it]
 87%|████████▋ | 787/900 [27:28<04:23,  2.33s/it]
 88%|████████▊ | 788/900 [27:28<03:10,  1.70s/it]
 88%|████████▊ | 789/900 [27:29<02:19,  1.26s/it]
 88%|████████▊ | 790/900 [27:29<01:44,  1.05it/s]
 88%|████████▊ | 791/900 [27:29<01:20,  1.36it/s]
 88%|████████▊ | 792/900 [27:29<01:03,  1.70it/s]
 88%|████████▊ | 793/900 [27:40<06:34,  3.69s/it]
 88%|████████▊ | 794/900 [27:40<04:41,  2.65s/it]
 88%|████████▊ | 795/900 [27:41<03:22,  1.93s/it]
 88%|████████▊ | 796/900 [27:41<02:27,  1.42s/it]
 89%|████████▊ | 797/900 [27:41<01:49,  1.07s/it]
 89%|████████▊ | 798/900 [27:41<01:23,  1.22it/s]
 89%|████████▉ | 799/900 [27:42<01:04,  1.56it/s]
 89%|████████▉ | 800/900 [27:42<00:52,  1.92it/s]
 89%|████████▉ | 801/900 [27:59<08:53,  5.39s/it]
 89%|████████▉ | 802/900 [27:59<06:16,  3.84s/it]
 89%|████████▉ | 803/900 [27:59<04:28,  2.77s/it]
 89%|████████▉ | 804/900 [27:59<03:14,  2.02s/it]
 89%|████████▉ | 805/900 [28:00<02:21,  1.49s/it]
 90%|████████▉ | 806/900 [28:00<01:45,  1.12s/it]
 90%|████████▉ | 807/900 [28:00<01:20,  1.16it/s]
 90%|████████▉ | 808/900 [28:00<01:02,  1.47it/s]
 90%|████████▉ | 809/900 [28:14<06:56,  4.57s/it]
 90%|█████████ | 810/900 [28:14<04:54,  3.27s/it]
 90%|█████████ | 811/900 [28:15<03:30,  2.36s/it]
 90%|█████████ | 812/900 [28:15<02:31,  1.73s/it]
 90%|█████████ | 813/900 [28:15<01:51,  1.28s/it]
 90%|█████████ | 814/900 [28:15<01:23,  1.04it/s]
 91%|█████████ | 815/900 [28:16<01:03,  1.34it/s]
 91%|█████████ | 816/900 [28:16<00:49,  1.69it/s]
 91%|█████████ | 817/900 [28:31<07:01,  5.08s/it]
 91%|█████████ | 818/900 [28:32<04:57,  3.63s/it]
 91%|█████████ | 819/900 [28:32<03:31,  2.61s/it]
 91%|█████████ | 820/900 [28:32<02:31,  1.90s/it]
 91%|█████████ | 821/900 [28:32<01:50,  1.40s/it]
 91%|█████████▏| 822/900 [28:32<01:22,  1.05s/it]
 91%|█████████▏| 823/900 [28:33<01:02,  1.24it/s]
 92%|█████████▏| 824/900 [28:33<00:48,  1.57it/s]
 92%|█████████▏| 825/900 [28:43<04:28,  3.58s/it]
 92%|█████████▏| 826/900 [28:44<03:10,  2.58s/it]
 92%|█████████▏| 827/900 [28:44<02:16,  1.88s/it]
 92%|█████████▏| 828/900 [28:44<01:39,  1.38s/it]
 92%|█████████▏| 829/900 [28:44<01:13,  1.04s/it]
 92%|█████████▏| 830/900 [28:45<00:56,  1.25it/s]
 92%|█████████▏| 831/900 [28:45<00:43,  1.58it/s]
 92%|█████████▏| 832/900 [28:45<00:35,  1.94it/s]
 93%|█████████▎| 833/900 [28:57<04:26,  3.98s/it]
 93%|█████████▎| 834/900 [28:57<03:08,  2.86s/it]
 93%|█████████▎| 835/900 [28:58<02:14,  2.07s/it]
 93%|█████████▎| 836/900 [28:58<01:37,  1.52s/it]
 93%|█████████▎| 837/900 [28:58<01:11,  1.14s/it]
 93%|█████████▎| 838/900 [28:58<00:53,  1.15it/s]
 93%|█████████▎| 839/900 [28:59<00:41,  1.47it/s]
 93%|█████████▎| 840/900 [28:59<00:33,  1.82it/s]
 93%|█████████▎| 841/900 [29:13<04:29,  4.57s/it]
 94%|█████████▎| 842/900 [29:13<03:09,  3.27s/it]
 94%|█████████▎| 843/900 [29:13<02:14,  2.36s/it]
 94%|█████████▍| 844/900 [29:13<01:36,  1.72s/it]
 94%|█████████▍| 845/900 [29:14<01:10,  1.27s/it]
 94%|█████████▍| 846/900 [29:14<00:51,  1.04it/s]
 94%|█████████▍| 847/900 [29:14<00:39,  1.35it/s]
 94%|█████████▍| 848/900 [29:14<00:30,  1.69it/s]
 94%|█████████▍| 849/900 [29:30<04:26,  5.23s/it]
 94%|█████████▍| 850/900 [29:31<03:06,  3.73s/it]
 95%|█████████▍| 851/900 [29:31<02:11,  2.68s/it]
 95%|█████████▍| 852/900 [29:31<01:33,  1.95s/it]
 95%|█████████▍| 853/900 [29:31<01:07,  1.44s/it]
 95%|█████████▍| 854/900 [29:32<00:49,  1.08s/it]
 95%|█████████▌| 855/900 [29:32<00:37,  1.22it/s]
 95%|█████████▌| 856/900 [29:32<00:28,  1.54it/s]
 95%|█████████▌| 857/900 [29:47<03:27,  4.83s/it]
 95%|█████████▌| 858/900 [29:47<02:25,  3.45s/it]
 95%|█████████▌| 859/900 [29:47<01:41,  2.49s/it]
 96%|█████████▌| 860/900 [29:47<01:12,  1.81s/it]
 96%|█████████▌| 861/900 [29:48<00:52,  1.34s/it]
 96%|█████████▌| 862/900 [29:48<00:38,  1.01s/it]
 96%|█████████▌| 863/900 [29:48<00:28,  1.28it/s]
 96%|█████████▌| 864/900 [29:48<00:22,  1.61it/s]
 96%|█████████▌| 865/900 [30:06<03:21,  5.74s/it]
 96%|█████████▌| 866/900 [30:06<02:19,  4.09s/it]
 96%|█████████▋| 867/900 [30:07<01:36,  2.93s/it]
 96%|█████████▋| 868/900 [30:07<01:07,  2.12s/it]
 97%|█████████▋| 869/900 [30:07<00:48,  1.56s/it]
 97%|█████████▋| 870/900 [30:07<00:35,  1.17s/it]
 97%|█████████▋| 871/900 [30:08<00:26,  1.11it/s]
 97%|█████████▋| 872/900 [30:08<00:19,  1.42it/s]
 97%|█████████▋| 873/900 [30:23<02:15,  5.00s/it]
 97%|█████████▋| 874/900 [30:23<01:32,  3.57s/it]
 97%|█████████▋| 875/900 [30:23<01:04,  2.57s/it]
 97%|█████████▋| 876/900 [30:24<00:44,  1.87s/it]
 97%|█████████▋| 877/900 [30:24<00:31,  1.38s/it]
 98%|█████████▊| 878/900 [30:24<00:22,  1.04s/it]
 98%|█████████▊| 879/900 [30:24<00:16,  1.25it/s]
 98%|█████████▊| 880/900 [30:25<00:12,  1.59it/s]
 98%|█████████▊| 881/900 [30:42<01:50,  5.79s/it]
 98%|█████████▊| 882/900 [30:43<01:14,  4.12s/it]
 98%|█████████▊| 883/900 [30:43<00:50,  2.96s/it]
 98%|█████████▊| 884/900 [30:43<00:34,  2.14s/it]
 98%|█████████▊| 885/900 [30:43<00:23,  1.57s/it]
 98%|█████████▊| 886/900 [30:44<00:16,  1.17s/it]
 99%|█████████▊| 887/900 [30:44<00:11,  1.12it/s]
 99%|█████████▊| 888/900 [30:44<00:08,  1.44it/s]
 99%|█████████▉| 889/900 [30:57<00:49,  4.48s/it]
 99%|█████████▉| 890/900 [30:58<00:32,  3.21s/it]
 99%|█████████▉| 891/900 [30:58<00:20,  2.31s/it]
 99%|█████████▉| 892/900 [30:58<00:13,  1.69s/it]
 99%|█████████▉| 893/900 [30:58<00:08,  1.25s/it]
 99%|█████████▉| 894/900 [30:59<00:05,  1.05it/s]
 99%|█████████▉| 895/900 [30:59<00:03,  1.35it/s]
100%|█████████▉| 896/900 [30:59<00:02,  1.68it/s]
100%|█████████▉| 897/900 [31:14<00:14,  4.92s/it]
100%|█████████▉| 898/900 [31:14<00:07,  3.52s/it]
100%|█████████▉| 899/900 [31:15<00:02,  2.54s/it]
100%|█████████▉| 899/900 [31:15<00:02,  2.09s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/log_1_env0.json.
+FoodPacking1BoxesTask_1 complete: task_name: FoodPacking1BoxesTask, run_name: FoodPacking1BoxesTask_1, run: 1, env_id: 0, policy: harness, instruction: Pack boxed foods into the bin, attributes: ['semantics', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -11.14718127129246, 'joint_sparc_mean': -14.831400346666864, 'ee_isj': 15766.21619064495, 'joint_isj': 939883.435789725, 'ee_path_length': 11.11313988076179, 'joint_rmse_mean': 1.6645132392691206, 'ee_speed_max': 1.2234828472137451, 'ee_speed_mean': 0.17689426243305206}, events: {'TARGET_OBJECT_DROPPED': 16, 'GRIPPER_FULLY_CLOSED': 12, 'GRIPPER_HIT_TABLE': 1}, instruction_type: default, timing: {'policy_inference_s': 1664.514, 'policy_inference_avg_ms': 1849.5, 'env_step_s': 200.814, 'env_step_avg_ms': 223.1, 'video_write_s': 9.494, 'video_write_avg_ms': 10.5, 'wall_total_s': 1874.822, 'it_per_sec': 0.48}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=cheez_it) (step 1/2), harness_episode_id: ac8add80938f449a845729410df01d27-1
+[RoboLab] Running FoodPacking1BoxesTask_2: 'Pack boxed foods into the bin' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:31<7:45:07, 31.04s/it]
  0%|          | 2/900 [00:31<3:13:24, 12.92s/it]
  0%|          | 3/900 [00:31<1:46:33,  7.13s/it]
  0%|          | 4/900 [00:31<1:05:44,  4.40s/it]
  1%|          | 5/900 [00:31<43:11,  2.90s/it]  
  1%|          | 6/900 [00:32<29:37,  1.99s/it]
  1%|          | 7/900 [00:32<21:01,  1.41s/it]
  1%|          | 8/900 [00:32<15:22,  1.03s/it]
  1%|          | 9/900 [00:41<51:12,  3.45s/it]
  1%|          | 10/900 [00:41<36:23,  2.45s/it]
  1%|          | 11/900 [00:41<26:14,  1.77s/it]
  1%|▏         | 12/900 [00:42<19:14,  1.30s/it]
  1%|▏         | 13/900 [00:42<14:23,  1.03it/s]
  2%|▏         | 14/900 [00:42<11:02,  1.34it/s]
  2%|▏         | 15/900 [00:42<08:42,  1.69it/s]
  2%|▏         | 16/900 [00:42<07:05,  2.08it/s]
  2%|▏         | 17/900 [00:49<32:39,  2.22s/it]
  2%|▏         | 18/900 [00:49<23:53,  1.63s/it]
  2%|▏         | 19/900 [00:49<17:47,  1.21s/it]
  2%|▏         | 20/900 [00:49<13:30,  1.09it/s]
  2%|▏         | 21/900 [00:50<10:31,  1.39it/s]
  2%|▏         | 22/900 [00:50<08:22,  1.75it/s]
  3%|▎         | 23/900 [00:50<06:51,  2.13it/s]
  3%|▎         | 24/900 [00:50<05:48,  2.51it/s]
  3%|▎         | 25/900 [00:54<20:48,  1.43s/it]
  3%|▎         | 26/900 [00:54<15:35,  1.07s/it]
  3%|▎         | 27/900 [00:55<11:54,  1.22it/s]
  3%|▎         | 28/900 [00:55<09:28,  1.53it/s]
  3%|▎         | 29/900 [00:55<07:39,  1.90it/s]
  3%|▎         | 30/900 [00:55<06:30,  2.23it/s]
  3%|▎         | 31/900 [00:56<05:40,  2.55it/s]
  4%|▎         | 32/900 [00:56<05:05,  2.84it/s]
  4%|▎         | 33/900 [01:20<1:47:02,  7.41s/it]
  4%|▍         | 34/900 [01:20<1:15:50,  5.25s/it]
  4%|▍         | 35/900 [01:20<54:01,  3.75s/it]  
  4%|▍         | 36/900 [01:21<38:46,  2.69s/it]
  4%|▍         | 37/900 [01:21<28:07,  1.96s/it]
  4%|▍         | 38/900 [01:21<20:38,  1.44s/it]
  4%|▍         | 39/900 [01:21<15:28,  1.08s/it]
  4%|▍         | 40/900 [01:22<11:53,  1.21it/s]
  5%|▍         | 41/900 [01:27<30:34,  2.14s/it]
  5%|▍         | 42/900 [01:27<22:22,  1.56s/it]
  5%|▍         | 43/900 [01:27<16:39,  1.17s/it]
  5%|▍         | 44/900 [01:27<12:40,  1.13it/s]
  5%|▌         | 45/900 [01:28<09:52,  1.44it/s]
  5%|▌         | 46/900 [01:28<07:54,  1.80it/s]
  5%|▌         | 47/900 [01:28<06:31,  2.18it/s]
  5%|▌         | 48/900 [01:28<05:34,  2.55it/s]
  5%|▌         | 49/900 [02:13<3:14:47, 13.73s/it]
  6%|▌         | 50/900 [02:13<2:17:14,  9.69s/it]
  6%|▌         | 51/900 [02:14<1:36:58,  6.85s/it]
  6%|▌         | 52/900 [02:14<1:08:48,  4.87s/it]
  6%|▌         | 53/900 [02:14<49:05,  3.48s/it]  
  6%|▌         | 54/900 [02:14<35:19,  2.51s/it]
  6%|▌         | 55/900 [02:15<25:42,  1.83s/it]
  6%|▌         | 56/900 [02:15<18:59,  1.35s/it]
  6%|▋         | 57/900 [02:36<1:42:01,  7.26s/it]
  6%|▋         | 58/900 [02:36<1:12:22,  5.16s/it]
  7%|▋         | 59/900 [02:36<51:36,  3.68s/it]  
  7%|▋         | 60/900 [02:37<37:03,  2.65s/it]
  7%|▋         | 61/900 [02:37<26:51,  1.92s/it]
  7%|▋         | 62/900 [02:37<19:44,  1.41s/it]
  7%|▋         | 63/900 [02:37<14:47,  1.06s/it]
  7%|▋         | 64/900 [02:38<11:22,  1.23it/s]
  7%|▋         | 65/900 [03:15<2:45:26, 11.89s/it]
  7%|▋         | 66/900 [03:16<1:56:40,  8.39s/it]
  7%|▋         | 67/900 [03:16<1:22:33,  5.95s/it]
  8%|▊         | 68/900 [03:16<58:42,  4.23s/it]  
  8%|▊         | 69/900 [03:16<42:10,  3.04s/it]
  8%|▊         | 70/900 [03:17<30:33,  2.21s/it]
  8%|▊         | 71/900 [03:17<22:26,  1.62s/it]
  8%|▊         | 72/900 [03:17<16:43,  1.21s/it]
  8%|▊         | 73/900 [03:26<47:56,  3.48s/it]
  8%|▊         | 74/900 [03:26<34:33,  2.51s/it]
  8%|▊         | 75/900 [03:26<25:15,  1.84s/it]
  8%|▊         | 76/900 [03:27<18:46,  1.37s/it]
  9%|▊         | 77/900 [03:27<14:09,  1.03s/it]
  9%|▊         | 78/900 [03:27<10:58,  1.25it/s]
  9%|▉         | 79/900 [03:27<08:45,  1.56it/s]
  9%|▉         | 80/900 [03:28<07:11,  1.90it/s]
  9%|▉         | 81/900 [03:32<22:49,  1.67s/it]
  9%|▉         | 82/900 [03:32<16:58,  1.25s/it]
  9%|▉         | 83/900 [03:32<12:49,  1.06it/s]
  9%|▉         | 84/900 [03:33<09:53,  1.37it/s]
  9%|▉         | 85/900 [03:33<07:52,  1.72it/s]
 10%|▉         | 86/900 [03:33<06:24,  2.11it/s]
 10%|▉         | 87/900 [03:33<05:24,  2.50it/s]
 10%|▉         | 88/900 [03:34<04:42,  2.87it/s]
 10%|▉         | 89/900 [03:56<1:35:45,  7.08s/it]
 10%|█         | 90/900 [03:57<1:07:53,  5.03s/it]
 10%|█         | 91/900 [03:57<48:23,  3.59s/it]  
 10%|█         | 92/900 [03:57<34:45,  2.58s/it]
 10%|█         | 93/900 [03:57<25:14,  1.88s/it]
 10%|█         | 94/900 [03:58<18:38,  1.39s/it]
 11%|█         | 95/900 [03:58<14:03,  1.05s/it]
 11%|█         | 96/900 [03:58<10:52,  1.23it/s]
 11%|█         | 97/900 [04:07<42:01,  3.14s/it]
 11%|█         | 98/900 [04:07<30:18,  2.27s/it]
 11%|█         | 99/900 [04:07<22:12,  1.66s/it]
 11%|█         | 100/900 [04:07<16:30,  1.24s/it]
 11%|█         | 101/900 [04:08<12:29,  1.07it/s]
 11%|█▏        | 102/900 [04:08<09:40,  1.37it/s]
 11%|█▏        | 103/900 [04:08<07:43,  1.72it/s]
 12%|█▏        | 104/900 [04:08<06:20,  2.09it/s]
 12%|█▏        | 105/900 [04:26<1:12:59,  5.51s/it]
 12%|█▏        | 106/900 [04:26<51:59,  3.93s/it]  
 12%|█▏        | 107/900 [04:26<37:15,  2.82s/it]
 12%|█▏        | 108/900 [04:26<27:04,  2.05s/it]
 12%|█▏        | 109/900 [04:27<19:56,  1.51s/it]
 12%|█▏        | 110/900 [04:27<14:52,  1.13s/it]
 12%|█▏        | 111/900 [04:27<11:23,  1.15it/s]
 12%|█▏        | 112/900 [04:27<09:00,  1.46it/s]
 13%|█▎        | 113/900 [04:41<58:17,  4.44s/it]
 13%|█▎        | 114/900 [04:41<41:39,  3.18s/it]
 13%|█▎        | 115/900 [04:41<30:01,  2.30s/it]
 13%|█▎        | 116/900 [04:41<21:53,  1.68s/it]
 13%|█▎        | 117/900 [04:41<16:13,  1.24s/it]
 13%|█▎        | 118/900 [04:42<12:15,  1.06it/s]
 13%|█▎        | 119/900 [04:42<09:28,  1.37it/s]
 13%|█▎        | 120/900 [04:42<07:33,  1.72it/s]
 13%|█▎        | 121/900 [04:47<22:23,  1.73s/it]
 14%|█▎        | 122/900 [04:47<16:35,  1.28s/it]
 14%|█▎        | 123/900 [04:47<12:33,  1.03it/s]
 14%|█▍        | 124/900 [04:47<09:44,  1.33it/s]
 14%|█▍        | 125/900 [04:48<07:46,  1.66it/s]
 14%|█▍        | 126/900 [04:48<06:22,  2.02it/s]
 14%|█▍        | 127/900 [04:48<05:23,  2.39it/s]
 14%|█▍        | 128/900 [04:48<04:42,  2.73it/s]
 14%|█▍        | 129/900 [04:55<28:01,  2.18s/it]
 14%|█▍        | 130/900 [04:55<20:31,  1.60s/it]
 15%|█▍        | 131/900 [04:55<15:16,  1.19s/it]
 15%|█▍        | 132/900 [04:55<11:36,  1.10it/s]
 15%|█▍        | 133/900 [04:56<09:02,  1.41it/s]
 15%|█▍        | 134/900 [04:56<07:14,  1.76it/s]
 15%|█▌        | 135/900 [04:56<05:59,  2.13it/s]
 15%|█▌        | 136/900 [04:56<05:05,  2.50it/s]
 15%|█▌        | 137/900 [05:04<33:51,  2.66s/it]
 15%|█▌        | 138/900 [05:05<24:36,  1.94s/it]
 15%|█▌        | 139/900 [05:05<18:07,  1.43s/it]
 16%|█▌        | 140/900 [05:05<13:34,  1.07s/it]
 16%|█▌        | 141/900 [05:05<10:24,  1.22it/s]
 16%|█▌        | 142/900 [05:06<08:10,  1.54it/s]
 16%|█▌        | 143/900 [05:06<06:37,  1.91it/s]
 16%|█▌        | 144/900 [05:06<05:32,  2.27it/s]
 16%|█▌        | 145/900 [05:47<2:38:53, 12.63s/it]
 16%|█▌        | 146/900 [05:47<1:51:58,  8.91s/it]
 16%|█▋        | 147/900 [05:48<1:19:11,  6.31s/it]
 16%|█▋        | 148/900 [05:48<56:15,  4.49s/it]  
 17%|█▋        | 149/900 [05:48<40:13,  3.21s/it]
 17%|█▋        | 150/900 [05:48<29:01,  2.32s/it]
 17%|█▋        | 151/900 [05:49<21:12,  1.70s/it]
 17%|█▋        | 152/900 [05:49<15:44,  1.26s/it]
 17%|█▋        | 153/900 [06:19<2:02:08,  9.81s/it]
 17%|█▋        | 154/900 [06:19<1:26:16,  6.94s/it]
 17%|█▋        | 155/900 [06:19<1:01:11,  4.93s/it]
 17%|█▋        | 156/900 [06:19<43:39,  3.52s/it]  
 17%|█▋        | 157/900 [06:19<31:24,  2.54s/it]
 18%|█▊        | 158/900 [06:20<22:50,  1.85s/it]
 18%|█▊        | 159/900 [06:20<16:51,  1.36s/it]
 18%|█▊        | 160/900 [06:20<12:39,  1.03s/it]
 18%|█▊        | 161/900 [06:33<54:18,  4.41s/it]
 18%|█▊        | 162/900 [06:33<38:51,  3.16s/it]
 18%|█▊        | 163/900 [06:33<28:04,  2.29s/it]
 18%|█▊        | 164/900 [06:33<20:29,  1.67s/it]
 18%|█▊        | 165/900 [06:33<15:12,  1.24s/it]
 18%|█▊        | 166/900 [06:34<11:30,  1.06it/s]
 19%|█▊        | 167/900 [06:34<08:55,  1.37it/s]
 19%|█▊        | 168/900 [06:34<07:06,  1.72it/s]
 19%|█▉        | 169/900 [06:36<11:22,  1.07it/s]
 19%|█▉        | 170/900 [06:36<08:49,  1.38it/s]
 19%|█▉        | 171/900 [06:36<07:02,  1.72it/s]
 19%|█▉        | 172/900 [06:37<05:47,  2.09it/s]
 19%|█▉        | 173/900 [06:37<04:54,  2.47it/s]
 19%|█▉        | 174/900 [06:37<04:17,  2.82it/s]
 19%|█▉        | 175/900 [06:37<03:50,  3.14it/s]
 20%|█▉        | 176/900 [06:38<03:32,  3.41it/s]
 20%|█▉        | 177/900 [06:39<07:32,  1.60it/s]
 20%|█▉        | 178/900 [06:39<06:07,  1.97it/s]
 20%|█▉        | 179/900 [06:39<05:08,  2.34it/s]
 20%|██        | 180/900 [06:40<04:27,  2.69it/s]
 20%|██        | 181/900 [06:40<03:58,  3.02it/s]
 20%|██        | 182/900 [06:40<03:36,  3.31it/s]
 20%|██        | 183/900 [06:40<03:22,  3.54it/s]
 20%|██        | 184/900 [06:41<03:12,  3.73it/s]
 21%|██        | 185/900 [06:42<07:01,  1.69it/s]
 21%|██        | 186/900 [06:42<05:47,  2.05it/s]
 21%|██        | 187/900 [06:42<04:53,  2.43it/s]
 21%|██        | 188/900 [06:43<04:16,  2.77it/s]
 21%|██        | 189/900 [06:43<03:50,  3.09it/s]
 21%|██        | 190/900 [06:43<03:32,  3.34it/s]
 21%|██        | 191/900 [06:43<03:19,  3.55it/s]
 21%|██▏       | 192/900 [06:44<03:10,  3.72it/s]
 21%|██▏       | 193/900 [06:54<40:01,  3.40s/it]
 22%|██▏       | 194/900 [06:55<28:47,  2.45s/it]
 22%|██▏       | 195/900 [06:55<20:57,  1.78s/it]
 22%|██▏       | 196/900 [06:55<15:29,  1.32s/it]
 22%|██▏       | 197/900 [06:55<11:39,  1.00it/s]
 22%|██▏       | 198/900 [06:56<08:59,  1.30it/s]
 22%|██▏       | 199/900 [06:56<07:07,  1.64it/s]
 22%|██▏       | 200/900 [06:56<05:48,  2.01it/s]
 22%|██▏       | 201/900 [07:09<50:36,  4.34s/it]
 22%|██▏       | 202/900 [07:10<36:14,  3.12s/it]
 23%|██▎       | 203/900 [07:10<26:11,  2.25s/it]
 23%|██▎       | 204/900 [07:10<19:09,  1.65s/it]
 23%|██▎       | 205/900 [07:10<14:13,  1.23s/it]
 23%|██▎       | 206/900 [07:11<10:46,  1.07it/s]
 23%|██▎       | 207/900 [07:11<08:21,  1.38it/s]
 23%|██▎       | 208/900 [07:11<06:39,  1.73it/s]
 23%|██▎       | 209/900 [07:17<23:44,  2.06s/it]
 23%|██▎       | 210/900 [07:17<17:25,  1.52s/it]
 23%|██▎       | 211/900 [07:17<12:59,  1.13s/it]
 24%|██▎       | 212/900 [07:17<09:54,  1.16it/s]
 24%|██▎       | 213/900 [07:18<07:44,  1.48it/s]
 24%|██▍       | 214/900 [07:18<06:13,  1.84it/s]
 24%|██▍       | 215/900 [07:18<05:09,  2.21it/s]
 24%|██▍       | 216/900 [07:18<04:25,  2.58it/s]
 24%|██▍       | 217/900 [07:25<25:10,  2.21s/it]
 24%|██▍       | 218/900 [07:25<18:25,  1.62s/it]
 24%|██▍       | 219/900 [07:25<13:41,  1.21s/it]
 24%|██▍       | 220/900 [07:25<10:22,  1.09it/s]
 25%|██▍       | 221/900 [07:26<08:03,  1.40it/s]
 25%|██▍       | 222/900 [07:26<06:27,  1.75it/s]
 25%|██▍       | 223/900 [07:26<05:19,  2.12it/s]
 25%|██▍       | 224/900 [07:26<04:31,  2.49it/s]
 25%|██▌       | 225/900 [07:36<34:48,  3.09s/it]
 25%|██▌       | 226/900 [07:36<25:08,  2.24s/it]
 25%|██▌       | 227/900 [07:36<18:24,  1.64s/it]
 25%|██▌       | 228/900 [07:37<13:42,  1.22s/it]
 25%|██▌       | 229/900 [07:37<10:24,  1.07it/s]
 26%|██▌       | 230/900 [07:37<08:06,  1.38it/s]
 26%|██▌       | 231/900 [07:37<06:28,  1.72it/s]
 26%|██▌       | 232/900 [07:37<05:19,  2.09it/s]
 26%|██▌       | 233/900 [07:39<09:01,  1.23it/s]
 26%|██▌       | 234/900 [07:39<07:07,  1.56it/s]
 26%|██▌       | 235/900 [07:40<05:46,  1.92it/s]
 26%|██▌       | 236/900 [07:40<04:49,  2.29it/s]
 26%|██▋       | 237/900 [07:40<04:09,  2.66it/s]
 26%|██▋       | 238/900 [07:40<03:46,  2.92it/s]
 27%|██▋       | 239/900 [07:41<03:27,  3.19it/s]
 27%|██▋       | 240/900 [07:41<03:11,  3.45it/s]
 27%|██▋       | 241/900 [07:42<06:36,  1.66it/s]
 27%|██▋       | 242/900 [07:42<05:23,  2.03it/s]
 27%|██▋       | 243/900 [07:43<04:33,  2.40it/s]
 27%|██▋       | 244/900 [07:43<03:57,  2.76it/s]
 27%|██▋       | 245/900 [07:43<03:32,  3.08it/s]
 27%|██▋       | 246/900 [07:43<03:15,  3.34it/s]
 27%|██▋       | 247/900 [07:44<03:04,  3.55it/s]
 28%|██▊       | 248/900 [07:44<02:55,  3.71it/s]
 28%|██▊       | 249/900 [07:45<06:32,  1.66it/s]
 28%|██▊       | 250/900 [07:45<05:21,  2.02it/s]
 28%|██▊       | 251/900 [07:46<04:30,  2.40it/s]
 28%|██▊       | 252/900 [07:46<03:54,  2.76it/s]
 28%|██▊       | 253/900 [07:46<03:29,  3.08it/s]
 28%|██▊       | 254/900 [07:46<03:13,  3.34it/s]
 28%|██▊       | 255/900 [07:47<03:01,  3.55it/s]
 28%|██▊       | 256/900 [07:47<02:52,  3.73it/s]
 29%|██▊       | 257/900 [07:48<06:30,  1.65it/s]
 29%|██▊       | 258/900 [07:48<05:19,  2.01it/s]
 29%|██▉       | 259/900 [07:49<04:31,  2.36it/s]
 29%|██▉       | 260/900 [07:49<03:54,  2.73it/s]
 29%|██▉       | 261/900 [07:49<03:29,  3.05it/s]
 29%|██▉       | 262/900 [07:49<03:11,  3.33it/s]
 29%|██▉       | 263/900 [07:50<02:59,  3.54it/s]
 29%|██▉       | 264/900 [07:50<02:51,  3.71it/s]
 29%|██▉       | 265/900 [07:58<26:52,  2.54s/it]
 30%|██▉       | 266/900 [07:58<19:30,  1.85s/it]
 30%|██▉       | 267/900 [07:58<14:23,  1.36s/it]
 30%|██▉       | 268/900 [07:58<10:47,  1.02s/it]
 30%|██▉       | 269/900 [07:59<08:16,  1.27it/s]
 30%|███       | 270/900 [07:59<06:31,  1.61it/s]
 30%|███       | 271/900 [07:59<05:19,  1.97it/s]
 30%|███       | 272/900 [07:59<04:27,  2.35it/s]
 30%|███       | 273/900 [08:01<07:44,  1.35it/s]
 30%|███       | 274/900 [08:01<06:07,  1.70it/s]
 31%|███       | 275/900 [08:01<05:00,  2.08it/s]
 31%|███       | 276/900 [08:02<04:14,  2.46it/s]
 31%|███       | 277/900 [08:02<03:41,  2.81it/s]
 31%|███       | 278/900 [08:02<03:18,  3.13it/s]
 31%|███       | 279/900 [08:02<03:02,  3.40it/s]
 31%|███       | 280/900 [08:02<02:51,  3.61it/s]
 31%|███       | 281/900 [08:04<06:22,  1.62it/s]
 31%|███▏      | 282/900 [08:04<05:11,  1.99it/s]
 31%|███▏      | 283/900 [08:04<04:22,  2.35it/s]
 32%|███▏      | 284/900 [08:05<03:47,  2.71it/s]
 32%|███▏      | 285/900 [08:05<03:23,  3.02it/s]
 32%|███▏      | 286/900 [08:05<03:06,  3.28it/s]
 32%|███▏      | 287/900 [08:05<02:54,  3.52it/s]
 32%|███▏      | 288/900 [08:06<02:47,  3.64it/s]
 32%|███▏      | 289/900 [08:07<06:24,  1.59it/s]
 32%|███▏      | 290/900 [08:07<05:11,  1.96it/s]
 32%|███▏      | 291/900 [08:08<04:21,  2.33it/s]
 32%|███▏      | 292/900 [08:08<03:45,  2.69it/s]
 33%|███▎      | 293/900 [08:08<03:22,  3.00it/s]
 33%|███▎      | 294/900 [08:08<03:05,  3.26it/s]
 33%|███▎      | 295/900 [08:09<02:56,  3.42it/s]
 33%|███▎      | 296/900 [08:09<02:48,  3.59it/s]
 33%|███▎      | 297/900 [08:10<07:07,  1.41it/s]
 33%|███▎      | 298/900 [08:11<05:40,  1.77it/s]
 33%|███▎      | 299/900 [08:11<04:41,  2.13it/s]
 33%|███▎      | 300/900 [08:11<04:00,  2.49it/s]
 33%|███▎      | 301/900 [08:11<03:31,  2.83it/s]
 34%|███▎      | 302/900 [08:12<03:09,  3.16it/s]
 34%|███▎      | 303/900 [08:12<02:54,  3.43it/s]
 34%|███▍      | 304/900 [08:12<02:43,  3.64it/s]
 34%|███▍      | 305/900 [08:17<16:19,  1.65s/it]
 34%|███▍      | 306/900 [08:17<12:08,  1.23s/it]
 34%|███▍      | 307/900 [08:17<09:12,  1.07it/s]
 34%|███▍      | 308/900 [08:18<07:09,  1.38it/s]
 34%|███▍      | 309/900 [08:18<05:42,  1.73it/s]
 34%|███▍      | 310/900 [08:18<04:41,  2.09it/s]
 35%|███▍      | 311/900 [08:18<03:59,  2.46it/s]
 35%|███▍      | 312/900 [08:19<03:29,  2.81it/s]
 35%|███▍      | 313/900 [08:26<23:48,  2.43s/it]
 35%|███▍      | 314/900 [08:26<17:20,  1.78s/it]
 35%|███▌      | 315/900 [08:26<12:50,  1.32s/it]
 35%|███▌      | 316/900 [08:27<09:40,  1.01it/s]
 35%|███▌      | 317/900 [08:27<07:27,  1.30it/s]
 35%|███▌      | 318/900 [08:27<05:55,  1.64it/s]
 35%|███▌      | 319/900 [08:27<04:50,  2.00it/s]
 36%|███▌      | 320/900 [08:28<04:05,  2.36it/s]
 36%|███▌      | 321/900 [08:53<1:17:37,  8.04s/it]
 36%|███▌      | 322/900 [08:54<54:55,  5.70s/it]  
 36%|███▌      | 323/900 [08:54<39:04,  4.06s/it]
 36%|███▌      | 324/900 [08:54<28:00,  2.92s/it]
 36%|███▌      | 325/900 [08:54<20:16,  2.12s/it]
 36%|███▌      | 326/900 [08:55<14:52,  1.55s/it]
 36%|███▋      | 327/900 [08:55<11:04,  1.16s/it]
 36%|███▋      | 328/900 [08:55<08:26,  1.13it/s]
 37%|███▋      | 329/900 [09:05<32:34,  3.42s/it]
 37%|███▋      | 330/900 [09:05<23:29,  2.47s/it]
 37%|███▋      | 331/900 [09:05<17:13,  1.82s/it]
 37%|███▋      | 332/900 [09:05<12:46,  1.35s/it]
 37%|███▋      | 333/900 [09:06<09:38,  1.02s/it]
 37%|███▋      | 334/900 [09:06<07:27,  1.27it/s]
 37%|███▋      | 335/900 [09:06<05:54,  1.59it/s]
 37%|███▋      | 336/900 [09:06<04:50,  1.94it/s]
 37%|███▋      | 337/900 [09:17<33:41,  3.59s/it]
 38%|███▊      | 338/900 [09:17<24:13,  2.59s/it]
 38%|███▊      | 339/900 [09:18<17:35,  1.88s/it]
 38%|███▊      | 340/900 [09:18<12:57,  1.39s/it]
 38%|███▊      | 341/900 [09:18<09:47,  1.05s/it]
 38%|███▊      | 342/900 [09:18<07:30,  1.24it/s]
 38%|███▊      | 343/900 [09:19<05:55,  1.57it/s]
 38%|███▊      | 344/900 [09:19<04:49,  1.92it/s]
 38%|███▊      | 345/900 [09:42<1:06:50,  7.23s/it]
 38%|███▊      | 346/900 [09:42<47:21,  5.13s/it]  
 39%|███▊      | 347/900 [09:42<33:44,  3.66s/it]
 39%|███▊      | 348/900 [09:42<24:14,  2.63s/it]
 39%|███▉      | 349/900 [09:43<17:35,  1.92s/it]
 39%|███▉      | 350/900 [09:43<12:56,  1.41s/it]
 39%|███▉      | 351/900 [09:43<09:42,  1.06s/it]
 39%|███▉      | 352/900 [09:43<07:26,  1.23it/s]
 39%|███▉      | 353/900 [09:51<24:50,  2.72s/it]
 39%|███▉      | 354/900 [09:51<18:00,  1.98s/it]
 39%|███▉      | 355/900 [09:51<13:13,  1.46s/it]
 40%|███▉      | 356/900 [09:51<09:53,  1.09s/it]
 40%|███▉      | 357/900 [09:51<07:33,  1.20it/s]
 40%|███▉      | 358/900 [09:52<05:55,  1.52it/s]
 40%|███▉      | 359/900 [09:52<04:46,  1.89it/s]
 40%|████      | 360/900 [09:52<03:58,  2.26it/s]
 40%|████      | 361/900 [10:04<34:53,  3.88s/it]
 40%|████      | 362/900 [10:04<25:00,  2.79s/it]
 40%|████      | 363/900 [10:05<18:06,  2.02s/it]
 40%|████      | 364/900 [10:05<13:17,  1.49s/it]
 41%|████      | 365/900 [10:05<09:58,  1.12s/it]
 41%|████      | 366/900 [10:05<07:37,  1.17it/s]
 41%|████      | 367/900 [10:06<05:58,  1.49it/s]
 41%|████      | 368/900 [10:06<04:48,  1.84it/s]
 41%|████      | 369/900 [10:21<43:40,  4.93s/it]
 41%|████      | 370/900 [10:21<31:09,  3.53s/it]
 41%|████      | 371/900 [10:21<22:24,  2.54s/it]
 41%|████▏     | 372/900 [10:22<16:17,  1.85s/it]
 41%|████▏     | 373/900 [10:22<12:00,  1.37s/it]
 42%|████▏     | 374/900 [10:22<09:00,  1.03s/it]
 42%|████▏     | 375/900 [10:22<06:55,  1.26it/s]
 42%|████▏     | 376/900 [10:23<05:27,  1.60it/s]
 42%|████▏     | 377/900 [10:46<1:06:03,  7.58s/it]
 42%|████▏     | 378/900 [10:47<46:47,  5.38s/it]  
 42%|████▏     | 379/900 [10:47<33:18,  3.84s/it]
 42%|████▏     | 380/900 [10:47<23:53,  2.76s/it]
 42%|████▏     | 381/900 [10:47<17:18,  2.00s/it]
 42%|████▏     | 382/900 [10:48<12:42,  1.47s/it]
 43%|████▎     | 383/900 [10:48<09:30,  1.10s/it]
 43%|████▎     | 384/900 [10:48<07:14,  1.19it/s]
 43%|████▎     | 385/900 [11:07<54:01,  6.29s/it]
 43%|████▎     | 386/900 [11:07<38:21,  4.48s/it]
 43%|████▎     | 387/900 [11:08<27:25,  3.21s/it]
 43%|████▎     | 388/900 [11:08<19:46,  2.32s/it]
 43%|████▎     | 389/900 [11:08<14:25,  1.69s/it]
 43%|████▎     | 390/900 [11:08<10:41,  1.26s/it]
 43%|████▎     | 391/900 [11:09<08:05,  1.05it/s]
 44%|████▎     | 392/900 [11:09<06:15,  1.35it/s]
 44%|████▎     | 393/900 [11:15<20:16,  2.40s/it]
 44%|████▍     | 394/900 [11:15<14:46,  1.75s/it]
 44%|████▍     | 395/900 [11:16<10:55,  1.30s/it]
 44%|████▍     | 396/900 [11:16<08:13,  1.02it/s]
 44%|████▍     | 397/900 [11:16<06:20,  1.32it/s]
 44%|████▍     | 398/900 [11:16<05:01,  1.67it/s]
 44%|████▍     | 399/900 [11:17<04:07,  2.02it/s]
 44%|████▍     | 400/900 [11:17<03:29,  2.39it/s]
 45%|████▍     | 401/900 [11:25<21:42,  2.61s/it]
 45%|████▍     | 402/900 [11:25<15:45,  1.90s/it]
 45%|████▍     | 403/900 [11:25<11:35,  1.40s/it]
 45%|████▍     | 404/900 [11:25<08:41,  1.05s/it]
 45%|████▌     | 405/900 [11:25<06:39,  1.24it/s]
 45%|████▌     | 406/900 [11:26<05:15,  1.57it/s]
 45%|████▌     | 407/900 [11:26<04:16,  1.92it/s]
 45%|████▌     | 408/900 [11:26<03:34,  2.29it/s]
 45%|████▌     | 409/900 [11:27<03:24,  2.40it/s]
 46%|████▌     | 410/900 [11:27<02:57,  2.76it/s]
 46%|████▌     | 411/900 [11:27<02:40,  3.06it/s]
 46%|████▌     | 412/900 [11:27<02:27,  3.32it/s]
 46%|████▌     | 413/900 [11:28<02:18,  3.52it/s]
 46%|████▌     | 414/900 [11:28<02:12,  3.67it/s]
 46%|████▌     | 415/900 [11:28<02:07,  3.81it/s]
 46%|████▌     | 416/900 [11:28<02:04,  3.90it/s]
 46%|████▋     | 417/900 [11:29<02:19,  3.46it/s]
 46%|████▋     | 418/900 [11:29<02:12,  3.63it/s]
 47%|████▋     | 419/900 [11:29<02:06,  3.80it/s]
 47%|████▋     | 420/900 [11:29<02:03,  3.89it/s]
 47%|████▋     | 421/900 [11:30<02:00,  3.99it/s]
 47%|████▋     | 422/900 [11:30<01:57,  4.05it/s]
 47%|████▋     | 423/900 [11:30<01:56,  4.10it/s]
 47%|████▋     | 424/900 [11:30<01:55,  4.12it/s]
 47%|████▋     | 425/900 [11:31<02:31,  3.14it/s]
 47%|████▋     | 426/900 [11:31<02:19,  3.40it/s]
 47%|████▋     | 427/900 [11:31<02:11,  3.60it/s]
 48%|████▊     | 428/900 [11:31<02:05,  3.75it/s]
 48%|████▊     | 429/900 [11:32<02:02,  3.86it/s]
 48%|████▊     | 430/900 [11:32<01:58,  3.97it/s]
 48%|████▊     | 431/900 [11:32<01:55,  4.07it/s]
 48%|████▊     | 432/900 [11:32<01:53,  4.12it/s]
 48%|████▊     | 433/900 [11:33<02:10,  3.59it/s]
 48%|████▊     | 434/900 [11:33<02:04,  3.75it/s]
 48%|████▊     | 435/900 [11:33<02:00,  3.85it/s]
 48%|████▊     | 436/900 [11:34<01:58,  3.93it/s]
 49%|████▊     | 437/900 [11:34<01:56,  3.97it/s]
 49%|████▊     | 438/900 [11:34<01:54,  4.02it/s]
 49%|████▉     | 439/900 [11:34<01:53,  4.08it/s]
 49%|████▉     | 440/900 [11:34<01:52,  4.10it/s]
 49%|████▉     | 441/900 [11:35<02:07,  3.60it/s]
 49%|████▉     | 442/900 [11:35<02:01,  3.76it/s]
 49%|████▉     | 443/900 [11:35<01:58,  3.87it/s]
 49%|████▉     | 444/900 [11:36<01:55,  3.94it/s]
 49%|████▉     | 445/900 [11:36<01:54,  3.97it/s]
 50%|████▉     | 446/900 [11:36<01:53,  3.99it/s]
 50%|████▉     | 447/900 [11:36<01:51,  4.05it/s]
 50%|████▉     | 448/900 [11:37<01:51,  4.05it/s]
 50%|████▉     | 449/900 [11:37<02:04,  3.63it/s]
 50%|█████     | 450/900 [11:37<01:59,  3.76it/s]
 50%|█████     | 451/900 [11:37<01:55,  3.88it/s]
 50%|█████     | 452/900 [11:38<01:53,  3.96it/s]
 50%|█████     | 453/900 [11:38<01:52,  3.97it/s]
 50%|█████     | 454/900 [11:38<01:50,  4.02it/s]
 51%|█████     | 455/900 [11:38<01:50,  4.04it/s]
 51%|█████     | 456/900 [11:39<01:49,  4.04it/s]
 51%|█████     | 457/900 [11:39<02:06,  3.50it/s]
 51%|█████     | 458/900 [11:39<02:00,  3.66it/s]
 51%|█████     | 459/900 [11:39<01:56,  3.79it/s]
 51%|█████     | 460/900 [11:40<01:54,  3.84it/s]
 51%|█████     | 461/900 [11:40<01:53,  3.87it/s]
 51%|█████▏    | 462/900 [11:40<01:50,  3.95it/s]
 51%|█████▏    | 463/900 [11:40<01:49,  3.98it/s]
 52%|█████▏    | 464/900 [11:41<01:47,  4.04it/s]
 52%|█████▏    | 465/900 [11:41<02:35,  2.80it/s]
 52%|█████▏    | 466/900 [11:42<02:19,  3.10it/s]
 52%|█████▏    | 467/900 [11:42<02:09,  3.34it/s]
 52%|█████▏    | 468/900 [11:42<02:01,  3.54it/s]
 52%|█████▏    | 469/900 [11:42<01:56,  3.71it/s]
 52%|█████▏    | 470/900 [11:43<01:50,  3.88it/s]
 52%|█████▏    | 471/900 [11:43<01:46,  4.01it/s]
 52%|█████▏    | 472/900 [11:43<01:45,  4.07it/s]
 53%|█████▎    | 473/900 [11:43<01:57,  3.65it/s]
 53%|█████▎    | 474/900 [11:44<01:52,  3.78it/s]
 53%|█████▎    | 475/900 [11:44<01:49,  3.88it/s]
 53%|█████▎    | 476/900 [11:44<01:47,  3.96it/s]
 53%|█████▎    | 477/900 [11:44<01:46,  3.99it/s]
 53%|█████▎    | 478/900 [11:45<01:44,  4.04it/s]
 53%|█████▎    | 479/900 [11:45<01:44,  4.03it/s]
 53%|█████▎    | 480/900 [11:45<01:43,  4.07it/s]
 53%|█████▎    | 481/900 [11:45<01:56,  3.58it/s]
 54%|█████▎    | 482/900 [11:46<01:52,  3.70it/s]
 54%|█████▎    | 483/900 [11:46<01:50,  3.76it/s]
 54%|█████▍    | 484/900 [11:46<01:48,  3.83it/s]
 54%|█████▍    | 485/900 [11:46<01:45,  3.92it/s]
 54%|█████▍    | 486/900 [11:47<01:44,  3.95it/s]
 54%|█████▍    | 487/900 [11:47<01:43,  3.97it/s]
 54%|█████▍    | 488/900 [11:47<01:43,  4.00it/s]
 54%|█████▍    | 489/900 [11:47<01:55,  3.55it/s]
 54%|█████▍    | 490/900 [11:48<01:50,  3.70it/s]
 55%|█████▍    | 491/900 [11:48<01:47,  3.81it/s]
 55%|█████▍    | 492/900 [11:48<01:44,  3.90it/s]
 55%|█████▍    | 493/900 [11:48<01:43,  3.93it/s]
 55%|█████▍    | 494/900 [11:49<01:43,  3.94it/s]
 55%|█████▌    | 495/900 [11:49<01:42,  3.96it/s]
 55%|█████▌    | 496/900 [11:49<01:41,  3.98it/s]
 55%|█████▌    | 497/900 [11:56<14:00,  2.09s/it]
 55%|█████▌    | 498/900 [11:56<10:17,  1.53s/it]
 55%|█████▌    | 499/900 [11:56<07:39,  1.15s/it]
 56%|█████▌    | 500/900 [11:57<07:00,  1.05s/it]
 56%|█████▌    | 501/900 [11:57<05:22,  1.24it/s]
 56%|█████▌    | 502/900 [11:57<04:13,  1.57it/s]
 56%|█████▌    | 503/900 [11:58<03:25,  1.93it/s]
 56%|█████▌    | 504/900 [11:58<02:51,  2.31it/s]
 56%|█████▌    | 505/900 [11:58<02:42,  2.43it/s]
 56%|█████▌    | 506/900 [11:58<02:21,  2.78it/s]
 56%|█████▋    | 507/900 [11:59<02:09,  3.05it/s]
 56%|█████▋    | 508/900 [11:59<01:58,  3.31it/s]
 57%|█████▋    | 509/900 [11:59<01:50,  3.54it/s]
 57%|█████▋    | 510/900 [11:59<01:44,  3.74it/s]
 57%|█████▋    | 511/900 [12:00<01:40,  3.87it/s]
 57%|█████▋    | 512/900 [12:00<01:38,  3.94it/s]
 57%|█████▋    | 513/900 [12:00<01:49,  3.52it/s]
 57%|█████▋    | 514/900 [12:00<01:43,  3.73it/s]
 57%|█████▋    | 515/900 [12:01<01:39,  3.88it/s]
 57%|█████▋    | 516/900 [12:01<01:37,  3.94it/s]
 57%|█████▋    | 517/900 [12:01<01:35,  4.02it/s]
 58%|█████▊    | 518/900 [12:01<01:33,  4.07it/s]
 58%|█████▊    | 519/900 [12:02<01:32,  4.14it/s]
 58%|█████▊    | 520/900 [12:02<01:31,  4.15it/s]
 58%|█████▊    | 521/900 [12:02<02:08,  2.94it/s]
 58%|█████▊    | 522/900 [12:03<01:56,  3.23it/s]
 58%|█████▊    | 523/900 [12:03<01:48,  3.49it/s]
 58%|█████▊    | 524/900 [12:03<01:42,  3.68it/s]
 58%|█████▊    | 525/900 [12:03<01:37,  3.83it/s]
 58%|█████▊    | 526/900 [12:04<01:34,  3.97it/s]
 59%|█████▊    | 527/900 [12:04<01:31,  4.07it/s]
 59%|█████▊    | 528/900 [12:04<01:31,  4.07it/s]
 59%|█████▉    | 529/900 [12:05<01:53,  3.28it/s]
 59%|█████▉    | 530/900 [12:05<01:45,  3.51it/s]
 59%|█████▉    | 531/900 [12:05<01:39,  3.70it/s]
 59%|█████▉    | 532/900 [12:05<01:36,  3.83it/s]
 59%|█████▉    | 533/900 [12:06<01:33,  3.91it/s]
 59%|█████▉    | 534/900 [12:06<01:31,  4.00it/s]
 59%|█████▉    | 535/900 [12:06<01:30,  4.03it/s]
 60%|█████▉    | 536/900 [12:06<01:28,  4.09it/s]
 60%|█████▉    | 537/900 [12:07<01:43,  3.51it/s]
 60%|█████▉    | 538/900 [12:07<01:38,  3.67it/s]
 60%|█████▉    | 539/900 [12:07<01:35,  3.79it/s]
 60%|██████    | 540/900 [12:07<01:34,  3.83it/s]
 60%|██████    | 541/900 [12:08<01:32,  3.89it/s]
 60%|██████    | 542/900 [12:08<01:30,  3.95it/s]
 60%|██████    | 543/900 [12:08<01:28,  4.01it/s]
 60%|██████    | 544/900 [12:08<01:28,  4.02it/s]
 61%|██████    | 545/900 [12:09<01:40,  3.52it/s]
 61%|██████    | 546/900 [12:09<01:36,  3.67it/s]
 61%|██████    | 547/900 [12:09<01:32,  3.80it/s]
 61%|██████    | 548/900 [12:09<01:29,  3.94it/s]
 61%|██████    | 549/900 [12:10<01:27,  4.02it/s]
 61%|██████    | 550/900 [12:10<01:26,  4.05it/s]
 61%|██████    | 551/900 [12:10<01:26,  4.05it/s]
 61%|██████▏   | 552/900 [12:10<01:25,  4.06it/s]
 61%|██████▏   | 553/900 [12:11<01:38,  3.52it/s]
 62%|██████▏   | 554/900 [12:11<01:34,  3.68it/s]
 62%|██████▏   | 555/900 [12:11<01:30,  3.80it/s]
 62%|██████▏   | 556/900 [12:11<01:27,  3.92it/s]
 62%|██████▏   | 557/900 [12:12<01:25,  4.02it/s]
 62%|██████▏   | 558/900 [12:12<01:24,  4.07it/s]
 62%|██████▏   | 559/900 [12:12<01:23,  4.10it/s]
 62%|██████▏   | 560/900 [12:12<01:22,  4.11it/s]
 62%|██████▏   | 561/900 [12:13<02:09,  2.61it/s]
 62%|██████▏   | 562/900 [12:13<01:54,  2.94it/s]
 63%|██████▎   | 563/900 [12:14<01:44,  3.22it/s]
 63%|██████▎   | 564/900 [12:14<01:37,  3.45it/s]
 63%|██████▎   | 565/900 [12:14<01:32,  3.64it/s]
 63%|██████▎   | 566/900 [12:14<01:27,  3.83it/s]
 63%|██████▎   | 567/900 [12:15<01:24,  3.95it/s]
 63%|██████▎   | 568/900 [12:15<01:22,  4.02it/s]
 63%|██████▎   | 569/900 [12:15<01:31,  3.60it/s]
 63%|██████▎   | 570/900 [12:15<01:27,  3.76it/s]
 63%|██████▎   | 571/900 [12:16<01:24,  3.89it/s]
 64%|██████▎   | 572/900 [12:16<01:23,  3.95it/s]
 64%|██████▎   | 573/900 [12:16<01:21,  4.01it/s]
 64%|██████▍   | 574/900 [12:16<01:20,  4.06it/s]
 64%|██████▍   | 575/900 [12:17<01:19,  4.08it/s]
 64%|██████▍   | 576/900 [12:17<01:18,  4.10it/s]
 64%|██████▍   | 577/900 [12:17<01:29,  3.61it/s]
 64%|██████▍   | 578/900 [12:17<01:25,  3.78it/s]
 64%|██████▍   | 579/900 [12:18<01:22,  3.89it/s]
 64%|██████▍   | 580/900 [12:18<01:20,  3.95it/s]
 65%|██████▍   | 581/900 [12:18<01:19,  4.00it/s]
 65%|██████▍   | 582/900 [12:18<01:18,  4.07it/s]
 65%|██████▍   | 583/900 [12:19<01:17,  4.11it/s]
 65%|██████▍   | 584/900 [12:19<01:16,  4.13it/s]
 65%|██████▌   | 585/900 [12:19<01:25,  3.68it/s]
 65%|██████▌   | 586/900 [12:19<01:22,  3.81it/s]
 65%|██████▌   | 587/900 [12:20<01:20,  3.91it/s]
 65%|██████▌   | 588/900 [12:20<01:18,  4.00it/s]
 65%|██████▌   | 589/900 [12:20<01:16,  4.05it/s]
 66%|██████▌   | 590/900 [12:20<01:16,  4.04it/s]
 66%|██████▌   | 591/900 [12:21<01:15,  4.11it/s]
 66%|██████▌   | 592/900 [12:21<01:14,  4.15it/s]
 66%|██████▌   | 593/900 [12:28<12:27,  2.44s/it]
 66%|██████▌   | 594/900 [12:29<09:03,  1.78s/it]
 66%|██████▌   | 595/900 [12:29<06:41,  1.31s/it]
 66%|██████▌   | 596/900 [12:29<05:01,  1.01it/s]
 66%|██████▋   | 597/900 [12:29<03:52,  1.31it/s]
 66%|██████▋   | 598/900 [12:30<03:03,  1.65it/s]
 67%|██████▋   | 599/900 [12:30<02:29,  2.01it/s]
 67%|██████▋   | 600/900 [12:30<02:06,  2.37it/s]
 67%|██████▋   | 601/900 [12:30<02:00,  2.48it/s]
 67%|██████▋   | 602/900 [12:31<01:45,  2.83it/s]
 67%|██████▋   | 603/900 [12:31<01:34,  3.13it/s]
 67%|██████▋   | 604/900 [12:31<01:26,  3.41it/s]
 67%|██████▋   | 605/900 [12:31<01:21,  3.61it/s]
 67%|██████▋   | 606/900 [12:32<01:17,  3.79it/s]
 67%|██████▋   | 607/900 [12:32<01:14,  3.91it/s]
 68%|██████▊   | 608/900 [12:32<01:13,  3.97it/s]
 68%|██████▊   | 609/900 [12:33<01:23,  3.48it/s]
 68%|██████▊   | 610/900 [12:33<01:19,  3.64it/s]
 68%|██████▊   | 611/900 [12:33<01:15,  3.81it/s]
 68%|██████▊   | 612/900 [12:33<01:13,  3.93it/s]
 68%|██████▊   | 613/900 [12:33<01:11,  4.01it/s]
 68%|██████▊   | 614/900 [12:34<01:09,  4.09it/s]
 68%|██████▊   | 615/900 [12:34<01:08,  4.17it/s]
 68%|██████▊   | 616/900 [12:34<01:07,  4.21it/s]
 69%|██████▊   | 617/900 [12:35<01:20,  3.52it/s]
 69%|██████▊   | 618/900 [12:35<01:16,  3.68it/s]
 69%|██████▉   | 619/900 [12:35<01:13,  3.81it/s]
 69%|██████▉   | 620/900 [12:35<01:11,  3.92it/s]
 69%|██████▉   | 621/900 [12:36<01:09,  3.99it/s]
 69%|██████▉   | 622/900 [12:36<01:08,  4.04it/s]
 69%|██████▉   | 623/900 [12:36<01:07,  4.09it/s]
 69%|██████▉   | 624/900 [12:36<01:07,  4.11it/s]
 69%|██████▉   | 625/900 [12:37<01:19,  3.44it/s]
 70%|██████▉   | 626/900 [12:37<01:15,  3.62it/s]
 70%|██████▉   | 627/900 [12:37<01:12,  3.77it/s]
 70%|██████▉   | 628/900 [12:37<01:09,  3.93it/s]
 70%|██████▉   | 629/900 [12:38<01:07,  4.01it/s]
 70%|███████   | 630/900 [12:38<01:06,  4.06it/s]
 70%|███████   | 631/900 [12:38<01:05,  4.11it/s]
 70%|███████   | 632/900 [12:38<01:04,  4.16it/s]
 70%|███████   | 633/900 [12:39<01:13,  3.65it/s]
 70%|███████   | 634/900 [12:39<01:09,  3.81it/s]
 71%|███████   | 635/900 [12:39<01:07,  3.94it/s]
 71%|███████   | 636/900 [12:39<01:05,  4.02it/s]
 71%|███████   | 637/900 [12:40<01:04,  4.05it/s]
 71%|███████   | 638/900 [12:40<01:04,  4.08it/s]
 71%|███████   | 639/900 [12:40<01:03,  4.10it/s]
 71%|███████   | 640/900 [12:40<01:03,  4.11it/s]
 71%|███████   | 641/900 [12:41<01:11,  3.62it/s]
 71%|███████▏  | 642/900 [12:41<01:08,  3.77it/s]
 71%|███████▏  | 643/900 [12:41<01:06,  3.87it/s]
 72%|███████▏  | 644/900 [12:41<01:04,  3.96it/s]
 72%|███████▏  | 645/900 [12:42<01:03,  4.03it/s]
 72%|███████▏  | 646/900 [12:42<01:02,  4.06it/s]
 72%|███████▏  | 647/900 [12:42<01:01,  4.10it/s]
 72%|███████▏  | 648/900 [12:42<01:00,  4.13it/s]
 72%|███████▏  | 649/900 [12:43<01:09,  3.63it/s]
 72%|███████▏  | 650/900 [12:43<01:06,  3.77it/s]
 72%|███████▏  | 651/900 [12:43<01:04,  3.87it/s]
 72%|███████▏  | 652/900 [12:43<01:02,  3.96it/s]
 73%|███████▎  | 653/900 [12:44<01:01,  4.01it/s]
 73%|███████▎  | 654/900 [12:44<01:00,  4.06it/s]
 73%|███████▎  | 655/900 [12:44<00:59,  4.10it/s]
 73%|███████▎  | 656/900 [12:44<00:58,  4.18it/s]
 73%|███████▎  | 657/900 [12:45<01:17,  3.13it/s]
 73%|███████▎  | 658/900 [12:45<01:11,  3.38it/s]
 73%|███████▎  | 659/900 [12:45<01:07,  3.59it/s]
 73%|███████▎  | 660/900 [12:46<01:04,  3.75it/s]
 73%|███████▎  | 661/900 [12:46<01:01,  3.88it/s]
 74%|███████▎  | 662/900 [12:46<01:00,  3.97it/s]
 74%|███████▎  | 663/900 [12:46<00:58,  4.06it/s]
 74%|███████▍  | 664/900 [12:47<00:57,  4.14it/s]
 74%|███████▍  | 665/900 [12:47<01:03,  3.70it/s]
 74%|███████▍  | 666/900 [12:47<01:00,  3.85it/s]
 74%|███████▍  | 667/900 [12:47<00:59,  3.94it/s]
 74%|███████▍  | 668/900 [12:48<00:57,  4.01it/s]
 74%|███████▍  | 669/900 [12:48<00:57,  4.04it/s]
 74%|███████▍  | 670/900 [12:48<00:56,  4.06it/s]
 75%|███████▍  | 671/900 [12:48<00:55,  4.09it/s]
 75%|███████▍  | 672/900 [12:49<00:55,  4.11it/s]
 75%|███████▍  | 673/900 [12:49<01:03,  3.55it/s]
 75%|███████▍  | 674/900 [12:49<01:00,  3.76it/s]
 75%|███████▌  | 675/900 [12:49<00:57,  3.90it/s]
 75%|███████▌  | 676/900 [12:50<00:56,  3.98it/s]
 75%|███████▌  | 677/900 [12:50<00:55,  4.02it/s]
 75%|███████▌  | 678/900 [12:50<00:54,  4.06it/s]
 75%|███████▌  | 679/900 [12:50<00:53,  4.10it/s]
 76%|███████▌  | 680/900 [12:51<00:53,  4.15it/s]
 76%|███████▌  | 681/900 [12:51<00:59,  3.66it/s]
 76%|███████▌  | 682/900 [12:51<00:58,  3.76it/s]
 76%|███████▌  | 683/900 [12:51<00:56,  3.85it/s]
 76%|███████▌  | 684/900 [12:52<00:54,  3.93it/s]
 76%|███████▌  | 685/900 [12:52<00:54,  3.94it/s]
 76%|███████▌  | 686/900 [12:52<00:54,  3.94it/s]
 76%|███████▋  | 687/900 [12:52<00:53,  3.97it/s]
 76%|███████▋  | 688/900 [12:53<00:53,  3.98it/s]
 77%|███████▋  | 689/900 [12:59<07:15,  2.06s/it]
 77%|███████▋  | 690/900 [12:59<05:18,  1.52s/it]
 77%|███████▋  | 691/900 [12:59<03:56,  1.13s/it]
 77%|███████▋  | 692/900 [13:00<02:59,  1.16it/s]
 77%|███████▋  | 693/900 [13:00<02:19,  1.48it/s]
 77%|███████▋  | 694/900 [13:00<01:52,  1.84it/s]
 77%|███████▋  | 695/900 [13:00<01:32,  2.21it/s]
 77%|███████▋  | 696/900 [13:01<01:19,  2.56it/s]
 77%|███████▋  | 697/900 [13:01<01:18,  2.59it/s]
 78%|███████▊  | 698/900 [13:01<01:09,  2.92it/s]
 78%|███████▊  | 699/900 [13:01<01:02,  3.19it/s]
 78%|███████▊  | 700/900 [13:02<00:58,  3.42it/s]
 78%|███████▊  | 701/900 [13:02<00:55,  3.61it/s]
 78%|███████▊  | 702/900 [13:02<00:52,  3.74it/s]
 78%|███████▊  | 703/900 [13:02<00:50,  3.87it/s]
 78%|███████▊  | 704/900 [13:03<00:49,  3.95it/s]
 78%|███████▊  | 705/900 [13:03<00:55,  3.49it/s]
 78%|███████▊  | 706/900 [13:03<00:53,  3.66it/s]
 79%|███████▊  | 707/900 [13:04<00:50,  3.79it/s]
 79%|███████▊  | 708/900 [13:04<00:49,  3.87it/s]
 79%|███████▉  | 709/900 [13:04<00:48,  3.91it/s]
 79%|███████▉  | 710/900 [13:04<00:47,  3.97it/s]
 79%|███████▉  | 711/900 [13:05<00:47,  4.00it/s]
 79%|███████▉  | 712/900 [13:05<00:46,  4.05it/s]
 79%|███████▉  | 713/900 [13:05<00:57,  3.23it/s]
 79%|███████▉  | 714/900 [13:05<00:53,  3.50it/s]
 79%|███████▉  | 715/900 [13:06<00:49,  3.70it/s]
 80%|███████▉  | 716/900 [13:06<00:48,  3.80it/s]
 80%|███████▉  | 717/900 [13:06<00:46,  3.93it/s]
 80%|███████▉  | 718/900 [13:06<00:45,  3.98it/s]
 80%|███████▉  | 719/900 [13:07<00:44,  4.03it/s]
 80%|████████  | 720/900 [13:07<00:44,  4.08it/s]
 80%|████████  | 721/900 [13:07<01:01,  2.92it/s]
 80%|████████  | 722/900 [13:08<00:55,  3.21it/s]
 80%|████████  | 723/900 [13:08<00:51,  3.43it/s]
 80%|████████  | 724/900 [13:08<00:48,  3.62it/s]
 81%|████████  | 725/900 [13:08<00:46,  3.78it/s]
 81%|████████  | 726/900 [13:09<00:44,  3.89it/s]
 81%|████████  | 727/900 [13:09<00:43,  3.98it/s]
 81%|████████  | 728/900 [13:09<00:42,  4.03it/s]
 81%|████████  | 729/900 [13:10<00:48,  3.50it/s]
 81%|████████  | 730/900 [13:10<00:46,  3.69it/s]
 81%|████████  | 731/900 [13:10<00:44,  3.78it/s]
 81%|████████▏ | 732/900 [13:10<00:43,  3.85it/s]
 81%|████████▏ | 733/900 [13:11<00:42,  3.93it/s]
 82%|████████▏ | 734/900 [13:11<00:41,  4.01it/s]
 82%|████████▏ | 735/900 [13:11<00:41,  3.99it/s]
 82%|████████▏ | 736/900 [13:11<00:40,  4.01it/s]
 82%|████████▏ | 737/900 [13:12<00:45,  3.61it/s]
 82%|████████▏ | 738/900 [13:12<00:43,  3.74it/s]
 82%|████████▏ | 739/900 [13:12<00:41,  3.86it/s]
 82%|████████▏ | 740/900 [13:12<00:40,  3.98it/s]
 82%|████████▏ | 741/900 [13:13<00:39,  4.04it/s]
 82%|████████▏ | 742/900 [13:13<00:39,  4.05it/s]
 83%|████████▎ | 743/900 [13:13<00:38,  4.10it/s]
 83%|████████▎ | 744/900 [13:13<00:37,  4.13it/s]
 83%|████████▎ | 745/900 [13:14<00:42,  3.63it/s]
 83%|████████▎ | 746/900 [13:14<00:40,  3.78it/s]
 83%|████████▎ | 747/900 [13:14<00:39,  3.87it/s]
 83%|████████▎ | 748/900 [13:14<00:38,  3.98it/s]
 83%|████████▎ | 749/900 [13:15<00:37,  4.06it/s]
 83%|████████▎ | 750/900 [13:15<00:36,  4.10it/s]
 83%|████████▎ | 751/900 [13:15<00:36,  4.10it/s]
 84%|████████▎ | 752/900 [13:15<00:36,  4.10it/s]
 84%|████████▎ | 753/900 [13:16<00:40,  3.65it/s]
 84%|████████▍ | 754/900 [13:16<00:38,  3.82it/s]
 84%|████████▍ | 755/900 [13:16<00:36,  3.97it/s]
 84%|████████▍ | 756/900 [13:16<00:35,  4.05it/s]
 84%|████████▍ | 757/900 [13:17<00:34,  4.10it/s]
 84%|████████▍ | 758/900 [13:17<00:34,  4.12it/s]
 84%|████████▍ | 759/900 [13:17<00:34,  4.11it/s]
 84%|████████▍ | 760/900 [13:17<00:34,  4.06it/s]
 85%|████████▍ | 761/900 [13:18<00:39,  3.55it/s]
 85%|████████▍ | 762/900 [13:18<00:36,  3.76it/s]
 85%|████████▍ | 763/900 [13:18<00:35,  3.91it/s]
 85%|████████▍ | 764/900 [13:18<00:34,  4.00it/s]
 85%|████████▌ | 765/900 [13:19<00:33,  4.06it/s]
 85%|████████▌ | 766/900 [13:19<00:32,  4.11it/s]
 85%|████████▌ | 767/900 [13:19<00:32,  4.11it/s]
 85%|████████▌ | 768/900 [13:19<00:31,  4.13it/s]
 85%|████████▌ | 769/900 [13:20<00:36,  3.58it/s]
 86%|████████▌ | 770/900 [13:20<00:34,  3.75it/s]
 86%|████████▌ | 771/900 [13:20<00:33,  3.87it/s]
 86%|████████▌ | 772/900 [13:20<00:32,  3.99it/s]
 86%|████████▌ | 773/900 [13:21<00:31,  4.05it/s]
 86%|████████▌ | 774/900 [13:21<00:30,  4.09it/s]
 86%|████████▌ | 775/900 [13:21<00:30,  4.15it/s]
 86%|████████▌ | 776/900 [13:21<00:29,  4.15it/s]
 86%|████████▋ | 777/900 [13:22<00:33,  3.66it/s]
 86%|████████▋ | 778/900 [13:22<00:31,  3.82it/s]
 87%|████████▋ | 779/900 [13:22<00:31,  3.90it/s]
 87%|████████▋ | 780/900 [13:22<00:30,  3.96it/s]
 87%|████████▋ | 781/900 [13:23<00:29,  4.01it/s]
 87%|████████▋ | 782/900 [13:23<00:29,  4.04it/s]
 87%|████████▋ | 783/900 [13:23<00:28,  4.06it/s]
 87%|████████▋ | 784/900 [13:23<00:28,  4.10it/s]
 87%|████████▋ | 785/900 [13:30<04:07,  2.15s/it]
 87%|████████▋ | 786/900 [13:30<02:59,  1.58s/it]
 87%|████████▋ | 787/900 [13:30<02:13,  1.18s/it]
 88%|████████▊ | 788/900 [13:31<01:40,  1.11it/s]
 88%|████████▊ | 789/900 [13:31<01:18,  1.42it/s]
 88%|████████▊ | 790/900 [13:31<01:02,  1.77it/s]
 88%|████████▊ | 791/900 [13:31<00:50,  2.15it/s]
 88%|████████▊ | 792/900 [13:32<00:43,  2.51it/s]
 88%|████████▊ | 793/900 [13:32<00:41,  2.56it/s]
 88%|████████▊ | 794/900 [13:32<00:36,  2.90it/s]
 88%|████████▊ | 795/900 [13:33<00:32,  3.22it/s]
 88%|████████▊ | 796/900 [13:33<00:30,  3.46it/s]
 89%|████████▊ | 797/900 [13:33<00:28,  3.66it/s]
 89%|████████▊ | 798/900 [13:33<00:26,  3.83it/s]
 89%|████████▉ | 799/900 [13:33<00:25,  3.94it/s]
 89%|████████▉ | 800/900 [13:34<00:24,  4.02it/s]
 89%|████████▉ | 801/900 [13:34<00:28,  3.51it/s]
 89%|████████▉ | 802/900 [13:34<00:26,  3.70it/s]
 89%|████████▉ | 803/900 [13:35<00:25,  3.84it/s]
 89%|████████▉ | 804/900 [13:35<00:24,  3.93it/s]
 89%|████████▉ | 805/900 [13:35<00:23,  4.00it/s]
 90%|████████▉ | 806/900 [13:35<00:23,  4.03it/s]
 90%|████████▉ | 807/900 [13:36<00:22,  4.07it/s]
 90%|████████▉ | 808/900 [13:36<00:22,  4.11it/s]
 90%|████████▉ | 809/900 [13:36<00:25,  3.63it/s]
 90%|█████████ | 810/900 [13:36<00:23,  3.77it/s]
 90%|█████████ | 811/900 [13:37<00:22,  3.89it/s]
 90%|█████████ | 812/900 [13:37<00:22,  3.97it/s]
 90%|█████████ | 813/900 [13:37<00:21,  4.03it/s]
 90%|█████████ | 814/900 [13:37<00:20,  4.11it/s]
 91%|█████████ | 815/900 [13:38<00:20,  4.18it/s]
 91%|█████████ | 816/900 [13:38<00:20,  4.17it/s]
 91%|█████████ | 817/900 [13:38<00:23,  3.50it/s]
 91%|█████████ | 818/900 [13:38<00:22,  3.63it/s]
 91%|█████████ | 819/900 [13:39<00:21,  3.73it/s]
 91%|█████████ | 820/900 [13:39<00:20,  3.86it/s]
 91%|█████████ | 821/900 [13:39<00:20,  3.93it/s]
 91%|█████████▏| 822/900 [13:39<00:19,  3.97it/s]
 91%|█████████▏| 823/900 [13:40<00:19,  4.02it/s]
 92%|█████████▏| 824/900 [13:40<00:18,  4.06it/s]
 92%|█████████▏| 825/900 [13:40<00:20,  3.58it/s]
 92%|█████████▏| 826/900 [13:40<00:19,  3.75it/s]
 92%|█████████▏| 827/900 [13:41<00:18,  3.86it/s]
 92%|█████████▏| 828/900 [13:41<00:18,  3.97it/s]
 92%|█████████▏| 829/900 [13:41<00:17,  4.05it/s]
 92%|█████████▏| 830/900 [13:41<00:17,  4.11it/s]
 92%|█████████▏| 831/900 [13:42<00:16,  4.14it/s]
 92%|█████████▏| 832/900 [13:42<00:16,  4.16it/s]
 93%|█████████▎| 833/900 [13:42<00:18,  3.61it/s]
 93%|█████████▎| 834/900 [13:42<00:17,  3.77it/s]
 93%|█████████▎| 835/900 [13:43<00:16,  3.89it/s]
 93%|█████████▎| 836/900 [13:43<00:16,  3.99it/s]
 93%|█████████▎| 837/900 [13:43<00:15,  4.02it/s]
 93%|█████████▎| 838/900 [13:43<00:15,  4.09it/s]
 93%|█████████▎| 839/900 [13:44<00:14,  4.10it/s]
 93%|█████████▎| 840/900 [13:44<00:14,  4.12it/s]
 93%|█████████▎| 841/900 [13:44<00:16,  3.61it/s]
 94%|█████████▎| 842/900 [13:45<00:15,  3.76it/s]
 94%|█████████▎| 843/900 [13:45<00:14,  3.87it/s]
 94%|█████████▍| 844/900 [13:45<00:14,  3.95it/s]
 94%|█████████▍| 845/900 [13:45<00:13,  4.03it/s]
 94%|█████████▍| 846/900 [13:45<00:13,  4.07it/s]
 94%|█████████▍| 847/900 [13:46<00:12,  4.12it/s]
 94%|█████████▍| 848/900 [13:46<00:12,  4.16it/s]
 94%|█████████▍| 849/900 [13:46<00:13,  3.65it/s]
 94%|█████████▍| 850/900 [13:47<00:13,  3.79it/s]
 95%|█████████▍| 851/900 [13:47<00:12,  3.92it/s]
 95%|█████████▍| 852/900 [13:47<00:11,  4.03it/s]
 95%|█████████▍| 853/900 [13:47<00:11,  4.11it/s]
 95%|█████████▍| 854/900 [13:47<00:11,  4.14it/s]
 95%|█████████▌| 855/900 [13:48<00:10,  4.14it/s]
 95%|█████████▌| 856/900 [13:48<00:10,  4.17it/s]
 95%|█████████▌| 857/900 [13:49<00:15,  2.79it/s]
 95%|█████████▌| 858/900 [13:49<00:13,  3.10it/s]
 95%|█████████▌| 859/900 [13:49<00:12,  3.37it/s]
 96%|█████████▌| 860/900 [13:49<00:11,  3.59it/s]
 96%|█████████▌| 861/900 [13:50<00:10,  3.75it/s]
 96%|█████████▌| 862/900 [13:50<00:09,  3.87it/s]
 96%|█████████▌| 863/900 [13:50<00:09,  3.95it/s]
 96%|█████████▌| 864/900 [13:50<00:08,  4.05it/s]
 96%|█████████▌| 865/900 [13:51<00:09,  3.61it/s]
 96%|█████████▌| 866/900 [13:51<00:09,  3.77it/s]
 96%|█████████▋| 867/900 [13:51<00:08,  3.90it/s]
 96%|█████████▋| 868/900 [13:51<00:08,  4.00it/s]
 97%|█████████▋| 869/900 [13:52<00:07,  4.01it/s]
 97%|█████████▋| 870/900 [13:52<00:07,  4.00it/s]
 97%|█████████▋| 871/900 [13:52<00:07,  4.00it/s]
 97%|█████████▋| 872/900 [13:52<00:06,  4.02it/s]
 97%|█████████▋| 873/900 [13:53<00:07,  3.52it/s]
 97%|█████████▋| 874/900 [13:53<00:07,  3.68it/s]
 97%|█████████▋| 875/900 [13:53<00:06,  3.80it/s]
 97%|█████████▋| 876/900 [13:53<00:06,  3.90it/s]
 97%|█████████▋| 877/900 [13:54<00:05,  3.93it/s]
 98%|█████████▊| 878/900 [13:54<00:05,  3.99it/s]
 98%|█████████▊| 879/900 [13:54<00:05,  4.03it/s]
 98%|█████████▊| 880/900 [13:54<00:04,  4.03it/s]
 98%|█████████▊| 881/900 [14:02<00:44,  2.32s/it]
 98%|█████████▊| 882/900 [14:02<00:30,  1.70s/it]
 98%|█████████▊| 883/900 [14:02<00:21,  1.26s/it]
 98%|█████████▊| 884/900 [14:02<00:15,  1.05it/s]
 98%|█████████▊| 885/900 [14:02<00:11,  1.35it/s]
 98%|█████████▊| 886/900 [14:03<00:08,  1.69it/s]
 99%|█████████▊| 887/900 [14:03<00:06,  2.05it/s]
 99%|█████████▊| 888/900 [14:03<00:04,  2.41it/s]
 99%|█████████▉| 889/900 [14:04<00:04,  2.40it/s]
 99%|█████████▉| 890/900 [14:04<00:03,  2.74it/s]
 99%|█████████▉| 891/900 [14:04<00:02,  3.06it/s]
 99%|█████████▉| 892/900 [14:04<00:02,  3.32it/s]
 99%|█████████▉| 893/900 [14:05<00:01,  3.54it/s]
 99%|█████████▉| 894/900 [14:05<00:01,  3.70it/s]
 99%|█████████▉| 895/900 [14:05<00:01,  3.81it/s]
100%|█████████▉| 896/900 [14:05<00:01,  3.90it/s]
100%|█████████▉| 897/900 [14:06<00:00,  3.20it/s]
100%|█████████▉| 898/900 [14:06<00:00,  3.44it/s]
100%|█████████▉| 899/900 [14:06<00:00,  3.63it/s]
100%|█████████▉| 899/900 [14:07<00:00,  1.06it/s]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/log_2_env0.json.
+FoodPacking1BoxesTask_2 complete: task_name: FoodPacking1BoxesTask, run_name: FoodPacking1BoxesTask_2, run: 2, env_id: 0, policy: harness, instruction: Pack boxed foods into the bin, attributes: ['semantics', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.239656639368732, 'joint_sparc_mean': -16.511577572716863, 'ee_isj': 224192.87094978092, 'joint_isj': 4192894.2106945543, 'ee_path_length': 9.520244442341175, 'joint_rmse_mean': 1.3614791542853744, 'ee_speed_max': 6.2001051902771, 'ee_speed_mean': 0.1585243195295334}, events: {'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 639.068, 'policy_inference_avg_ms': 710.1, 'env_step_s': 199.631, 'env_step_avg_ms': 221.8, 'video_write_s': 7.888, 'video_write_avg_ms': 8.8, 'wall_total_s': 846.587, 'it_per_sec': 1.06}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=cheez_it) (step 1/2), harness_episode_id: c2517e947e97440ea2ddc80866883e2b-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-29T21:25:41Z [16,231,487ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.185891 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-29T21:25:44Z [16,235,030ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T21:25:44Z [16,235,031ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T21:25:44Z [16,235,040ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T21:25:44Z [16,235,040ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T21:25:44Z [16,235,048ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T21:25:44Z [16,235,056ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-29T21:25:45Z [16,235,933ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1178))' not available in the MDL representation.
+2026-10-29T21:25:45Z [16,235,934ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1178))' not available in the MDL representation.
+2026-10-29T21:25:45Z [16,235,937ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1179))' not available in the MDL representation.
+2026-10-29T21:25:45Z [16,235,938ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1179))' not available in the MDL representation.
+2026-10-29T21:25:46Z [16,236,602ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1246))' not available in the MDL representation.
+2026-10-29T21:25:46Z [16,236,602ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1246))' not available in the MDL representation.
+2026-10-29T21:25:47Z [16,237,324ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1178))' not available in the MDL representation.
+2026-10-29T21:25:47Z [16,237,325ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1178))' not available in the MDL representation.
+2026-10-29T21:25:47Z [16,237,325ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1179))' not available in the MDL representation.
+2026-10-29T21:25:47Z [16,237,325ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1179))' not available in the MDL representation.
+2026-10-29T21:25:47Z [16,237,329ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1246))' not available in the MDL representation.
+2026-10-29T21:25:47Z [16,237,329ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1246))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 5.761736 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : RubiksCubeThenBananaTask                      │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the cube then the banana in the bowl      │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : RubiksCubeThenBananaTaskSceneEnvCfg           │
+│  Attributes  : conjunction, simple                           │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running RubiksCubeThenBananaTask_0: 'Put the cube then the banana in the bowl' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:30<7:31:22, 30.13s/it]
  0%|          | 2/900 [00:30<3:07:40, 12.54s/it]
  0%|          | 3/900 [00:30<1:43:21,  6.91s/it]
  0%|          | 4/900 [00:30<1:03:46,  4.27s/it]
  1%|          | 5/900 [00:31<41:53,  2.81s/it]  
  1%|          | 6/900 [00:31<28:44,  1.93s/it]
  1%|          | 7/900 [00:31<20:22,  1.37s/it]
  1%|          | 8/900 [00:31<14:53,  1.00s/it]
  1%|          | 9/900 [00:38<43:54,  2.96s/it]
  1%|          | 10/900 [00:39<31:18,  2.11s/it]
  1%|          | 11/900 [00:39<22:39,  1.53s/it]
  1%|▏         | 12/900 [00:39<16:42,  1.13s/it]
  1%|▏         | 13/900 [00:39<12:35,  1.17it/s]
  2%|▏         | 14/900 [00:39<09:44,  1.52it/s]
  2%|▏         | 15/900 [00:40<07:45,  1.90it/s]
  2%|▏         | 16/900 [00:40<06:22,  2.31it/s]
  2%|▏         | 17/900 [00:50<49:25,  3.36s/it]
  2%|▏         | 18/900 [00:50<35:29,  2.41s/it]
  2%|▏         | 19/900 [00:51<25:46,  1.76s/it]
  2%|▏         | 20/900 [00:51<18:57,  1.29s/it]
  2%|▏         | 21/900 [00:51<14:11,  1.03it/s]
  2%|▏         | 22/900 [00:51<10:52,  1.34it/s]
  3%|▎         | 23/900 [00:51<08:33,  1.71it/s]
  3%|▎         | 24/900 [00:52<06:55,  2.11it/s]
  3%|▎         | 25/900 [00:59<39:08,  2.68s/it]
  3%|▎         | 26/900 [01:00<28:19,  1.94s/it]
  3%|▎         | 27/900 [01:00<20:42,  1.42s/it]
  3%|▎         | 28/900 [01:00<15:24,  1.06s/it]
  3%|▎         | 29/900 [01:00<11:41,  1.24it/s]
  3%|▎         | 30/900 [01:00<09:06,  1.59it/s]
  3%|▎         | 31/900 [01:01<07:17,  1.99it/s]
  4%|▎         | 32/900 [01:01<06:01,  2.40it/s]
  4%|▎         | 33/900 [01:12<50:05,  3.47s/it]
  4%|▍         | 34/900 [01:12<35:57,  2.49s/it]
  4%|▍         | 35/900 [01:12<26:04,  1.81s/it]
  4%|▍         | 36/900 [01:12<19:10,  1.33s/it]
  4%|▍         | 37/900 [01:12<14:21,  1.00it/s]
  4%|▍         | 38/900 [01:13<10:57,  1.31it/s]
  4%|▍         | 39/900 [01:13<08:36,  1.67it/s]
  4%|▍         | 40/900 [01:13<06:56,  2.07it/s]
  5%|▍         | 41/900 [01:20<33:47,  2.36s/it]
  5%|▍         | 42/900 [01:20<24:33,  1.72s/it]
  5%|▍         | 43/900 [01:20<18:04,  1.27s/it]
  5%|▍         | 44/900 [01:20<13:33,  1.05it/s]
  5%|▌         | 45/900 [01:21<10:23,  1.37it/s]
  5%|▌         | 46/900 [01:21<08:11,  1.74it/s]
  5%|▌         | 47/900 [01:21<06:38,  2.14it/s]
  5%|▌         | 48/900 [01:21<05:35,  2.54it/s]
  5%|▌         | 49/900 [01:44<1:40:03,  7.05s/it]
  6%|▌         | 50/900 [01:44<1:10:52,  5.00s/it]
  6%|▌         | 51/900 [01:44<50:27,  3.57s/it]  
  6%|▌         | 52/900 [01:45<36:11,  2.56s/it]
  6%|▌         | 53/900 [01:45<26:15,  1.86s/it]
  6%|▌         | 54/900 [01:45<19:19,  1.37s/it]
  6%|▌         | 55/900 [01:45<14:26,  1.03s/it]
  6%|▌         | 56/900 [01:45<11:02,  1.27it/s]
  6%|▋         | 57/900 [01:50<26:45,  1.90s/it]
  6%|▋         | 58/900 [01:50<19:38,  1.40s/it]
  7%|▋         | 59/900 [01:50<14:44,  1.05s/it]
  7%|▋         | 60/900 [01:51<11:17,  1.24it/s]
  7%|▋         | 61/900 [01:51<08:54,  1.57it/s]
  7%|▋         | 62/900 [01:51<07:13,  1.93it/s]
  7%|▋         | 63/900 [01:51<06:04,  2.30it/s]
  7%|▋         | 64/900 [01:52<05:14,  2.66it/s]
  7%|▋         | 65/900 [01:59<32:41,  2.35s/it]
  7%|▋         | 66/900 [01:59<23:51,  1.72s/it]
  7%|▋         | 67/900 [01:59<17:42,  1.28s/it]
  8%|▊         | 68/900 [01:59<13:22,  1.04it/s]
  8%|▊         | 69/900 [02:00<10:20,  1.34it/s]
  8%|▊         | 70/900 [02:00<08:13,  1.68it/s]
  8%|▊         | 71/900 [02:00<06:43,  2.05it/s]
  8%|▊         | 72/900 [02:00<05:38,  2.44it/s]
  8%|▊         | 73/900 [02:05<22:28,  1.63s/it]
  8%|▊         | 74/900 [02:05<16:44,  1.22s/it]
  8%|▊         | 75/900 [02:05<12:41,  1.08it/s]
  8%|▊         | 76/900 [02:05<09:50,  1.40it/s]
  9%|▊         | 77/900 [02:06<07:51,  1.75it/s]
  9%|▊         | 78/900 [02:06<06:24,  2.14it/s]
  9%|▉         | 79/900 [02:06<05:23,  2.53it/s]
  9%|▉         | 80/900 [02:06<04:39,  2.93it/s]
  9%|▉         | 81/900 [02:25<1:20:52,  5.92s/it]
  9%|▉         | 82/900 [02:25<57:25,  4.21s/it]  
  9%|▉         | 83/900 [02:26<41:02,  3.01s/it]
  9%|▉         | 84/900 [02:26<29:35,  2.18s/it]
  9%|▉         | 85/900 [02:26<21:34,  1.59s/it]
 10%|▉         | 86/900 [02:26<15:58,  1.18s/it]
 10%|▉         | 87/900 [02:27<12:03,  1.12it/s]
 10%|▉         | 88/900 [02:27<09:18,  1.45it/s]
 10%|▉         | 89/900 [02:37<46:35,  3.45s/it]
 10%|█         | 90/900 [02:37<33:27,  2.48s/it]
 10%|█         | 91/900 [02:37<24:15,  1.80s/it]
 10%|█         | 92/900 [02:37<17:52,  1.33s/it]
 10%|█         | 93/900 [02:38<13:21,  1.01it/s]
 10%|█         | 94/900 [02:38<10:13,  1.31it/s]
 11%|█         | 95/900 [02:38<08:01,  1.67it/s]
 11%|█         | 96/900 [02:38<06:28,  2.07it/s]
 11%|█         | 97/900 [02:45<33:18,  2.49s/it]
 11%|█         | 98/900 [02:46<24:09,  1.81s/it]
 11%|█         | 99/900 [02:46<17:44,  1.33s/it]
 11%|█         | 100/900 [02:46<13:15,  1.01it/s]
 11%|█         | 101/900 [02:46<10:08,  1.31it/s]
 11%|█▏        | 102/900 [02:46<07:57,  1.67it/s]
 11%|█▏        | 103/900 [02:47<06:25,  2.07it/s]
 12%|█▏        | 104/900 [02:47<05:21,  2.47it/s]
 12%|█▏        | 105/900 [02:52<25:30,  1.93s/it]
 12%|█▏        | 106/900 [02:53<18:45,  1.42s/it]
 12%|█▏        | 107/900 [02:53<14:02,  1.06s/it]
 12%|█▏        | 108/900 [02:53<10:44,  1.23it/s]
 12%|█▏        | 109/900 [02:53<08:26,  1.56it/s]
 12%|█▏        | 110/900 [02:54<06:48,  1.93it/s]
 12%|█▏        | 111/900 [02:54<05:41,  2.31it/s]
 12%|█▏        | 112/900 [02:54<04:53,  2.68it/s]
 13%|█▎        | 113/900 [02:59<22:21,  1.70s/it]
 13%|█▎        | 114/900 [02:59<16:34,  1.27s/it]
 13%|█▎        | 115/900 [02:59<12:30,  1.05it/s]
 13%|█▎        | 116/900 [03:00<09:41,  1.35it/s]
 13%|█▎        | 117/900 [03:00<07:42,  1.69it/s]
 13%|█▎        | 118/900 [03:00<06:21,  2.05it/s]
 13%|█▎        | 119/900 [03:00<05:22,  2.42it/s]
 13%|█▎        | 120/900 [03:00<04:39,  2.79it/s]
 13%|█▎        | 121/900 [03:06<26:16,  2.02s/it]
 14%|█▎        | 122/900 [03:07<19:17,  1.49s/it]
 14%|█▎        | 123/900 [03:07<14:27,  1.12s/it]
 14%|█▍        | 124/900 [03:07<11:01,  1.17it/s]
 14%|█▍        | 125/900 [03:07<08:38,  1.49it/s]
 14%|█▍        | 126/900 [03:08<06:58,  1.85it/s]
 14%|█▍        | 127/900 [03:08<05:49,  2.21it/s]
 14%|█▍        | 128/900 [03:08<04:59,  2.58it/s]
 14%|█▍        | 129/900 [03:16<32:29,  2.53s/it]
 14%|█▍        | 130/900 [03:16<23:40,  1.84s/it]
 15%|█▍        | 131/900 [03:16<17:27,  1.36s/it]
 15%|█▍        | 132/900 [03:16<13:09,  1.03s/it]
 15%|█▍        | 133/900 [03:17<10:07,  1.26it/s]
 15%|█▍        | 134/900 [03:17<07:59,  1.60it/s]
 15%|█▌        | 135/900 [03:17<06:30,  1.96it/s]
 15%|█▌        | 136/900 [03:17<05:28,  2.33it/s]
 15%|█▌        | 137/900 [03:34<1:07:47,  5.33s/it]
 15%|█▌        | 138/900 [03:34<48:19,  3.80s/it]  
 15%|█▌        | 139/900 [03:35<34:41,  2.73s/it]
 16%|█▌        | 140/900 [03:35<25:09,  1.99s/it]
 16%|█▌        | 141/900 [03:35<18:30,  1.46s/it]
 16%|█▌        | 142/900 [03:35<13:50,  1.10s/it]
 16%|█▌        | 143/900 [03:35<10:34,  1.19it/s]
 16%|█▌        | 144/900 [03:36<08:18,  1.52it/s]
 16%|█▌        | 145/900 [03:46<45:14,  3.60s/it]
 16%|█▌        | 146/900 [03:46<32:27,  2.58s/it]
 16%|█▋        | 147/900 [03:47<23:30,  1.87s/it]
 16%|█▋        | 148/900 [03:47<17:14,  1.38s/it]
 17%|█▋        | 149/900 [03:47<12:55,  1.03s/it]
 17%|█▋        | 150/900 [03:47<09:53,  1.26it/s]
 17%|█▋        | 151/900 [03:48<07:45,  1.61it/s]
 17%|█▋        | 152/900 [03:48<06:16,  1.99it/s]
 17%|█▋        | 153/900 [03:55<30:39,  2.46s/it]
 17%|█▋        | 154/900 [03:55<22:14,  1.79s/it]
 17%|█▋        | 155/900 [03:55<16:21,  1.32s/it]
 17%|█▋        | 156/900 [03:55<12:15,  1.01it/s]
 17%|█▋        | 157/900 [03:56<09:22,  1.32it/s]
 18%|█▊        | 158/900 [03:56<07:22,  1.68it/s]
 18%|█▊        | 159/900 [03:56<05:57,  2.07it/s]
 18%|█▊        | 160/900 [03:56<04:57,  2.48it/s]
 18%|█▊        | 161/900 [04:15<1:10:48,  5.75s/it]
 18%|█▊        | 162/900 [04:15<50:19,  4.09s/it]  
 18%|█▊        | 163/900 [04:15<35:57,  2.93s/it]
 18%|█▊        | 164/900 [04:15<25:56,  2.11s/it]
 18%|█▊        | 165/900 [04:15<18:56,  1.55s/it]
 18%|█▊        | 166/900 [04:16<14:01,  1.15s/it]
 19%|█▊        | 167/900 [04:16<10:38,  1.15it/s]
 19%|█▊        | 168/900 [04:16<08:14,  1.48it/s]
 19%|█▉        | 169/900 [04:22<25:57,  2.13s/it]
 19%|█▉        | 170/900 [04:22<18:56,  1.56s/it]
 19%|█▉        | 171/900 [04:22<14:01,  1.15s/it]
 19%|█▉        | 172/900 [04:22<10:35,  1.15it/s]
 19%|█▉        | 173/900 [04:22<08:10,  1.48it/s]
 19%|█▉        | 174/900 [04:23<06:29,  1.86it/s]
 19%|█▉        | 175/900 [04:23<05:19,  2.27it/s]
 20%|█▉        | 176/900 [04:23<04:29,  2.69it/s]
 20%|█▉        | 177/900 [04:36<49:08,  4.08s/it]
 20%|█▉        | 178/900 [04:36<35:08,  2.92s/it]
 20%|█▉        | 179/900 [04:36<25:20,  2.11s/it]
 20%|██        | 180/900 [04:36<18:29,  1.54s/it]
 20%|██        | 181/900 [04:37<13:44,  1.15s/it]
 20%|██        | 182/900 [04:37<10:21,  1.16it/s]
 20%|██        | 183/900 [04:37<08:00,  1.49it/s]
 20%|██        | 184/900 [04:37<06:24,  1.86it/s]
 21%|██        | 185/900 [04:45<32:33,  2.73s/it]
 21%|██        | 186/900 [04:45<23:31,  1.98s/it]
 21%|██        | 187/900 [04:46<17:12,  1.45s/it]
 21%|██        | 188/900 [04:46<12:47,  1.08s/it]
 21%|██        | 189/900 [04:46<09:41,  1.22it/s]
 21%|██        | 190/900 [04:46<07:31,  1.57it/s]
 21%|██        | 191/900 [04:46<06:01,  1.96it/s]
 21%|██▏       | 192/900 [04:47<04:59,  2.36it/s]
 21%|██▏       | 193/900 [04:56<37:57,  3.22s/it]
 22%|██▏       | 194/900 [04:57<27:17,  2.32s/it]
 22%|██▏       | 195/900 [04:57<19:50,  1.69s/it]
 22%|██▏       | 196/900 [04:57<14:37,  1.25s/it]
 22%|██▏       | 197/900 [04:57<10:58,  1.07it/s]
 22%|██▏       | 198/900 [04:58<08:26,  1.39it/s]
 22%|██▏       | 199/900 [04:58<06:39,  1.76it/s]
 22%|██▏       | 200/900 [04:58<05:23,  2.16it/s]
 22%|██▏       | 201/900 [05:05<28:39,  2.46s/it]
 22%|██▏       | 202/900 [05:05<20:46,  1.79s/it]
 23%|██▎       | 203/900 [05:06<15:15,  1.31s/it]
 23%|██▎       | 204/900 [05:06<11:26,  1.01it/s]
 23%|██▎       | 205/900 [05:06<08:48,  1.32it/s]
 23%|██▎       | 206/900 [05:06<06:57,  1.66it/s]
 23%|██▎       | 207/900 [05:06<05:36,  2.06it/s]
 23%|██▎       | 208/900 [05:07<04:42,  2.45it/s]
 23%|██▎       | 209/900 [05:13<26:05,  2.27s/it]
 23%|██▎       | 210/900 [05:13<19:03,  1.66s/it]
 23%|██▎       | 211/900 [05:14<14:08,  1.23s/it]
 24%|██▎       | 212/900 [05:14<10:40,  1.07it/s]
 24%|██▎       | 213/900 [05:14<08:16,  1.38it/s]
 24%|██▍       | 214/900 [05:14<06:37,  1.73it/s]
 24%|██▍       | 215/900 [05:15<05:26,  2.10it/s]
 24%|██▍       | 216/900 [05:15<04:36,  2.47it/s]
 24%|██▍       | 217/900 [05:23<31:47,  2.79s/it]
 24%|██▍       | 218/900 [05:24<23:03,  2.03s/it]
 24%|██▍       | 219/900 [05:24<16:55,  1.49s/it]
 24%|██▍       | 220/900 [05:24<12:39,  1.12s/it]
 25%|██▍       | 221/900 [05:24<09:39,  1.17it/s]
 25%|██▍       | 222/900 [05:24<07:34,  1.49it/s]
 25%|██▍       | 223/900 [05:25<06:08,  1.84it/s]
 25%|██▍       | 224/900 [05:25<05:04,  2.22it/s]
 25%|██▌       | 225/900 [05:30<21:38,  1.92s/it]
 25%|██▌       | 226/900 [05:31<15:55,  1.42s/it]
 25%|██▌       | 227/900 [05:31<11:57,  1.07s/it]
 25%|██▌       | 228/900 [05:31<09:10,  1.22it/s]
 25%|██▌       | 229/900 [05:31<07:12,  1.55it/s]
 26%|██▌       | 230/900 [05:32<05:52,  1.90it/s]
 26%|██▌       | 231/900 [05:32<04:56,  2.26it/s]
 26%|██▌       | 232/900 [05:32<04:16,  2.61it/s]
 26%|██▌       | 233/900 [05:44<44:24,  3.99s/it]
 26%|██▌       | 234/900 [05:45<31:53,  2.87s/it]
 26%|██▌       | 235/900 [05:45<23:06,  2.08s/it]
 26%|██▌       | 236/900 [05:45<16:57,  1.53s/it]
 26%|██▋       | 237/900 [05:45<12:41,  1.15s/it]
 26%|██▋       | 238/900 [05:46<09:41,  1.14it/s]
 27%|██▋       | 239/900 [05:46<07:36,  1.45it/s]
 27%|██▋       | 240/900 [05:46<06:09,  1.79it/s]
 27%|██▋       | 241/900 [05:53<25:04,  2.28s/it]
 27%|██▋       | 242/900 [05:53<18:20,  1.67s/it]
 27%|██▋       | 243/900 [05:53<13:38,  1.25s/it]
 27%|██▋       | 244/900 [05:53<10:21,  1.06it/s]
 27%|██▋       | 245/900 [05:54<08:02,  1.36it/s]
 27%|██▋       | 246/900 [05:54<06:25,  1.70it/s]
 27%|██▋       | 247/900 [05:54<05:19,  2.05it/s]
 28%|██▊       | 248/900 [05:54<04:31,  2.40it/s]
 28%|██▊       | 249/900 [06:09<51:52,  4.78s/it]
 28%|██▊       | 250/900 [06:09<37:03,  3.42s/it]
 28%|██▊       | 251/900 [06:10<26:42,  2.47s/it]
 28%|██▊       | 252/900 [06:10<19:29,  1.81s/it]
 28%|██▊       | 253/900 [06:10<14:26,  1.34s/it]
 28%|██▊       | 254/900 [06:10<10:51,  1.01s/it]
 28%|██▊       | 255/900 [06:11<08:22,  1.28it/s]
 28%|██▊       | 256/900 [06:11<06:37,  1.62it/s]
 29%|██▊       | 257/900 [06:18<26:52,  2.51s/it]
 29%|██▊       | 258/900 [06:18<19:33,  1.83s/it]
 29%|██▉       | 259/900 [06:18<14:25,  1.35s/it]
 29%|██▉       | 260/900 [06:19<10:51,  1.02s/it]
 29%|██▉       | 261/900 [06:19<08:19,  1.28it/s]
 29%|██▉       | 262/900 [06:19<06:32,  1.63it/s]
 29%|██▉       | 263/900 [06:19<05:18,  2.00it/s]
 29%|██▉       | 264/900 [06:19<04:26,  2.38it/s]
 29%|██▉       | 265/900 [06:27<27:44,  2.62s/it]
 30%|██▉       | 266/900 [06:27<20:08,  1.91s/it]
 30%|██▉       | 267/900 [06:28<14:45,  1.40s/it]
 30%|██▉       | 268/900 [06:28<10:58,  1.04s/it]
 30%|██▉       | 269/900 [06:28<08:22,  1.26it/s]
 30%|███       | 270/900 [06:28<06:32,  1.60it/s]
 30%|███       | 271/900 [06:29<05:15,  1.99it/s]
 30%|███       | 272/900 [06:29<04:20,  2.41it/s]
 30%|███       | 273/900 [06:56<1:28:42,  8.49s/it]
 30%|███       | 274/900 [06:56<1:02:40,  6.01s/it]
 31%|███       | 275/900 [06:57<44:30,  4.27s/it]  
 31%|███       | 276/900 [06:57<31:46,  3.06s/it]
 31%|███       | 277/900 [06:57<22:53,  2.20s/it]
 31%|███       | 278/900 [06:57<16:42,  1.61s/it]
 31%|███       | 279/900 [06:57<12:21,  1.19s/it]
 31%|███       | 280/900 [06:58<09:17,  1.11it/s]
 31%|███       | 281/900 [07:08<38:32,  3.74s/it]
 31%|███▏      | 282/900 [07:08<27:36,  2.68s/it]
 31%|███▏      | 283/900 [07:08<19:57,  1.94s/it]
 32%|███▏      | 284/900 [07:09<14:36,  1.42s/it]
 32%|███▏      | 285/900 [07:09<10:52,  1.06s/it]
 32%|███▏      | 286/900 [07:09<08:16,  1.24it/s]
 32%|███▏      | 287/900 [07:09<06:27,  1.58it/s]
 32%|███▏      | 288/900 [07:10<05:10,  1.97it/s]
 32%|███▏      | 289/900 [07:16<24:05,  2.37s/it]
 32%|███▏      | 290/900 [07:16<17:29,  1.72s/it]
 32%|███▏      | 291/900 [07:17<12:53,  1.27s/it]
 32%|███▏      | 292/900 [07:17<09:39,  1.05it/s]
 33%|███▎      | 293/900 [07:17<07:24,  1.37it/s]
 33%|███▎      | 294/900 [07:17<05:50,  1.73it/s]
 33%|███▎      | 295/900 [07:18<04:44,  2.13it/s]
 33%|███▎      | 296/900 [07:18<03:57,  2.55it/s]
 33%|███▎      | 297/900 [07:28<33:22,  3.32s/it]
 33%|███▎      | 298/900 [07:28<23:57,  2.39s/it]
 33%|███▎      | 299/900 [07:28<17:24,  1.74s/it]
 33%|███▎      | 300/900 [07:29<12:48,  1.28s/it]
 33%|███▎      | 301/900 [07:29<09:36,  1.04it/s]
 34%|███▎      | 302/900 [07:29<07:21,  1.36it/s]
 34%|███▎      | 303/900 [07:29<05:48,  1.72it/s]
 34%|███▍      | 304/900 [07:29<04:41,  2.12it/s]
 34%|███▍      | 305/900 [07:37<26:31,  2.67s/it]
 34%|███▍      | 306/900 [07:37<19:10,  1.94s/it]
 34%|███▍      | 307/900 [07:38<14:01,  1.42s/it]
 34%|███▍      | 308/900 [07:38<10:26,  1.06s/it]
 34%|███▍      | 309/900 [07:38<07:56,  1.24it/s]
 34%|███▍      | 310/900 [07:38<06:11,  1.59it/s]
 35%|███▍      | 311/900 [07:39<04:57,  1.98it/s]
 35%|███▍      | 312/900 [07:39<04:05,  2.39it/s]
 35%|███▍      | 313/900 [07:46<23:07,  2.36s/it]
 35%|███▍      | 314/900 [07:46<16:51,  1.73s/it]
 35%|███▌      | 315/900 [07:46<12:27,  1.28s/it]
 35%|███▌      | 316/900 [07:46<09:22,  1.04it/s]
 35%|███▌      | 317/900 [07:47<07:13,  1.34it/s]
 35%|███▌      | 318/900 [07:47<05:42,  1.70it/s]
 35%|███▌      | 319/900 [07:47<04:40,  2.07it/s]
 36%|███▌      | 320/900 [07:47<03:57,  2.44it/s]
 36%|███▌      | 321/900 [07:55<25:57,  2.69s/it]
 36%|███▌      | 322/900 [07:56<18:51,  1.96s/it]
 36%|███▌      | 323/900 [07:56<13:52,  1.44s/it]
 36%|███▌      | 324/900 [07:56<10:23,  1.08s/it]
 36%|███▌      | 325/900 [07:56<07:57,  1.20it/s]
 36%|███▌      | 326/900 [07:57<06:16,  1.53it/s]
 36%|███▋      | 327/900 [07:57<05:04,  1.88it/s]
 36%|███▋      | 328/900 [07:57<04:14,  2.25it/s]
 37%|███▋      | 329/900 [08:07<32:32,  3.42s/it]
 37%|███▋      | 330/900 [08:08<23:26,  2.47s/it]
 37%|███▋      | 331/900 [08:08<17:04,  1.80s/it]
 37%|███▋      | 332/900 [08:08<12:37,  1.33s/it]
 37%|███▋      | 333/900 [08:08<09:31,  1.01s/it]
 37%|███▋      | 334/900 [08:09<07:20,  1.28it/s]
 37%|███▋      | 335/900 [08:09<05:49,  1.61it/s]
 37%|███▋      | 336/900 [08:09<04:45,  1.97it/s]
 37%|███▋      | 337/900 [08:19<30:25,  3.24s/it]
 38%|███▊      | 338/900 [08:19<21:56,  2.34s/it]
 38%|███▊      | 339/900 [08:19<16:00,  1.71s/it]
 38%|███▊      | 340/900 [08:19<11:51,  1.27s/it]
 38%|███▊      | 341/900 [08:20<08:57,  1.04it/s]
 38%|███▊      | 342/900 [08:20<06:55,  1.34it/s]
 38%|███▊      | 343/900 [08:20<05:30,  1.69it/s]
 38%|███▊      | 344/900 [08:20<04:31,  2.05it/s]
 38%|███▊      | 345/900 [08:29<26:35,  2.87s/it]
 38%|███▊      | 346/900 [08:29<19:10,  2.08s/it]
 39%|███▊      | 347/900 [08:29<14:00,  1.52s/it]
 39%|███▊      | 348/900 [08:29<10:22,  1.13s/it]
 39%|███▉      | 349/900 [08:30<07:50,  1.17it/s]
 39%|███▉      | 350/900 [08:30<06:03,  1.51it/s]
 39%|███▉      | 351/900 [08:30<04:49,  1.89it/s]
 39%|███▉      | 352/900 [08:30<03:57,  2.31it/s]
 39%|███▉      | 353/900 [09:18<2:13:56, 14.69s/it]
 39%|███▉      | 354/900 [09:18<1:34:10, 10.35s/it]
 39%|███▉      | 355/900 [09:19<1:06:23,  7.31s/it]
 40%|███▉      | 356/900 [09:19<46:58,  5.18s/it]  
 40%|███▉      | 357/900 [09:19<33:23,  3.69s/it]
 40%|███▉      | 358/900 [09:19<23:55,  2.65s/it]
 40%|███▉      | 359/900 [09:20<17:17,  1.92s/it]
 40%|████      | 360/900 [09:20<12:41,  1.41s/it]
 40%|████      | 361/900 [09:28<32:17,  3.60s/it]
 40%|████      | 362/900 [09:29<23:08,  2.58s/it]
 40%|████      | 363/900 [09:29<16:44,  1.87s/it]
 40%|████      | 364/900 [09:29<12:17,  1.38s/it]
 41%|████      | 365/900 [09:29<09:08,  1.03s/it]
 41%|████      | 366/900 [09:30<06:57,  1.28it/s]
 41%|████      | 367/900 [09:30<05:25,  1.64it/s]
 41%|████      | 368/900 [09:30<04:21,  2.04it/s]
 41%|████      | 369/900 [09:38<24:02,  2.72s/it]
 41%|████      | 370/900 [09:38<17:21,  1.97s/it]
 41%|████      | 371/900 [09:38<12:40,  1.44s/it]
 41%|████▏     | 372/900 [09:39<09:27,  1.07s/it]
 41%|████▏     | 373/900 [09:39<07:10,  1.22it/s]
 42%|████▏     | 374/900 [09:39<05:34,  1.57it/s]
 42%|████▏     | 375/900 [09:39<04:27,  1.96it/s]
 42%|████▏     | 376/900 [09:39<03:40,  2.37it/s]
 42%|████▏     | 377/900 [09:48<24:26,  2.80s/it]
 42%|████▏     | 378/900 [09:48<17:38,  2.03s/it]
 42%|████▏     | 379/900 [09:48<12:51,  1.48s/it]
 42%|████▏     | 380/900 [09:48<09:31,  1.10s/it]
 42%|████▏     | 381/900 [09:49<07:11,  1.20it/s]
 42%|████▏     | 382/900 [09:49<05:35,  1.55it/s]
 43%|████▎     | 383/900 [09:49<04:26,  1.94it/s]
 43%|████▎     | 384/900 [09:49<03:39,  2.35it/s]
 43%|████▎     | 385/900 [09:57<23:15,  2.71s/it]
 43%|████▎     | 386/900 [09:58<16:51,  1.97s/it]
 43%|████▎     | 387/900 [09:58<12:22,  1.45s/it]
 43%|████▎     | 388/900 [09:58<09:15,  1.08s/it]
 43%|████▎     | 389/900 [09:58<07:05,  1.20it/s]
 43%|████▎     | 390/900 [09:58<05:34,  1.53it/s]
 43%|████▎     | 391/900 [09:59<04:29,  1.89it/s]
 44%|████▎     | 392/900 [09:59<03:45,  2.25it/s]
 44%|████▎     | 393/900 [10:06<20:38,  2.44s/it]
 44%|████▍     | 394/900 [10:06<15:02,  1.78s/it]
 44%|████▍     | 395/900 [10:07<11:06,  1.32s/it]
 44%|████▍     | 396/900 [10:07<08:21,  1.00it/s]
 44%|████▍     | 397/900 [10:07<06:26,  1.30it/s]
 44%|████▍     | 398/900 [10:07<05:06,  1.64it/s]
 44%|████▍     | 399/900 [10:07<04:10,  2.00it/s]
 44%|████▍     | 400/900 [10:08<03:31,  2.37it/s]
 45%|████▍     | 401/900 [10:23<40:45,  4.90s/it]
 45%|████▍     | 402/900 [10:23<29:04,  3.50s/it]
 45%|████▍     | 403/900 [10:24<20:52,  2.52s/it]
 45%|████▍     | 404/900 [10:24<15:09,  1.83s/it]
 45%|████▌     | 405/900 [10:24<11:10,  1.35s/it]
 45%|████▌     | 406/900 [10:24<08:23,  1.02s/it]
 45%|████▌     | 407/900 [10:25<06:27,  1.27it/s]
 45%|████▌     | 408/900 [10:25<05:06,  1.60it/s]
 45%|████▌     | 409/900 [11:03<1:37:03, 11.86s/it]
 46%|████▌     | 410/900 [11:03<1:08:23,  8.37s/it]
 46%|████▌     | 411/900 [11:03<48:22,  5.94s/it]  
 46%|████▌     | 412/900 [11:04<34:22,  4.23s/it]
 46%|████▌     | 413/900 [11:04<24:35,  3.03s/it]
 46%|████▌     | 413/900 [11:04<13:03,  1.61s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/log_0_env0.json.
+RubiksCubeThenBananaTask_0 complete: task_name: RubiksCubeThenBananaTask, run_name: RubiksCubeThenBananaTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the cube then the banana in the bowl, attributes: ['conjunction', 'simple'], success: True, episode_step: 414, duration: 27.599999999999998, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.3355566166640855, 'joint_sparc_mean': -10.659873441471946, 'ee_isj': 1735.8540470737712, 'joint_isj': 45088.61800428445, 'ee_path_length': 3.333163867283158, 'joint_rmse_mean': 1.1090983948066864, 'ee_speed_max': 0.48271965980529785, 'ee_speed_mean': 0.11267837136983871}, events: {'GRIPPER_FULLY_CLOSED': 3, 'TARGET_OBJECT_DROPPED': 7, 'OBJECT_BUMPED': 3, 'GRIPPER_HIT_TABLE': 2, 'WRONG_OBJECT_GRABBED': 2, 'GRIPPER_HIT_OBJECT': 1, 'wrong_objects_grabbed': ['banana', 'banana']}, instruction_type: default, timing: {'policy_inference_s': 573.866, 'policy_inference_avg_ms': 1386.1, 'env_step_s': 86.659, 'env_step_avg_ms': 209.3, 'video_write_s': 3.789, 'video_write_avg_ms': 9.2, 'wall_total_s': 664.314, 'it_per_sec': 0.62}, score: 1.0, reason: Wrong object that was grabbed is now detached: 'banana', harness_episode_id: 8ced5381c1134603bb963ec310d20a48-0
+[RoboLab] Running RubiksCubeThenBananaTask_1: 'Put the cube then the banana in the bowl' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:26<6:32:25, 26.19s/it]
  0%|          | 2/900 [00:26<2:43:22, 10.92s/it]
  0%|          | 3/900 [00:26<1:30:09,  6.03s/it]
  0%|          | 4/900 [00:26<55:46,  3.74s/it]  
  1%|          | 5/900 [00:27<36:47,  2.47s/it]
  1%|          | 6/900 [00:27<25:21,  1.70s/it]
  1%|          | 7/900 [00:27<18:07,  1.22s/it]
  1%|          | 8/900 [00:27<13:22,  1.11it/s]
  1%|          | 9/900 [00:40<1:07:05,  4.52s/it]
  1%|          | 10/900 [00:40<47:18,  3.19s/it] 
  1%|          | 11/900 [00:40<33:44,  2.28s/it]
  1%|▏         | 12/900 [00:40<24:26,  1.65s/it]
  1%|▏         | 13/900 [00:41<17:59,  1.22s/it]
  2%|▏         | 14/900 [00:41<13:29,  1.09it/s]
  2%|▏         | 15/900 [00:41<10:21,  1.42it/s]
  2%|▏         | 16/900 [00:41<08:10,  1.80it/s]
  2%|▏         | 17/900 [00:51<46:54,  3.19s/it]
  2%|▏         | 18/900 [00:51<33:43,  2.29s/it]
  2%|▏         | 19/900 [00:51<24:29,  1.67s/it]
  2%|▏         | 20/900 [00:51<18:03,  1.23s/it]
  2%|▏         | 21/900 [00:51<13:34,  1.08it/s]
  2%|▏         | 22/900 [00:52<10:30,  1.39it/s]
  3%|▎         | 23/900 [00:52<08:19,  1.76it/s]
  3%|▎         | 24/900 [00:52<06:49,  2.14it/s]
  3%|▎         | 25/900 [01:01<42:55,  2.94s/it]
  3%|▎         | 26/900 [01:01<30:57,  2.13s/it]
  3%|▎         | 27/900 [01:01<22:35,  1.55s/it]
  3%|▎         | 28/900 [01:01<16:43,  1.15s/it]
  3%|▎         | 29/900 [01:02<12:37,  1.15it/s]
  3%|▎         | 30/900 [01:02<09:46,  1.48it/s]
  3%|▎         | 31/900 [01:02<07:45,  1.87it/s]
  4%|▎         | 32/900 [01:02<06:21,  2.27it/s]
  4%|▎         | 33/900 [01:07<25:27,  1.76s/it]
  4%|▍         | 34/900 [01:07<18:43,  1.30s/it]
  4%|▍         | 35/900 [01:08<13:59,  1.03it/s]
  4%|▍         | 36/900 [01:08<10:42,  1.34it/s]
  4%|▍         | 37/900 [01:08<08:25,  1.71it/s]
  4%|▍         | 38/900 [01:08<06:47,  2.11it/s]
  4%|▍         | 39/900 [01:08<05:40,  2.53it/s]
  4%|▍         | 40/900 [01:09<04:54,  2.92it/s]
  5%|▍         | 41/900 [01:19<46:23,  3.24s/it]
  5%|▍         | 42/900 [01:19<33:25,  2.34s/it]
  5%|▍         | 43/900 [01:19<24:20,  1.70s/it]
  5%|▍         | 44/900 [01:19<17:59,  1.26s/it]
  5%|▌         | 45/900 [01:20<13:31,  1.05it/s]
  5%|▌         | 46/900 [01:20<10:24,  1.37it/s]
  5%|▌         | 47/900 [01:20<08:15,  1.72it/s]
  5%|▌         | 48/900 [01:20<06:50,  2.07it/s]
  5%|▌         | 49/900 [01:30<44:28,  3.14s/it]
  6%|▌         | 50/900 [01:30<32:06,  2.27s/it]
  6%|▌         | 51/900 [01:30<23:27,  1.66s/it]
  6%|▌         | 52/900 [01:30<17:24,  1.23s/it]
  6%|▌         | 53/900 [01:30<13:08,  1.07it/s]
  6%|▌         | 54/900 [01:31<10:11,  1.38it/s]
  6%|▌         | 55/900 [01:31<08:07,  1.73it/s]
  6%|▌         | 56/900 [01:31<06:41,  2.10it/s]
  6%|▋         | 57/900 [01:40<42:24,  3.02s/it]
  6%|▋         | 58/900 [01:40<30:38,  2.18s/it]
  7%|▋         | 59/900 [01:41<22:24,  1.60s/it]
  7%|▋         | 60/900 [01:41<16:42,  1.19s/it]
  7%|▋         | 61/900 [01:41<12:43,  1.10it/s]
  7%|▋         | 62/900 [01:41<09:55,  1.41it/s]
  7%|▋         | 63/900 [01:42<07:58,  1.75it/s]
  7%|▋         | 64/900 [01:42<06:34,  2.12it/s]
  7%|▋         | 65/900 [01:48<32:16,  2.32s/it]
  7%|▋         | 66/900 [01:49<23:36,  1.70s/it]
  7%|▋         | 67/900 [01:49<17:32,  1.26s/it]
  8%|▊         | 68/900 [01:49<13:17,  1.04it/s]
  8%|▊         | 69/900 [01:49<10:18,  1.34it/s]
  8%|▊         | 70/900 [01:50<08:14,  1.68it/s]
  8%|▊         | 71/900 [01:50<06:47,  2.03it/s]
  8%|▊         | 72/900 [01:50<05:45,  2.39it/s]
  8%|▊         | 73/900 [02:05<1:05:05,  4.72s/it]
  8%|▊         | 74/900 [02:05<46:32,  3.38s/it]  
  8%|▊         | 75/900 [02:05<33:31,  2.44s/it]
  8%|▊         | 76/900 [02:06<24:27,  1.78s/it]
  9%|▊         | 77/900 [02:06<18:08,  1.32s/it]
  9%|▊         | 78/900 [02:06<13:43,  1.00s/it]
  9%|▉         | 79/900 [02:06<10:36,  1.29it/s]
  9%|▉         | 80/900 [02:07<08:26,  1.62it/s]
  9%|▉         | 81/900 [02:27<1:29:13,  6.54s/it]
  9%|▉         | 82/900 [02:27<1:03:26,  4.65s/it]
  9%|▉         | 83/900 [02:28<45:24,  3.34s/it]  
  9%|▉         | 84/900 [02:28<32:49,  2.41s/it]
  9%|▉         | 85/900 [02:28<23:59,  1.77s/it]
 10%|▉         | 86/900 [02:28<17:46,  1.31s/it]
 10%|▉         | 87/900 [02:29<13:26,  1.01it/s]
 10%|▉         | 88/900 [02:29<10:25,  1.30it/s]
 10%|▉         | 89/900 [02:33<22:51,  1.69s/it]
 10%|█         | 90/900 [02:33<16:54,  1.25s/it]
 10%|█         | 91/900 [02:33<12:41,  1.06it/s]
 10%|█         | 92/900 [02:33<09:44,  1.38it/s]
 10%|█         | 93/900 [02:34<07:40,  1.75it/s]
 10%|█         | 94/900 [02:34<06:15,  2.15it/s]
 11%|█         | 95/900 [02:34<05:14,  2.56it/s]
 11%|█         | 96/900 [02:34<04:33,  2.94it/s]
 11%|█         | 97/900 [02:38<18:39,  1.39s/it]
 11%|█         | 98/900 [02:38<13:54,  1.04s/it]
 11%|█         | 99/900 [02:39<10:37,  1.26it/s]
 11%|█         | 100/900 [02:39<08:20,  1.60it/s]
 11%|█         | 101/900 [02:39<06:42,  1.98it/s]
 11%|█▏        | 102/900 [02:39<05:32,  2.40it/s]
 11%|█▏        | 103/900 [02:39<04:42,  2.82it/s]
 12%|█▏        | 104/900 [02:40<04:08,  3.20it/s]
 12%|█▏        | 105/900 [02:51<48:25,  3.65s/it]
 12%|█▏        | 106/900 [02:51<34:42,  2.62s/it]
 12%|█▏        | 107/900 [02:51<25:07,  1.90s/it]
 12%|█▏        | 108/900 [02:52<18:26,  1.40s/it]
 12%|█▏        | 109/900 [02:52<13:44,  1.04s/it]
 12%|█▏        | 110/900 [02:52<10:27,  1.26it/s]
 12%|█▏        | 111/900 [02:52<08:10,  1.61it/s]
 12%|█▏        | 112/900 [02:53<06:34,  2.00it/s]
 13%|█▎        | 113/900 [02:58<24:41,  1.88s/it]
 13%|█▎        | 114/900 [02:58<18:06,  1.38s/it]
 13%|█▎        | 115/900 [02:58<13:30,  1.03s/it]
 13%|█▎        | 116/900 [02:58<10:17,  1.27it/s]
 13%|█▎        | 117/900 [02:59<08:03,  1.62it/s]
 13%|█▎        | 118/900 [02:59<06:34,  1.98it/s]
 13%|█▎        | 119/900 [02:59<05:29,  2.37it/s]
 13%|█▎        | 120/900 [02:59<04:45,  2.74it/s]
 13%|█▎        | 121/900 [03:04<23:39,  1.82s/it]
 14%|█▎        | 122/900 [03:05<17:28,  1.35s/it]
 14%|█▎        | 123/900 [03:05<13:07,  1.01s/it]
 14%|█▍        | 124/900 [03:05<10:07,  1.28it/s]
 14%|█▍        | 125/900 [03:05<08:01,  1.61it/s]
 14%|█▍        | 126/900 [03:06<06:32,  1.97it/s]
 14%|█▍        | 127/900 [03:06<05:30,  2.34it/s]
 14%|█▍        | 128/900 [03:06<04:47,  2.68it/s]
 14%|█▍        | 129/900 [03:11<21:28,  1.67s/it]
 14%|█▍        | 130/900 [03:11<15:56,  1.24s/it]
 15%|█▍        | 131/900 [03:11<12:05,  1.06it/s]
 15%|█▍        | 132/900 [03:12<09:20,  1.37it/s]
 15%|█▍        | 133/900 [03:12<07:26,  1.72it/s]
 15%|█▍        | 134/900 [03:12<06:06,  2.09it/s]
 15%|█▌        | 135/900 [03:12<05:10,  2.46it/s]
 15%|█▌        | 136/900 [03:13<04:31,  2.82it/s]
 15%|█▌        | 137/900 [03:25<52:34,  4.13s/it]
 15%|█▌        | 138/900 [03:26<37:41,  2.97s/it]
 15%|█▌        | 139/900 [03:26<27:18,  2.15s/it]
 16%|█▌        | 140/900 [03:26<20:00,  1.58s/it]
 16%|█▌        | 141/900 [03:26<14:55,  1.18s/it]
 16%|█▌        | 142/900 [03:27<11:19,  1.12it/s]
 16%|█▌        | 143/900 [03:27<08:44,  1.44it/s]
 16%|█▌        | 144/900 [03:27<06:55,  1.82it/s]
 16%|█▌        | 145/900 [03:33<28:17,  2.25s/it]
 16%|█▌        | 146/900 [03:34<20:36,  1.64s/it]
 16%|█▋        | 147/900 [03:34<15:11,  1.21s/it]
 16%|█▋        | 148/900 [03:34<11:26,  1.09it/s]
 17%|█▋        | 149/900 [03:34<08:49,  1.42it/s]
 17%|█▋        | 150/900 [03:34<06:59,  1.79it/s]
 17%|█▋        | 151/900 [03:35<05:41,  2.19it/s]
 17%|█▋        | 152/900 [03:35<04:46,  2.61it/s]
 17%|█▋        | 153/900 [03:40<23:29,  1.89s/it]
 17%|█▋        | 154/900 [03:40<17:12,  1.38s/it]
 17%|█▋        | 155/900 [03:41<12:49,  1.03s/it]
 17%|█▋        | 156/900 [03:41<09:44,  1.27it/s]
 17%|█▋        | 157/900 [03:41<07:36,  1.63it/s]
 18%|█▊        | 158/900 [03:41<06:06,  2.02it/s]
 18%|█▊        | 159/900 [03:42<05:04,  2.43it/s]
 18%|█▊        | 160/900 [03:42<04:21,  2.83it/s]
 18%|█▊        | 161/900 [03:54<49:07,  3.99s/it]
 18%|█▊        | 162/900 [03:54<35:13,  2.86s/it]
 18%|█▊        | 163/900 [03:55<25:28,  2.07s/it]
 18%|█▊        | 164/900 [03:55<18:41,  1.52s/it]
 18%|█▊        | 165/900 [03:55<13:56,  1.14s/it]
 18%|█▊        | 166/900 [03:55<10:35,  1.16it/s]
 19%|█▊        | 167/900 [03:56<08:13,  1.48it/s]
 19%|█▊        | 168/900 [03:56<06:36,  1.85it/s]
 19%|█▉        | 169/900 [04:02<28:13,  2.32s/it]
 19%|█▉        | 170/900 [04:03<20:33,  1.69s/it]
 19%|█▉        | 171/900 [04:03<15:12,  1.25s/it]
 19%|█▉        | 172/900 [04:03<11:28,  1.06it/s]
 19%|█▉        | 173/900 [04:03<08:51,  1.37it/s]
 19%|█▉        | 174/900 [04:03<07:01,  1.72it/s]
 19%|█▉        | 175/900 [04:04<05:44,  2.11it/s]
 20%|█▉        | 176/900 [04:04<04:51,  2.48it/s]
 20%|█▉        | 177/900 [04:09<22:58,  1.91s/it]
 20%|█▉        | 178/900 [04:10<16:53,  1.40s/it]
 20%|█▉        | 179/900 [04:10<12:40,  1.05s/it]
 20%|██        | 180/900 [04:10<09:43,  1.23it/s]
 20%|██        | 181/900 [04:10<07:40,  1.56it/s]
 20%|██        | 182/900 [04:11<06:14,  1.92it/s]
 20%|██        | 183/900 [04:11<05:12,  2.29it/s]
 20%|██        | 184/900 [04:11<04:30,  2.65it/s]
 21%|██        | 185/900 [04:26<56:33,  4.75s/it]
 21%|██        | 186/900 [04:26<40:24,  3.40s/it]
 21%|██        | 187/900 [04:26<29:06,  2.45s/it]
 21%|██        | 188/900 [04:27<21:10,  1.79s/it]
 21%|██        | 189/900 [04:27<15:38,  1.32s/it]
 21%|██        | 190/900 [04:27<11:47,  1.00it/s]
 21%|██        | 191/900 [04:27<09:05,  1.30it/s]
 21%|██▏       | 192/900 [04:28<07:12,  1.64it/s]
 21%|██▏       | 193/900 [04:37<39:09,  3.32s/it]
 22%|██▏       | 194/900 [04:38<28:14,  2.40s/it]
 22%|██▏       | 195/900 [04:38<20:35,  1.75s/it]
 22%|██▏       | 196/900 [04:38<15:13,  1.30s/it]
 22%|██▏       | 197/900 [04:38<11:28,  1.02it/s]
 22%|██▏       | 198/900 [04:39<08:52,  1.32it/s]
 22%|██▏       | 199/900 [04:39<07:01,  1.66it/s]
 22%|██▏       | 200/900 [04:39<05:45,  2.03it/s]
 22%|██▏       | 201/900 [04:47<32:03,  2.75s/it]
 22%|██▏       | 202/900 [04:47<23:15,  2.00s/it]
 23%|██▎       | 203/900 [04:48<17:06,  1.47s/it]
 23%|██▎       | 204/900 [04:48<12:48,  1.10s/it]
 23%|██▎       | 205/900 [04:48<09:47,  1.18it/s]
 23%|██▎       | 206/900 [04:48<07:41,  1.50it/s]
 23%|██▎       | 207/900 [04:48<06:14,  1.85it/s]
 23%|██▎       | 208/900 [04:49<05:11,  2.22it/s]
 23%|██▎       | 208/900 [04:56<16:25,  1.42s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/log_1_env0.json.
+RubiksCubeThenBananaTask_1 complete: task_name: RubiksCubeThenBananaTask, run_name: RubiksCubeThenBananaTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the cube then the banana in the bowl, attributes: ['conjunction', 'simple'], success: True, episode_step: 209, duration: 13.933333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.511972127111519, 'joint_sparc_mean': -7.0137147229037184, 'ee_isj': 1111.7510739083918, 'joint_isj': 23861.58191862586, 'ee_path_length': 1.7493887810894952, 'joint_rmse_mean': 1.0615133464285809, 'ee_speed_max': 0.3819318115711212, 'ee_speed_mean': 0.12075278162956238}, events: {'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 6, 'GRIPPER_FULLY_CLOSED': 1, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_HIT_OBJECT': 1, 'MULTIPLE_OBJECTS_GRABBED': 1, 'wrong_objects_grabbed': ['rubiks_cube']}, instruction_type: default, timing: {'policy_inference_s': 249.329, 'policy_inference_avg_ms': 1193.0, 'env_step_s': 44.598, 'env_step_avg_ms': 213.4, 'video_write_s': 2.124, 'video_write_avg_ms': 10.2, 'wall_total_s': 296.052, 'it_per_sec': 0.71}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 60f5a05eab4044339bc7fabf34d09ba9-1
+[RoboLab] Running RubiksCubeThenBananaTask_2: 'Put the cube then the banana in the bowl' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:31<7:58:54, 31.96s/it]
  0%|          | 2/900 [00:32<3:18:55, 13.29s/it]
  0%|          | 3/900 [00:32<1:49:27,  7.32s/it]
  0%|          | 4/900 [00:32<1:07:27,  4.52s/it]
  1%|          | 5/900 [00:32<44:14,  2.97s/it]  
  1%|          | 6/900 [00:33<30:14,  2.03s/it]
  1%|          | 7/900 [00:33<21:23,  1.44s/it]
  1%|          | 8/900 [00:33<15:35,  1.05s/it]
  1%|          | 9/900 [00:39<39:40,  2.67s/it]
  1%|          | 10/900 [00:39<28:22,  1.91s/it]
  1%|          | 11/900 [00:40<20:37,  1.39s/it]
  1%|▏         | 12/900 [00:40<15:17,  1.03s/it]
  1%|▏         | 13/900 [00:40<11:36,  1.27it/s]
  2%|▏         | 14/900 [00:40<09:02,  1.63it/s]
  2%|▏         | 15/900 [00:41<07:15,  2.03it/s]
  2%|▏         | 16/900 [00:41<06:00,  2.45it/s]
  2%|▏         | 17/900 [00:51<50:55,  3.46s/it]
  2%|▏         | 18/900 [00:51<36:31,  2.49s/it]
  2%|▏         | 19/900 [00:52<26:29,  1.80s/it]
  2%|▏         | 20/900 [00:52<19:27,  1.33s/it]
  2%|▏         | 21/900 [00:52<14:33,  1.01it/s]
  2%|▏         | 22/900 [00:52<11:06,  1.32it/s]
  3%|▎         | 23/900 [00:53<08:41,  1.68it/s]
  3%|▎         | 24/900 [00:53<07:03,  2.07it/s]
  3%|▎         | 25/900 [01:00<35:53,  2.46s/it]
  3%|▎         | 26/900 [01:00<26:02,  1.79s/it]
  3%|▎         | 27/900 [01:00<19:08,  1.32s/it]
  3%|▎         | 28/900 [01:01<14:19,  1.01it/s]
  3%|▎         | 29/900 [01:01<10:57,  1.33it/s]
  3%|▎         | 30/900 [01:01<08:34,  1.69it/s]
  3%|▎         | 31/900 [01:01<06:56,  2.09it/s]
  4%|▎         | 32/900 [01:01<05:46,  2.50it/s]
  4%|▎         | 33/900 [01:11<45:28,  3.15s/it]
  4%|▍         | 34/900 [01:11<32:43,  2.27s/it]
  4%|▍         | 35/900 [01:11<23:47,  1.65s/it]
  4%|▍         | 36/900 [01:12<17:33,  1.22s/it]
  4%|▍         | 37/900 [01:12<13:11,  1.09it/s]
  4%|▍         | 38/900 [01:12<10:08,  1.42it/s]
  4%|▍         | 39/900 [01:12<08:05,  1.77it/s]
  4%|▍         | 40/900 [01:12<06:42,  2.14it/s]
  5%|▍         | 41/900 [01:25<1:00:17,  4.21s/it]
  5%|▍         | 42/900 [01:26<43:04,  3.01s/it]  
  5%|▍         | 43/900 [01:26<31:00,  2.17s/it]
  5%|▍         | 44/900 [01:26<22:34,  1.58s/it]
  5%|▌         | 45/900 [01:26<16:41,  1.17s/it]
  5%|▌         | 46/900 [01:26<12:34,  1.13it/s]
  5%|▌         | 47/900 [01:27<09:41,  1.47it/s]
  5%|▌         | 48/900 [01:27<07:42,  1.84it/s]
  5%|▌         | 49/900 [01:35<40:52,  2.88s/it]
  6%|▌         | 50/900 [01:35<29:31,  2.08s/it]
  6%|▌         | 51/900 [01:36<21:34,  1.53s/it]
  6%|▌         | 52/900 [01:36<16:00,  1.13s/it]
  6%|▌         | 53/900 [01:36<12:06,  1.17it/s]
  6%|▌         | 54/900 [01:36<09:22,  1.50it/s]
  6%|▌         | 55/900 [01:37<07:28,  1.88it/s]
  6%|▌         | 56/900 [01:37<06:10,  2.28it/s]
  6%|▋         | 57/900 [01:44<36:41,  2.61s/it]
  6%|▋         | 58/900 [01:45<26:38,  1.90s/it]
  7%|▋         | 59/900 [01:45<19:38,  1.40s/it]
  7%|▋         | 60/900 [01:45<14:44,  1.05s/it]
  7%|▋         | 61/900 [01:45<11:20,  1.23it/s]
  7%|▋         | 62/900 [01:46<08:53,  1.57it/s]
  7%|▋         | 63/900 [01:46<07:12,  1.94it/s]
  7%|▋         | 64/900 [01:46<06:01,  2.31it/s]
  7%|▋         | 65/900 [01:54<36:41,  2.64s/it]
  7%|▋         | 66/900 [01:54<26:38,  1.92s/it]
  7%|▋         | 67/900 [01:54<19:36,  1.41s/it]
  8%|▊         | 68/900 [01:55<14:41,  1.06s/it]
  8%|▊         | 69/900 [01:55<11:14,  1.23it/s]
  8%|▊         | 70/900 [01:55<08:49,  1.57it/s]
  8%|▊         | 71/900 [01:55<07:08,  1.93it/s]
  8%|▊         | 72/900 [01:56<05:57,  2.31it/s]
  8%|▊         | 73/900 [02:01<27:44,  2.01s/it]
  8%|▊         | 74/900 [02:01<20:20,  1.48s/it]
  8%|▊         | 75/900 [02:02<15:11,  1.10s/it]
  8%|▊         | 76/900 [02:02<11:35,  1.18it/s]
  9%|▊         | 77/900 [02:02<09:04,  1.51it/s]
  9%|▊         | 78/900 [02:02<07:17,  1.88it/s]
  9%|▉         | 79/900 [02:03<06:03,  2.26it/s]
  9%|▉         | 80/900 [02:03<05:12,  2.63it/s]
  9%|▉         | 81/900 [02:13<44:39,  3.27s/it]
  9%|▉         | 82/900 [02:13<32:12,  2.36s/it]
  9%|▉         | 83/900 [02:13<23:31,  1.73s/it]
  9%|▉         | 84/900 [02:14<17:26,  1.28s/it]
  9%|▉         | 85/900 [02:14<13:09,  1.03it/s]
 10%|▉         | 86/900 [02:14<10:08,  1.34it/s]
 10%|▉         | 87/900 [02:14<07:57,  1.70it/s]
 10%|▉         | 88/900 [02:15<06:25,  2.10it/s]
 10%|▉         | 89/900 [02:37<1:34:54,  7.02s/it]
 10%|█         | 90/900 [02:37<1:07:13,  4.98s/it]
 10%|█         | 91/900 [02:37<47:52,  3.55s/it]  
 10%|█         | 92/900 [02:37<34:20,  2.55s/it]
 10%|█         | 93/900 [02:38<24:51,  1.85s/it]
 10%|█         | 94/900 [02:38<18:13,  1.36s/it]
 11%|█         | 95/900 [02:38<13:36,  1.01s/it]
 11%|█         | 96/900 [02:38<10:22,  1.29it/s]
 11%|█         | 97/900 [03:10<2:13:36,  9.98s/it]
 11%|█         | 98/900 [03:10<1:34:16,  7.05s/it]
 11%|█         | 99/900 [03:10<1:06:45,  5.00s/it]
 11%|█         | 100/900 [03:10<47:31,  3.56s/it] 
 11%|█         | 101/900 [03:11<34:04,  2.56s/it]
 11%|█▏        | 102/900 [03:11<24:40,  1.85s/it]
 11%|█▏        | 103/900 [03:11<18:05,  1.36s/it]
 12%|█▏        | 104/900 [03:11<13:29,  1.02s/it]
 12%|█▏        | 105/900 [03:29<1:19:51,  6.03s/it]
 12%|█▏        | 106/900 [03:29<56:40,  4.28s/it]  
 12%|█▏        | 107/900 [03:29<40:28,  3.06s/it]
 12%|█▏        | 108/900 [03:30<29:12,  2.21s/it]
 12%|█▏        | 109/900 [03:30<21:19,  1.62s/it]
 12%|█▏        | 110/900 [03:30<15:44,  1.20s/it]
 12%|█▏        | 111/900 [03:30<11:51,  1.11it/s]
 12%|█▏        | 112/900 [03:31<09:08,  1.44it/s]
 13%|█▎        | 113/900 [03:48<1:13:18,  5.59s/it]
 13%|█▎        | 114/900 [03:48<52:05,  3.98s/it]  
 13%|█▎        | 115/900 [03:48<37:15,  2.85s/it]
 13%|█▎        | 116/900 [03:48<26:52,  2.06s/it]
 13%|█▎        | 117/900 [03:48<19:41,  1.51s/it]
 13%|█▎        | 118/900 [03:49<14:43,  1.13s/it]
 13%|█▎        | 119/900 [03:49<11:13,  1.16it/s]
 13%|█▎        | 120/900 [03:49<08:46,  1.48it/s]
 13%|█▎        | 121/900 [03:59<43:52,  3.38s/it]
 14%|█▎        | 122/900 [03:59<31:30,  2.43s/it]
 14%|█▎        | 123/900 [03:59<22:51,  1.77s/it]
 14%|█▍        | 124/900 [03:59<16:48,  1.30s/it]
 14%|█▍        | 125/900 [04:00<12:39,  1.02it/s]
 14%|█▍        | 126/900 [04:00<09:45,  1.32it/s]
 14%|█▍        | 127/900 [04:00<07:44,  1.66it/s]
 14%|█▍        | 128/900 [04:00<06:17,  2.05it/s]
 14%|█▍        | 129/900 [04:15<1:00:06,  4.68s/it]
 14%|█▍        | 130/900 [04:15<42:54,  3.34s/it]  
 15%|█▍        | 131/900 [04:15<30:53,  2.41s/it]
 15%|█▍        | 132/900 [04:16<22:30,  1.76s/it]
 15%|█▍        | 133/900 [04:16<16:37,  1.30s/it]
 15%|█▍        | 134/900 [04:16<12:29,  1.02it/s]
 15%|█▌        | 135/900 [04:16<09:37,  1.33it/s]
 15%|█▌        | 136/900 [04:16<07:36,  1.67it/s]
 15%|█▌        | 137/900 [04:52<2:22:10, 11.18s/it]
 15%|█▌        | 138/900 [04:53<1:40:16,  7.90s/it]
 15%|█▌        | 139/900 [04:53<1:10:56,  5.59s/it]
 16%|█▌        | 140/900 [04:53<50:24,  3.98s/it]  
 16%|█▌        | 141/900 [04:53<36:02,  2.85s/it]
 16%|█▌        | 142/900 [04:53<25:59,  2.06s/it]
 16%|█▌        | 143/900 [04:54<18:58,  1.50s/it]
 16%|█▌        | 144/900 [04:54<14:03,  1.12s/it]
 16%|█▌        | 145/900 [05:01<35:07,  2.79s/it]
 16%|█▌        | 146/900 [05:01<25:21,  2.02s/it]
 16%|█▋        | 147/900 [05:01<18:33,  1.48s/it]
 16%|█▋        | 148/900 [05:01<13:47,  1.10s/it]
 17%|█▋        | 149/900 [05:01<10:27,  1.20it/s]
 17%|█▋        | 150/900 [05:02<08:07,  1.54it/s]
 17%|█▋        | 151/900 [05:02<06:29,  1.92it/s]
 17%|█▋        | 152/900 [05:02<05:21,  2.33it/s]
 17%|█▋        | 153/900 [05:08<24:25,  1.96s/it]
 17%|█▋        | 154/900 [05:08<17:53,  1.44s/it]
 17%|█▋        | 155/900 [05:08<13:18,  1.07s/it]
 17%|█▋        | 156/900 [05:08<10:06,  1.23it/s]
 17%|█▋        | 157/900 [05:08<07:51,  1.57it/s]
 18%|█▊        | 158/900 [05:09<06:21,  1.94it/s]
 18%|█▊        | 159/900 [05:09<05:20,  2.31it/s]
 18%|█▊        | 160/900 [05:09<04:36,  2.68it/s]
 18%|█▊        | 161/900 [05:16<28:21,  2.30s/it]
 18%|█▊        | 162/900 [05:16<20:42,  1.68s/it]
 18%|█▊        | 163/900 [05:16<15:19,  1.25s/it]
 18%|█▊        | 164/900 [05:17<11:35,  1.06it/s]
 18%|█▊        | 165/900 [05:17<08:58,  1.37it/s]
 18%|█▊        | 166/900 [05:17<07:08,  1.71it/s]
 19%|█▊        | 167/900 [05:17<05:50,  2.09it/s]
 19%|█▊        | 168/900 [05:18<04:57,  2.46it/s]
 19%|█▉        | 169/900 [05:28<41:48,  3.43s/it]
 19%|█▉        | 170/900 [05:28<30:04,  2.47s/it]
 19%|█▉        | 171/900 [05:29<21:52,  1.80s/it]
 19%|█▉        | 172/900 [05:29<16:08,  1.33s/it]
 19%|█▉        | 173/900 [05:29<12:08,  1.00s/it]
 19%|█▉        | 174/900 [05:29<09:21,  1.29it/s]
 19%|█▉        | 175/900 [05:30<07:23,  1.64it/s]
 20%|█▉        | 176/900 [05:30<06:01,  2.00it/s]
 20%|█▉        | 177/900 [05:37<31:45,  2.63s/it]
 20%|█▉        | 178/900 [05:38<23:04,  1.92s/it]
 20%|█▉        | 179/900 [05:38<17:02,  1.42s/it]
 20%|██        | 180/900 [05:38<12:48,  1.07s/it]
 20%|██        | 181/900 [05:38<09:49,  1.22it/s]
 20%|██        | 182/900 [05:39<07:44,  1.54it/s]
 20%|██        | 183/900 [05:39<06:17,  1.90it/s]
 20%|██        | 184/900 [05:39<05:14,  2.27it/s]
 21%|██        | 185/900 [05:46<29:03,  2.44s/it]
 21%|██        | 186/900 [05:46<21:11,  1.78s/it]
 21%|██        | 187/900 [05:47<15:41,  1.32s/it]
 21%|██        | 188/900 [05:47<11:52,  1.00s/it]
 21%|██        | 189/900 [05:47<09:09,  1.29it/s]
 21%|██        | 190/900 [05:47<07:16,  1.63it/s]
 21%|██        | 191/900 [05:48<05:57,  1.98it/s]
 21%|██▏       | 192/900 [05:48<05:02,  2.34it/s]
 21%|██▏       | 193/900 [05:58<40:08,  3.41s/it]
 22%|██▏       | 194/900 [05:59<28:56,  2.46s/it]
 22%|██▏       | 195/900 [05:59<21:04,  1.79s/it]
 22%|██▏       | 196/900 [05:59<15:35,  1.33s/it]
 22%|██▏       | 197/900 [05:59<11:45,  1.00s/it]
 22%|██▏       | 198/900 [06:00<09:05,  1.29it/s]
 22%|██▏       | 199/900 [06:00<07:12,  1.62it/s]
 22%|██▏       | 200/900 [06:00<05:53,  1.98it/s]
 22%|██▏       | 201/900 [06:10<39:19,  3.38s/it]
 22%|██▏       | 202/900 [06:10<28:23,  2.44s/it]
 23%|██▎       | 203/900 [06:11<20:41,  1.78s/it]
 23%|██▎       | 204/900 [06:11<15:18,  1.32s/it]
 23%|██▎       | 205/900 [06:11<11:32,  1.00it/s]
 23%|██▎       | 206/900 [06:11<08:55,  1.30it/s]
 23%|██▎       | 207/900 [06:12<07:04,  1.63it/s]
 23%|██▎       | 208/900 [06:12<05:49,  1.98it/s]
 23%|██▎       | 209/900 [06:33<1:16:40,  6.66s/it]
 23%|██▎       | 210/900 [06:33<54:26,  4.73s/it]  
 23%|██▎       | 211/900 [06:33<38:54,  3.39s/it]
 24%|██▎       | 212/900 [06:34<28:01,  2.44s/it]
 24%|██▎       | 213/900 [06:34<20:23,  1.78s/it]
 24%|██▍       | 214/900 [06:34<15:02,  1.32s/it]
 24%|██▍       | 215/900 [06:34<11:19,  1.01it/s]
 24%|██▍       | 216/900 [06:35<08:45,  1.30it/s]
 24%|██▍       | 217/900 [06:41<28:47,  2.53s/it]
 24%|██▍       | 218/900 [06:41<20:54,  1.84s/it]
 24%|██▍       | 219/900 [06:42<15:21,  1.35s/it]
 24%|██▍       | 220/900 [06:42<11:30,  1.02s/it]
 25%|██▍       | 221/900 [06:42<08:47,  1.29it/s]
 25%|██▍       | 222/900 [06:42<06:53,  1.64it/s]
 25%|██▍       | 223/900 [06:42<05:32,  2.04it/s]
 25%|██▍       | 224/900 [06:43<04:36,  2.45it/s]
 25%|██▌       | 225/900 [07:01<1:04:36,  5.74s/it]
 25%|██▌       | 226/900 [07:01<45:53,  4.09s/it]  
 25%|██▌       | 227/900 [07:01<32:47,  2.92s/it]
 25%|██▌       | 228/900 [07:02<23:38,  2.11s/it]
 25%|██▌       | 229/900 [07:02<17:15,  1.54s/it]
 26%|██▌       | 230/900 [07:02<12:46,  1.14s/it]
 26%|██▌       | 231/900 [07:02<09:38,  1.16it/s]
 26%|██▌       | 232/900 [07:02<07:27,  1.49it/s]
 26%|██▌       | 233/900 [07:12<35:54,  3.23s/it]
 26%|██▌       | 234/900 [07:12<25:49,  2.33s/it]
 26%|██▌       | 235/900 [07:12<18:45,  1.69s/it]
 26%|██▌       | 236/900 [07:12<13:48,  1.25s/it]
 26%|██▋       | 237/900 [07:12<10:21,  1.07it/s]
 26%|██▋       | 238/900 [07:13<07:57,  1.39it/s]
 27%|██▋       | 239/900 [07:13<06:16,  1.76it/s]
 27%|██▋       | 240/900 [07:13<05:05,  2.16it/s]
 27%|██▋       | 241/900 [07:21<30:40,  2.79s/it]
 27%|██▋       | 242/900 [07:22<22:08,  2.02s/it]
 27%|██▋       | 243/900 [07:22<16:10,  1.48s/it]
 27%|██▋       | 244/900 [07:22<12:01,  1.10s/it]
 27%|██▋       | 245/900 [07:22<09:06,  1.20it/s]
 27%|██▋       | 246/900 [07:22<07:02,  1.55it/s]
 27%|██▋       | 247/900 [07:23<05:37,  1.94it/s]
 28%|██▊       | 248/900 [07:23<04:37,  2.35it/s]
 28%|██▊       | 249/900 [07:33<36:45,  3.39s/it]
 28%|██▊       | 250/900 [07:33<26:23,  2.44s/it]
 28%|██▊       | 251/900 [07:34<19:08,  1.77s/it]
 28%|██▊       | 252/900 [07:34<14:03,  1.30s/it]
 28%|██▊       | 253/900 [07:34<10:32,  1.02it/s]
 28%|██▊       | 254/900 [07:34<08:03,  1.34it/s]
 28%|██▊       | 255/900 [07:34<06:19,  1.70it/s]
 28%|██▊       | 256/900 [07:35<05:06,  2.10it/s]
 29%|██▊       | 257/900 [07:48<48:06,  4.49s/it]
 29%|██▊       | 258/900 [07:49<34:18,  3.21s/it]
 29%|██▉       | 259/900 [07:49<24:40,  2.31s/it]
 29%|██▉       | 260/900 [07:49<17:55,  1.68s/it]
 29%|██▉       | 261/900 [07:49<13:13,  1.24s/it]
 29%|██▉       | 262/900 [07:50<09:55,  1.07it/s]
 29%|██▉       | 263/900 [07:50<07:37,  1.39it/s]
 29%|██▉       | 264/900 [07:50<06:00,  1.77it/s]
 29%|██▉       | 265/900 [07:59<33:19,  3.15s/it]
 30%|██▉       | 266/900 [07:59<23:58,  2.27s/it]
 30%|██▉       | 267/900 [08:00<17:25,  1.65s/it]
 30%|██▉       | 268/900 [08:00<12:51,  1.22s/it]
 30%|██▉       | 269/900 [08:00<09:40,  1.09it/s]
 30%|███       | 270/900 [08:00<07:25,  1.41it/s]
 30%|███       | 271/900 [08:00<05:52,  1.79it/s]
 30%|███       | 272/900 [08:01<04:46,  2.19it/s]
 30%|███       | 273/900 [08:08<27:46,  2.66s/it]
 30%|███       | 274/900 [08:09<20:04,  1.92s/it]
 31%|███       | 275/900 [08:09<14:42,  1.41s/it]
 31%|███       | 276/900 [08:09<10:56,  1.05s/it]
 31%|███       | 277/900 [08:09<08:19,  1.25it/s]
 31%|███       | 278/900 [08:10<06:28,  1.60it/s]
 31%|███       | 279/900 [08:10<05:11,  1.99it/s]
 31%|███       | 280/900 [08:10<04:19,  2.39it/s]
 31%|███       | 281/900 [08:19<32:16,  3.13s/it]
 31%|███▏      | 282/900 [08:20<23:19,  2.26s/it]
 31%|███▏      | 283/900 [08:20<17:03,  1.66s/it]
 32%|███▏      | 284/900 [08:20<12:39,  1.23s/it]
 32%|███▏      | 285/900 [08:20<09:35,  1.07it/s]
 32%|███▏      | 286/900 [08:21<07:26,  1.37it/s]
 32%|███▏      | 287/900 [08:21<05:55,  1.73it/s]
 32%|███▏      | 288/900 [08:21<04:50,  2.11it/s]
 32%|███▏      | 289/900 [08:27<22:46,  2.24s/it]
 32%|███▏      | 290/900 [08:28<16:36,  1.63s/it]
 32%|███▏      | 291/900 [08:28<12:17,  1.21s/it]
 32%|███▏      | 292/900 [08:28<09:18,  1.09it/s]
 33%|███▎      | 293/900 [08:28<07:13,  1.40it/s]
 33%|███▎      | 294/900 [08:29<05:45,  1.75it/s]
 33%|███▎      | 295/900 [08:29<04:43,  2.13it/s]
 33%|███▎      | 296/900 [08:29<04:01,  2.50it/s]
 33%|███▎      | 297/900 [08:36<24:51,  2.47s/it]
 33%|███▎      | 298/900 [08:37<18:05,  1.80s/it]
 33%|███▎      | 299/900 [08:37<13:22,  1.33s/it]
 33%|███▎      | 300/900 [08:37<10:03,  1.01s/it]
 33%|███▎      | 301/900 [08:37<07:43,  1.29it/s]
 34%|███▎      | 302/900 [08:38<06:07,  1.63it/s]
 34%|███▎      | 303/900 [08:38<05:00,  1.99it/s]
 34%|███▍      | 304/900 [08:38<04:12,  2.36it/s]
 34%|███▍      | 305/900 [08:45<24:18,  2.45s/it]
 34%|███▍      | 306/900 [08:45<17:43,  1.79s/it]
 34%|███▍      | 307/900 [08:46<13:06,  1.33s/it]
 34%|███▍      | 308/900 [08:46<09:53,  1.00s/it]
 34%|███▍      | 309/900 [08:46<07:38,  1.29it/s]
 34%|███▍      | 310/900 [08:46<06:03,  1.62it/s]
 35%|███▍      | 311/900 [08:47<04:56,  1.99it/s]
 35%|███▍      | 312/900 [08:47<04:09,  2.36it/s]
 35%|███▍      | 313/900 [09:03<49:37,  5.07s/it]
 35%|███▍      | 314/900 [09:03<35:23,  3.62s/it]
 35%|███▌      | 315/900 [09:03<25:26,  2.61s/it]
 35%|███▌      | 316/900 [09:04<18:29,  1.90s/it]
 35%|███▌      | 317/900 [09:04<13:38,  1.40s/it]
 35%|███▌      | 318/900 [09:04<10:14,  1.06s/it]
 35%|███▌      | 319/900 [09:04<07:52,  1.23it/s]
 36%|███▌      | 320/900 [09:05<06:13,  1.55it/s]
 36%|███▌      | 321/900 [09:25<1:02:45,  6.50s/it]
 36%|███▌      | 322/900 [09:25<44:34,  4.63s/it]  
 36%|███▌      | 323/900 [09:25<31:51,  3.31s/it]
 36%|███▌      | 324/900 [09:25<22:58,  2.39s/it]
 36%|███▌      | 325/900 [09:26<16:45,  1.75s/it]
 36%|███▌      | 326/900 [09:26<12:24,  1.30s/it]
 36%|███▋      | 327/900 [09:26<09:21,  1.02it/s]
 36%|███▋      | 328/900 [09:26<07:14,  1.32it/s]
 37%|███▋      | 329/900 [09:41<46:01,  4.84s/it]
 37%|███▋      | 330/900 [09:41<32:52,  3.46s/it]
 37%|███▋      | 331/900 [09:41<23:39,  2.50s/it]
 37%|███▋      | 332/900 [09:42<17:13,  1.82s/it]
 37%|███▋      | 333/900 [09:42<12:43,  1.35s/it]
 37%|███▋      | 334/900 [09:42<09:34,  1.01s/it]
 37%|███▋      | 335/900 [09:42<07:21,  1.28it/s]
 37%|███▋      | 336/900 [09:43<05:49,  1.62it/s]
 37%|███▋      | 337/900 [09:50<24:09,  2.57s/it]
 38%|███▊      | 338/900 [09:50<17:33,  1.88s/it]
 38%|███▊      | 339/900 [09:50<12:57,  1.39s/it]
 38%|███▊      | 340/900 [09:50<09:41,  1.04s/it]
 38%|███▊      | 341/900 [09:51<07:23,  1.26it/s]
 38%|███▊      | 342/900 [09:51<05:45,  1.61it/s]
 38%|███▊      | 343/900 [09:51<04:38,  2.00it/s]
 38%|███▊      | 344/900 [09:51<03:53,  2.38it/s]
 38%|███▊      | 345/900 [09:58<22:38,  2.45s/it]
 38%|███▊      | 346/900 [09:59<16:26,  1.78s/it]
 39%|███▊      | 347/900 [09:59<12:05,  1.31s/it]
 39%|███▊      | 348/900 [09:59<09:03,  1.01it/s]
 39%|███▉      | 349/900 [09:59<06:55,  1.32it/s]
 39%|███▉      | 350/900 [10:00<05:26,  1.69it/s]
 39%|███▉      | 351/900 [10:00<04:24,  2.07it/s]
 39%|███▉      | 352/900 [10:00<03:40,  2.48it/s]
 39%|███▉      | 353/900 [10:10<29:10,  3.20s/it]
 39%|███▉      | 354/900 [10:10<20:59,  2.31s/it]
 39%|███▉      | 355/900 [10:10<15:15,  1.68s/it]
 40%|███▉      | 356/900 [10:10<11:15,  1.24s/it]
 40%|███▉      | 357/900 [10:11<08:26,  1.07it/s]
 40%|███▉      | 358/900 [10:11<06:29,  1.39it/s]
 40%|███▉      | 359/900 [10:11<05:07,  1.76it/s]
 40%|████      | 360/900 [10:11<04:09,  2.16it/s]
 40%|████      | 361/900 [10:27<44:28,  4.95s/it]
 40%|████      | 362/900 [10:27<31:39,  3.53s/it]
 40%|████      | 363/900 [10:27<22:41,  2.54s/it]
 40%|████      | 364/900 [10:27<16:25,  1.84s/it]
 41%|████      | 365/900 [10:27<12:03,  1.35s/it]
 41%|████      | 366/900 [10:28<09:00,  1.01s/it]
 41%|████      | 367/900 [10:28<06:53,  1.29it/s]
 41%|████      | 368/900 [10:28<05:22,  1.65it/s]
 41%|████      | 369/900 [10:38<30:16,  3.42s/it]
 41%|████      | 370/900 [10:38<21:44,  2.46s/it]
 41%|████      | 371/900 [10:39<15:45,  1.79s/it]
 41%|████▏     | 372/900 [10:39<11:34,  1.32s/it]
 41%|████▏     | 373/900 [10:39<08:39,  1.01it/s]
 42%|████▏     | 374/900 [10:39<06:37,  1.32it/s]
 42%|████▏     | 375/900 [10:39<05:12,  1.68it/s]
 42%|████▏     | 376/900 [10:40<04:12,  2.08it/s]
 42%|████▏     | 377/900 [10:47<23:25,  2.69s/it]
 42%|████▏     | 378/900 [10:48<16:56,  1.95s/it]
 42%|████▏     | 379/900 [10:48<12:24,  1.43s/it]
 42%|████▏     | 380/900 [10:48<09:13,  1.07s/it]
 42%|████▏     | 381/900 [10:48<07:00,  1.23it/s]
 42%|████▏     | 382/900 [10:49<05:27,  1.58it/s]
 43%|████▎     | 383/900 [10:49<04:22,  1.97it/s]
 43%|████▎     | 384/900 [10:49<03:38,  2.36it/s]
 43%|████▎     | 385/900 [11:16<1:11:16,  8.30s/it]
 43%|████▎     | 386/900 [11:16<50:21,  5.88s/it]  
 43%|████▎     | 387/900 [11:16<35:44,  4.18s/it]
 43%|████▎     | 388/900 [11:16<25:32,  2.99s/it]
 43%|████▎     | 389/900 [11:17<18:24,  2.16s/it]
 43%|████▎     | 390/900 [11:17<13:25,  1.58s/it]
 43%|████▎     | 391/900 [11:17<09:56,  1.17s/it]
 44%|████▎     | 392/900 [11:17<07:29,  1.13it/s]
 44%|████▎     | 393/900 [11:24<23:25,  2.77s/it]
 44%|████▍     | 394/900 [11:25<16:59,  2.02s/it]
 44%|████▍     | 395/900 [11:25<12:29,  1.48s/it]
 44%|████▍     | 396/900 [11:25<09:20,  1.11s/it]
 44%|████▍     | 397/900 [11:25<07:09,  1.17it/s]
 44%|████▍     | 398/900 [11:26<05:36,  1.49it/s]
 44%|████▍     | 399/900 [11:26<04:31,  1.85it/s]
 44%|████▍     | 400/900 [11:26<03:46,  2.21it/s]
 45%|████▍     | 401/900 [11:34<22:50,  2.75s/it]
 45%|████▍     | 402/900 [11:35<16:34,  2.00s/it]
 45%|████▍     | 403/900 [11:35<12:11,  1.47s/it]
 45%|████▍     | 404/900 [11:35<09:07,  1.10s/it]
 45%|████▌     | 405/900 [11:35<07:00,  1.18it/s]
 45%|████▌     | 406/900 [11:35<05:29,  1.50it/s]
 45%|████▌     | 407/900 [11:36<04:27,  1.84it/s]
 45%|████▌     | 408/900 [11:36<03:42,  2.21it/s]
 45%|████▌     | 409/900 [11:46<28:15,  3.45s/it]
 46%|████▌     | 410/900 [11:47<20:20,  2.49s/it]
 46%|████▌     | 411/900 [11:47<14:47,  1.82s/it]
 46%|████▌     | 412/900 [11:47<10:55,  1.34s/it]
 46%|████▌     | 413/900 [11:47<08:13,  1.01s/it]
 46%|████▌     | 414/900 [11:48<06:19,  1.28it/s]
 46%|████▌     | 415/900 [11:48<04:58,  1.63it/s]
 46%|████▌     | 416/900 [11:48<03:59,  2.02it/s]
 46%|████▋     | 417/900 [11:56<22:32,  2.80s/it]
 46%|████▋     | 418/900 [11:57<16:17,  2.03s/it]
 47%|████▋     | 419/900 [11:57<11:54,  1.48s/it]
 47%|████▋     | 420/900 [11:57<08:50,  1.11s/it]
 47%|████▋     | 421/900 [11:57<06:41,  1.19it/s]
 47%|████▋     | 422/900 [11:57<05:11,  1.53it/s]
 47%|████▋     | 423/900 [11:58<04:09,  1.91it/s]
 47%|████▋     | 424/900 [11:58<03:24,  2.32it/s]
 47%|████▋     | 425/900 [12:21<57:46,  7.30s/it]
 47%|████▋     | 426/900 [12:21<40:53,  5.18s/it]
 47%|████▋     | 427/900 [12:22<29:04,  3.69s/it]
 48%|████▊     | 428/900 [12:22<20:49,  2.65s/it]
 48%|████▊     | 429/900 [12:22<15:04,  1.92s/it]
 48%|████▊     | 430/900 [12:22<11:03,  1.41s/it]
 48%|████▊     | 431/900 [12:22<08:14,  1.06s/it]
 48%|████▊     | 432/900 [12:23<06:17,  1.24it/s]
 48%|████▊     | 433/900 [12:32<25:01,  3.22s/it]
 48%|████▊     | 434/900 [12:32<17:59,  2.32s/it]
 48%|████▊     | 435/900 [12:32<13:04,  1.69s/it]
 48%|████▊     | 436/900 [12:32<09:37,  1.25s/it]
 49%|████▊     | 437/900 [12:32<07:13,  1.07it/s]
 49%|████▊     | 438/900 [12:33<05:33,  1.39it/s]
 49%|████▉     | 439/900 [12:33<04:23,  1.75it/s]
 49%|████▉     | 440/900 [12:33<03:33,  2.15it/s]
 49%|████▉     | 441/900 [12:42<23:58,  3.13s/it]
 49%|████▉     | 442/900 [12:43<17:14,  2.26s/it]
 49%|████▉     | 443/900 [12:43<12:32,  1.65s/it]
 49%|████▉     | 444/900 [12:43<09:17,  1.22s/it]
 49%|████▉     | 445/900 [12:43<07:01,  1.08it/s]
 50%|████▉     | 446/900 [12:44<05:27,  1.39it/s]
 50%|████▉     | 447/900 [12:44<04:20,  1.74it/s]
 50%|████▉     | 448/900 [12:44<03:34,  2.11it/s]
 50%|████▉     | 449/900 [12:51<18:42,  2.49s/it]
 50%|█████     | 450/900 [12:51<13:36,  1.81s/it]
 50%|█████     | 451/900 [12:52<10:00,  1.34s/it]
 50%|█████     | 452/900 [12:52<07:30,  1.01s/it]
 50%|█████     | 453/900 [12:52<05:47,  1.29it/s]
 50%|█████     | 454/900 [12:52<04:31,  1.64it/s]
 51%|█████     | 455/900 [12:53<03:41,  2.01it/s]
 51%|█████     | 456/900 [12:53<03:04,  2.41it/s]
 51%|█████     | 457/900 [13:07<33:10,  4.49s/it]
 51%|█████     | 458/900 [13:07<23:39,  3.21s/it]
 51%|█████     | 459/900 [13:07<17:01,  2.32s/it]
 51%|█████     | 460/900 [13:08<12:22,  1.69s/it]
 51%|█████     | 461/900 [13:08<09:07,  1.25s/it]
 51%|█████▏    | 462/900 [13:08<06:51,  1.06it/s]
 51%|█████▏    | 463/900 [13:08<05:16,  1.38it/s]
 52%|█████▏    | 464/900 [13:08<04:09,  1.75it/s]
 52%|█████▏    | 465/900 [13:17<21:49,  3.01s/it]
 52%|█████▏    | 466/900 [13:17<15:43,  2.17s/it]
 52%|█████▏    | 467/900 [13:18<11:27,  1.59s/it]
 52%|█████▏    | 468/900 [13:18<08:28,  1.18s/it]
 52%|█████▏    | 469/900 [13:18<06:22,  1.13it/s]
 52%|█████▏    | 470/900 [13:18<04:54,  1.46it/s]
 52%|█████▏    | 471/900 [13:18<03:54,  1.83it/s]
 52%|█████▏    | 472/900 [13:19<03:11,  2.24it/s]
 53%|█████▎    | 473/900 [13:29<24:14,  3.41s/it]
 53%|█████▎    | 474/900 [13:29<17:23,  2.45s/it]
 53%|█████▎    | 475/900 [13:29<12:36,  1.78s/it]
 53%|█████▎    | 476/900 [13:30<09:16,  1.31s/it]
 53%|█████▎    | 477/900 [13:30<06:55,  1.02it/s]
 53%|█████▎    | 478/900 [13:30<05:18,  1.32it/s]
 53%|█████▎    | 479/900 [13:30<04:09,  1.69it/s]
 53%|█████▎    | 480/900 [13:30<03:22,  2.08it/s]
 53%|█████▎    | 481/900 [13:39<20:09,  2.89s/it]
 54%|█████▎    | 482/900 [13:39<14:31,  2.09s/it]
 54%|█████▎    | 483/900 [13:39<10:36,  1.53s/it]
 54%|█████▍    | 484/900 [13:40<07:51,  1.13s/it]
 54%|█████▍    | 485/900 [13:40<05:56,  1.16it/s]
 54%|█████▍    | 486/900 [13:40<04:35,  1.50it/s]
 54%|█████▍    | 487/900 [13:40<03:39,  1.88it/s]
 54%|█████▍    | 488/900 [13:40<03:01,  2.27it/s]
 54%|█████▍    | 489/900 [13:48<16:45,  2.45s/it]
 54%|█████▍    | 490/900 [13:48<12:10,  1.78s/it]
 55%|█████▍    | 491/900 [13:48<08:58,  1.32s/it]
 55%|█████▍    | 492/900 [13:48<06:45,  1.01it/s]
 55%|█████▍    | 493/900 [13:49<05:11,  1.30it/s]
 55%|█████▍    | 494/900 [13:49<04:05,  1.65it/s]
 55%|█████▌    | 495/900 [13:49<03:20,  2.02it/s]
 55%|█████▌    | 496/900 [13:49<02:48,  2.40it/s]
 55%|█████▌    | 497/900 [14:00<24:34,  3.66s/it]
 55%|█████▌    | 498/900 [14:01<17:39,  2.64s/it]
 55%|█████▌    | 499/900 [14:01<12:49,  1.92s/it]
 56%|█████▌    | 500/900 [14:02<10:18,  1.55s/it]
 56%|█████▌    | 501/900 [14:02<07:41,  1.16s/it]
 56%|█████▌    | 502/900 [14:02<05:50,  1.14it/s]
 56%|█████▌    | 503/900 [14:02<04:33,  1.45it/s]
 56%|█████▌    | 504/900 [14:03<03:39,  1.80it/s]
 56%|█████▌    | 505/900 [14:21<38:01,  5.78s/it]
 56%|█████▌    | 506/900 [14:21<26:59,  4.11s/it]
 56%|█████▋    | 507/900 [14:21<19:16,  2.94s/it]
 56%|█████▋    | 508/900 [14:21<13:52,  2.12s/it]
 57%|█████▋    | 509/900 [14:21<10:07,  1.55s/it]
 57%|█████▋    | 510/900 [14:22<07:29,  1.15s/it]
 57%|█████▋    | 511/900 [14:22<05:39,  1.15it/s]
 57%|█████▋    | 512/900 [14:22<04:21,  1.48it/s]
 57%|█████▋    | 513/900 [14:44<44:27,  6.89s/it]
 57%|█████▋    | 514/900 [14:44<31:29,  4.89s/it]
 57%|█████▋    | 515/900 [14:44<22:28,  3.50s/it]
 57%|█████▋    | 516/900 [14:44<16:08,  2.52s/it]
 57%|█████▋    | 517/900 [14:44<11:44,  1.84s/it]
 58%|█████▊    | 518/900 [14:45<08:39,  1.36s/it]
 58%|█████▊    | 519/900 [14:45<06:30,  1.03s/it]
 58%|█████▊    | 520/900 [14:45<05:01,  1.26it/s]
 58%|█████▊    | 521/900 [15:02<35:32,  5.63s/it]
 58%|█████▊    | 522/900 [15:02<25:18,  4.02s/it]
 58%|█████▊    | 523/900 [15:03<18:07,  2.89s/it]
 58%|█████▊    | 524/900 [15:03<13:07,  2.09s/it]
 58%|█████▊    | 525/900 [15:03<09:37,  1.54s/it]
 58%|█████▊    | 526/900 [15:03<07:10,  1.15s/it]
 59%|█████▊    | 527/900 [15:04<05:27,  1.14it/s]
 59%|█████▊    | 528/900 [15:04<04:14,  1.46it/s]
 59%|█████▉    | 529/900 [15:20<32:14,  5.22s/it]
 59%|█████▉    | 530/900 [15:20<22:55,  3.72s/it]
 59%|█████▉    | 531/900 [15:20<16:24,  2.67s/it]
 59%|█████▉    | 532/900 [15:20<11:50,  1.93s/it]
 59%|█████▉    | 533/900 [15:20<08:39,  1.42s/it]
 59%|█████▉    | 534/900 [15:21<06:26,  1.06s/it]
 59%|█████▉    | 535/900 [15:21<04:53,  1.24it/s]
 60%|█████▉    | 536/900 [15:21<03:49,  1.59it/s]
 60%|█████▉    | 537/900 [15:31<21:27,  3.55s/it]
 60%|█████▉    | 538/900 [15:32<15:22,  2.55s/it]
 60%|█████▉    | 539/900 [15:32<11:07,  1.85s/it]
 60%|██████    | 540/900 [15:32<08:09,  1.36s/it]
 60%|██████    | 541/900 [15:32<06:04,  1.02s/it]
 60%|██████    | 542/900 [15:33<04:37,  1.29it/s]
 60%|██████    | 543/900 [15:33<03:36,  1.65it/s]
 60%|██████    | 544/900 [15:33<02:54,  2.04it/s]
 61%|██████    | 545/900 [15:45<22:28,  3.80s/it]
 61%|██████    | 546/900 [15:45<16:04,  2.72s/it]
 61%|██████    | 547/900 [15:45<11:36,  1.97s/it]
 61%|██████    | 548/900 [15:45<08:29,  1.45s/it]
 61%|██████    | 549/900 [15:45<06:18,  1.08s/it]
 61%|██████    | 550/900 [15:46<04:46,  1.22it/s]
 61%|██████    | 551/900 [15:46<03:42,  1.57it/s]
 61%|██████▏   | 552/900 [15:46<02:57,  1.96it/s]
 61%|██████▏   | 553/900 [16:08<39:46,  6.88s/it]
 62%|██████▏   | 554/900 [16:08<28:09,  4.88s/it]
 62%|██████▏   | 555/900 [16:08<20:03,  3.49s/it]
 62%|██████▏   | 556/900 [16:08<14:21,  2.50s/it]
 62%|██████▏   | 557/900 [16:09<10:23,  1.82s/it]
 62%|██████▏   | 558/900 [16:09<07:38,  1.34s/it]
 62%|██████▏   | 559/900 [16:09<05:42,  1.01s/it]
 62%|██████▏   | 560/900 [16:09<04:20,  1.30it/s]
 62%|██████▏   | 561/900 [16:22<24:37,  4.36s/it]
 62%|██████▏   | 562/900 [16:22<17:32,  3.12s/it]
 63%|██████▎   | 563/900 [16:22<12:36,  2.25s/it]
 63%|██████▎   | 564/900 [16:23<09:09,  1.64s/it]
 63%|██████▎   | 565/900 [16:23<06:45,  1.21s/it]
 63%|██████▎   | 566/900 [16:23<05:04,  1.10it/s]
 63%|██████▎   | 567/900 [16:23<03:53,  1.43it/s]
 63%|██████▎   | 568/900 [16:24<03:04,  1.80it/s]
 63%|██████▎   | 569/900 [16:34<18:52,  3.42s/it]
 63%|██████▎   | 570/900 [16:34<13:31,  2.46s/it]
 63%|██████▎   | 571/900 [16:34<09:48,  1.79s/it]
 64%|██████▎   | 572/900 [16:34<07:13,  1.32s/it]
 64%|██████▎   | 573/900 [16:35<05:23,  1.01it/s]
 64%|██████▍   | 574/900 [16:35<04:07,  1.32it/s]
 64%|██████▍   | 575/900 [16:35<03:14,  1.67it/s]
 64%|██████▍   | 576/900 [16:35<02:38,  2.04it/s]
 64%|██████▍   | 577/900 [16:52<28:50,  5.36s/it]
 64%|██████▍   | 578/900 [16:52<20:29,  3.82s/it]
 64%|██████▍   | 579/900 [16:52<14:40,  2.74s/it]
 64%|██████▍   | 580/900 [16:53<10:36,  1.99s/it]
 65%|██████▍   | 581/900 [16:53<07:46,  1.46s/it]
 65%|██████▍   | 582/900 [16:53<05:47,  1.09s/it]
 65%|██████▍   | 583/900 [16:53<04:24,  1.20it/s]
 65%|██████▍   | 584/900 [16:54<03:26,  1.53it/s]
 65%|██████▌   | 585/900 [17:03<16:31,  3.15s/it]
 65%|██████▌   | 586/900 [17:03<11:54,  2.28s/it]
 65%|██████▌   | 587/900 [17:03<08:40,  1.66s/it]
 65%|██████▌   | 588/900 [17:03<06:24,  1.23s/it]
 65%|██████▌   | 589/900 [17:03<04:49,  1.07it/s]
 66%|██████▌   | 590/900 [17:04<03:43,  1.38it/s]
 66%|██████▌   | 591/900 [17:04<02:57,  1.74it/s]
 66%|██████▌   | 592/900 [17:04<02:25,  2.11it/s]
 66%|██████▌   | 593/900 [17:17<21:28,  4.20s/it]
 66%|██████▌   | 594/900 [17:17<15:21,  3.01s/it]
 66%|██████▌   | 595/900 [17:18<11:04,  2.18s/it]
 66%|██████▌   | 596/900 [17:18<08:05,  1.60s/it]
 66%|██████▋   | 597/900 [17:18<05:59,  1.19s/it]
 66%|██████▋   | 598/900 [17:18<04:31,  1.11it/s]
 67%|██████▋   | 599/900 [17:18<03:30,  1.43it/s]
 67%|██████▋   | 600/900 [17:19<02:48,  1.78it/s]
 67%|██████▋   | 601/900 [17:28<15:52,  3.19s/it]
 67%|██████▋   | 602/900 [17:28<11:25,  2.30s/it]
 67%|██████▋   | 603/900 [17:28<08:19,  1.68s/it]
 67%|██████▋   | 604/900 [17:29<06:08,  1.25s/it]
 67%|██████▋   | 605/900 [17:29<04:36,  1.07it/s]
 67%|██████▋   | 606/900 [17:29<03:31,  1.39it/s]
 67%|██████▋   | 607/900 [17:29<02:46,  1.76it/s]
 68%|██████▊   | 608/900 [17:30<02:14,  2.16it/s]
 68%|██████▊   | 609/900 [17:51<32:58,  6.80s/it]
 68%|██████▊   | 610/900 [17:51<23:19,  4.82s/it]
 68%|██████▊   | 611/900 [17:52<16:34,  3.44s/it]
 68%|██████▊   | 612/900 [17:52<11:52,  2.47s/it]
 68%|██████▊   | 613/900 [17:52<08:35,  1.79s/it]
 68%|██████▊   | 614/900 [17:52<06:17,  1.32s/it]
 68%|██████▊   | 615/900 [17:52<04:40,  1.01it/s]
 68%|██████▊   | 616/900 [17:53<03:33,  1.33it/s]
 69%|██████▊   | 617/900 [18:02<15:52,  3.37s/it]
 69%|██████▊   | 618/900 [18:02<11:22,  2.42s/it]
 69%|██████▉   | 619/900 [18:03<08:14,  1.76s/it]
 69%|██████▉   | 620/900 [18:03<06:03,  1.30s/it]
 69%|██████▉   | 621/900 [18:03<04:31,  1.03it/s]
 69%|██████▉   | 622/900 [18:03<03:26,  1.34it/s]
 69%|██████▉   | 623/900 [18:03<02:42,  1.71it/s]
 69%|██████▉   | 624/900 [18:04<02:10,  2.11it/s]
 69%|██████▉   | 625/900 [18:14<15:54,  3.47s/it]
 70%|██████▉   | 626/900 [18:14<11:23,  2.49s/it]
 70%|██████▉   | 627/900 [18:15<08:14,  1.81s/it]
 70%|██████▉   | 628/900 [18:15<06:02,  1.33s/it]
 70%|██████▉   | 629/900 [18:15<04:30,  1.00it/s]
 70%|███████   | 630/900 [18:15<03:26,  1.31it/s]
 70%|███████   | 631/900 [18:15<02:42,  1.65it/s]
 70%|███████   | 632/900 [18:16<02:12,  2.02it/s]
 70%|███████   | 633/900 [18:25<14:11,  3.19s/it]
 70%|███████   | 634/900 [18:25<10:12,  2.30s/it]
 71%|███████   | 635/900 [18:26<07:25,  1.68s/it]
 71%|███████   | 636/900 [18:26<05:29,  1.25s/it]
 71%|███████   | 637/900 [18:26<04:08,  1.06it/s]
 71%|███████   | 638/900 [18:26<03:11,  1.36it/s]
 71%|███████   | 639/900 [18:27<02:32,  1.72it/s]
 71%|███████   | 640/900 [18:27<02:04,  2.09it/s]
 71%|███████   | 641/900 [18:36<13:31,  3.13s/it]
 71%|███████▏  | 642/900 [18:36<09:44,  2.26s/it]
 71%|███████▏  | 643/900 [18:37<07:04,  1.65s/it]
 72%|███████▏  | 644/900 [18:37<05:14,  1.23s/it]
 72%|███████▏  | 645/900 [18:37<03:57,  1.07it/s]
 72%|███████▏  | 646/900 [18:37<03:03,  1.39it/s]
 72%|███████▏  | 647/900 [18:37<02:25,  1.74it/s]
 72%|███████▏  | 648/900 [18:38<01:59,  2.11it/s]
 72%|███████▏  | 649/900 [18:46<11:59,  2.87s/it]
 72%|███████▏  | 650/900 [18:46<08:39,  2.08s/it]
 72%|███████▏  | 651/900 [18:47<06:20,  1.53s/it]
 72%|███████▏  | 652/900 [18:47<04:43,  1.14s/it]
 73%|███████▎  | 653/900 [18:47<03:35,  1.15it/s]
 73%|███████▎  | 654/900 [18:47<02:47,  1.47it/s]
 73%|███████▎  | 655/900 [18:48<02:14,  1.82it/s]
 73%|███████▎  | 656/900 [18:48<01:51,  2.19it/s]
 73%|███████▎  | 657/900 [18:56<11:14,  2.78s/it]
 73%|███████▎  | 658/900 [18:56<08:08,  2.02s/it]
 73%|███████▎  | 659/900 [18:57<05:58,  1.49s/it]
 73%|███████▎  | 660/900 [18:57<04:26,  1.11s/it]
 73%|███████▎  | 661/900 [18:57<03:23,  1.18it/s]
 74%|███████▎  | 662/900 [18:57<02:38,  1.50it/s]
 74%|███████▎  | 663/900 [18:57<02:07,  1.86it/s]
 74%|███████▍  | 664/900 [18:58<01:45,  2.23it/s]
 74%|███████▍  | 665/900 [19:18<25:31,  6.52s/it]
 74%|███████▍  | 666/900 [19:19<18:04,  4.63s/it]
 74%|███████▍  | 667/900 [19:19<12:51,  3.31s/it]
 74%|███████▍  | 668/900 [19:19<09:12,  2.38s/it]
 74%|███████▍  | 669/900 [19:19<06:40,  1.73s/it]
 74%|███████▍  | 670/900 [19:20<04:53,  1.28s/it]
 75%|███████▍  | 671/900 [19:20<03:39,  1.04it/s]
 75%|███████▍  | 672/900 [19:20<02:47,  1.36it/s]
 75%|███████▍  | 673/900 [19:49<34:25,  9.10s/it]
 75%|███████▍  | 674/900 [19:49<24:14,  6.44s/it]
 75%|███████▌  | 675/900 [19:49<17:08,  4.57s/it]
 75%|███████▌  | 676/900 [19:49<12:11,  3.26s/it]
 75%|███████▌  | 677/900 [19:49<08:43,  2.35s/it]
 75%|███████▌  | 678/900 [19:50<06:19,  1.71s/it]
 75%|███████▌  | 679/900 [19:50<04:38,  1.26s/it]
 76%|███████▌  | 680/900 [19:50<03:28,  1.06it/s]
 76%|███████▌  | 681/900 [20:02<15:52,  4.35s/it]
 76%|███████▌  | 682/900 [20:03<11:17,  3.11s/it]
 76%|███████▌  | 683/900 [20:03<08:06,  2.24s/it]
 76%|███████▌  | 684/900 [20:03<05:52,  1.63s/it]
 76%|███████▌  | 685/900 [20:03<04:19,  1.21s/it]
 76%|███████▌  | 686/900 [20:03<03:14,  1.10it/s]
 76%|███████▋  | 687/900 [20:04<02:29,  1.42it/s]
 76%|███████▋  | 688/900 [20:04<01:58,  1.80it/s]
 77%|███████▋  | 689/900 [20:14<11:53,  3.38s/it]
 77%|███████▋  | 690/900 [20:14<08:31,  2.43s/it]
 77%|███████▋  | 691/900 [20:14<06:09,  1.77s/it]
 77%|███████▋  | 692/900 [20:15<04:30,  1.30s/it]
 77%|███████▋  | 693/900 [20:15<03:22,  1.02it/s]
 77%|███████▋  | 694/900 [20:15<02:34,  1.34it/s]
 77%|███████▋  | 695/900 [20:15<02:00,  1.70it/s]
 77%|███████▋  | 696/900 [20:15<01:38,  2.08it/s]
 77%|███████▋  | 697/900 [20:29<14:57,  4.42s/it]
 78%|███████▊  | 698/900 [20:29<10:39,  3.17s/it]
 78%|███████▊  | 699/900 [20:29<07:39,  2.29s/it]
 78%|███████▊  | 700/900 [20:30<05:33,  1.67s/it]
 78%|███████▊  | 701/900 [20:30<04:06,  1.24s/it]
 78%|███████▊  | 702/900 [20:30<03:05,  1.07it/s]
 78%|███████▊  | 703/900 [20:30<02:23,  1.37it/s]
 78%|███████▊  | 704/900 [20:31<01:53,  1.72it/s]
 78%|███████▊  | 705/900 [20:40<10:23,  3.20s/it]
 78%|███████▊  | 706/900 [20:40<07:27,  2.31s/it]
 79%|███████▊  | 707/900 [20:40<05:25,  1.69s/it]
 79%|███████▊  | 708/900 [20:41<04:00,  1.25s/it]
 79%|███████▉  | 709/900 [20:41<03:00,  1.06it/s]
 79%|███████▉  | 710/900 [20:41<02:18,  1.37it/s]
 79%|███████▉  | 711/900 [20:41<01:49,  1.73it/s]
 79%|███████▉  | 712/900 [20:42<01:29,  2.10it/s]
 79%|███████▉  | 713/900 [20:50<08:54,  2.86s/it]
 79%|███████▉  | 714/900 [20:50<06:25,  2.07s/it]
 79%|███████▉  | 715/900 [20:50<04:40,  1.52s/it]
 80%|███████▉  | 716/900 [20:51<03:28,  1.13s/it]
 80%|███████▉  | 717/900 [20:51<02:37,  1.16it/s]
 80%|███████▉  | 718/900 [20:51<02:02,  1.49it/s]
 80%|███████▉  | 719/900 [20:51<01:37,  1.85it/s]
 80%|████████  | 720/900 [20:52<01:20,  2.24it/s]
 80%|████████  | 721/900 [21:02<10:20,  3.47s/it]
 80%|████████  | 722/900 [21:02<07:25,  2.50s/it]
 80%|████████  | 723/900 [21:03<05:22,  1.82s/it]
 80%|████████  | 724/900 [21:03<03:57,  1.35s/it]
 81%|████████  | 725/900 [21:03<02:57,  1.02s/it]
 81%|████████  | 726/900 [21:03<02:16,  1.28it/s]
 81%|████████  | 727/900 [21:04<01:47,  1.61it/s]
 81%|████████  | 728/900 [21:04<01:26,  1.98it/s]
 81%|████████  | 729/900 [21:15<10:38,  3.73s/it]
 81%|████████  | 730/900 [21:15<07:36,  2.69s/it]
 81%|████████  | 731/900 [21:16<05:30,  1.95s/it]
 81%|████████▏ | 732/900 [21:16<04:02,  1.44s/it]
 81%|████████▏ | 733/900 [21:16<03:00,  1.08s/it]
 82%|████████▏ | 734/900 [21:16<02:17,  1.21it/s]
 82%|████████▏ | 735/900 [21:17<01:47,  1.54it/s]
 82%|████████▏ | 736/900 [21:17<01:26,  1.91it/s]
 82%|████████▏ | 737/900 [21:33<13:53,  5.11s/it]
 82%|████████▏ | 738/900 [21:33<09:51,  3.65s/it]
 82%|████████▏ | 739/900 [21:33<07:03,  2.63s/it]
 82%|████████▏ | 740/900 [21:33<05:05,  1.91s/it]
 82%|████████▏ | 741/900 [21:34<03:44,  1.41s/it]
 82%|████████▏ | 742/900 [21:34<02:47,  1.06s/it]
 83%|████████▎ | 743/900 [21:34<02:07,  1.23it/s]
 83%|████████▎ | 744/900 [21:34<01:40,  1.55it/s]
 83%|████████▎ | 745/900 [21:44<08:50,  3.42s/it]
 83%|████████▎ | 746/900 [21:44<06:20,  2.47s/it]
 83%|████████▎ | 747/900 [21:45<04:35,  1.80s/it]
 83%|████████▎ | 748/900 [21:45<03:22,  1.33s/it]
 83%|████████▎ | 749/900 [21:45<02:32,  1.01s/it]
 83%|████████▎ | 750/900 [21:45<01:56,  1.28it/s]
 83%|████████▎ | 751/900 [21:46<01:32,  1.62it/s]
 84%|████████▎ | 752/900 [21:46<01:14,  1.98it/s]
 84%|████████▎ | 753/900 [22:12<19:52,  8.11s/it]
 84%|████████▍ | 754/900 [22:12<13:59,  5.75s/it]
 84%|████████▍ | 755/900 [22:12<09:54,  4.10s/it]
 84%|████████▍ | 756/900 [22:12<07:03,  2.94s/it]
 84%|████████▍ | 757/900 [22:13<05:04,  2.13s/it]
 84%|████████▍ | 758/900 [22:13<03:42,  1.57s/it]
 84%|████████▍ | 759/900 [22:13<02:45,  1.17s/it]
 84%|████████▍ | 760/900 [22:13<02:04,  1.12it/s]
 85%|████████▍ | 761/900 [22:35<16:27,  7.11s/it]
 85%|████████▍ | 762/900 [22:35<11:36,  5.05s/it]
 85%|████████▍ | 763/900 [22:36<08:14,  3.61s/it]
 85%|████████▍ | 764/900 [22:36<05:53,  2.60s/it]
 85%|████████▌ | 765/900 [22:36<04:15,  1.90s/it]
 85%|████████▌ | 766/900 [22:36<03:07,  1.40s/it]
 85%|████████▌ | 767/900 [22:37<02:20,  1.05s/it]
 85%|████████▌ | 768/900 [22:37<01:47,  1.23it/s]
 85%|████████▌ | 769/900 [22:50<10:06,  4.63s/it]
 86%|████████▌ | 770/900 [22:51<07:11,  3.32s/it]
 86%|████████▌ | 771/900 [22:51<05:08,  2.39s/it]
 86%|████████▌ | 772/900 [22:51<03:43,  1.75s/it]
 86%|████████▌ | 773/900 [22:51<02:44,  1.30s/it]
 86%|████████▌ | 774/900 [22:52<02:03,  1.02it/s]
 86%|████████▌ | 775/900 [22:52<01:34,  1.32it/s]
 86%|████████▌ | 776/900 [22:52<01:14,  1.67it/s]
 86%|████████▋ | 777/900 [23:08<10:50,  5.29s/it]
 86%|████████▋ | 778/900 [23:08<07:40,  3.78s/it]
 87%|████████▋ | 779/900 [23:09<05:28,  2.72s/it]
 87%|████████▋ | 780/900 [23:09<03:56,  1.97s/it]
 87%|████████▋ | 781/900 [23:09<02:52,  1.45s/it]
 87%|████████▋ | 782/900 [23:09<02:08,  1.09s/it]
 87%|████████▋ | 783/900 [23:10<01:37,  1.20it/s]
 87%|████████▋ | 784/900 [23:10<01:16,  1.52it/s]
 87%|████████▋ | 784/900 [23:22<03:27,  1.79s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/log_2_env0.json.
+RubiksCubeThenBananaTask_2 complete: task_name: RubiksCubeThenBananaTask, run_name: RubiksCubeThenBananaTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the cube then the banana in the bowl, attributes: ['conjunction', 'simple'], success: True, episode_step: 785, duration: 52.333333333333336, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.222835830998633, 'joint_sparc_mean': -13.530968581659113, 'ee_isj': 2079.955161233016, 'joint_isj': 55126.51687055707, 'ee_path_length': 4.851675226094551, 'joint_rmse_mean': 1.0864892356044995, 'ee_speed_max': 0.5440801382064819, 'ee_speed_mean': 0.08898377418518066}, events: {'GRIPPER_HIT_TABLE': 10, 'TARGET_OBJECT_DROPPED': 13, 'GRIPPER_FULLY_CLOSED': 8, 'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 2, 'OBJECT_BUMPED': 3, 'wrong_objects_grabbed': ['bowl', 'bowl']}, instruction_type: default, timing: {'policy_inference_s': 1230.082, 'policy_inference_avg_ms': 1567.0, 'env_step_s': 165.683, 'env_step_avg_ms': 211.1, 'video_write_s': 5.853, 'video_write_avg_ms': 7.5, 'wall_total_s': 1401.618, 'it_per_sec': 0.56}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 4a347b5aedf14bc881b6838a0762cf69-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-29T22:05:56Z [18,647,127ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.185335 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-29T22:05:59Z [18,649,930ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T22:05:59Z [18,649,930ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T22:05:59Z [18,649,939ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T22:05:59Z [18,649,940ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T22:05:59Z [18,649,948ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T22:05:59Z [18,649,955ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-29T22:06:00Z [18,650,450ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1432))' not available in the MDL representation.
+2026-10-29T22:06:00Z [18,650,450ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1432))' not available in the MDL representation.
+2026-10-29T22:06:00Z [18,650,453ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1433))' not available in the MDL representation.
+2026-10-29T22:06:00Z [18,650,454ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1433))' not available in the MDL representation.
+2026-10-29T22:06:00Z [18,651,176ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1432))' not available in the MDL representation.
+2026-10-29T22:06:00Z [18,651,176ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1432))' not available in the MDL representation.
+2026-10-29T22:06:00Z [18,651,176ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1433))' not available in the MDL representation.
+2026-10-29T22:06:00Z [18,651,177ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1433))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.972612 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BananaInBowlTask                              │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pick up the banana and place it in the bowl   │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BananaInBowlTaskSceneEnvCfg                   │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BananaInBowlTask_0: 'Pick up the banana and place it in the bowl' (run 0, 1 envs)
+
  0%|          | 0/750 [00:00<?, ?it/s]
  0%|          | 1/750 [00:29<6:03:09, 29.09s/it]
  0%|          | 2/750 [00:29<2:30:54, 12.11s/it]
  0%|          | 3/750 [00:29<1:23:02,  6.67s/it]
  1%|          | 4/750 [00:29<51:12,  4.12s/it]  
  1%|          | 5/750 [00:29<33:35,  2.71s/it]
  1%|          | 6/750 [00:30<22:59,  1.85s/it]
  1%|          | 7/750 [00:30<16:16,  1.31s/it]
  1%|          | 8/750 [00:30<11:52,  1.04it/s]
  1%|          | 9/750 [00:36<31:41,  2.57s/it]
  1%|▏         | 10/750 [00:36<22:38,  1.84s/it]
  1%|▏         | 11/750 [00:37<16:26,  1.33s/it]
  2%|▏         | 12/750 [00:37<12:10,  1.01it/s]
  2%|▏         | 13/750 [00:37<09:14,  1.33it/s]
  2%|▏         | 14/750 [00:37<07:11,  1.70it/s]
  2%|▏         | 15/750 [00:37<05:45,  2.13it/s]
  2%|▏         | 16/750 [00:38<04:45,  2.57it/s]
  2%|▏         | 17/750 [00:56<1:11:48,  5.88s/it]
  2%|▏         | 18/750 [00:56<50:55,  4.17s/it]  
  3%|▎         | 19/750 [00:57<36:19,  2.98s/it]
  3%|▎         | 20/750 [00:57<26:07,  2.15s/it]
  3%|▎         | 21/750 [00:57<18:59,  1.56s/it]
  3%|▎         | 22/750 [00:57<14:00,  1.16s/it]
  3%|▎         | 23/750 [00:57<10:32,  1.15it/s]
  3%|▎         | 24/750 [00:58<08:07,  1.49it/s]
  3%|▎         | 25/750 [01:02<20:25,  1.69s/it]
  3%|▎         | 26/750 [01:02<15:01,  1.25s/it]
  4%|▎         | 27/750 [01:02<11:15,  1.07it/s]
  4%|▎         | 28/750 [01:02<08:36,  1.40it/s]
  4%|▍         | 29/750 [01:02<06:44,  1.78it/s]
  4%|▍         | 30/750 [01:03<05:27,  2.20it/s]
  4%|▍         | 31/750 [01:03<04:33,  2.63it/s]
  4%|▍         | 32/750 [01:03<03:56,  3.04it/s]
  4%|▍         | 33/750 [01:11<31:46,  2.66s/it]
  5%|▍         | 34/750 [01:11<22:56,  1.92s/it]
  5%|▍         | 35/750 [01:12<16:46,  1.41s/it]
  5%|▍         | 36/750 [01:12<12:26,  1.04s/it]
  5%|▍         | 37/750 [01:12<09:26,  1.26it/s]
  5%|▌         | 38/750 [01:12<07:19,  1.62it/s]
  5%|▌         | 39/750 [01:12<05:51,  2.02it/s]
  5%|▌         | 40/750 [01:13<04:48,  2.46it/s]
  5%|▌         | 41/750 [01:19<26:59,  2.28s/it]
  6%|▌         | 42/750 [01:20<19:35,  1.66s/it]
  6%|▌         | 43/750 [01:20<14:24,  1.22s/it]
  6%|▌         | 44/750 [01:20<10:46,  1.09it/s]
  6%|▌         | 45/750 [01:20<08:14,  1.43it/s]
  6%|▌         | 46/750 [01:20<06:27,  1.82it/s]
  6%|▋         | 47/750 [01:21<05:12,  2.25it/s]
  6%|▋         | 48/750 [01:21<04:21,  2.69it/s]
  7%|▋         | 49/750 [01:31<38:21,  3.28s/it]
  7%|▋         | 50/750 [01:31<27:30,  2.36s/it]
  7%|▋         | 51/750 [01:31<19:56,  1.71s/it]
  7%|▋         | 52/750 [01:31<14:38,  1.26s/it]
  7%|▋         | 53/750 [01:32<10:57,  1.06it/s]
  7%|▋         | 54/750 [01:32<08:21,  1.39it/s]
  7%|▋         | 55/750 [01:32<06:32,  1.77it/s]
  7%|▋         | 56/750 [01:32<05:16,  2.19it/s]
  8%|▊         | 57/750 [01:41<33:14,  2.88s/it]
  8%|▊         | 58/750 [01:41<23:55,  2.08s/it]
  8%|▊         | 59/750 [01:41<17:25,  1.51s/it]
  8%|▊         | 60/750 [01:41<12:51,  1.12s/it]
  8%|▊         | 61/750 [01:42<09:40,  1.19it/s]
  8%|▊         | 62/750 [01:42<07:26,  1.54it/s]
  8%|▊         | 63/750 [01:42<05:53,  1.94it/s]
  9%|▊         | 64/750 [01:42<04:48,  2.38it/s]
  9%|▊         | 65/750 [02:02<1:10:30,  6.18s/it]
  9%|▉         | 66/750 [02:02<49:58,  4.38s/it]  
  9%|▉         | 67/750 [02:02<35:37,  3.13s/it]
  9%|▉         | 68/750 [02:02<25:35,  2.25s/it]
  9%|▉         | 69/750 [02:03<18:34,  1.64s/it]
  9%|▉         | 70/750 [02:03<13:40,  1.21s/it]
  9%|▉         | 71/750 [02:03<10:14,  1.10it/s]
 10%|▉         | 72/750 [02:03<07:51,  1.44it/s]
 10%|▉         | 73/750 [02:10<29:56,  2.65s/it]
 10%|▉         | 74/750 [02:11<21:37,  1.92s/it]
 10%|█         | 75/750 [02:11<15:47,  1.40s/it]
 10%|█         | 76/750 [02:11<11:42,  1.04s/it]
 10%|█         | 77/750 [02:11<08:52,  1.26it/s]
 10%|█         | 78/750 [02:11<06:52,  1.63it/s]
 11%|█         | 79/750 [02:12<05:28,  2.04it/s]
 11%|█         | 80/750 [02:12<04:31,  2.47it/s]
 11%|█         | 81/750 [02:36<1:24:55,  7.62s/it]
 11%|█         | 82/750 [02:36<1:00:01,  5.39s/it]
 11%|█         | 83/750 [02:37<42:37,  3.83s/it]  
 11%|█         | 84/750 [02:37<30:28,  2.75s/it]
 11%|█▏        | 85/750 [02:37<21:58,  1.98s/it]
 11%|█▏        | 86/750 [02:37<16:03,  1.45s/it]
 12%|█▏        | 87/750 [02:37<11:59,  1.08s/it]
 12%|█▏        | 88/750 [02:38<09:07,  1.21it/s]
 12%|█▏        | 89/750 [02:44<28:31,  2.59s/it]
 12%|█▏        | 90/750 [02:45<20:40,  1.88s/it]
 12%|█▏        | 91/750 [02:45<15:09,  1.38s/it]
 12%|█▏        | 92/750 [02:45<11:20,  1.03s/it]
 12%|█▏        | 93/750 [02:45<08:40,  1.26it/s]
 13%|█▎        | 94/750 [02:46<06:47,  1.61it/s]
 13%|█▎        | 95/750 [02:46<05:28,  1.99it/s]
 13%|█▎        | 96/750 [02:46<04:33,  2.39it/s]
 13%|█▎        | 97/750 [02:52<22:27,  2.06s/it]
 13%|█▎        | 98/750 [02:52<16:25,  1.51s/it]
 13%|█▎        | 99/750 [02:52<12:11,  1.12s/it]
 13%|█▎        | 100/750 [02:53<09:14,  1.17it/s]
 13%|█▎        | 101/750 [02:53<07:11,  1.50it/s]
 14%|█▎        | 102/750 [02:53<05:44,  1.88it/s]
 14%|█▎        | 103/750 [02:53<04:41,  2.30it/s]
 14%|█▍        | 104/750 [02:53<03:56,  2.73it/s]
 14%|█▍        | 105/750 [02:58<17:36,  1.64s/it]
 14%|█▍        | 106/750 [02:58<12:58,  1.21s/it]
 14%|█▍        | 107/750 [02:58<09:43,  1.10it/s]
 14%|█▍        | 108/750 [02:59<07:27,  1.44it/s]
 15%|█▍        | 109/750 [02:59<05:51,  1.82it/s]
 15%|█▍        | 110/750 [02:59<04:44,  2.25it/s]
 15%|█▍        | 111/750 [02:59<03:57,  2.69it/s]
 15%|█▍        | 112/750 [02:59<03:24,  3.12it/s]
 15%|█▌        | 113/750 [03:08<30:43,  2.89s/it]
 15%|█▌        | 114/750 [03:09<22:07,  2.09s/it]
 15%|█▌        | 115/750 [03:09<16:06,  1.52s/it]
 15%|█▌        | 116/750 [03:09<11:54,  1.13s/it]
 16%|█▌        | 117/750 [03:09<08:57,  1.18it/s]
 16%|█▌        | 118/750 [03:09<06:55,  1.52it/s]
 16%|█▌        | 119/750 [03:10<05:32,  1.90it/s]
 16%|█▌        | 120/750 [03:10<04:33,  2.31it/s]
 16%|█▌        | 121/750 [03:16<21:45,  2.08s/it]
 16%|█▋        | 122/750 [03:16<15:55,  1.52s/it]
 16%|█▋        | 123/750 [03:16<11:48,  1.13s/it]
 17%|█▋        | 124/750 [03:16<08:56,  1.17it/s]
 17%|█▋        | 125/750 [03:17<06:55,  1.51it/s]
 17%|█▋        | 126/750 [03:17<05:29,  1.89it/s]
 17%|█▋        | 127/750 [03:17<04:30,  2.31it/s]
 17%|█▋        | 128/750 [03:17<03:48,  2.72it/s]
 17%|█▋        | 129/750 [03:23<20:00,  1.93s/it]
 17%|█▋        | 130/750 [03:23<14:41,  1.42s/it]
 17%|█▋        | 131/750 [03:23<10:59,  1.06s/it]
 18%|█▊        | 132/750 [03:23<08:23,  1.23it/s]
 18%|█▊        | 133/750 [03:24<06:34,  1.57it/s]
 18%|█▊        | 134/750 [03:24<05:17,  1.94it/s]
 18%|█▊        | 135/750 [03:24<04:22,  2.34it/s]
 18%|█▊        | 136/750 [03:24<03:45,  2.72it/s]
 18%|█▊        | 137/750 [03:31<22:45,  2.23s/it]
 18%|█▊        | 138/750 [03:31<16:34,  1.62s/it]
 19%|█▊        | 139/750 [03:31<12:16,  1.20s/it]
 19%|█▊        | 140/750 [03:32<09:15,  1.10it/s]
 19%|█▉        | 141/750 [03:32<07:10,  1.42it/s]
 19%|█▉        | 142/750 [03:32<05:42,  1.78it/s]
 19%|█▉        | 143/750 [03:32<04:40,  2.16it/s]
 19%|█▉        | 144/750 [03:33<03:57,  2.55it/s]
 19%|█▉        | 145/750 [03:45<40:44,  4.04s/it]
 19%|█▉        | 146/750 [03:45<29:11,  2.90s/it]
 20%|█▉        | 147/750 [03:46<21:05,  2.10s/it]
 20%|█▉        | 148/750 [03:46<15:26,  1.54s/it]
 20%|█▉        | 149/750 [03:46<11:28,  1.15s/it]
 20%|██        | 150/750 [03:46<08:42,  1.15it/s]
 20%|██        | 151/750 [03:46<06:46,  1.48it/s]
 20%|██        | 152/750 [03:47<05:25,  1.84it/s]
 20%|██        | 153/750 [03:53<22:43,  2.28s/it]
 21%|██        | 154/750 [03:53<16:34,  1.67s/it]
 21%|██        | 155/750 [03:54<12:16,  1.24s/it]
 21%|██        | 156/750 [03:54<09:17,  1.07it/s]
 21%|██        | 157/750 [03:54<07:10,  1.38it/s]
 21%|██        | 158/750 [03:54<05:41,  1.73it/s]
 21%|██        | 159/750 [03:54<04:39,  2.12it/s]
 21%|██▏       | 160/750 [03:55<03:55,  2.51it/s]
 21%|██▏       | 161/750 [04:08<43:20,  4.41s/it]
 22%|██▏       | 162/750 [04:09<30:58,  3.16s/it]
 22%|██▏       | 163/750 [04:09<22:19,  2.28s/it]
 22%|██▏       | 164/750 [04:09<16:16,  1.67s/it]
 22%|██▏       | 165/750 [04:09<12:02,  1.23s/it]
 22%|██▏       | 166/750 [04:10<09:03,  1.07it/s]
 22%|██▏       | 167/750 [04:10<06:59,  1.39it/s]
 22%|██▏       | 168/750 [04:10<05:33,  1.75it/s]
 23%|██▎       | 169/750 [04:18<25:36,  2.64s/it]
 23%|██▎       | 170/750 [04:18<18:33,  1.92s/it]
 23%|██▎       | 171/750 [04:18<13:38,  1.41s/it]
 23%|██▎       | 172/750 [04:18<10:10,  1.06s/it]
 23%|██▎       | 173/750 [04:18<07:46,  1.24it/s]
 23%|██▎       | 174/750 [04:19<06:05,  1.58it/s]
 23%|██▎       | 175/750 [04:19<04:53,  1.96it/s]
 23%|██▎       | 176/750 [04:19<04:05,  2.34it/s]
 24%|██▎       | 177/750 [04:40<1:01:59,  6.49s/it]
 24%|██▎       | 178/750 [04:40<43:54,  4.61s/it]  
 24%|██▍       | 179/750 [04:40<31:16,  3.29s/it]
 24%|██▍       | 180/750 [04:40<22:26,  2.36s/it]
 24%|██▍       | 181/750 [04:41<16:16,  1.72s/it]
 24%|██▍       | 182/750 [04:41<11:57,  1.26s/it]
 24%|██▍       | 183/750 [04:41<08:55,  1.06it/s]
 25%|██▍       | 184/750 [04:41<06:49,  1.38it/s]
 25%|██▍       | 185/750 [04:54<39:57,  4.24s/it]
 25%|██▍       | 186/750 [04:54<28:30,  3.03s/it]
 25%|██▍       | 187/750 [04:54<20:29,  2.18s/it]
 25%|██▌       | 188/750 [04:54<14:53,  1.59s/it]
 25%|██▌       | 189/750 [04:55<10:58,  1.17s/it]
 25%|██▌       | 190/750 [04:55<08:13,  1.13it/s]
 25%|██▌       | 191/750 [04:55<06:18,  1.48it/s]
 26%|██▌       | 192/750 [04:55<04:58,  1.87it/s]
 26%|██▌       | 193/750 [05:02<21:26,  2.31s/it]
 26%|██▌       | 194/750 [05:02<15:33,  1.68s/it]
 26%|██▌       | 195/750 [05:02<11:26,  1.24s/it]
 26%|██▌       | 196/750 [05:02<08:34,  1.08it/s]
 26%|██▋       | 197/750 [05:02<06:33,  1.41it/s]
 26%|██▋       | 198/750 [05:03<05:08,  1.79it/s]
 27%|██▋       | 199/750 [05:03<04:08,  2.22it/s]
 27%|██▋       | 200/750 [05:03<03:26,  2.66it/s]
 27%|██▋       | 201/750 [05:23<56:49,  6.21s/it]
 27%|██▋       | 202/750 [05:23<40:15,  4.41s/it]
 27%|██▋       | 203/750 [05:23<28:39,  3.14s/it]
 27%|██▋       | 204/750 [05:23<20:35,  2.26s/it]
 27%|██▋       | 205/750 [05:24<14:56,  1.64s/it]
 27%|██▋       | 206/750 [05:24<10:59,  1.21s/it]
 28%|██▊       | 207/750 [05:24<08:13,  1.10it/s]
 28%|██▊       | 208/750 [05:24<06:17,  1.44it/s]
 28%|██▊       | 209/750 [05:30<20:51,  2.31s/it]
 28%|██▊       | 210/750 [05:31<15:07,  1.68s/it]
 28%|██▊       | 211/750 [05:31<11:07,  1.24s/it]
 28%|██▊       | 212/750 [05:31<08:19,  1.08it/s]
 28%|██▊       | 213/750 [05:31<06:21,  1.41it/s]
 29%|██▊       | 214/750 [05:31<05:01,  1.78it/s]
 29%|██▊       | 215/750 [05:32<04:05,  2.18it/s]
 29%|██▉       | 216/750 [05:32<03:26,  2.58it/s]
 29%|██▉       | 217/750 [05:38<19:19,  2.17s/it]
 29%|██▉       | 218/750 [05:38<14:04,  1.59s/it]
 29%|██▉       | 219/750 [05:39<10:25,  1.18s/it]
 29%|██▉       | 220/750 [05:39<07:51,  1.12it/s]
 29%|██▉       | 221/750 [05:39<06:04,  1.45it/s]
 30%|██▉       | 222/750 [05:39<04:49,  1.83it/s]
 30%|██▉       | 223/750 [05:39<03:56,  2.23it/s]
 30%|██▉       | 224/750 [05:40<03:19,  2.63it/s]
 30%|███       | 225/750 [05:50<30:35,  3.50s/it]
 30%|███       | 226/750 [05:51<21:54,  2.51s/it]
 30%|███       | 227/750 [05:51<15:50,  1.82s/it]
 30%|███       | 228/750 [05:51<11:34,  1.33s/it]
 31%|███       | 229/750 [05:51<08:36,  1.01it/s]
 31%|███       | 230/750 [05:51<06:32,  1.33it/s]
 31%|███       | 231/750 [05:52<05:05,  1.70it/s]
 31%|███       | 232/750 [05:52<04:04,  2.11it/s]
 31%|███       | 233/750 [06:01<26:41,  3.10s/it]
 31%|███       | 234/750 [06:01<19:10,  2.23s/it]
 31%|███▏      | 235/750 [06:01<13:56,  1.62s/it]
 31%|███▏      | 236/750 [06:02<10:16,  1.20s/it]
 32%|███▏      | 237/750 [06:02<07:41,  1.11it/s]
 32%|███▏      | 238/750 [06:02<05:54,  1.44it/s]
 32%|███▏      | 239/750 [06:02<04:38,  1.83it/s]
 32%|███▏      | 240/750 [06:02<03:45,  2.27it/s]
 32%|███▏      | 241/750 [06:12<27:57,  3.29s/it]
 32%|███▏      | 242/750 [06:13<20:02,  2.37s/it]
 32%|███▏      | 243/750 [06:13<14:30,  1.72s/it]
 33%|███▎      | 244/750 [06:13<10:38,  1.26s/it]
 33%|███▎      | 245/750 [06:13<07:56,  1.06it/s]
 33%|███▎      | 246/750 [06:13<06:03,  1.39it/s]
 33%|███▎      | 247/750 [06:14<04:44,  1.77it/s]
 33%|███▎      | 248/750 [06:14<03:48,  2.20it/s]
 33%|███▎      | 249/750 [06:21<20:50,  2.50s/it]
 33%|███▎      | 250/750 [06:21<15:04,  1.81s/it]
 33%|███▎      | 251/750 [06:22<11:01,  1.33s/it]
 34%|███▎      | 252/750 [06:22<08:13,  1.01it/s]
 34%|███▎      | 253/750 [06:22<06:14,  1.33it/s]
 34%|███▍      | 254/750 [06:22<04:51,  1.70it/s]
 34%|███▍      | 255/750 [06:22<03:52,  2.13it/s]
 34%|███▍      | 256/750 [06:23<03:12,  2.57it/s]
 34%|███▍      | 257/750 [06:28<16:09,  1.97s/it]
 34%|███▍      | 258/750 [06:28<11:46,  1.44s/it]
 35%|███▍      | 259/750 [06:29<08:43,  1.07s/it]
 35%|███▍      | 260/750 [06:29<06:34,  1.24it/s]
 35%|███▍      | 261/750 [06:29<05:04,  1.60it/s]
 35%|███▍      | 262/750 [06:29<04:01,  2.02it/s]
 35%|███▌      | 263/750 [06:29<03:18,  2.46it/s]
 35%|███▌      | 264/750 [06:30<02:47,  2.90it/s]
 35%|███▌      | 265/750 [06:39<23:49,  2.95s/it]
 35%|███▌      | 266/750 [06:39<17:11,  2.13s/it]
 36%|███▌      | 267/750 [06:39<12:33,  1.56s/it]
 36%|███▌      | 268/750 [06:39<09:19,  1.16s/it]
 36%|███▌      | 269/750 [06:39<07:03,  1.14it/s]
 36%|███▌      | 270/750 [06:40<05:27,  1.46it/s]
 36%|███▌      | 271/750 [06:40<04:20,  1.84it/s]
 36%|███▋      | 272/750 [06:40<03:34,  2.22it/s]
 36%|███▋      | 273/750 [06:49<23:22,  2.94s/it]
 37%|███▋      | 274/750 [06:49<16:52,  2.13s/it]
 37%|███▋      | 275/750 [06:49<12:19,  1.56s/it]
 37%|███▋      | 276/750 [06:50<09:09,  1.16s/it]
 37%|███▋      | 277/750 [06:50<06:56,  1.14it/s]
 37%|███▋      | 278/750 [06:50<05:22,  1.46it/s]
 37%|███▋      | 279/750 [06:50<04:17,  1.83it/s]
 37%|███▋      | 280/750 [06:51<03:32,  2.21it/s]
 37%|███▋      | 281/750 [07:04<34:54,  4.47s/it]
 38%|███▊      | 282/750 [07:05<24:55,  3.20s/it]
 38%|███▊      | 283/750 [07:05<17:56,  2.30s/it]
 38%|███▊      | 284/750 [07:05<13:02,  1.68s/it]
 38%|███▊      | 285/750 [07:05<09:37,  1.24s/it]
 38%|███▊      | 286/750 [07:05<07:14,  1.07it/s]
 38%|███▊      | 287/750 [07:06<05:33,  1.39it/s]
 38%|███▊      | 288/750 [07:06<04:24,  1.75it/s]
 39%|███▊      | 289/750 [07:28<54:32,  7.10s/it]
 39%|███▊      | 290/750 [07:28<38:37,  5.04s/it]
 39%|███▉      | 291/750 [07:29<27:29,  3.59s/it]
 39%|███▉      | 292/750 [07:29<19:43,  2.58s/it]
 39%|███▉      | 293/750 [07:29<14:18,  1.88s/it]
 39%|███▉      | 294/750 [07:29<10:31,  1.39s/it]
 39%|███▉      | 295/750 [07:30<07:52,  1.04s/it]
 39%|███▉      | 296/750 [07:30<06:01,  1.26it/s]
 40%|███▉      | 297/750 [07:38<23:16,  3.08s/it]
 40%|███▉      | 298/750 [07:38<16:46,  2.23s/it]
 40%|███▉      | 299/750 [07:39<12:14,  1.63s/it]
 40%|████      | 300/750 [07:39<09:03,  1.21s/it]
 40%|████      | 301/750 [07:39<06:50,  1.09it/s]
 40%|████      | 302/750 [07:39<05:17,  1.41it/s]
 40%|████      | 303/750 [07:40<04:12,  1.77it/s]
 41%|████      | 304/750 [07:40<03:26,  2.16it/s]
 41%|████      | 305/750 [07:51<28:07,  3.79s/it]
 41%|████      | 306/750 [07:52<20:10,  2.73s/it]
 41%|████      | 307/750 [07:52<14:35,  1.98s/it]
 41%|████      | 308/750 [07:52<10:41,  1.45s/it]
 41%|████      | 309/750 [07:52<07:58,  1.09s/it]
 41%|████▏     | 310/750 [07:53<06:04,  1.21it/s]
 41%|████▏     | 311/750 [07:53<04:44,  1.54it/s]
 42%|████▏     | 312/750 [07:53<03:49,  1.91it/s]
 42%|████▏     | 313/750 [08:00<16:54,  2.32s/it]
 42%|████▏     | 314/750 [08:00<12:19,  1.69s/it]
 42%|████▏     | 315/750 [08:00<09:05,  1.25s/it]
 42%|████▏     | 316/750 [08:00<06:50,  1.06it/s]
 42%|████▏     | 317/750 [08:00<05:16,  1.37it/s]
 42%|████▏     | 318/750 [08:01<04:10,  1.73it/s]
 43%|████▎     | 319/750 [08:01<03:24,  2.11it/s]
 43%|████▎     | 320/750 [08:01<02:52,  2.50it/s]
 43%|████▎     | 320/750 [08:08<10:55,  1.53s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/log_0_env0.json.
+BananaInBowlTask_0 complete: task_name: BananaInBowlTask, run_name: BananaInBowlTask_0, run: 0, env_id: 0, policy: harness, instruction: Pick up the banana and place it in the bowl, attributes: ['semantics', 'simple'], success: True, episode_step: 321, duration: 21.4, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.3462120365934185, 'joint_sparc_mean': -9.871791333074963, 'ee_isj': 1112.7168280029775, 'joint_isj': 95898.84592951182, 'ee_path_length': 2.3846676589162374, 'joint_rmse_mean': 1.1510334453915039, 'ee_speed_max': 0.4925740659236908, 'ee_speed_mean': 0.10535447299480438}, events: {'TARGET_OBJECT_DROPPED': 5, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 422.038, 'policy_inference_avg_ms': 1314.8, 'env_step_s': 62.91, 'env_step_avg_ms': 196.0, 'video_write_s': 2.977, 'video_write_avg_ms': 9.3, 'wall_total_s': 487.925, 'it_per_sec': 0.66}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: aac9191c180a4c8d8653b4621b890723-0
+[RoboLab] Running BananaInBowlTask_1: 'Pick up the banana and place it in the bowl' (run 1, 1 envs)
+
  0%|          | 0/750 [00:00<?, ?it/s]
  0%|          | 1/750 [00:30<6:26:19, 30.95s/it]
  0%|          | 2/750 [00:31<2:40:28, 12.87s/it]
  0%|          | 3/750 [00:31<1:28:15,  7.09s/it]
  1%|          | 4/750 [00:31<54:20,  4.37s/it]  
  1%|          | 5/750 [00:31<35:36,  2.87s/it]
  1%|          | 6/750 [00:31<24:19,  1.96s/it]
  1%|          | 7/750 [00:32<17:10,  1.39s/it]
  1%|          | 8/750 [00:32<12:28,  1.01s/it]
  1%|          | 9/750 [00:47<1:06:00,  5.35s/it]
  1%|▏         | 10/750 [00:47<46:21,  3.76s/it] 
  1%|▏         | 11/750 [00:47<32:53,  2.67s/it]
  2%|▏         | 12/750 [00:47<23:36,  1.92s/it]
  2%|▏         | 13/750 [00:48<17:12,  1.40s/it]
  2%|▏         | 14/750 [00:48<12:44,  1.04s/it]
  2%|▏         | 15/750 [00:48<09:39,  1.27it/s]
  2%|▏         | 16/750 [00:48<07:29,  1.63it/s]
  2%|▏         | 17/750 [00:56<32:37,  2.67s/it]
  2%|▏         | 18/750 [00:56<23:31,  1.93s/it]
  3%|▎         | 19/750 [00:56<17:10,  1.41s/it]
  3%|▎         | 20/750 [00:56<12:44,  1.05s/it]
  3%|▎         | 21/750 [00:56<09:38,  1.26it/s]
  3%|▎         | 22/750 [00:57<07:28,  1.62it/s]
  3%|▎         | 23/750 [00:57<05:57,  2.04it/s]
  3%|▎         | 24/750 [00:57<04:52,  2.48it/s]
  3%|▎         | 25/750 [01:08<43:26,  3.60s/it]
  3%|▎         | 26/750 [01:08<31:04,  2.58s/it]
  4%|▎         | 27/750 [01:08<22:26,  1.86s/it]
  4%|▎         | 28/750 [01:09<16:24,  1.36s/it]
  4%|▍         | 29/750 [01:09<12:11,  1.01s/it]
  4%|▍         | 30/750 [01:09<09:14,  1.30it/s]
  4%|▍         | 31/750 [01:09<07:11,  1.67it/s]
  4%|▍         | 32/750 [01:10<05:44,  2.08it/s]
  4%|▍         | 33/750 [01:16<28:21,  2.37s/it]
  5%|▍         | 34/750 [01:16<20:32,  1.72s/it]
  5%|▍         | 35/750 [01:17<15:04,  1.27s/it]
  5%|▍         | 36/750 [01:17<11:15,  1.06it/s]
  5%|▍         | 37/750 [01:17<08:35,  1.38it/s]
  5%|▌         | 38/750 [01:17<06:44,  1.76it/s]
  5%|▌         | 39/750 [01:18<05:25,  2.18it/s]
  5%|▌         | 40/750 [01:18<04:31,  2.62it/s]
  5%|▌         | 41/750 [01:23<21:20,  1.81s/it]
  6%|▌         | 42/750 [01:23<15:37,  1.32s/it]
  6%|▌         | 43/750 [01:23<11:38,  1.01it/s]
  6%|▌         | 44/750 [01:23<08:51,  1.33it/s]
  6%|▌         | 45/750 [01:24<06:54,  1.70it/s]
  6%|▌         | 46/750 [01:24<05:32,  2.12it/s]
  6%|▋         | 47/750 [01:24<04:34,  2.56it/s]
  6%|▋         | 48/750 [01:24<03:53,  3.00it/s]
  7%|▋         | 49/750 [01:58<1:59:44, 10.25s/it]
  7%|▋         | 50/750 [01:58<1:24:24,  7.24s/it]
  7%|▋         | 51/750 [01:58<59:42,  5.13s/it]  
  7%|▋         | 52/750 [01:58<42:26,  3.65s/it]
  7%|▋         | 53/750 [01:58<30:23,  2.62s/it]
  7%|▋         | 54/750 [01:59<21:57,  1.89s/it]
  7%|▋         | 55/750 [01:59<16:02,  1.38s/it]
  7%|▋         | 56/750 [01:59<11:55,  1.03s/it]
  8%|▊         | 57/750 [02:05<27:36,  2.39s/it]
  8%|▊         | 58/750 [02:05<19:59,  1.73s/it]
  8%|▊         | 59/750 [02:05<14:40,  1.27s/it]
  8%|▊         | 60/750 [02:05<10:58,  1.05it/s]
  8%|▊         | 61/750 [02:05<08:22,  1.37it/s]
  8%|▊         | 62/750 [02:06<06:34,  1.75it/s]
  8%|▊         | 63/750 [02:06<05:17,  2.16it/s]
  9%|▊         | 64/750 [02:06<04:24,  2.59it/s]
  9%|▊         | 65/750 [02:14<31:53,  2.79s/it]
  9%|▉         | 66/750 [02:15<22:59,  2.02s/it]
  9%|▉         | 67/750 [02:15<16:45,  1.47s/it]
  9%|▉         | 68/750 [02:15<12:24,  1.09s/it]
  9%|▉         | 69/750 [02:15<09:24,  1.21it/s]
  9%|▉         | 70/750 [02:16<07:19,  1.55it/s]
  9%|▉         | 71/750 [02:16<05:52,  1.93it/s]
 10%|▉         | 72/750 [02:16<04:50,  2.33it/s]
 10%|▉         | 73/750 [02:20<18:32,  1.64s/it]
 10%|▉         | 74/750 [02:21<13:42,  1.22s/it]
 10%|█         | 75/750 [02:21<10:18,  1.09it/s]
 10%|█         | 76/750 [02:21<07:56,  1.41it/s]
 10%|█         | 77/750 [02:21<06:17,  1.78it/s]
 10%|█         | 78/750 [02:22<05:08,  2.18it/s]
 11%|█         | 79/750 [02:22<04:19,  2.59it/s]
 11%|█         | 80/750 [02:22<03:45,  2.98it/s]
 11%|█         | 81/750 [02:27<18:55,  1.70s/it]
 11%|█         | 82/750 [02:27<13:58,  1.26s/it]
 11%|█         | 83/750 [02:27<10:30,  1.06it/s]
 11%|█         | 84/750 [02:28<08:05,  1.37it/s]
 11%|█▏        | 85/750 [02:28<06:25,  1.73it/s]
 11%|█▏        | 86/750 [02:28<05:14,  2.11it/s]
 12%|█▏        | 87/750 [02:28<04:25,  2.50it/s]
 12%|█▏        | 88/750 [02:28<03:50,  2.87it/s]
 12%|█▏        | 89/750 [02:43<51:25,  4.67s/it]
 12%|█▏        | 90/750 [02:43<36:42,  3.34s/it]
 12%|█▏        | 91/750 [02:44<26:25,  2.41s/it]
 12%|█▏        | 92/750 [02:44<19:14,  1.75s/it]
 12%|█▏        | 93/750 [02:44<14:13,  1.30s/it]
 13%|█▎        | 94/750 [02:44<10:42,  1.02it/s]
 13%|█▎        | 95/750 [02:45<08:14,  1.33it/s]
 13%|█▎        | 96/750 [02:45<06:30,  1.67it/s]
 13%|█▎        | 97/750 [02:57<45:13,  4.16s/it]
 13%|█▎        | 98/750 [02:57<32:22,  2.98s/it]
 13%|█▎        | 99/750 [02:58<23:23,  2.16s/it]
 13%|█▎        | 100/750 [02:58<17:07,  1.58s/it]
 13%|█▎        | 101/750 [02:58<12:43,  1.18s/it]
 14%|█▎        | 102/750 [02:58<09:37,  1.12it/s]
 14%|█▎        | 103/750 [02:59<07:28,  1.44it/s]
 14%|█▍        | 104/750 [02:59<05:59,  1.80it/s]
 14%|█▍        | 105/750 [03:04<21:15,  1.98s/it]
 14%|█▍        | 106/750 [03:04<15:35,  1.45s/it]
 14%|█▍        | 107/750 [03:05<11:37,  1.08s/it]
 14%|█▍        | 108/750 [03:05<08:52,  1.21it/s]
 15%|█▍        | 109/750 [03:05<06:56,  1.54it/s]
 15%|█▍        | 110/750 [03:05<05:34,  1.91it/s]
 15%|█▍        | 111/750 [03:06<04:38,  2.30it/s]
 15%|█▍        | 112/750 [03:06<03:56,  2.70it/s]
 15%|█▌        | 113/750 [03:15<32:29,  3.06s/it]
 15%|█▌        | 114/750 [03:15<23:26,  2.21s/it]
 15%|█▌        | 115/750 [03:16<17:06,  1.62s/it]
 15%|█▌        | 116/750 [03:16<12:41,  1.20s/it]
 16%|█▌        | 117/750 [03:16<09:36,  1.10it/s]
 16%|█▌        | 118/750 [03:16<07:27,  1.41it/s]
 16%|█▌        | 119/750 [03:17<05:57,  1.77it/s]
 16%|█▌        | 120/750 [03:17<04:53,  2.15it/s]
 16%|█▌        | 121/750 [03:24<25:48,  2.46s/it]
 16%|█▋        | 122/750 [03:24<18:44,  1.79s/it]
 16%|█▋        | 123/750 [03:24<13:50,  1.33s/it]
 17%|█▋        | 124/750 [03:25<10:24,  1.00it/s]
 17%|█▋        | 125/750 [03:25<07:58,  1.31it/s]
 17%|█▋        | 126/750 [03:25<06:17,  1.65it/s]
 17%|█▋        | 127/750 [03:25<05:07,  2.03it/s]
 17%|█▋        | 128/750 [03:25<04:18,  2.41it/s]
 17%|█▋        | 129/750 [03:32<24:13,  2.34s/it]
 17%|█▋        | 130/750 [03:33<17:40,  1.71s/it]
 17%|█▋        | 131/750 [03:33<13:04,  1.27s/it]
 18%|█▊        | 132/750 [03:33<09:51,  1.04it/s]
 18%|█▊        | 133/750 [03:33<07:37,  1.35it/s]
 18%|█▊        | 134/750 [03:33<06:02,  1.70it/s]
 18%|█▊        | 135/750 [03:34<04:57,  2.07it/s]
 18%|█▊        | 136/750 [03:34<04:10,  2.45it/s]
 18%|█▊        | 137/750 [03:39<18:20,  1.79s/it]
 18%|█▊        | 138/750 [03:39<13:28,  1.32s/it]
 19%|█▊        | 139/750 [03:39<10:03,  1.01it/s]
 19%|█▊        | 140/750 [03:40<07:39,  1.33it/s]
 19%|█▉        | 141/750 [03:40<05:59,  1.70it/s]
 19%|█▉        | 142/750 [03:40<04:48,  2.11it/s]
 19%|█▉        | 143/750 [03:40<03:59,  2.53it/s]
 19%|█▉        | 144/750 [03:40<03:25,  2.95it/s]
 19%|█▉        | 145/750 [03:46<19:44,  1.96s/it]
 19%|█▉        | 146/750 [03:46<14:27,  1.44s/it]
 20%|█▉        | 147/750 [03:47<10:44,  1.07s/it]
 20%|█▉        | 148/750 [03:47<08:07,  1.23it/s]
 20%|█▉        | 149/750 [03:47<06:18,  1.59it/s]
 20%|██        | 150/750 [03:47<05:01,  1.99it/s]
 20%|██        | 151/750 [03:47<04:08,  2.41it/s]
 20%|██        | 152/750 [03:48<03:30,  2.84it/s]
 20%|██        | 153/750 [04:03<47:47,  4.80s/it]
 21%|██        | 154/750 [04:03<34:00,  3.42s/it]
 21%|██        | 155/750 [04:03<24:21,  2.46s/it]
 21%|██        | 156/750 [04:03<17:38,  1.78s/it]
 21%|██        | 157/750 [04:04<12:56,  1.31s/it]
 21%|██        | 158/750 [04:04<09:38,  1.02it/s]
 21%|██        | 159/750 [04:04<07:20,  1.34it/s]
 21%|██▏       | 160/750 [04:04<05:44,  1.71it/s]
 21%|██▏       | 161/750 [04:10<22:09,  2.26s/it]
 22%|██▏       | 162/750 [04:11<16:04,  1.64s/it]
 22%|██▏       | 163/750 [04:11<11:49,  1.21s/it]
 22%|██▏       | 164/750 [04:11<08:51,  1.10it/s]
 22%|██▏       | 165/750 [04:11<06:46,  1.44it/s]
 22%|██▏       | 166/750 [04:11<05:19,  1.83it/s]
 22%|██▏       | 167/750 [04:12<04:18,  2.25it/s]
 22%|██▏       | 168/750 [04:12<03:36,  2.69it/s]
 23%|██▎       | 169/750 [04:19<22:04,  2.28s/it]
 23%|██▎       | 170/750 [04:19<15:59,  1.65s/it]
 23%|██▎       | 171/750 [04:19<11:45,  1.22s/it]
 23%|██▎       | 172/750 [04:19<08:47,  1.10it/s]
 23%|██▎       | 173/750 [04:19<06:43,  1.43it/s]
 23%|██▎       | 174/750 [04:20<05:16,  1.82it/s]
 23%|██▎       | 175/750 [04:20<04:15,  2.25it/s]
 23%|██▎       | 176/750 [04:20<03:33,  2.69it/s]
 24%|██▎       | 177/750 [04:27<23:36,  2.47s/it]
 24%|██▎       | 178/750 [04:28<17:05,  1.79s/it]
 24%|██▍       | 179/750 [04:28<12:30,  1.31s/it]
 24%|██▍       | 180/750 [04:28<09:19,  1.02it/s]
 24%|██▍       | 181/750 [04:28<07:06,  1.33it/s]
 24%|██▍       | 182/750 [04:28<05:32,  1.71it/s]
 24%|██▍       | 183/750 [04:29<04:26,  2.12it/s]
 25%|██▍       | 184/750 [04:29<03:41,  2.56it/s]
 25%|██▍       | 185/750 [04:35<18:57,  2.01s/it]
 25%|██▍       | 186/750 [04:35<13:50,  1.47s/it]
 25%|██▍       | 187/750 [04:35<10:13,  1.09s/it]
 25%|██▌       | 188/750 [04:35<07:42,  1.22it/s]
 25%|██▌       | 189/750 [04:35<05:56,  1.57it/s]
 25%|██▌       | 190/750 [04:36<04:42,  1.98it/s]
 25%|██▌       | 191/750 [04:36<03:50,  2.43it/s]
 26%|██▌       | 192/750 [04:36<03:14,  2.87it/s]
 26%|██▌       | 193/750 [04:47<32:18,  3.48s/it]
 26%|██▌       | 194/750 [04:47<23:10,  2.50s/it]
 26%|██▌       | 195/750 [04:47<16:48,  1.82s/it]
 26%|██▌       | 196/750 [04:47<12:21,  1.34s/it]
 26%|██▋       | 197/750 [04:48<09:16,  1.01s/it]
 26%|██▋       | 198/750 [04:48<07:04,  1.30it/s]
 27%|██▋       | 199/750 [04:48<05:33,  1.65it/s]
 27%|██▋       | 200/750 [04:48<04:28,  2.04it/s]
 27%|██▋       | 201/750 [05:05<49:43,  5.43s/it]
 27%|██▋       | 202/750 [05:06<35:21,  3.87s/it]
 27%|██▋       | 203/750 [05:06<25:19,  2.78s/it]
 27%|██▋       | 204/750 [05:06<18:15,  2.01s/it]
 27%|██▋       | 205/750 [05:06<13:18,  1.47s/it]
 27%|██▋       | 206/750 [05:06<09:49,  1.08s/it]
 28%|██▊       | 207/750 [05:07<07:24,  1.22it/s]
 28%|██▊       | 208/750 [05:07<05:42,  1.58it/s]
 28%|██▊       | 209/750 [05:13<21:49,  2.42s/it]
 28%|██▊       | 210/750 [05:14<15:47,  1.75s/it]
 28%|██▊       | 211/750 [05:14<11:35,  1.29s/it]
 28%|██▊       | 212/750 [05:14<08:39,  1.03it/s]
 28%|██▊       | 213/750 [05:14<06:35,  1.36it/s]
 29%|██▊       | 214/750 [05:14<05:08,  1.74it/s]
 29%|██▊       | 215/750 [05:15<04:11,  2.13it/s]
 29%|██▉       | 216/750 [05:15<03:30,  2.53it/s]
 29%|██▉       | 217/750 [05:23<23:27,  2.64s/it]
 29%|██▉       | 218/750 [05:23<16:58,  1.92s/it]
 29%|██▉       | 219/750 [05:23<12:24,  1.40s/it]
 29%|██▉       | 220/750 [05:23<09:13,  1.04s/it]
 29%|██▉       | 221/750 [05:24<06:58,  1.26it/s]
 30%|██▉       | 222/750 [05:24<05:24,  1.63it/s]
 30%|██▉       | 223/750 [05:24<04:19,  2.03it/s]
 30%|██▉       | 224/750 [05:24<03:32,  2.47it/s]
 30%|███       | 225/750 [05:33<25:00,  2.86s/it]
 30%|███       | 226/750 [05:33<18:00,  2.06s/it]
 30%|███       | 227/750 [05:33<13:06,  1.50s/it]
 30%|███       | 228/750 [05:33<09:40,  1.11s/it]
 31%|███       | 229/750 [05:34<07:17,  1.19it/s]
 31%|███       | 230/750 [05:34<05:37,  1.54it/s]
 31%|███       | 231/750 [05:34<04:27,  1.94it/s]
 31%|███       | 232/750 [05:34<03:38,  2.37it/s]
 31%|███       | 233/750 [05:39<15:11,  1.76s/it]
 31%|███       | 234/750 [05:39<11:08,  1.30s/it]
 31%|███▏      | 235/750 [05:39<08:18,  1.03it/s]
 31%|███▏      | 236/750 [05:40<06:21,  1.35it/s]
 32%|███▏      | 237/750 [05:40<04:58,  1.72it/s]
 32%|███▏      | 238/750 [05:40<03:59,  2.14it/s]
 32%|███▏      | 239/750 [05:40<03:18,  2.57it/s]
 32%|███▏      | 240/750 [05:40<02:49,  3.01it/s]
 32%|███▏      | 241/750 [05:49<24:48,  2.93s/it]
 32%|███▏      | 242/750 [05:50<17:51,  2.11s/it]
 32%|███▏      | 243/750 [05:50<12:59,  1.54s/it]
 33%|███▎      | 244/750 [05:50<09:35,  1.14s/it]
 33%|███▎      | 245/750 [05:50<07:12,  1.17it/s]
 33%|███▎      | 246/750 [05:50<05:32,  1.51it/s]
 33%|███▎      | 247/750 [05:51<04:23,  1.91it/s]
 33%|███▎      | 248/750 [05:51<03:33,  2.35it/s]
 33%|███▎      | 249/750 [05:57<17:33,  2.10s/it]
 33%|███▎      | 250/750 [05:57<12:46,  1.53s/it]
 33%|███▎      | 251/750 [05:57<09:25,  1.13s/it]
 34%|███▎      | 252/750 [05:57<07:06,  1.17it/s]
 34%|███▎      | 253/750 [05:58<05:28,  1.52it/s]
 34%|███▍      | 254/750 [05:58<04:18,  1.92it/s]
 34%|███▍      | 255/750 [05:58<03:31,  2.34it/s]
 34%|███▍      | 256/750 [05:58<02:57,  2.79it/s]
 34%|███▍      | 257/750 [06:04<17:20,  2.11s/it]
 34%|███▍      | 258/750 [06:05<12:39,  1.54s/it]
 35%|███▍      | 259/750 [06:05<09:23,  1.15s/it]
 35%|███▍      | 260/750 [06:05<07:06,  1.15it/s]
 35%|███▍      | 261/750 [06:05<05:29,  1.48it/s]
 35%|███▍      | 262/750 [06:06<04:22,  1.86it/s]
 35%|███▌      | 263/750 [06:06<03:35,  2.25it/s]
 35%|███▌      | 264/750 [06:06<03:03,  2.65it/s]
 35%|███▌      | 265/750 [06:15<22:47,  2.82s/it]
 35%|███▌      | 266/750 [06:15<16:27,  2.04s/it]
 36%|███▌      | 267/750 [06:15<12:02,  1.50s/it]
 36%|███▌      | 268/750 [06:15<08:57,  1.12s/it]
 36%|███▌      | 269/750 [06:15<06:48,  1.18it/s]
 36%|███▌      | 270/750 [06:16<05:17,  1.51it/s]
 36%|███▌      | 271/750 [06:16<04:14,  1.88it/s]
 36%|███▋      | 272/750 [06:16<03:30,  2.27it/s]
 36%|███▋      | 273/750 [06:23<18:31,  2.33s/it]
 37%|███▋      | 274/750 [06:23<13:29,  1.70s/it]
 37%|███▋      | 275/750 [06:23<09:57,  1.26s/it]
 37%|███▋      | 276/750 [06:24<07:30,  1.05it/s]
 37%|███▋      | 277/750 [06:24<05:45,  1.37it/s]
 37%|███▋      | 278/750 [06:24<04:32,  1.73it/s]
 37%|███▋      | 279/750 [06:24<03:42,  2.12it/s]
 37%|███▋      | 280/750 [06:24<03:07,  2.51it/s]
 37%|███▋      | 281/750 [06:46<52:05,  6.66s/it]
 38%|███▊      | 282/750 [06:46<36:55,  4.73s/it]
 38%|███▊      | 283/750 [06:46<26:19,  3.38s/it]
 38%|███▊      | 284/750 [06:46<18:55,  2.44s/it]
 38%|███▊      | 285/750 [06:47<13:45,  1.78s/it]
 38%|███▊      | 286/750 [06:47<10:07,  1.31s/it]
 38%|███▊      | 287/750 [06:47<07:35,  1.02it/s]
 38%|███▊      | 288/750 [06:47<05:48,  1.32it/s]
 39%|███▊      | 289/750 [07:32<1:47:56, 14.05s/it]
 39%|███▊      | 290/750 [07:33<1:15:56,  9.90s/it]
 39%|███▉      | 291/750 [07:33<53:36,  7.01s/it]  
 39%|███▉      | 292/750 [07:33<38:00,  4.98s/it]
 39%|███▉      | 293/750 [07:33<27:05,  3.56s/it]
 39%|███▉      | 294/750 [07:34<19:28,  2.56s/it]
 39%|███▉      | 295/750 [07:34<14:08,  1.86s/it]
 39%|███▉      | 296/750 [07:34<10:25,  1.38s/it]
 40%|███▉      | 297/750 [07:49<41:20,  5.48s/it]
 40%|███▉      | 298/750 [07:49<29:22,  3.90s/it]
 40%|███▉      | 299/750 [07:50<21:00,  2.79s/it]
 40%|████      | 300/750 [07:50<15:08,  2.02s/it]
 40%|████      | 300/750 [07:50<11:45,  1.57s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/log_1_env0.json.
+BananaInBowlTask_1 complete: task_name: BananaInBowlTask, run_name: BananaInBowlTask_1, run: 1, env_id: 0, policy: harness, instruction: Pick up the banana and place it in the bowl, attributes: ['semantics', 'simple'], success: True, episode_step: 301, duration: 20.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.18550515050018, 'joint_sparc_mean': -8.49320084464984, 'ee_isj': 687.7923192609546, 'joint_isj': 20246.37816111259, 'ee_path_length': 2.0018075625480063, 'joint_rmse_mean': 1.1508590767897287, 'ee_speed_max': 0.3653396964073181, 'ee_speed_mean': 0.09678557515144348}, events: {'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 4, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 408.563, 'policy_inference_avg_ms': 1357.4, 'env_step_s': 58.52, 'env_step_avg_ms': 194.4, 'video_write_s': 3.27, 'video_write_avg_ms': 10.9, 'wall_total_s': 470.353, 'it_per_sec': 0.64}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 3df500846e1846c7b8a2975cb6acdffa-1
+[RoboLab] Running BananaInBowlTask_2: 'Pick up the banana and place it in the bowl' (run 2, 1 envs)
+
  0%|          | 0/750 [00:00<?, ?it/s]
  0%|          | 1/750 [00:27<5:49:02, 27.96s/it]
  0%|          | 2/750 [00:28<2:25:07, 11.64s/it]
  0%|          | 3/750 [00:28<1:19:53,  6.42s/it]
  1%|          | 4/750 [00:28<49:15,  3.96s/it]  
  1%|          | 5/750 [00:28<32:20,  2.61s/it]
  1%|          | 6/750 [00:28<22:09,  1.79s/it]
  1%|          | 7/750 [00:29<15:41,  1.27s/it]
  1%|          | 8/750 [00:29<11:27,  1.08it/s]
  1%|          | 9/750 [00:36<33:50,  2.74s/it]
  1%|▏         | 10/750 [00:36<24:06,  1.95s/it]
  1%|▏         | 11/750 [00:36<17:27,  1.42s/it]
  2%|▏         | 12/750 [00:36<12:51,  1.05s/it]
  2%|▏         | 13/750 [00:36<09:41,  1.27it/s]
  2%|▏         | 14/750 [00:37<07:28,  1.64it/s]
  2%|▏         | 15/750 [00:37<05:57,  2.05it/s]
  2%|▏         | 16/750 [00:37<04:53,  2.50it/s]
  2%|▏         | 17/750 [00:44<30:58,  2.54s/it]
  2%|▏         | 18/750 [00:45<22:22,  1.83s/it]
  3%|▎         | 19/750 [00:45<16:21,  1.34s/it]
  3%|▎         | 20/750 [00:45<12:08,  1.00it/s]
  3%|▎         | 21/750 [00:45<09:11,  1.32it/s]
  3%|▎         | 22/750 [00:45<07:07,  1.70it/s]
  3%|▎         | 23/750 [00:46<05:41,  2.13it/s]
  3%|▎         | 24/750 [00:46<04:45,  2.55it/s]
  3%|▎         | 25/750 [00:49<16:25,  1.36s/it]
  3%|▎         | 26/750 [00:50<12:16,  1.02s/it]
  4%|▎         | 27/750 [00:50<09:21,  1.29it/s]
  4%|▎         | 28/750 [00:50<07:18,  1.65it/s]
  4%|▍         | 29/750 [00:50<05:51,  2.05it/s]
  4%|▍         | 30/750 [00:51<04:50,  2.48it/s]
  4%|▍         | 31/750 [00:51<04:07,  2.90it/s]
  4%|▍         | 32/750 [00:51<03:38,  3.28it/s]
  4%|▍         | 33/750 [01:28<2:15:14, 11.32s/it]
  5%|▍         | 34/750 [01:28<1:35:16,  7.98s/it]
  5%|▍         | 35/750 [01:28<1:07:18,  5.65s/it]
  5%|▍         | 36/750 [01:29<47:44,  4.01s/it]  
  5%|▍         | 37/750 [01:29<34:04,  2.87s/it]
  5%|▌         | 38/750 [01:29<24:30,  2.07s/it]
  5%|▌         | 39/750 [01:29<17:50,  1.51s/it]
  5%|▌         | 40/750 [01:29<13:09,  1.11s/it]
  5%|▌         | 41/750 [01:36<31:03,  2.63s/it]
  6%|▌         | 42/750 [01:36<22:26,  1.90s/it]
  6%|▌         | 43/750 [01:36<16:23,  1.39s/it]
  6%|▌         | 44/750 [01:36<12:09,  1.03s/it]
  6%|▌         | 45/750 [01:36<09:11,  1.28it/s]
  6%|▌         | 46/750 [01:37<07:06,  1.65it/s]
  6%|▋         | 47/750 [01:37<05:39,  2.07it/s]
  6%|▋         | 48/750 [01:37<04:38,  2.52it/s]
  7%|▋         | 49/750 [01:41<18:51,  1.61s/it]
  7%|▋         | 50/750 [01:42<13:52,  1.19s/it]
  7%|▋         | 51/750 [01:42<10:22,  1.12it/s]
  7%|▋         | 52/750 [01:42<07:56,  1.47it/s]
  7%|▋         | 53/750 [01:42<06:13,  1.87it/s]
  7%|▋         | 54/750 [01:42<05:02,  2.30it/s]
  7%|▋         | 55/750 [01:43<04:12,  2.76it/s]
  7%|▋         | 56/750 [01:43<03:37,  3.19it/s]
  8%|▊         | 57/750 [01:55<46:41,  4.04s/it]
  8%|▊         | 58/750 [01:56<33:22,  2.89s/it]
  8%|▊         | 59/750 [01:56<24:02,  2.09s/it]
  8%|▊         | 60/750 [01:56<17:31,  1.52s/it]
  8%|▊         | 61/750 [01:56<12:57,  1.13s/it]
  8%|▊         | 62/750 [01:57<09:45,  1.17it/s]
  8%|▊         | 63/750 [01:57<07:31,  1.52it/s]
  9%|▊         | 64/750 [01:57<05:57,  1.92it/s]
  9%|▊         | 65/750 [02:03<24:39,  2.16s/it]
  9%|▉         | 66/750 [02:03<17:54,  1.57s/it]
  9%|▉         | 67/750 [02:03<13:12,  1.16s/it]
  9%|▉         | 68/750 [02:04<09:55,  1.14it/s]
  9%|▉         | 69/750 [02:04<07:37,  1.49it/s]
  9%|▉         | 70/750 [02:04<06:00,  1.88it/s]
  9%|▉         | 71/750 [02:04<04:53,  2.31it/s]
 10%|▉         | 72/750 [02:04<04:07,  2.74it/s]
 10%|▉         | 73/750 [02:16<42:46,  3.79s/it]
 10%|▉         | 74/750 [02:16<30:35,  2.71s/it]
 10%|█         | 75/750 [02:17<22:03,  1.96s/it]
 10%|█         | 76/750 [02:17<16:06,  1.43s/it]
 10%|█         | 77/750 [02:17<11:56,  1.07s/it]
 10%|█         | 78/750 [02:17<09:03,  1.24it/s]
 11%|█         | 79/750 [02:17<07:00,  1.60it/s]
 11%|█         | 80/750 [02:18<05:35,  2.00it/s]
 11%|█         | 81/750 [02:31<50:26,  4.52s/it]
 11%|█         | 82/750 [02:32<35:55,  3.23s/it]
 11%|█         | 83/750 [02:32<25:46,  2.32s/it]
 11%|█         | 84/750 [02:32<18:41,  1.68s/it]
 11%|█▏        | 85/750 [02:32<13:45,  1.24s/it]
 11%|█▏        | 86/750 [02:32<10:17,  1.08it/s]
 12%|█▏        | 87/750 [02:33<07:52,  1.40it/s]
 12%|█▏        | 88/750 [02:33<06:09,  1.79it/s]
 12%|█▏        | 89/750 [02:44<42:37,  3.87s/it]
 12%|█▏        | 90/750 [02:45<30:27,  2.77s/it]
 12%|█▏        | 91/750 [02:45<21:57,  2.00s/it]
 12%|█▏        | 92/750 [02:45<16:00,  1.46s/it]
 12%|█▏        | 93/750 [02:45<11:52,  1.08s/it]
 13%|█▎        | 94/750 [02:45<08:57,  1.22it/s]
 13%|█▎        | 95/750 [02:46<06:56,  1.57it/s]
 13%|█▎        | 96/750 [02:46<05:30,  1.98it/s]
 13%|█▎        | 97/750 [02:52<22:13,  2.04s/it]
 13%|█▎        | 98/750 [02:52<16:13,  1.49s/it]
 13%|█▎        | 99/750 [02:52<12:01,  1.11s/it]
 13%|█▎        | 100/750 [02:52<09:03,  1.20it/s]
 13%|█▎        | 101/750 [02:52<07:00,  1.55it/s]
 14%|█▎        | 102/750 [02:53<05:32,  1.95it/s]
 14%|█▎        | 103/750 [02:53<04:33,  2.37it/s]
 14%|█▍        | 104/750 [02:53<03:50,  2.80it/s]
 14%|█▍        | 105/750 [02:57<17:13,  1.60s/it]
 14%|█▍        | 106/750 [02:58<12:48,  1.19s/it]
 14%|█▍        | 107/750 [02:58<09:41,  1.11it/s]
 14%|█▍        | 108/750 [02:58<07:29,  1.43it/s]
 15%|█▍        | 109/750 [02:58<05:58,  1.79it/s]
 15%|█▍        | 110/750 [02:59<04:56,  2.16it/s]
 15%|█▍        | 111/750 [02:59<04:14,  2.51it/s]
 15%|█▍        | 112/750 [02:59<03:42,  2.86it/s]
 15%|█▌        | 113/750 [03:05<20:00,  1.88s/it]
 15%|█▌        | 114/750 [03:05<14:43,  1.39s/it]
 15%|█▌        | 115/750 [03:05<11:02,  1.04s/it]
 15%|█▌        | 116/750 [03:05<08:26,  1.25it/s]
 16%|█▌        | 117/750 [03:06<06:37,  1.59it/s]
 16%|█▌        | 118/750 [03:06<05:20,  1.97it/s]
 16%|█▌        | 119/750 [03:06<04:27,  2.36it/s]
 16%|█▌        | 120/750 [03:06<03:50,  2.73it/s]
 16%|█▌        | 121/750 [03:20<44:59,  4.29s/it]
 16%|█▋        | 122/750 [03:20<32:09,  3.07s/it]
 16%|█▋        | 123/750 [03:20<23:10,  2.22s/it]
 17%|█▋        | 124/750 [03:20<16:54,  1.62s/it]
 17%|█▋        | 125/750 [03:21<12:30,  1.20s/it]
 17%|█▋        | 126/750 [03:21<09:26,  1.10it/s]
 17%|█▋        | 127/750 [03:21<07:17,  1.42it/s]
 17%|█▋        | 128/750 [03:21<05:47,  1.79it/s]
 17%|█▋        | 129/750 [03:28<24:45,  2.39s/it]
 17%|█▋        | 130/750 [03:28<17:56,  1.74s/it]
 17%|█▋        | 131/750 [03:28<13:10,  1.28s/it]
 18%|█▊        | 132/750 [03:29<09:51,  1.05it/s]
 18%|█▊        | 133/750 [03:29<07:31,  1.37it/s]
 18%|█▊        | 134/750 [03:29<05:54,  1.74it/s]
 18%|█▊        | 135/750 [03:29<04:45,  2.16it/s]
 18%|█▊        | 136/750 [03:29<03:56,  2.59it/s]
 18%|█▊        | 137/750 [03:41<38:16,  3.75s/it]
 18%|█▊        | 138/750 [03:41<27:23,  2.69s/it]
 19%|█▊        | 139/750 [03:41<19:46,  1.94s/it]
 19%|█▊        | 140/750 [03:42<14:26,  1.42s/it]
 19%|█▉        | 141/750 [03:42<10:42,  1.06s/it]
 19%|█▉        | 142/750 [03:42<08:06,  1.25it/s]
 19%|█▉        | 143/750 [03:42<06:15,  1.61it/s]
 19%|█▉        | 144/750 [03:42<04:59,  2.02it/s]
 19%|█▉        | 145/750 [03:50<26:58,  2.68s/it]
 19%|█▉        | 146/750 [03:50<19:28,  1.93s/it]
 20%|█▉        | 147/750 [03:51<14:14,  1.42s/it]
 20%|█▉        | 148/750 [03:51<10:34,  1.05s/it]
 20%|█▉        | 149/750 [03:51<08:00,  1.25it/s]
 20%|██        | 150/750 [03:51<06:11,  1.61it/s]
 20%|██        | 151/750 [03:51<04:56,  2.02it/s]
 20%|██        | 152/750 [03:52<04:03,  2.45it/s]
 20%|██        | 153/750 [04:04<38:57,  3.92s/it]
 21%|██        | 154/750 [04:04<27:50,  2.80s/it]
 21%|██        | 155/750 [04:04<20:06,  2.03s/it]
 21%|██        | 156/750 [04:04<14:43,  1.49s/it]
 21%|██        | 157/750 [04:05<10:58,  1.11s/it]
 21%|██        | 158/750 [04:05<08:21,  1.18it/s]
 21%|██        | 159/750 [04:05<06:31,  1.51it/s]
 21%|██▏       | 160/750 [04:05<05:14,  1.88it/s]
 21%|██▏       | 161/750 [04:23<55:55,  5.70s/it]
 22%|██▏       | 162/750 [04:23<39:44,  4.05s/it]
 22%|██▏       | 163/750 [04:23<28:22,  2.90s/it]
 22%|██▏       | 164/750 [04:24<20:25,  2.09s/it]
 22%|██▏       | 165/750 [04:24<14:52,  1.53s/it]
 22%|██▏       | 166/750 [04:24<10:59,  1.13s/it]
 22%|██▏       | 167/750 [04:24<08:16,  1.17it/s]
 22%|██▏       | 168/750 [04:24<06:21,  1.53it/s]
 23%|██▎       | 169/750 [04:29<18:44,  1.94s/it]
 23%|██▎       | 170/750 [04:30<13:40,  1.42s/it]
 23%|██▎       | 171/750 [04:30<10:09,  1.05s/it]
 23%|██▎       | 172/750 [04:30<07:42,  1.25it/s]
 23%|██▎       | 173/750 [04:30<05:59,  1.61it/s]
 23%|██▎       | 174/750 [04:30<04:47,  2.01it/s]
 23%|██▎       | 175/750 [04:31<03:56,  2.44it/s]
 23%|██▎       | 176/750 [04:31<03:21,  2.84it/s]
 24%|██▎       | 177/750 [04:38<22:23,  2.34s/it]
 24%|██▎       | 178/750 [04:38<16:13,  1.70s/it]
 24%|██▍       | 179/750 [04:38<11:54,  1.25s/it]
 24%|██▍       | 180/750 [04:38<08:54,  1.07it/s]
 24%|██▍       | 181/750 [04:39<06:48,  1.39it/s]
 24%|██▍       | 182/750 [04:39<05:20,  1.77it/s]
 24%|██▍       | 183/750 [04:39<04:18,  2.20it/s]
 25%|██▍       | 184/750 [04:39<03:35,  2.63it/s]
 25%|██▍       | 185/750 [04:51<36:32,  3.88s/it]
 25%|██▍       | 186/750 [04:51<26:07,  2.78s/it]
 25%|██▍       | 187/750 [04:52<18:50,  2.01s/it]
 25%|██▌       | 188/750 [04:52<13:43,  1.46s/it]
 25%|██▌       | 189/750 [04:52<10:11,  1.09s/it]
 25%|██▌       | 190/750 [04:52<07:42,  1.21it/s]
 25%|██▌       | 191/750 [04:53<06:00,  1.55it/s]
 26%|██▌       | 192/750 [04:53<04:49,  1.93it/s]
 26%|██▌       | 193/750 [04:59<21:42,  2.34s/it]
 26%|██▌       | 194/750 [05:00<15:48,  1.71s/it]
 26%|██▌       | 195/750 [05:00<11:41,  1.26s/it]
 26%|██▌       | 196/750 [05:00<08:48,  1.05it/s]
 26%|██▋       | 197/750 [05:00<06:48,  1.35it/s]
 26%|██▋       | 198/750 [05:01<05:24,  1.70it/s]
 27%|██▋       | 199/750 [05:01<04:25,  2.07it/s]
 27%|██▋       | 200/750 [05:01<03:42,  2.47it/s]
 27%|██▋       | 201/750 [05:22<59:59,  6.56s/it]
 27%|██▋       | 202/750 [05:22<42:34,  4.66s/it]
 27%|██▋       | 203/750 [05:22<30:22,  3.33s/it]
 27%|██▋       | 204/750 [05:23<21:50,  2.40s/it]
 27%|██▋       | 205/750 [05:23<15:52,  1.75s/it]
 27%|██▋       | 206/750 [05:23<11:42,  1.29s/it]
 28%|██▊       | 207/750 [05:23<08:47,  1.03it/s]
 28%|██▊       | 208/750 [05:23<06:45,  1.34it/s]
 28%|██▊       | 209/750 [05:29<19:55,  2.21s/it]
 28%|██▊       | 210/750 [05:29<14:31,  1.61s/it]
 28%|██▊       | 211/750 [05:30<10:45,  1.20s/it]
 28%|██▊       | 212/750 [05:30<08:09,  1.10it/s]
 28%|██▊       | 213/750 [05:30<06:19,  1.42it/s]
 29%|██▊       | 214/750 [05:30<05:01,  1.78it/s]
 29%|██▊       | 215/750 [05:30<04:07,  2.16it/s]
 29%|██▉       | 216/750 [05:31<03:29,  2.55it/s]
 29%|██▉       | 217/750 [05:38<22:22,  2.52s/it]
 29%|██▉       | 218/750 [05:38<16:15,  1.83s/it]
 29%|██▉       | 219/750 [05:39<11:59,  1.35s/it]
 29%|██▉       | 220/750 [05:39<08:58,  1.02s/it]
 29%|██▉       | 221/750 [05:39<06:53,  1.28it/s]
 30%|██▉       | 222/750 [05:39<05:25,  1.62it/s]
 30%|██▉       | 223/750 [05:40<04:24,  1.99it/s]
 30%|██▉       | 224/750 [05:40<03:41,  2.38it/s]
 30%|███       | 225/750 [05:46<19:57,  2.28s/it]
 30%|███       | 226/750 [05:47<14:33,  1.67s/it]
 30%|███       | 227/750 [05:47<10:46,  1.24s/it]
 30%|███       | 228/750 [05:47<08:07,  1.07it/s]
 31%|███       | 229/750 [05:47<06:16,  1.38it/s]
 31%|███       | 230/750 [05:48<05:00,  1.73it/s]
 31%|███       | 231/750 [05:48<04:06,  2.10it/s]
 31%|███       | 232/750 [05:48<03:28,  2.49it/s]
 31%|███       | 233/750 [05:56<23:57,  2.78s/it]
 31%|███       | 234/750 [05:57<17:20,  2.02s/it]
 31%|███▏      | 235/750 [05:57<12:42,  1.48s/it]
 31%|███▏      | 236/750 [05:57<09:29,  1.11s/it]
 32%|███▏      | 237/750 [05:57<07:14,  1.18it/s]
 32%|███▏      | 238/750 [05:58<05:40,  1.51it/s]
 32%|███▏      | 239/750 [05:58<04:33,  1.87it/s]
 32%|███▏      | 240/750 [05:58<03:46,  2.25it/s]
 32%|███▏      | 241/750 [06:06<22:15,  2.62s/it]
 32%|███▏      | 242/750 [06:06<16:09,  1.91s/it]
 32%|███▏      | 243/750 [06:06<11:53,  1.41s/it]
 33%|███▎      | 244/750 [06:06<08:54,  1.06s/it]
 33%|███▎      | 245/750 [06:07<06:49,  1.23it/s]
 33%|███▎      | 246/750 [06:07<05:22,  1.56it/s]
 33%|███▎      | 247/750 [06:07<04:19,  1.94it/s]
 33%|███▎      | 248/750 [06:07<03:37,  2.31it/s]
 33%|███▎      | 249/750 [06:14<18:58,  2.27s/it]
 33%|███▎      | 250/750 [06:14<13:51,  1.66s/it]
 33%|███▎      | 251/750 [06:14<10:15,  1.23s/it]
 34%|███▎      | 252/750 [06:15<07:44,  1.07it/s]
 34%|███▎      | 253/750 [06:15<05:58,  1.38it/s]
 34%|███▍      | 254/750 [06:15<04:45,  1.74it/s]
 34%|███▍      | 255/750 [06:15<03:54,  2.11it/s]
 34%|███▍      | 256/750 [06:16<03:18,  2.49it/s]
 34%|███▍      | 257/750 [06:22<17:09,  2.09s/it]
 34%|███▍      | 258/750 [06:22<12:33,  1.53s/it]
 35%|███▍      | 259/750 [06:22<09:19,  1.14s/it]
 35%|███▍      | 260/750 [06:22<07:05,  1.15it/s]
 35%|███▍      | 261/750 [06:23<05:31,  1.47it/s]
 35%|███▍      | 262/750 [06:23<04:25,  1.84it/s]
 35%|███▌      | 263/750 [06:23<03:40,  2.21it/s]
 35%|███▌      | 264/750 [06:23<03:07,  2.60it/s]
 35%|███▌      | 265/750 [06:37<36:04,  4.46s/it]
 35%|███▌      | 266/750 [06:37<25:45,  3.19s/it]
 36%|███▌      | 267/750 [06:38<18:33,  2.31s/it]
 36%|███▌      | 268/750 [06:38<13:31,  1.68s/it]
 36%|███▌      | 269/750 [06:38<10:00,  1.25s/it]
 36%|███▌      | 270/750 [06:38<07:32,  1.06it/s]
 36%|███▌      | 271/750 [06:39<05:49,  1.37it/s]
 36%|███▋      | 272/750 [06:39<04:37,  1.72it/s]
 36%|███▋      | 273/750 [06:45<17:54,  2.25s/it]
 37%|███▋      | 274/750 [06:45<13:02,  1.64s/it]
 37%|███▋      | 275/750 [06:45<09:39,  1.22s/it]
 37%|███▋      | 276/750 [06:46<07:17,  1.08it/s]
 37%|███▋      | 277/750 [06:46<05:38,  1.40it/s]
 37%|███▋      | 278/750 [06:46<04:29,  1.75it/s]
 37%|███▋      | 279/750 [06:46<03:41,  2.13it/s]
 37%|███▋      | 280/750 [06:47<03:07,  2.51it/s]
 37%|███▋      | 280/750 [06:53<11:34,  1.48s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/log_2_env0.json.
+BananaInBowlTask_2 complete: task_name: BananaInBowlTask, run_name: BananaInBowlTask_2, run: 2, env_id: 0, policy: harness, instruction: Pick up the banana and place it in the bowl, attributes: ['semantics', 'simple'], success: True, episode_step: 281, duration: 18.733333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.423814266946124, 'joint_sparc_mean': -7.405008573997518, 'ee_isj': 643.6642449814195, 'joint_isj': 12821.502448824402, 'ee_path_length': 1.829021304730508, 'joint_rmse_mean': 1.1883816143428736, 'ee_speed_max': 0.5305142402648926, 'ee_speed_mean': 0.09236953407526016}, events: {'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 4, 'GRIPPER_HIT_TABLE': 2}, instruction_type: default, timing: {'policy_inference_s': 354.987, 'policy_inference_avg_ms': 1263.3, 'env_step_s': 55.144, 'env_step_avg_ms': 196.2, 'video_write_s': 3.375, 'video_write_avg_ms': 12.0, 'wall_total_s': 413.506, 'it_per_sec': 0.68}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: ea7674e9ce7e4f67b6bdee4fa757c0ee-2
+-------------------------------------------------------------------- EXPERIMENT SUMMARY --------------------------------------------------------------------
+Task Name                Success    %     95% CI         Score(total) Score(fail) Time(s) EE SPARC PathLen(m) Speed(cm/s) it/s Walltime(m)
+------------------------------------------------------------------------------------------------------------------------------------------------------------
+TOTAL (6 tasks)          10/18    55.6%   [33.5-75.6]    0.556        0.000       25.49   -8.00    7.05       16.6        0.55 18.1       
+------------------------------------------------------------------------------------------------------------------------------------------------------------
+BananaInBowlTask         3/3      100.0%  [39.8-99.4]    1.000        -           20.07   -6.65    2.07       9.8         0.66 7.6        
+ClampInRightBinTask      1/3      33.3%   [6.8-80.6]     0.333        0.000       22.33   -11.80   4.94       9.9         0.51 23.6       
+FoodPacking1BoxesTask    0/3      0.0%    [0.6-60.2]     0.000        0.000       -       -8.17    16.99      28.0        0.69 24.4       
+MarkerInMugTask          0/3      0.0%    [0.6-60.2]     0.000        0.000       -       -7.31    9.67       24.1        0.40 24.7       
+RubiksCubeThenBananaTask 3/3      100.0%  [39.8-99.4]    1.000        -           31.29   -7.36    3.31       10.7        0.63 13.1       
+SpoonInMugTask           3/3      100.0%  [39.8-99.4]    1.000        -           26.18   -6.72    5.30       16.9        0.42 15.0       
+------------------------------------------------------------------------------------------------------------------------------------------------------------
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7cf852b5751a0493c6329bac9eca198e04cd8b4b
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.episodes.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1d2f6a1b0889a4873ab738dcc00925687546aebed6c6c7512a26413e99d2141
+size 35914
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..14c6d406e988b5b801bfcf6eff055f674222dabd
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88722ec124bb6b1dacadc365e4ebdfa28ac66ad83049e627797e9468e0a4d9a9
+size 3812766
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0001/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..878e805d408a35b09c802844fad2ed18fd43aa33
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0001/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc78baede0dca9749755ced46d1b5a7e08063a94d1e56a64d5c7f60c3ac12248
+size 36314378
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0001/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0001/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b24e523399e668cfe18b1c30125e4452843773b5
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0001/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf451e83fe2976921d1dc5bb1a33802835a8316e43af84dac3ccb89e29f3deb7
+size 32500
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0001/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..bb29568351fdb43e65ceaaa27e5e3dbf4009cbc5
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0001/stderr.log
@@ -0,0 +1 @@
+2026-10-29T16:58:08.331690Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0002/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0002/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4496f0226e4634c08d9f67ec70dfd11eda010318
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0002/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af6536a594178db57bed8ab5c886e7db2084ed006a06f7fba9ae1e2a7cf2a17a
+size 24397062
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0002/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0002/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ba12e7a296c2f2b5ac43038b85047179adb5c8d7
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0002/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9e49302f502d65b045d724f8726e066e6d19fadb1bd11793d91dd46d67fc2f7
+size 24226
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0002/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0002/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0003/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0003/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7b5952eedacd3334dafe6a3777f7ad66600a08db
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0003/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ffab0694201a15eae2c048425a0fa9ae541811fdb6fdb5308da3bec63ad1a1d
+size 22874332
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0003/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0003/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c71ebef93ea557ea00fbc9612b7d4feeb7cc9861
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0003/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6236511697914805dad73699c44603dbe2b9bba2bb4868b7af4c93677375766
+size 25383
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0003/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0003/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0004/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0004/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e7fee3b954caed5c8d1bf16014d5973e7f7fa28
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0004/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6e4ca8d6c9d75807e0d72bc17accc1511fbe576e711f5566e3817903d618ac5
+size 25076834
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0004/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0004/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..92b7e376b31d3c16cc7adcb068e2148b431cc2c2
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0004/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26423e83ef3948d9973d6ef4dcf946f066fc01d107f4e5de8b60f3a0d56f69cc
+size 26714
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0004/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0004/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..de677138827b5fc98cf09db958f5d3a4b06fbcb6
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0004/stderr.log
@@ -0,0 +1 @@
+2026-10-29T18:13:33.937032Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0005/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0005/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b566e5cbb56bd3e8d74cf8482ad973193a7e2c2b
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0005/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3df68b7de157f69eead5f4b59a16f1b622889c759c156505ada0d3b9f956dfb
+size 7700682
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0005/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0005/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f779b83fcaf9e8f85277fdbd1b35c3f1d16dd0ed
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0005/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aed96dbbdbc7468892a21916254e1fc14eb16b68cf01de630ec7b4dfa30cf6b2
+size 9032
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0005/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0005/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..4ca864b9c82a93b9d73c427dfad294de5fd59d3d
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0005/stderr.log
@@ -0,0 +1 @@
+2026-10-29T18:36:05.301526Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0006/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0006/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5f5934c269189bda98af9c8abea0a7b24b2a4413
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0006/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5382698d983f51bef145a208ea49eb1ff5ad519b192fbe65806c836a06066f8e
+size 36524525
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0006/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0006/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0f7c63625f855d75abe77ce654e48fcf601c459f
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0006/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:741ade879ff9ad32c9e14fdbfaf80001bd414ba42f741ccacee04315dbc26255
+size 17549
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0006/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0006/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..ab1de30104363190bf41cc98c4089da287436b2e
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0006/stderr.log
@@ -0,0 +1 @@
+2026-10-29T18:45:17.556786Z ERROR codex_core::tools::router: error=apply_patch verification failed: invalid patch: multiple operations target /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0006/runtime_lxxgrrlq/workspace/img1.b64
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0007/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0007/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d528f6811d4075e29acd768a299c4a19ba135335
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0007/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02fe91703ffd7f8d759d5254e3b29b80fad8bf18399eb16bb0dc9ef693af4ea3
+size 32746134
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0007/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0007/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..98b5c908d722c0e116b64650ed6d6fd98a716c96
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0007/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ea9f608a7399a548e2da60772214b25135ab77c91ae31b5176d3f087fe04c81
+size 34992
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0007/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0007/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..81660f2a5aab2089142e6d5dc03448e361f9b26a
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0007/stderr.log
@@ -0,0 +1,2 @@
+2026-10-29T18:59:26.550734Z ERROR codex_core::tools::router: error=unable to locate image at `/tmp/robot_view_1.png`: No such file or directory (os error 2)
+2026-10-29T19:00:23.226401Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0008/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0008/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c1e37a3372984a306f6727067526ee1b543799e8
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0008/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7761d043851beacaef80396da2a751fc9f469377933d1bd61eb3acc55c7e324a
+size 20569478
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0008/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0008/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..43765e4381283aeca9080a0e431e7ed9fddb3b5c
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0008/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:739bbfde66376a0f2ed3daf3d0202886b30a72d565b2df7b69c2b30e6cd6ad9c
+size 14920
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0008/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0008/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..0a2b019c275bd9a020b2cad38733ae75f5f0dc4d
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0008/stderr.log
@@ -0,0 +1,2 @@
+2026-10-29T19:29:05.520901Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-29T19:33:20.209541Z ERROR codex_core::tools::router: error=apply_patch verification failed: invalid patch: multiple operations target /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0008/runtime_5wapvdop/workspace/wrist.b64
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0009/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0009/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..01b92ac69877091b11b31669268cadf0f64fb2ae
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0009/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa2a41d9d029b79d22496e048b974b2b1f87e8903c38ebc910d359dcdce390c7
+size 32732477
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0009/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0009/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..41d2bc2d0897cc6a29106c8732c95e4fa15ddddc
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0009/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5c40da1535b1a37fd12930bb600bc36f8abfb332c0941db01975f44853994a5
+size 41651
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0009/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0009/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..a9b3884f55e93a11027ac8d551fb709ab64ad8e4
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0009/stderr.log
@@ -0,0 +1 @@
+2026-10-29T19:41:34.192827Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0010/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0010/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..37b2694a3e62147889ed3bfea4ffaa3b4898ebd9
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0010/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8359c01c5f426c7eaaee2cc62d703e1b00f97dbf2177da5725852185cb5a144
+size 32539900
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0010/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0010/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9b15e4674e0de932e5978845824e7b5eecfa0920
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0010/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:208d6e8793039c097237a86c718911ef46e098580c1e85db6959771cc5277753
+size 36841
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0010/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0010/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0011/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0011/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fb3df104243e175103fbf73b32c4e6b09a2504d6
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0011/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29416d4e17e191d12fb85f37fe70d6fd9c32ce7fac9db03995e3248ecdc40f46
+size 32973277
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0011/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0011/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1ce7d7fb1ee5124d1cdb4648ad98694240979cdc
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0011/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc80139d8e8db550e9abd7b1131069bc6f5123bb9fa8780807c9f848544d8b9a
+size 34516
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0011/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0011/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0012/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0012/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cd409336595a9104b32cc3c12f02308609b529d5
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0012/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92dd7b3382638a7c1ef464223324de06d83dc17b6468775334ebd6d2b2975c69
+size 31347950
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0012/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0012/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8fe2ddbd7789076a21cf9c2074a8866e64d1b04d
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0012/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:917f4049a29b7305db6a6566dff83d35670d6b8247b2e84fc0c5e9216507a826
+size 16048
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0012/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0012/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0013/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0013/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..11ed785c3b849a6b06a36afff37bbbaf5b7d41f7
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0013/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82d2a3fe55abf7ad15b01125bf072f1fb2b0c74b489d035c85729aab0fc57d42
+size 14616755
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0013/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0013/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4ce29f72f2cbf195a4a70f101a7a75ad78fc65ee
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0013/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f74245d308cfa52b760acadc290f8539cd411a701878fcba576fec4d7f76f265
+size 16330
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0013/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0013/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0014/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0014/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1861aaf8077018a20568074e4c62d984b803da11
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0014/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a4501369d89f8968529acd34711bab226e1352d947b672bb1e1800bda1385bc
+size 7540707
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0014/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0014/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fa74cf0dd250bbc69368b0d89300edb25c544b65
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0014/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8d863a21e50b8ed6029f8cf09702bac452ba045fecae169c97c8d3dfb9ced9f
+size 9312
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0014/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0014/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0015/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0015/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3f22141c05a99f9a7a4f81ec20c407171ced9fd9
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0015/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b129551dcb446ca838046d97a0773d66b81ce7656133a853ad634fdd2ea30bf
+size 27424378
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0015/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0015/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8dbcdbca0535e12f24d733eaeb0bff402dddb77e
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0015/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daeeb7fb1b07b214413f38956c43163485a4aad2e9f1f03adef86bc346f0fea8
+size 29880
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0015/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0015/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0016/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0016/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a88ed47c6fc9ebd97697175dc8275ab88f362e2f
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0016/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f3327d95c4c8079e877443a3040642d2e353c936710d2129bafb8b4eafd2e46
+size 11434447
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0016/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0016/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..42f3a8ebb0b0ba10ef26e82aed69bc79b519cd06
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0016/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:095db1eed896ecb8ef2bd1eb2fda5c0d91d46fffe75e6dfc78b46878dd7431e4
+size 13512
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0016/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0016/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0017/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0017/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e0aab0404669de98181b87e117abc936d1bba8ed
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0017/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f6ad586cf0dafc65c5642191ca9539febbb75887f0d9f09d5a2c6b1a64d4480
+size 11413782
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0017/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0017/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ede31b9133dd6f01e4d5efcd0f0f1ab336635ba7
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0017/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f42db07271a2b5765c0133ff32bb34b615a74368ac1caf1f606985d0c0c69060
+size 12952
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0017/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0017/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0018/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0018/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3bc6388b01a062c0b7c8db4cfbd8aad1f6d7bb9e
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0018/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc843b66099c55b87ae7925c0b0ffed9610d0af882c7a4cf921dc81b9a77c115
+size 10307364
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0018/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0018/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a0ca4f7b80ae8715d7a53acbeac9a4b1b9e750ba
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0018/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:667584ee11ea2ee566ee5c490eaadb07b0d23facfd1d75627c9f27c58e7c14e9
+size 14190
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0018/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval/episode-0018/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..83fef5c420395d958724afde807eed649b87e68d
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8543aad5ceabd5b71ca1cd5e3ead5950c6161124760263b484d733c0b8fa7a96
+size 8206059
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2cb2d0f4060e64f96eb5851e1d5fa8b276e54161
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:839c3b98089c451cbded56ea1ef5df7ee6a582ace4bc414adf1135d9aff8784f
+size 1850025
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_1.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b91319373b01458ac1224b6044d98b540588315
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:519bde90b11a3e60ab0033cfda025ad2e90463e58f2575531fc4a8b177767f71
+size 7663684
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_1_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6e538b8a45fbd37d8efa08ad34c74b40b96d0645
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9670f1923c814b7d791b25da02612dcaa8637b076dcb47776854b530a7ed063d
+size 1783677
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_2.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..492af8bbcee8cdaf3e00caae6d216c87401ab3c5
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a26b6dd14ddc076579e4f79c90f4578d3abb12006281bb19220165ecc56d4de
+size 6762398
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_2_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3cb595c612db5bdc4505cb448840d955058f623b
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87833c106f12cff00ce02044aa4c0bab1ac74dcd582fa64a14074a3a1b227ecf
+size 1544617
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/env_cfg.json b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..4884251025c778ffb86a1944e026c72f60006f4e
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:6", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/banana_bowl.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471946001052856, -5.8164543588645756e-05, -0.3470015227794647], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.5611012578010559, 0.15261490643024445, 0.030349360778927803], "rot": [0.9999998211860657, -0.00038860940411786313, -0.00045113630375182354, 5.555720606926124e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "banana": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/banana", "spawn": null, "init_state": {"pos": [0.5097271203994751, -0.115806944668293, 0.02117740921676159], "rot": [0.9999991655349731, -0.0006239555700669702, -0.0011311464245367135, -1.079676892718864e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana", "/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 50, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "banana", "container": "bowl", "gripper_name": "gripper", "tolerance": 0.0, "require_contact_with": true, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"banana": [["functools.partial(<function object_grabbed at 0x7fcdc02ac040>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7fc851b1b7e0>, object='banana', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "BananaInBowlTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Pick up the banana and place it in the bowl", "contact_object_list": ["banana", "bowl", "table"], "_instruction_variants": {"default": "Pick up the banana and place it in the bowl", "vague": "Put the fruit in the bowl", "specific": "Grasp the yellow banana and place it inside the red bowl on the table"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/log_0_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a929edbeaa97d600a0df8d433bce4036b609c43
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 0, "success": true, "final_step": 321, "events": [{"step": 86, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 102, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 102, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 131, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 175, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 177, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 177, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 215, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 225, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 225, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 265, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 282, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 282, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 288, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 321, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/log_1_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5b93a43555e3917030a7fd3bddb80fec5040cdf
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 1, "success": true, "final_step": 301, "events": [{"step": 70, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 82, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 137, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 186, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 195, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 215, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 218, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 218, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 257, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 297, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 297, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 300, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/log_2_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4c7eb76e8f3360ee84b5e57feabfc17c1567f68
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 2, "success": true, "final_step": 281, "events": [{"step": 106, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 128, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 128, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 128, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 162, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 162, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 193, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 205, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 206, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 248, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 248, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 249, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 281, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 281, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/run_0.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..53fe9acd90e314d8514aa5e7e6e3687922a295f6
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:273459db1551ef8249f70fe1d1149839d2217ec7920f013b9e2ade8642ba5443
+size 258336
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/run_1.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..aaba40e6f288c073c58f09e8a723e11b7e7c0b2e
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22c2d2390736966b31e68115ff1b691ca343766cbf3c1bfde049e35cee4d886d
+size 250734
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/run_2.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..46fb627787b9fb6e09cf6501a2a91d44d9579307
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/BananaInBowlTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca6ee9b1930a980975cc9347140e3d6921d21dec1179e2c722545f4617b2158f
+size 243931
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_0.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..183db500de4cb0de25a983ad8050a7f55b1ca91b
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a273f439825fb9ec083fd89eb63363719da4c9f9981be45d7c3ab53c2c8c2e1
+size 19376520
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_0_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bc534b3ed1f92d54401f0cbf87382d4f06af5047
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d204d0606040db894e0fc30573d27ba2f8c27565c774622dd92d5690a6b2146
+size 5747921
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_1.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1e9a1ae893f6dd39c6ad93c7c8bc6c12e47a952
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97bec1e509da2c05af039dc06cecb26d3b58b9bc3840bf0e7fd97120c0ad6b40
+size 6946410
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_1_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..83bd2fb9b978c745afa640cf051b59e7314e2479
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b9d99649917f122936ed871cbc51d743a8820d8f636ddddd8821fa630508dfd
+size 2143466
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_2.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..60371ba7f8ca364b9975ca9f892cb7f7f45f5ed0
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e689bdd2a6f68e40a58bde42942a67ed58e4a62712ec66527afe2f73fc923b7f
+size 19866173
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_2_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..790854dcbaa11958cbff0625e00da77d245af840
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11092071c2867a30ef3007fefadef62c76ec62831f68d190661a21a87a728ecd
+size 5814503
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/env_cfg.json b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a1281d2c73e0d35f671127eef7cd54f7b6d76ae
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:6", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/tools_container.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5472192168235779, -6.671319715678692e-05, -0.34699884057044983], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "cordless_drill": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "spawn": null, "init_state": {"pos": [0.3832567632198334, -0.030917689204216003, 0.030837547034025192], "rot": [0.9999994039535522, -0.00027199709796938646, -0.0010573647388851387, 9.483031953932822e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spring_clamp": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spring_clamp", "spawn": null, "init_state": {"pos": [0.610592782497406, -0.10363898426294327, 0.020865194499492645], "rot": [0.9999879002571106, -0.0009466228789025711, 0.004823782103845945, -0.0001853934054501256], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "red_hammer": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_hammer", "spawn": null, "init_state": {"pos": [0.5201451778411865, 0.10229665040969849, 0.019043944776058197], "rot": [0.9999916553497314, 0.001956507091222201, 0.0035756124492796327, 0.0002762363453186856], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "husky_hammer": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "spawn": null, "init_state": {"pos": [0.6765944957733154, 0.03523700684309006, 0.042902205139398575], "rot": [0.9967283010482788, -0.0003913133814819076, 0.080657131044, -0.0051930699013370074], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "left_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/left_bin", "spawn": null, "init_state": {"pos": [0.6125770980231825, 0.3813693225383758, 0.002997465431690216], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "right_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/right_bin", "spawn": null, "init_state": {"pos": [0.6041571790080553, -0.31333314564369297, 0.01092683715758294], "rot": [-0.012439837218431385, 0.0, 0.0, 0.9999226222313301], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/left_bin", "/World/envs/env_.*/scene/right_bin", "/World/envs/env_.*/scene/red_hammer", "/World/envs/env_.*/scene/husky_hammer", "/World/envs/env_.*/scene/cordless_drill", "/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__left_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/left_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__red_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__red_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "left_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__red_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_hammer__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "husky_hammer__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "husky_hammer__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "husky_hammer__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spring_clamp__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spring_clamp", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "spring_clamp", "container": "right_bin", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"spring_clamp": [["functools.partial(<function object_grabbed at 0x7fcdc02ac040>, object='spring_clamp')", 0.0], ["functools.partial(<function object_in_container at 0x7fc851b1b7e0>, object='spring_clamp', container='right_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "spatial", "simple"], "_task_attributes": ["semantics", "spatial", "simple"], "_task_name": "ClampInRightBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the spring clamp in the right bin", "contact_object_list": ["left_bin", "right_bin", "red_hammer", "husky_hammer", "cordless_drill", "spring_clamp", "table"], "_instruction_variants": {"default": "Put the spring clamp in the right bin", "vague": "Put the clamp in the right bin", "specific": "Pick up the spring clamp from the table and place it in the bin on the right side"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/log_0_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb4665b2cc841cd7e11bc1ab77dc6539450f72d9
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClampInRightBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 87, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 97, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 97, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 101, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 101, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 102, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 102, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 130, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 154, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 154, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 155, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 193, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 218, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 235, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 236, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 236, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 240, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 249, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 253, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 253, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 273, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 285, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 285, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 287, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 287, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 288, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 288, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 345, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 350, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 350, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 350, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 386, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 418, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 429, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 429, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 450, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 453, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 457, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 457, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 482, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 493, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 518, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 519, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 519, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 520, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 529, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 529, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 590, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 601, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 601, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 634, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 643, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 643, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 643, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 682, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 682, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 683, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 683, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 702, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 706, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 746, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 750, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 753, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 753, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 785, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 786, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 786, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 787, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 789, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 801, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 801, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 802, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 803, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 803, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 816, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 817, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 817, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 820, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 825, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 825, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 832, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 833, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 833, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 865, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 866, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 866, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 866, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 871, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 873, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 873, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 890, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/log_1_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7a65472c5bee9f8063d2ec535d524ff691e23a2
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClampInRightBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 335, "events": [{"step": 44, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 56, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 68, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['spring_clamp'])", "score": 0.0}, {"step": 68, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 0.0}, {"step": 69, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 70, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['spring_clamp'])", "score": 0.0}, {"step": 73, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 74, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 102, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 120, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 120, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 169, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 173, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 192, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 192, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 225, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 225, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 260, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 260, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 261, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 293, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 295, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 295, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 298, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 335, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 335, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/log_2_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3d8c22685a586ae7e5f8c5ff4a3d43fcce0ff4b
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClampInRightBinTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 34, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 54, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 0.0}, {"step": 68, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['spring_clamp'])", "score": 0.0}, {"step": 68, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 69, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 151, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 163, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 167, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 172, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 172, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 199, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 200, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 200, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 201, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 213, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 213, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 217, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 218, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 218, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 248, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 249, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 249, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 290, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 303, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 304, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 304, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 306, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 307, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 307, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 336, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 337, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 337, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 386, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 390, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 391, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 391, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 418, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 474, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 546, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 577, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 593, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 593, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 594, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 618, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 634, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 650, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 717, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 722, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 746, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 770, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 794, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 822, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 858, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 871, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 873, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 873, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 890, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/run_0.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..066692d436ead3fef2c10b418374823de2deb8c5
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3633098cbbbcb84adaccd9f467fbcada13e2c16c9795e0123ef831512cc42a0
+size 662491
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/run_1.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..88ebb31f24f9415a3ce2b5499baa9a8b0453cb76
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3a895046c192aef1cfdd37cf569780e56c574c4e4b1f73670151f130fa30a16
+size 394997
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/run_2.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..73076156ad86b85f110a3e044e32b7344a983655
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/ClampInRightBinTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6e1c1b5c1f25eb55fb11a328cf58c674674c25964c53c2677a04f8c3f9ae54f
+size 656464
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_0.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..573e27a2fc6a98be08272ecd0eebb94afa7384e6
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22d6a7c345e86f01dba4e849654c9e90f7f50bceaaa470bf4f5422291275ce18
+size 23354495
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_0_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e5335f7cc434d0c0514fb43b15b2d6badcc5bb51
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76237d700aca6c761d934dc3ab0426f117ebf1922b8d40637adc8caff38dc0b8
+size 6686669
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_1.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1664474bae1183930f965c6328ec3b3d52b51c4f
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b433f87bcc94fd8ede9afc787b95f925bb03e50059f5a69d71b195302955f3f
+size 24117041
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_1_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3bc0bd6270cdc75ef63cdbc62f79280a365f6ce7
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b927611fbb5a5435e9878f55bd8289f8dbb7eccc3213dfa4358cf3f85fcfc369
+size 6988452
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_2.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e5a346f49e1b5a6fc0c6474cb966489cf36dd49e
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c53ecb97040d7c54dfa3fcdfa62ea6b5dc2b478893e68ff6733e49f374abf7a4
+size 9728329
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_2_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2db0b6f4105a8c4148680e6dcca203a8e18a6e95
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34daedea71fba0504f5a6ab3ee93ec97b6b10176fe6675a40c9ff0f2a27af2ff
+size 2711904
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/env_cfg.json b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc3c8bba117bbc9bb2d80a9c0cf4f91c49bbe5da
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:6", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/foodpacking_1bin_1box_1can.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5472070574760437, -7.31465988792479e-05, -0.3470000624656677], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bin_a06": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bin_a06", "spawn": null, "init_state": {"pos": [0.6623992323875427, 0.3591690957546234, 0.0030019916594028473], "rot": [-8.307394522785846e-07, 3.147776841841252e-05, -0.0006731755060114463, 0.9999997729215733], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "cheez_it": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/cheez_it", "spawn": null, "init_state": {"pos": [0.4740942120552063, -0.2727200388908386, 0.10890547186136246], "rot": [0.7055808901786804, -0.014833274869134935, 0.014101319604489647, 0.7083337731301039], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "mustard": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mustard", "spawn": null, "init_state": {"pos": [0.5671444535255432, 0.3033906817436218, 0.10240653157234192], "rot": [0.9991520047187805, -0.03916314610531943, 0.012512041950778364, -0.0022289593530075767], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "tomato_soup_can": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/tomato_soup_can", "spawn": null, "init_state": {"pos": [0.41869235038757324, -0.00021113763796165586, 0.0539], "rot": [0.9997684955596924, -0.001414528593515839, -0.021422391810506817, 0.0014267180115947436], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bin_a06", "/World/envs/env_.*/scene/cheez_it", "/World/envs/env_.*/scene/mustard", "/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bin_a06": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bin_a06"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__cheez_it": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cheez_it"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__cheez_it": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cheez_it"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bin_a06__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cheez_it__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cheez_it__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cheez_it__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mustard__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mustard__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "tomato_soup_can__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/tomato_soup_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["cheez_it"], "container": "bin_a06", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"cheez_it": [["functools.partial(<function object_grabbed at 0x7fcdc02ac040>, object='cheez_it')", 0.0], ["functools.partial(<function object_in_container at 0x7fc851b1b7e0>, object='cheez_it', container='bin_a06', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "FoodPacking1BoxesTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Pack boxed foods into the bin", "contact_object_list": ["bin_a06", "cheez_it", "mustard", "tomato_soup_can", "table"], "_instruction_variants": {"default": "Pack boxed foods into the bin", "vague": "Pack boxes", "specific": "Pick up the boxed food item and place it inside the bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/log_0_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..166b6945e0f675120e8fa9f59d87fe0255c33576
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1BoxesTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 44, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 82, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 90, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 90, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 128, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 129, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 158, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 161, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 161, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 194, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 233, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 239, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 293, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 293, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 306, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 311, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 311, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 312, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 314, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 315, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 315, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 361, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.102m", "score": 0.0}, {"step": 377, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.276m", "score": 0.0}, {"step": 377, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.363m", "score": 0.0}, {"step": 411, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'bin_a06'", "score": 0.0}, {"step": 416, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'bin_a06' displaced 1.713m", "score": 0.0}, {"step": 420, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 421, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.158m", "score": 0.0}, {"step": 626, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 642, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 642, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 643, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 645, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 645, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 646, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 652, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 653, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 653, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 657, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.078m", "score": 0.0}, {"step": 706, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 761, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.285m", "score": 0.0}, {"step": 761, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.344m", "score": 0.0}, {"step": 780, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 796, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'tomato_soup_can'", "score": 0.0}, {"step": 804, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'tomato_soup_can' displaced 0.722m", "score": 0.0}, {"step": 819, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 819, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 826, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 843, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 850, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 850, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/log_1_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d21fe6989dbae0c92f9ef5c4fb1c52de0820be8b
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1BoxesTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 47, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 57, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 57, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 129, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 178, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 259, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 260, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 261, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 261, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 338, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 345, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 360, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 362, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 362, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 419, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 420, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 420, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 421, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 458, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 498, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 503, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 503, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 505, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 506, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 506, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 509, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 510, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 510, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 547, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 558, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 558, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 559, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 561, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 564, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 564, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 578, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 578, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 579, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 579, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 610, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 736, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 737, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 737, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 738, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 742, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 742, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 743, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 745, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 745, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 749, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 753, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 753, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 768, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 794, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 804, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 809, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 809, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 869, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 873, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 873, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/log_2_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..06558b54e5d85f5fde06722556360e940dfef778
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1BoxesTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 68, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 82, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 82, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 82, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/run_0.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..486d537b5f87dbdb336c4dcc484eca68cb3ad96a
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3b7d87aaa2f0b53bb4dc27fa05758feb77299f4cbb86861a65127193572d8a4
+size 556708
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/run_1.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..8fba3f95776d4291cde11aac153977db8b15890a
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32c4adc0813cd79bd9ce3492b802335c3e9e36dc8eae74d09a6ab8541d1cd456
+size 554480
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/run_2.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..70057f5abc84193487b086a8030e145b9e14cb80
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/FoodPacking1BoxesTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e57cc41e58f35834ffcede4a5a38321eda9bce502b5775308677329b5978df3
+size 492417
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_0.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac01272bebc95d10a3282a429aced7e1df5b20ea
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b33408c9c7e0eef3a0a2e61c18df4478bd9fb1f65501a73edea3c1445b0fef6b
+size 16179761
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_0_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b6287dd4fc3a54f05d65f3b0ae1a169b3c367c7c
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d18807b6e6126c43e0de6dbcec121abdeacfe8c3586f3acab743cafb06003153
+size 3831316
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_1.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f1d463c683f4238b5d5b370341306b2c57bb0749
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef835d6925ee3717a1688d8593bbc241111a5a5f873ac6d41a8c7f35c8423016
+size 15291310
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_1_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1abd6e790f4aeb05e29817101d88a88776c27f9f
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbb18a5157c6371085c3da7fce50760252b6217da1984c49e76b84a942ff410a
+size 3678438
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_2.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f6e100167b2940d33a8605b7f928710062f8ecf9
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a0df1f9fbd17b29ba6de7b2b62f75d29eb68e9aa284eaed10651df3ab232306
+size 14571396
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_2_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..715a688f5038f993670382f62328fed4f129c92d
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ede4e81415d8fd06ba4e3e2514b13aa98a3627bc51300f7f63a6260dd0762170
+size 3712196
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/env_cfg.json b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..29d1d0299c98f2c28c08a648e38fc05f62e1a866
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:6", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/workdesk.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471952557563782, -5.7007273426279426e-05, -0.34700003266334534], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "ceramic_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "spawn": null, "init_state": {"pos": [0.5655824542045593, 0.39568954706192017, 0.0027951188385486603], "rot": [0.9999956488609314, -0.0013778374201923783, 0.002603331074112206, 0.00016275922976974298], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "glasses": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/glasses", "spawn": null, "init_state": {"pos": [0.37124938133654595, 0.29659840893221917, 0.03227695450186716], "rot": [0.4273157119750972, -0.015990343268805527, -0.03444884042195584, 0.9033044163597035], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "keyboard": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/keyboard", "spawn": null, "init_state": {"pos": [0.5687880516052246, 5.0032977014780045e-06, 0.016385065391659737], "rot": [-0.7005698680877687, -0.03917650350080723, 0.03929619707333615, 0.7114231303496614], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lizard_figurine": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "spawn": null, "init_state": {"pos": [0.4766277074813843, -0.33743277192115784, 0.002630986273288727], "rot": [0.9999714493751526, 0.0003277087147036105, 0.007385121812528196, -0.0015662111508582132], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "marker": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/marker", "spawn": null, "init_state": {"pos": [0.27481383085250854, 0.10892250388860703, 0.010260401293635368], "rot": [0.9989923238754272, 0.004751523488879603, 0.044627085782936914, -0.0004278750173696138], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "remote_control": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/remote_control", "spawn": null, "init_state": {"pos": [0.33648618299162875, -0.19670675229143017, -0.010288537479937594], "rot": [-0.42810720205307023, 0.4305316395122437, 0.5649770350390105, -0.5587196799896348], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "rubiks_cube": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "spawn": null, "init_state": {"pos": [0.2985665202140808, 3.550387918949127e-05, 0.03410554304718971], "rot": [0.9999994039535522, -0.0005342179525544714, 0.0009522065246690963, 2.540429600415186e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "smartphone": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/smartphone", "spawn": null, "init_state": {"pos": [0.8168365955352783, -6.481632590293884e-05, 0.008198646828532219], "rot": [0.9999836087226868, 0.005709951708535049, -0.00040675238505646157, 0.00011528198446181194], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "wooden_bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "spawn": null, "init_state": {"pos": [0.8202225565910339, 0.3134598135948181, 0.002887912094593048], "rot": [0.9999970197677612, -0.0022493436574678623, 0.00041227879664728766, 0.0008549473084342874], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spoon_big": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spoon_big", "spawn": null, "init_state": {"pos": [0.7698599419794054, 0.3079741632230389, 0.06094201279041829], "rot": [0.9425379037857056, -0.01870708349599302, 0.33354574366700335, 0.004425136828130295], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "computer_mouse": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "spawn": null, "init_state": {"pos": [0.34163936972618103, -0.32050621509552, 0.023606833070516586], "rot": [0.7058029770851135, 0.708408178087422, 2.853572373409142e-05, -9.971139678230239e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "yogurt_cup": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "spawn": null, "init_state": {"pos": [0.8163773417472839, -0.3472857177257538, 0.0297689288854599], "rot": [0.9999990463256836, 5.759209633328075e-05, -0.0013798338055492074, 9.462706871107092e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "oatmeal_raisin_cookies": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/oatmeal_raisin_cookies", "spawn": null, "init_state": {"pos": [0.8128421902656555, -0.16538779437541962, 0.08616513013839722], "rot": [0.9999673366546631, -0.0026672647498280433, -0.007627426968820995, 0.00018352212217179786], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "granola_bars": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/granola_bars", "spawn": null, "init_state": {"pos": [0.6988375186920166, 0.41800934076309204, 0.06365979462862015], "rot": [0.999995768070221, -0.0027827891895433705, 0.0008484750262059328, 4.0131460484704446e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug", "/World/envs/env_.*/scene/glasses", "/World/envs/env_.*/scene/keyboard", "/World/envs/env_.*/scene/lizard_figurine", "/World/envs/env_.*/scene/marker", "/World/envs/env_.*/scene/remote_control", "/World/envs/env_.*/scene/rubiks_cube", "/World/envs/env_.*/scene/smartphone", "/World/envs/env_.*/scene/wooden_bowl", "/World/envs/env_.*/scene/spoon_big", "/World/envs/env_.*/scene/computer_mouse", "/World/envs/env_.*/scene/yogurt_cup", "/World/envs/env_.*/scene/oatmeal_raisin_cookies", "/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__glasses": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/glasses"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__keyboard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/keyboard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__glasses": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/glasses"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__keyboard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/keyboard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__keyboard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/keyboard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "computer_mouse__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "computer_mouse__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "computer_mouse__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "computer_mouse__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "yogurt_cup__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "yogurt_cup__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "yogurt_cup__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "oatmeal_raisin_cookies__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/oatmeal_raisin_cookies", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "oatmeal_raisin_cookies__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/oatmeal_raisin_cookies", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "granola_bars__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/granola_bars", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 40, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "marker", "container": "ceramic_mug", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"marker": [["functools.partial(<function object_grabbed at 0x7fcdc02ac040>, object='marker')", 0.0], ["functools.partial(<function object_in_container at 0x7fc851b1b7e0>, object='marker', container='ceramic_mug', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["affordance", "moderate"], "_task_attributes": ["affordance", "moderate"], "_task_name": "MarkerInMugTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the whiteboard marker in the mug", "contact_object_list": ["ceramic_mug", "glasses", "keyboard", "lizard_figurine", "marker", "remote_control", "rubiks_cube", "smartphone", "wooden_bowl", "spoon_big", "computer_mouse", "yogurt_cup", "oatmeal_raisin_cookies", "granola_bars", "table"], "_instruction_variants": {"default": "Put the whiteboard marker in the mug", "vague": "Put the marker in the mug", "specific": "Pick up the marker and drop it vertically into the mug, make sure the marker stands upright"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/log_0_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c254ccf676aefd4f613b79090d18411041a97d7
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MarkerInMugTask", "env_id": 0, "run": 0, "success": false, "final_step": 600, "events": [{"step": 70, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 83, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 89, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 145, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 145, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 184, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 191, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 191, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 208, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'glasses'", "score": 0.0}, {"step": 210, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 211, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 213, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 213, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 217, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 217, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 269, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 269, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 303, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 306, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 314, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 320, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 320, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 362, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['marker'])", "score": 0.0}, {"step": 364, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 369, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 404, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 409, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 426, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 431, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 443, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 467, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 496, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 513, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 517, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 522, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 533, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 533, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 555, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 593, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['marker'])", "score": 0.0}, {"step": 596, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/log_1_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d26263458f9c1d8b64c131652ee24fe3109a0942
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MarkerInMugTask", "env_id": 0, "run": 1, "success": false, "final_step": 600, "events": [{"step": 93, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 115, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 117, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 274, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 302, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 305, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 315, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 315, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 339, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 339, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 375, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'ceramic_mug'", "score": 0.0}, {"step": 382, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'ceramic_mug' displaced 0.814m", "score": 0.0}, {"step": 507, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 542, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 545, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 545, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/log_2_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad5079a86b1e2e19f995f71a6730f08996856335
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MarkerInMugTask", "env_id": 0, "run": 2, "success": false, "final_step": 600, "events": [{"step": 98, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 180, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 195, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 195, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 206, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 206, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 229, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 300, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 301, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 301, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 314, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 330, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 335, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 338, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 338, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 354, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 386, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 404, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 416, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 416, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 467, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 467, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 468, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'oatmeal_raisin_cookies'", "score": 0.0}, {"step": 474, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'ceramic_mug'", "score": 0.0}, {"step": 480, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'oatmeal_raisin_cookies' displaced 1.004m", "score": 0.0}, {"step": 485, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'ceramic_mug' displaced 0.813m", "score": 0.0}, {"step": 492, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 549, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 553, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'keyboard' nudged 0.069m", "score": 0.0}, {"step": 553, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'remote_control' nudged 0.159m", "score": 0.0}, {"step": 553, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.112m", "score": 0.0}, {"step": 553, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'smartphone' nudged 0.095m", "score": 0.0}, {"step": 559, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'yogurt_cup'", "score": 0.0}, {"step": 560, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'yogurt_cup' displaced 0.818m", "score": 0.0}, {"step": 561, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.186m", "score": 0.0}, {"step": 561, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'computer_mouse' nudged 0.186m", "score": 0.0}, {"step": 567, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.064m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/run_0.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ad45b58dd2eb876a4dfbd7358c02cf41ed3ac5f6
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52ddad587d75bd52a0c21de9e426ee69218e6af9f2ec5c799eb985ff7be3b84a
+size 888352
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/run_1.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e489b43c480e91e45a30b2b7d61823e853df732a
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15cd620ba3b90a41a51592163ef47186ef151ec21a207da959cc44ddff8a81fe
+size 882814
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/run_2.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..45aa3fc5cb8702b8b96a4053a64d4ba39e35cb59
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/MarkerInMugTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cbc45c1c5b6a2a1ed35df73287e757d3b01ec67b1b909c27bf748765a3d2f11
+size 893549
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_0.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a9dba44c35d4dbfaf06e0333484a980ab5d63948
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d016a3f3309778510a592bd46567addaa90fbb457562d607f6a5f3597d11d194
+size 7540214
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_0_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dd2ef8d7ab5532819835ada9daa80bb19b62019b
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea9a4388d664856addc8d5653fc5703806672e7da6a2a4f013e1e7ba63cd484d
+size 2024029
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_1.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5d96bc8a8ba19fb5821cf898fe395742fe5160b1
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f0dd24319c993da5d74d329fecd7a956598957406fe2a3a42c2c06baa5e64fb
+size 3605659
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_1_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd592f86def6baf4bf0633b9cc55610ce156b1e8
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b5ee9a03b903044e35cfb6f93dd7934c6e3116aa16aeeabbdeeb2026e494dfb
+size 1157468
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_2.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6fb24d46dfdceb4d3a16281dcc1557c99c60468b
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5d9cb1fdd303654ebb2587c85f5f7a0d3e4bdc50ade13dd9bebfcb2189b8b64
+size 13585231
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_2_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cc7874c70816ee3bbfcb055270a7053c13878f59
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64d32743d6bc676b3297aadbdb74546bf4c69e14eb0f34a4756d9cc10adf1b68
+size 3703722
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/env_cfg.json b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9e52aa8608e90bfff8557cba6f6b1e6978a0a8d
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:6", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/rubiks_cube_banana_bowl.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.44258353114128113, 0.12658219039440155, 0.07732785493135452], "rot": [0.9999999403953552, -5.875354421326538e-05, -0.0003236202968188691, -0.00010501052579296266], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "rubiks_cube": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "spawn": null, "init_state": {"pos": [0.4306528866291046, -0.09742811322212219, 0.08113233000040054], "rot": [0.9999990463256836, -0.0009071399440944852, 0.0010379400315123045, 8.441170612118017e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "banana": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/banana", "spawn": null, "init_state": {"pos": [0.538878858089447, -0.07555567473173141, 0.0684281587600708], "rot": [0.9999781250953674, -0.002664888769974798, -0.006051987813043361, 0.00014540326035168], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.19858434796333313, 0.02206825464963913, 0.05000072345137596], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube", "/World/envs/env_.*/scene/banana", "/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "rubiks_cube__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:objects_placed_in_container_in_order", "params": {"objects": ["rubiks_cube", "banana"], "container": "bowl", "tolerance": 0.0, "require_contact_with": true, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"rubiks_cube": [["functools.partial(<function object_grabbed at 0x7fcdc02ac040>, object='rubiks_cube')", 0.0], ["functools.partial(<function object_in_container at 0x7fc851b1b7e0>, object='rubiks_cube', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}, {"conditions": {"banana": [["functools.partial(<function object_grabbed at 0x7fcdc02ac040>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7fc851b1b7e0>, object='banana', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["conjunction", "simple"], "_task_attributes": ["conjunction", "simple"], "_task_name": "RubiksCubeThenBananaTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the cube then the banana in the bowl", "contact_object_list": ["rubiks_cube", "banana", "bowl", "table"], "_instruction_variants": {"default": "Put the cube then the banana in the bowl", "vague": "Put the cube then banana in the bowl", "specific": "First pick up the rubiks cube that's on the table and place it in the bowl, then pick up the yellow banana and place it in the bowl"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/log_0_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e05755ead81222a93e20bf21823d3607ff15e97b
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeThenBananaTask", "env_id": 0, "run": 0, "success": true, "final_step": 414, "events": [{"step": 67, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 77, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 78, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 78, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 110, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 111, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 111, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 114, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 145, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 145, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 152, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.111m", "score": 0.5}, {"step": 159, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.139m", "score": 0.5}, {"step": 209, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 218, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 219, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 240, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 240, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 243, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 243, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 245, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 247, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 247, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 253, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 335, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 335, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 347, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}, {"step": 356, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.080m", "score": 1.0}, {"step": 389, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana' (target objects: [])", "score": 1.0}, {"step": 389, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana'", "score": 1.0}, {"step": 402, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana'", "score": 1.0}, {"step": 405, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana' (target objects: [])", "score": 1.0}, {"step": 410, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 413, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana'", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/log_1_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..68f16166f0c64f256ace5d369359ab8d4b51a3ae
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeThenBananaTask", "env_id": 0, "run": 1, "success": true, "final_step": 209, "events": [{"step": 48, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 60, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 89, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 89, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 125, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 138, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 140, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 162, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 163, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 163, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 164, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 169, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 202, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 202, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 205, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 207, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.5}, {"step": 207, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.5}, {"step": 207, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 209, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}, {"step": 209, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 209, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/log_2_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e3f5b1e41f70428c2c2134d3b83a3c81d8af793
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeThenBananaTask", "env_id": 0, "run": 2, "success": true, "final_step": 785, "events": [{"step": 39, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 56, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 72, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 84, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 86, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 86, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 87, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 117, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 158, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 169, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 171, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 175, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 179, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 217, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 217, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 280, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 282, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 302, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 303, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 303, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 304, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 337, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 337, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 378, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 393, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 411, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 415, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 415, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 444, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 446, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 446, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 447, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 448, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 448, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 449, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 451, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 451, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 452, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 453, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 453, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 489, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.5}, {"step": 490, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.5}, {"step": 499, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 505, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.5}, {"step": 509, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.064m", "score": 0.5}, {"step": 514, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.5}, {"step": 514, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 529, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.5}, {"step": 534, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.100m", "score": 0.5}, {"step": 540, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.114m", "score": 0.5}, {"step": 605, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 632, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 663, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 666, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 666, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 696, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 697, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 697, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 698, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 703, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 703, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 704, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 785, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 785, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/run_0.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..17c6cb1372981f185f10e97bb3baee381437d65f
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc5d0c1cea77251eeaddcf922916ddc87a1fcd7935bdeec6e609c8225f25ea80
+size 326848
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/run_1.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7369473554fa9e23d3a404c5cc0f437ad4f410de
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c2a21097eb3fc601361468b7c3380387dc22e99a220e8e7cb8c1d4345f060de
+size 250291
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/run_2.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6f0f7e3632a15ca983e9017f54ba7eb456fe08ca
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/RubiksCubeThenBananaTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79ef49ce738d166209b04c81286ebb766117936853bc174aa8af2e571ab669e3
+size 471018
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_0.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bdf11eb07ce41c0597dcd731b1d693b423c04b73
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e58e1c6f0ad7bde2c4c4b01e7ad0a8720102a1f26aa320964fb0d9c9599fc2a
+size 13585655
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_0_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..42c0ea10f61e7cb569325cc1dc7340d9bdbfb371
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57b6fca08d215c034321a5921618e7a89acfb922cab44af4ef562c7d9e07f4cd
+size 3163968
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_1.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8caa962340dd19cb572fa2b5d398ddcaca300370
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62aaa0c58b2a27a5b6f823cb915dde12b441c677ee42e97c1185c823df776e6c
+size 4378711
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_1_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e92a8da69f46619b8d08a85a17c28e12e37fdd15
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a6a4c3210352f99d8a798a469365711234d1c51b74c303e321fcd47a71dd34f
+size 1398915
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_2.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f264c25af8442810894c6ef4b1099224286992df
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:189f011fc6f7b4bce173fc807581a8a7385273a56e736e3abf1738373cf68cff
+size 10576242
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_2_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..746cd7ff1097345acc389751632df56ae0ffc09e
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f31449c7429c377b4e8f09864a90598bafcb34e7732d67ba36bf92da9d96970
+size 2724607
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/env_cfg.json b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..f267fea2ffa4bfcaf0e14b6856a821ffa16044e1
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:6", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/workdesk_bin.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471949577331543, -5.7009914598893374e-05, -0.3470000624656677], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "ceramic_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "spawn": null, "init_state": {"pos": [0.5123468041419983, 0.3956894874572754, 0.002794858068227768], "rot": [0.9999955892562866, -0.0013856729552302854, 0.0026219909588924067, 0.00016291668032326505], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "glasses": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/glasses", "spawn": null, "init_state": {"pos": [0.3693132698535919, 0.2950078547000885, 0.031487610191106796], "rot": [0.42606157064437866, -0.034701488878072034, -0.07400851689471265, 0.9009939423307658], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "keyboard": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/keyboard", "spawn": null, "init_state": {"pos": [0.568644940853121, -0.11254113912582395, 0.11716901154635895], "rot": [-0.6714183688163762, -0.1971906099306493, -0.13382883191844386, 0.7017143871394401], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lizard_figurine": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "spawn": null, "init_state": {"pos": [0.42867201566696167, 0.07189248502254486, 0.0026061907410621643], "rot": [0.9354749917984009, 0.0040454753115796195, 0.007782344312363656, -0.3532840344061546], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "marker": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/marker", "spawn": null, "init_state": {"pos": [0.2747778296470642, 0.10900786519050598, 0.012070379219949245], "rot": [0.9990788102149963, -0.0007191888330277831, 0.04290336132224691, -0.0005615461356871434], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "remote_control": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/remote_control", "spawn": null, "init_state": {"pos": [0.2856173565106219, -0.1395261124187606, -0.01028998661786311], "rot": [-0.5370074510574339, 0.540642016494328, 0.46072053347530584, -0.45504483025738696], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "smartphone": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/smartphone", "spawn": null, "init_state": {"pos": [0.30194494128227234, 0.04649155214428902, 0.04082714021205902], "rot": [0.9708831906318665, -0.17378550277725408, 0.16100684515602603, -0.035513729540099466], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "wooden_bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "spawn": null, "init_state": {"pos": [0.8202221989631653, 0.31346437335014343, 0.002888549119234085], "rot": [0.9999969601631165, -0.0022227631037289174, 0.0004132512641459786, 0.0009839776948003978], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spoon_big": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spoon_big", "spawn": null, "init_state": {"pos": [0.7689590454101562, 0.308388352394104, 0.04886004328727722], "rot": [0.9490694999694824, -0.003299362267567515, 0.31502998714271885, 0.003507939161726195], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "computer_mouse": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "spawn": null, "init_state": {"pos": [0.34163898229599, -0.32050642371177673, 0.0236058346927166], "rot": [0.705802083015442, 0.7084090677896465, 3.4570693814590804e-05, -0.00010530590905583741], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "yogurt_cup": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "spawn": null, "init_state": {"pos": [0.29424038529396057, -0.05287781357765198, 0.02977272868156433], "rot": [0.9999986290931702, 0.00043958571664288624, -0.0015963226817922438, -1.816792782932948e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "granola_bars": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/granola_bars", "spawn": null, "init_state": {"pos": [0.664033830165863, 0.39246994256973267, 0.021376578137278557], "rot": [0.7041239738464357, -0.015542179661679794, 0.7097817974233512, 0.013329296776092835], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "grey_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/grey_bin", "spawn": null, "init_state": {"pos": [0.573340117931366, -0.21034985780715942, 0.0030006133019924164], "rot": [0.9258334636688232, -1.9307484551176733e-06, -2.3411986636799397e-06, 0.3779317366162583], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug", "/World/envs/env_.*/scene/glasses", "/World/envs/env_.*/scene/keyboard", "/World/envs/env_.*/scene/lizard_figurine", "/World/envs/env_.*/scene/marker", "/World/envs/env_.*/scene/remote_control", "/World/envs/env_.*/scene/smartphone", "/World/envs/env_.*/scene/wooden_bowl", "/World/envs/env_.*/scene/spoon_big", "/World/envs/env_.*/scene/computer_mouse", "/World/envs/env_.*/scene/yogurt_cup", "/World/envs/env_.*/scene/granola_bars", "/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__glasses": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/glasses"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__keyboard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/keyboard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__glasses": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/glasses"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__keyboard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/keyboard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__keyboard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/keyboard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "glasses__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "keyboard__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lizard_figurine__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "marker__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "remote_control__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "smartphone__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wooden_bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spoon_big__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "computer_mouse__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "computer_mouse__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "computer_mouse__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "computer_mouse__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "yogurt_cup__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "yogurt_cup__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "yogurt_cup__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "granola_bars__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/granola_bars", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "granola_bars__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/granola_bars", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "spoon_big", "container": "ceramic_mug", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"spoon_big": [["functools.partial(<function object_grabbed at 0x7fcdc02ac040>, object='spoon_big')", 0.0], ["functools.partial(<function object_in_container at 0x7fc851b1b7e0>, object='spoon_big', container='ceramic_mug', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["affordance", "spatial", "moderate"], "_task_attributes": ["affordance", "spatial", "moderate"], "_task_name": "SpoonInMugTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the metal spoon that's in the wooden bowl in the mug", "contact_object_list": ["ceramic_mug", "glasses", "keyboard", "lizard_figurine", "marker", "remote_control", "smartphone", "wooden_bowl", "spoon_big", "computer_mouse", "yogurt_cup", "granola_bars", "grey_bin", "table"], "_instruction_variants": {"default": "Put the metal spoon that's in the wooden bowl in the mug", "vague": "Put the spoon in the mug", "specific": "Take the metal spoon in the wooden bowl and place it inside the ceramic mug with the handle sticking out"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/log_0_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..036579ac391fd318f0caba7abad99d7d6fd2d215
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonInMugTask", "env_id": 0, "run": 0, "success": true, "final_step": 615, "events": [{"step": 87, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'granola_bars'", "score": 0.0}, {"step": 105, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'granola_bars' (target objects: ['spoon_big'])", "score": 0.0}, {"step": 106, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'granola_bars'", "score": 0.0}, {"step": 107, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 153, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 164, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 164, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 182, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.067m", "score": 0.0}, {"step": 196, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.090m", "score": 0.0}, {"step": 198, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'grey_bin'", "score": 0.0}, {"step": 201, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'keyboard'", "score": 0.0}, {"step": 210, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'keyboard' displaced 2.696m", "score": 0.0}, {"step": 212, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'grey_bin' displaced 3.405m", "score": 0.0}, {"step": 512, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 530, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big'])", "score": 0.0}, {"step": 531, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 533, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 540, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.063m", "score": 0.0}, {"step": 574, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 584, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 588, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 588, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 610, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 610, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 615, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/log_1_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f7e37cad53006c9388ce747a4dfc343287a96bc
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonInMugTask", "env_id": 0, "run": 1, "success": true, "final_step": 169, "events": [{"step": 66, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'granola_bars'", "score": 0.0}, {"step": 72, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 72, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 91, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'granola_bars' (target objects: ['spoon_big'])", "score": 0.0}, {"step": 92, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'granola_bars'", "score": 0.0}, {"step": 92, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 95, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 96, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 96, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 114, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 114, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 169, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 169, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/log_2_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9faa40f107952969a9297206732c2cc05e47c7fa
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonInMugTask", "env_id": 0, "run": 2, "success": true, "final_step": 394, "events": [{"step": 53, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'granola_bars'", "score": 0.0}, {"step": 65, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'granola_bars' (target objects: ['spoon_big'])", "score": 0.0}, {"step": 67, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'granola_bars'", "score": 0.0}, {"step": 68, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 71, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 83, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 83, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 139, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 200, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 209, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 220, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 220, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 242, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 242, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 336, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 349, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 393, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 393, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 394, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/run_0.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..06630b4fab2cff0544a2e631293803a1506d9d52
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf52933ea74ee18482cad65072efef6217ca1a41cc8bc63785cf87b8e28fffd6
+size 836245
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/run_1.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e6ce41e4e7f6d3dcd30e76688f549bc4a4643ab9
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ce8c8c4481bb23e02fc231cb25512ea6122698b83ff4711f96d6c1455b2e20f
+size 510073
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/run_2.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0618e13903338279b0fe218917ef319730a51ccf
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/SpoonInMugTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63e680954563513425fca450bb23fb96d89020657b1549cd2f8a7c8108525316
+size 673691
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/episode_results.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c1285cb5ae25faee93615dd6c6922bbecd6f2177
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/robolab/episode_results.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b3a91358f8d08bdc2e197a88388958e2d01461b716be759c427ace1495bf7c2
+size 21756
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_6/server.log b/harness_robolab_exploration/embo_xhigh/gpu_6/server.log
new file mode 100644
index 0000000000000000000000000000000000000000..7dabefb2235477eee2a25b3431469dd4b45486e0
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_6/server.log
@@ -0,0 +1,42 @@
+[2026-10-29T16:55:03Z] GPU 6: Starting worker at MarkerInMugTask/0 (resume=false)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: False; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8022
+INFO:websockets.server:server listening on 127.0.0.1:8022
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 48954) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode c64be1df0b0e46149afce300c0b92208-0 (codex/gpt-6-astra) ended: wall=1464.067s harness=1134.579s tokens=7612240 usage_complete=True decisions=75 executed_steps=600 steps_complete=True network_wait=69.16552741080523 rate_limit_wait=0 rate_limit_count=0 excluded=69.16552741080523 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 0f31845c995c4bcdb4bc9a45b19d2bf3-1 (codex/gpt-6-astra) ended: wall=1466.558s harness=1136.700s tokens=7345705 usage_complete=True decisions=75 executed_steps=600 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 026fffaeaec648b18406746dc7178c0e-2 (codex/gpt-6-astra) ended: wall=1448.935s harness=1115.310s tokens=7395028 usage_complete=True decisions=75 executed_steps=600 steps_complete=True network_wait=4.3174083679914474 rate_limit_wait=0 rate_limit_count=0 excluded=4.3174083679914474 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode c53b4a34a6014c86bfb6ed730114665f-0 (codex/gpt-6-astra) ended: wall=1306.064s harness=993.391s tokens=5234356 usage_complete=True decisions=77 executed_steps=615 steps_complete=True network_wait=30.665377512574196 rate_limit_wait=0 rate_limit_count=0 excluded=30.665377512574196 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 4eab600441bf4c01b15024592e814264-1 (codex/gpt-6-astra) ended: wall=447.823s harness=360.439s tokens=2011701 usage_complete=True decisions=22 executed_steps=169 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 2f7d1711ce724088a7249b7b318ab7e5-2 (codex/gpt-6-astra) ended: wall=916.859s harness=718.826s tokens=4564038 usage_complete=False decisions=50 executed_steps=394 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 0214ca2a25e04eb28f41b0d2c068da7b-0 (codex/gpt-6-astra) ended: wall=1735.563s harness=1483.807s tokens=11292471 usage_complete=True decisions=113 executed_steps=900 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 43905b16fc9443f6976ae574ac24449d-1 (codex/gpt-6-astra) ended: wall=605.997s harness=510.169s tokens=3719645 usage_complete=True decisions=42 executed_steps=335 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode c9f87bd2cd1e4ef0a50dbadc8de16e3a-2 (codex/gpt-6-astra) ended: wall=1870.555s harness=1622.768s tokens=11566183 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=45.89440219849348 rate_limit_wait=0 rate_limit_count=0 excluded=45.89440219849348 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 37cbd15592744ec8bb7f96cfa2c90aca-0 (codex/gpt-6-astra) ended: wall=1647.344s harness=1425.218s tokens=10624210 usage_complete=True decisions=113 executed_steps=900 steps_complete=True network_wait=22.48763696104288 rate_limit_wait=0 rate_limit_count=0 excluded=22.48763696104288 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode ac8add80938f449a845729410df01d27-1 (codex/gpt-6-astra) ended: wall=1875.378s harness=1653.272s tokens=11355768 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode c2517e947e97440ea2ddc80866883e2b-2 (codex/gpt-6-astra) ended: wall=847.088s harness=628.390s tokens=4234839 usage_complete=True decisions=113 executed_steps=900 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 8ced5381c1134603bb963ec310d20a48-0 (codex/gpt-6-astra) ended: wall=664.608s harness=568.812s tokens=4030560 usage_complete=True decisions=52 executed_steps=414 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 60f5a05eab4044339bc7fabf34d09ba9-1 (codex/gpt-6-astra) ended: wall=296.210s harness=246.774s tokens=2038597 usage_complete=True decisions=27 executed_steps=209 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 4a347b5aedf14bc881b6838a0762cf69-2 (codex/gpt-6-astra) ended: wall=1402.170s harness=1220.449s tokens=9056894 usage_complete=True decisions=99 executed_steps=785 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode aac9191c180a4c8d8653b4621b890723-0 (codex/gpt-6-astra) ended: wall=488.137s harness=418.117s tokens=3201909 usage_complete=True decisions=41 executed_steps=321 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 3df500846e1846c7b8a2975cb6acdffa-1 (codex/gpt-6-astra) ended: wall=470.573s harness=404.768s tokens=3101275 usage_complete=True decisions=38 executed_steps=301 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode ea7674e9ce7e4f67b6bdee4fa757c0ee-2 (codex/gpt-6-astra) ended: wall=399.650s harness=337.478s tokens=2702394 usage_complete=True decisions=36 executed_steps=281 steps_complete=True network_wait=14.049959003925323 rate_limit_wait=0 rate_limit_count=0 excluded=14.049959003925323 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_6/harness/20261029T165506.206078Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 48954) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/client.log b/harness_robolab_exploration/embo_xhigh/gpu_7/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..5ab19ad4ed6a347dd9ffa50e3923e6afcd6ad4bf
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/client.log
@@ -0,0 +1,980 @@
+[2026-10-29T16:55:03Z] GPU 7: Starting worker at SmallPumpkinInBinTask/0 (resume=false)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:7
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261029_165509.log
+2026-10-29T16:55:09Z [14ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-10-29T16:55:14Z [4,715ms] [Warning] [carb.omniclient.plugin]  147487: OmniHub: ThreadId(03) Hub encountered error. Trying to reconnect to Hub. retry_reason="Hub failed to launch: Io(\"Resource temporarily unavailable (os error 11)\")"
+2026-10-29T16:55:14Z [5,044ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:14Z [5,045ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:14Z [5,162ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-10-29T16:55:17Z [8,192ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:17Z [8,193ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:17Z [8,193ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 707653
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-10-29T16:55:26Z [16,769ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-10-29T16:55:26Z [16,770ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 913.31   6.36  22.11  22.29   2.93   7.72  12.29   3.18 
+     1  15.39 919.66  22.12   6.77  20.96  22.36  22.28  22.18 
+     2   5.14  22.21 920.74  20.08   8.73  16.52  21.38  22.03 
+     3   4.14  17.97  22.35 926.20  19.99  22.10  20.13  17.94 
+     4   2.76   4.06  12.12  13.72 897.84  13.16   8.62  14.66 
+     5  18.83   3.83  16.93   4.78  13.95 898.50   7.12  10.84 
+     6  18.49   2.87   3.90  15.58  15.39  15.42 913.21  12.68 
+     7  12.30  11.30   2.81   8.35  13.49  15.51  16.70 912.68 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.42  23.25 104.41  26.97  19.13  19.74  83.70  19.54 
+     1  79.05   1.47  45.42  26.55  19.57  19.39  29.40  36.67 
+     2 374.95  18.50   1.41  25.21  19.53  20.23  28.59  18.44 
+     3 1422.16 404.40 405.61   1.45 1919.31 1687.28 477.85 444.44 
+     4  13.98  11.22  15.56 1599.31   3.74 1428.90 199.14  60.86 
+     5 171.53 117.87  31.54 596.97  19.01   1.40  18.82  33.19 
+     6 123.32  11.72  47.59 292.40  26.55  20.00   1.47  49.37 
+     7  25.54  11.43  65.42  21.53  25.91  11.26  17.39   1.32 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.61   7.23   6.94   7.06   7.68   7.59   7.72   7.48 
+     1   7.10   2.36   6.91   6.94   7.58   7.54   7.65   7.50 
+     2   7.46   6.86   2.44   7.18   7.87   7.56   7.73   7.49 
+     3   7.14   8.36   7.83   2.59   8.47   8.88   8.74   8.56 
+     4   8.62   7.49   7.62   8.18   2.76   8.31   8.76   8.72 
+     5   8.09   7.71   7.53   7.83   8.39   2.70   8.32   8.15 
+     6   7.57   7.15   7.27   7.57   8.41   8.00   2.58   8.19 
+     7   7.34   7.26   7.41   7.44   8.27   7.93   8.20   2.53 
+2026-10-29T16:55:33Z [23,468ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 2.8 GB/s.
+2026-10-29T16:55:33Z [23,469ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 1919.3 us.
+2026-10-29T16:55:33Z [23,469ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-10-29T16:55:35Z [25,753ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:35Z [25,753ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:35Z [25,800ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:35Z [25,801ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:35Z [25,813ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:35Z [25,813ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:35Z [26,045ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:35Z [26,046ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:35Z [26,050ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:35Z [26,051ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:35Z [26,057ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-29T16:55:35Z [26,057ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-29T16:55:37Z [27,661ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-10-29T16:55:42Z [32,940ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-10-29T16:55:55Z [46,196ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-10-29T16:55:57Z [47,743ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-10-29T16:56:16Z [66,701ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-10-29T16:56:16Z [66,705ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-10-29T16:56:17Z [67,374ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-10-29T16:56:22Z [73,117ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-29T16:56:22Z [73,118ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-29T16:56:22Z [73,121ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-29T16:56:22Z [73,145ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-10-29T16:56:22Z [73,187ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-29T16:56:22Z [73,187ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['SmallPumpkinInBinTask', 'ReorientWhiteMugsTask', 'TakeSpatulaOffShelfTask', 'RedItemsInBinTask', 'MustardInLeftBinTask']
+2026-10-29T16:56:39Z [89,297ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x56135fec87f0>)
+
+2026-10-29T16:56:39Z [89,299ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x56135fec87f0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Environments   : SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/robolab
+══════════════════════════════════════════════════════════════
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-29T16:56:46Z [96,409ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.464148 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-29T16:56:53Z [103,735ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T16:56:53Z [103,736ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T16:56:53Z [103,775ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T16:56:53Z [103,775ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T16:56:53Z [103,785ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T16:56:53Z [103,792ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-29T16:56:53Z [104,084ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-29T16:56:53Z [104,133ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-29T16:57:00Z [110,838ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((79))' not available in the MDL representation.
+2026-10-29T16:57:00Z [110,839ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((79))' not available in the MDL representation.
+2026-10-29T16:57:00Z [110,914ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((82))' not available in the MDL representation.
+2026-10-29T16:57:00Z [110,914ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((82))' not available in the MDL representation.
+2026-10-29T16:57:00Z [110,985ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((102))' not available in the MDL representation.
+2026-10-29T16:57:00Z [110,985ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((102))' not available in the MDL representation.
+2026-10-29T16:57:00Z [110,985ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((102))' not available in the MDL representation.
+2026-10-29T16:57:00Z [111,012ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((108))' not available in the MDL representation.
+2026-10-29T16:57:00Z [111,013ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((108))' not available in the MDL representation.
+2026-10-29T16:57:00Z [111,013ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((108))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,439ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,439ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,439ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,627ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((142))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,627ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((142))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,694ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((152))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,694ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((152))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,781ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,781ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,782ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,821ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((177))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,821ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((177))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,915ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((209))' not available in the MDL representation.
+2026-10-29T16:57:02Z [112,915ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((209))' not available in the MDL representation.
+2026-10-29T16:57:03Z [113,713ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((274))' not available in the MDL representation.
+2026-10-29T16:57:03Z [113,714ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((274))' not available in the MDL representation.
+2026-10-29T16:57:04Z [114,421ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-10-29T16:57:04Z [114,950ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((82))' not available in the MDL representation.
+2026-10-29T16:57:04Z [114,950ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((82))' not available in the MDL representation.
+2026-10-29T16:57:04Z [114,952ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((102))' not available in the MDL representation.
+2026-10-29T16:57:04Z [114,953ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((102))' not available in the MDL representation.
+2026-10-29T16:57:04Z [114,953ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((102))' not available in the MDL representation.
+2026-10-29T16:57:04Z [114,953ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((108))' not available in the MDL representation.
+2026-10-29T16:57:04Z [114,954ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((108))' not available in the MDL representation.
+2026-10-29T16:57:04Z [114,954ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((108))' not available in the MDL representation.
+2026-10-29T16:57:04Z [114,956ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-10-29T16:57:04Z [114,956ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-10-29T16:57:04Z [114,956ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-10-29T16:57:04Z [114,960ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-10-29T16:57:04Z [114,960ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-10-29T16:57:04Z [114,960ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-10-29T16:57:04Z [114,963ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((177))' not available in the MDL representation.
+2026-10-29T16:57:04Z [114,963ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((177))' not available in the MDL representation.
+2026-10-29T16:57:04Z [114,968ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((274))' not available in the MDL representation.
+2026-10-29T16:57:04Z [114,968ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((274))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 16.260623 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : SmallPumpkinInBinTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the small pumpkin in the bin              │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : SmallPumpkinInBinTaskSceneEnvCfg              │
+│  Attributes  : size, simple                                  │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running SmallPumpkinInBinTask_0: 'Put the small pumpkin in the bin' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:34<8:38:36, 34.61s/it]
  0%|          | 2/900 [00:35<3:39:31, 14.67s/it]
  0%|          | 3/900 [00:36<2:03:51,  8.28s/it]
  0%|          | 4/900 [00:36<1:19:08,  5.30s/it]
  1%|          | 5/900 [00:37<54:23,  3.65s/it]  
  1%|          | 6/900 [00:38<39:25,  2.65s/it]
  1%|          | 7/900 [00:38<29:58,  2.01s/it]
  1%|          | 8/900 [00:39<23:44,  1.60s/it]
  1%|          | 9/900 [00:55<1:29:19,  6.02s/it]
  1%|          | 10/900 [00:55<1:04:51,  4.37s/it]
  1%|          | 11/900 [00:56<48:22,  3.27s/it]  
  1%|▏         | 12/900 [00:57<36:53,  2.49s/it]
  1%|▏         | 13/900 [00:58<28:53,  1.95s/it]
  2%|▏         | 14/900 [00:58<23:06,  1.56s/it]
  2%|▏         | 15/900 [00:59<19:10,  1.30s/it]
  2%|▏         | 16/900 [01:00<16:28,  1.12s/it]
  2%|▏         | 17/900 [01:11<59:32,  4.05s/it]
  2%|▏         | 18/900 [01:11<44:41,  3.04s/it]
  2%|▏         | 19/900 [01:12<34:15,  2.33s/it]
  2%|▏         | 20/900 [01:13<26:58,  1.84s/it]
  2%|▏         | 21/900 [01:13<21:49,  1.49s/it]
  2%|▏         | 22/900 [01:14<18:24,  1.26s/it]
  3%|▎         | 23/900 [01:15<15:50,  1.08s/it]
  3%|▎         | 24/900 [01:15<14:06,  1.03it/s]
  3%|▎         | 25/900 [01:34<1:29:53,  6.16s/it]
  3%|▎         | 26/900 [01:34<1:05:49,  4.52s/it]
  3%|▎         | 27/900 [01:35<49:03,  3.37s/it]  
  3%|▎         | 28/900 [01:36<37:22,  2.57s/it]
  3%|▎         | 29/900 [01:37<29:14,  2.01s/it]
  3%|▎         | 30/900 [01:37<23:35,  1.63s/it]
  3%|▎         | 31/900 [01:38<19:38,  1.36s/it]
  4%|▎         | 32/900 [01:39<16:48,  1.16s/it]
  4%|▎         | 33/900 [01:48<50:56,  3.53s/it]
  4%|▍         | 34/900 [01:48<38:31,  2.67s/it]
  4%|▍         | 35/900 [01:49<29:51,  2.07s/it]
  4%|▍         | 36/900 [01:50<23:53,  1.66s/it]
  4%|▍         | 37/900 [01:50<19:45,  1.37s/it]
  4%|▍         | 38/900 [01:51<16:45,  1.17s/it]
  4%|▍         | 39/900 [01:52<14:34,  1.02s/it]
  4%|▍         | 40/900 [01:52<13:03,  1.10it/s]
  5%|▍         | 41/900 [02:05<1:01:40,  4.31s/it]
  5%|▍         | 42/900 [02:05<45:58,  3.21s/it]  
  5%|▍         | 43/900 [02:06<35:00,  2.45s/it]
  5%|▍         | 44/900 [02:07<27:20,  1.92s/it]
  5%|▌         | 45/900 [02:07<21:59,  1.54s/it]
  5%|▌         | 46/900 [02:08<18:16,  1.28s/it]
  5%|▌         | 47/900 [02:09<15:39,  1.10s/it]
  5%|▌         | 48/900 [02:09<13:50,  1.03it/s]
  5%|▌         | 49/900 [02:23<1:06:43,  4.70s/it]
  6%|▌         | 50/900 [02:24<49:34,  3.50s/it]  
  6%|▌         | 51/900 [02:24<37:33,  2.65s/it]
  6%|▌         | 52/900 [02:25<29:18,  2.07s/it]
  6%|▌         | 53/900 [02:26<23:39,  1.68s/it]
  6%|▌         | 54/900 [02:26<19:43,  1.40s/it]
  6%|▌         | 55/900 [02:27<16:50,  1.20s/it]
  6%|▌         | 56/900 [02:28<14:40,  1.04s/it]
  6%|▋         | 57/900 [02:36<43:40,  3.11s/it]
  6%|▋         | 58/900 [02:36<33:29,  2.39s/it]2026-10-29T16:59:44Z [274,668ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+
  7%|▋         | 59/900 [02:37<26:20,  1.88s/it]
  7%|▋         | 60/900 [02:38<21:23,  1.53s/it]
  7%|▋         | 61/900 [02:39<17:48,  1.27s/it]
  7%|▋         | 62/900 [02:39<15:20,  1.10s/it]
  7%|▋         | 63/900 [02:40<13:34,  1.03it/s]
  7%|▋         | 64/900 [02:41<12:33,  1.11it/s]
  7%|▋         | 65/900 [03:05<1:52:17,  8.07s/it]
  7%|▋         | 66/900 [03:06<1:21:31,  5.87s/it]
  7%|▋         | 67/900 [03:07<59:59,  4.32s/it]  
  8%|▊         | 68/900 [03:08<44:56,  3.24s/it]
  8%|▊         | 69/900 [03:08<34:16,  2.47s/it]
  8%|▊         | 70/900 [03:09<26:53,  1.94s/it]
  8%|▊         | 71/900 [03:10<21:49,  1.58s/it]
  8%|▊         | 72/900 [03:10<18:12,  1.32s/it]
  8%|▊         | 73/900 [03:27<1:20:54,  5.87s/it]
  8%|▊         | 74/900 [03:28<59:38,  4.33s/it]  
  8%|▊         | 75/900 [03:28<44:46,  3.26s/it]
  8%|▊         | 76/900 [03:29<34:27,  2.51s/it]
  9%|▊         | 77/900 [03:30<27:12,  1.98s/it]
  9%|▊         | 78/900 [03:31<21:59,  1.61s/it]
  9%|▉         | 79/900 [03:31<18:21,  1.34s/it]
  9%|▉         | 80/900 [03:32<15:52,  1.16s/it]
  9%|▉         | 81/900 [03:42<52:40,  3.86s/it]
  9%|▉         | 82/900 [03:43<39:48,  2.92s/it]
  9%|▉         | 83/900 [03:44<30:55,  2.27s/it]
  9%|▉         | 84/900 [03:44<24:38,  1.81s/it]
  9%|▉         | 85/900 [03:45<20:11,  1.49s/it]
 10%|▉         | 86/900 [03:46<16:59,  1.25s/it]
 10%|▉         | 87/900 [03:47<14:42,  1.09s/it]
 10%|▉         | 88/900 [03:47<13:12,  1.02it/s]
 10%|▉         | 89/900 [04:01<1:05:21,  4.84s/it]
 10%|█         | 90/900 [04:02<48:29,  3.59s/it]  
 10%|█         | 91/900 [04:03<36:45,  2.73s/it]
 10%|█         | 92/900 [04:03<28:44,  2.13s/it]
 10%|█         | 93/900 [04:04<22:52,  1.70s/it]
 10%|█         | 94/900 [04:05<18:47,  1.40s/it]
 11%|█         | 95/900 [04:05<16:01,  1.19s/it]
 11%|█         | 96/900 [04:06<13:57,  1.04s/it]
 11%|█         | 97/900 [04:14<40:00,  2.99s/it]
 11%|█         | 98/900 [04:14<30:46,  2.30s/it]
 11%|█         | 99/900 [04:15<24:15,  1.82s/it]
 11%|█         | 100/900 [04:16<19:46,  1.48s/it]
 11%|█         | 101/900 [04:16<16:34,  1.24s/it]
 11%|█▏        | 102/900 [04:17<14:18,  1.08s/it]
 11%|█▏        | 103/900 [04:18<12:51,  1.03it/s]
 12%|█▏        | 104/900 [04:19<11:48,  1.12it/s]
 12%|█▏        | 105/900 [04:24<31:35,  2.38s/it]
 12%|█▏        | 106/900 [04:25<24:49,  1.88s/it]
 12%|█▏        | 107/900 [04:26<20:02,  1.52s/it]
 12%|█▏        | 108/900 [04:26<16:49,  1.27s/it]
 12%|█▏        | 109/900 [04:27<14:29,  1.10s/it]
 12%|█▏        | 110/900 [04:28<12:56,  1.02it/s]
 12%|█▏        | 111/900 [04:29<11:49,  1.11it/s]
 12%|█▏        | 112/900 [04:29<11:11,  1.17it/s]
 13%|█▎        | 113/900 [04:36<35:20,  2.69s/it]
 13%|█▎        | 114/900 [04:37<27:27,  2.10s/it]
 13%|█▎        | 115/900 [04:38<21:57,  1.68s/it]
 13%|█▎        | 116/900 [04:38<18:05,  1.38s/it]
 13%|█▎        | 117/900 [04:39<15:30,  1.19s/it]
 13%|█▎        | 118/900 [04:40<13:40,  1.05s/it]
 13%|█▎        | 119/900 [04:41<12:26,  1.05it/s]
 13%|█▎        | 120/900 [04:41<11:33,  1.12it/s]
 13%|█▎        | 121/900 [04:51<47:09,  3.63s/it]
 14%|█▎        | 122/900 [04:52<35:55,  2.77s/it]
 14%|█▎        | 123/900 [04:53<27:56,  2.16s/it]
 14%|█▍        | 124/900 [04:54<22:33,  1.74s/it]
 14%|█▍        | 125/900 [04:54<18:39,  1.44s/it]
 14%|█▍        | 126/900 [04:55<15:45,  1.22s/it]
 14%|█▍        | 127/900 [04:56<13:45,  1.07s/it]
 14%|█▍        | 128/900 [04:57<12:18,  1.05it/s]
 14%|█▍        | 129/900 [05:08<51:50,  4.03s/it]
 14%|█▍        | 130/900 [05:08<38:56,  3.03s/it]
 15%|█▍        | 131/900 [05:09<29:57,  2.34s/it]
 15%|█▍        | 132/900 [05:10<23:41,  1.85s/it]
 15%|█▍        | 133/900 [05:11<19:10,  1.50s/it]
 15%|█▍        | 134/900 [05:11<16:10,  1.27s/it]
 15%|█▌        | 135/900 [05:12<14:02,  1.10s/it]
 15%|█▌        | 136/900 [05:13<12:28,  1.02it/s]
 15%|█▌        | 137/900 [05:43<2:06:03,  9.91s/it]
 15%|█▌        | 138/900 [05:44<1:30:52,  7.16s/it]
 15%|█▌        | 139/900 [05:45<1:06:20,  5.23s/it]
 16%|█▌        | 140/900 [05:46<49:06,  3.88s/it]  
 16%|█▌        | 141/900 [05:46<36:54,  2.92s/it]
 16%|█▌        | 142/900 [05:47<28:23,  2.25s/it]
 16%|█▌        | 143/900 [05:48<22:26,  1.78s/it]
 16%|█▌        | 144/900 [05:48<18:23,  1.46s/it]
 16%|█▌        | 145/900 [05:56<40:08,  3.19s/it]
 16%|█▌        | 146/900 [05:56<30:37,  2.44s/it]
 16%|█▋        | 147/900 [05:57<24:04,  1.92s/it]
 16%|█▋        | 148/900 [05:58<19:28,  1.55s/it]
 17%|█▋        | 149/900 [05:58<16:12,  1.30s/it]
 17%|█▋        | 150/900 [05:59<13:58,  1.12s/it]
 17%|█▋        | 151/900 [06:00<12:23,  1.01it/s]
 17%|█▋        | 152/900 [06:00<11:16,  1.11it/s]
 17%|█▋        | 153/900 [06:08<37:39,  3.02s/it]
 17%|█▋        | 154/900 [06:09<28:55,  2.33s/it]
 17%|█▋        | 155/900 [06:10<22:53,  1.84s/it]
 17%|█▋        | 156/900 [06:11<18:43,  1.51s/it]
 17%|█▋        | 157/900 [06:11<15:38,  1.26s/it]
 18%|█▊        | 158/900 [06:12<13:31,  1.09s/it]
 18%|█▊        | 159/900 [06:13<12:01,  1.03it/s]
 18%|█▊        | 160/900 [06:13<10:52,  1.13it/s]
 18%|█▊        | 161/900 [06:22<38:52,  3.16s/it]
 18%|█▊        | 162/900 [06:23<29:44,  2.42s/it]
 18%|█▊        | 163/900 [06:23<23:21,  1.90s/it]
 18%|█▊        | 164/900 [06:24<18:51,  1.54s/it]
 18%|█▊        | 165/900 [06:25<15:50,  1.29s/it]
 18%|█▊        | 166/900 [06:25<13:35,  1.11s/it]
 19%|█▊        | 167/900 [06:26<12:03,  1.01it/s]
 19%|█▊        | 168/900 [06:27<11:01,  1.11it/s]
 19%|█▉        | 169/900 [06:35<37:37,  3.09s/it]
 19%|█▉        | 170/900 [06:36<29:07,  2.39s/it]
 19%|█▉        | 171/900 [06:36<23:03,  1.90s/it]
 19%|█▉        | 172/900 [06:37<18:47,  1.55s/it]
 19%|█▉        | 173/900 [06:38<15:46,  1.30s/it]
 19%|█▉        | 174/900 [06:39<13:46,  1.14s/it]
 19%|█▉        | 175/900 [06:39<12:14,  1.01s/it]
 20%|█▉        | 176/900 [06:40<11:13,  1.07it/s]
 20%|█▉        | 177/900 [06:46<29:44,  2.47s/it]
 20%|█▉        | 178/900 [06:47<23:34,  1.96s/it]
 20%|█▉        | 179/900 [06:48<19:21,  1.61s/it]
 20%|██        | 180/900 [06:48<16:15,  1.35s/it]
 20%|██        | 181/900 [06:49<13:53,  1.16s/it]
 20%|██        | 182/900 [06:50<12:14,  1.02s/it]
 20%|██        | 183/900 [06:51<10:59,  1.09it/s]
 20%|██        | 184/900 [06:51<10:09,  1.17it/s]
 21%|██        | 185/900 [07:10<1:13:15,  6.15s/it]
 21%|██        | 186/900 [07:10<53:39,  4.51s/it]  
 21%|██        | 187/900 [07:11<40:02,  3.37s/it]
 21%|██        | 188/900 [07:12<30:27,  2.57s/it]
 21%|██        | 189/900 [07:13<23:44,  2.00s/it]
 21%|██        | 190/900 [07:13<18:58,  1.60s/it]
 21%|██        | 191/900 [07:14<15:36,  1.32s/it]
 21%|██▏       | 192/900 [07:15<13:24,  1.14s/it]
 21%|██▏       | 193/900 [07:22<35:47,  3.04s/it]
 22%|██▏       | 194/900 [07:23<27:34,  2.34s/it]
 22%|██▏       | 195/900 [07:23<21:51,  1.86s/it]
 22%|██▏       | 196/900 [07:24<17:44,  1.51s/it]
 22%|██▏       | 197/900 [07:25<15:06,  1.29s/it]
 22%|██▏       | 198/900 [07:26<13:03,  1.12s/it]
 22%|██▏       | 199/900 [07:26<11:38,  1.00it/s]
 22%|██▏       | 200/900 [07:27<10:44,  1.09it/s]
 22%|██▏       | 201/900 [08:04<2:15:19, 11.62s/it]
 22%|██▏       | 202/900 [08:04<1:37:15,  8.36s/it]
 23%|██▎       | 203/900 [08:05<1:10:25,  6.06s/it]
 23%|██▎       | 204/900 [08:06<51:47,  4.46s/it]  
 23%|██▎       | 205/900 [08:07<38:33,  3.33s/it]
 23%|██▎       | 206/900 [08:07<29:17,  2.53s/it]
 23%|██▎       | 207/900 [08:08<22:50,  1.98s/it]
 23%|██▎       | 208/900 [08:09<18:20,  1.59s/it]
 23%|██▎       | 209/900 [08:16<37:36,  3.27s/it]
 23%|██▎       | 210/900 [08:17<28:48,  2.50s/it]
 23%|██▎       | 211/900 [08:17<22:35,  1.97s/it]
 24%|██▎       | 212/900 [08:18<18:07,  1.58s/it]
 24%|██▎       | 213/900 [08:19<15:15,  1.33s/it]
 24%|██▍       | 214/900 [08:19<13:04,  1.14s/it]
 24%|██▍       | 215/900 [08:20<11:39,  1.02s/it]
 24%|██▍       | 216/900 [08:21<10:35,  1.08it/s]
 24%|██▍       | 217/900 [08:35<55:07,  4.84s/it]
 24%|██▍       | 218/900 [08:35<40:53,  3.60s/it]
 24%|██▍       | 219/900 [08:36<30:54,  2.72s/it]
 24%|██▍       | 220/900 [08:37<23:57,  2.11s/it]
 25%|██▍       | 221/900 [08:38<19:06,  1.69s/it]
 25%|██▍       | 222/900 [08:38<15:40,  1.39s/it]
 25%|██▍       | 223/900 [08:39<13:13,  1.17s/it]
 25%|██▍       | 224/900 [08:40<11:37,  1.03s/it]
 25%|██▌       | 225/900 [08:48<37:08,  3.30s/it]
 25%|██▌       | 226/900 [08:49<28:16,  2.52s/it]
 25%|██▌       | 227/900 [08:50<22:09,  1.97s/it]
 25%|██▌       | 228/900 [08:50<17:54,  1.60s/it]
 25%|██▌       | 229/900 [08:51<14:47,  1.32s/it]
 26%|██▌       | 230/900 [08:52<12:45,  1.14s/it]
 26%|██▌       | 231/900 [08:52<11:17,  1.01s/it]
 26%|██▌       | 232/900 [08:53<10:09,  1.10it/s]
 26%|██▌       | 233/900 [09:18<1:30:40,  8.16s/it]
 26%|██▌       | 234/900 [09:19<1:05:40,  5.92s/it]
 26%|██▌       | 235/900 [09:20<48:09,  4.35s/it]  
 26%|██▌       | 236/900 [09:20<35:54,  3.24s/it]
 26%|██▋       | 237/900 [09:21<27:23,  2.48s/it]
 26%|██▋       | 238/900 [09:22<21:27,  1.94s/it]
 27%|██▋       | 239/900 [09:22<17:19,  1.57s/it]
 27%|██▋       | 240/900 [09:23<14:32,  1.32s/it]
 27%|██▋       | 241/900 [09:40<1:04:52,  5.91s/it]
 27%|██▋       | 242/900 [09:40<47:42,  4.35s/it]  
 27%|██▋       | 243/900 [09:41<35:40,  3.26s/it]
 27%|██▋       | 244/900 [09:42<27:11,  2.49s/it]
 27%|██▋       | 245/900 [09:43<21:21,  1.96s/it]
 27%|██▋       | 246/900 [09:43<17:12,  1.58s/it]
 27%|██▋       | 247/900 [09:44<14:19,  1.32s/it]
 28%|██▊       | 248/900 [09:45<12:19,  1.13s/it]
 28%|██▊       | 249/900 [09:52<31:24,  2.89s/it]
 28%|██▊       | 250/900 [09:52<24:14,  2.24s/it]
 28%|██▊       | 251/900 [09:53<19:12,  1.78s/it]
 28%|██▊       | 252/900 [09:54<15:46,  1.46s/it]
 28%|██▊       | 253/900 [09:54<13:17,  1.23s/it]
 28%|██▊       | 254/900 [09:55<11:40,  1.08s/it]
 28%|██▊       | 255/900 [09:56<10:30,  1.02it/s]
 28%|██▊       | 256/900 [09:57<09:30,  1.13it/s]
 29%|██▊       | 257/900 [10:13<58:21,  5.45s/it]
 29%|██▊       | 258/900 [10:13<43:06,  4.03s/it]
 29%|██▉       | 259/900 [10:14<32:23,  3.03s/it]
 29%|██▉       | 260/900 [10:15<24:59,  2.34s/it]
 29%|██▉       | 261/900 [10:16<19:44,  1.85s/it]
 29%|██▉       | 262/900 [10:16<15:59,  1.50s/it]
 29%|██▉       | 263/900 [10:17<13:27,  1.27s/it]
 29%|██▉       | 264/900 [10:18<11:33,  1.09s/it]
 29%|██▉       | 265/900 [10:27<36:55,  3.49s/it]
 30%|██▉       | 266/900 [10:27<27:56,  2.64s/it]
 30%|██▉       | 267/900 [10:28<21:39,  2.05s/it]
 30%|██▉       | 268/900 [10:29<17:27,  1.66s/it]
 30%|██▉       | 269/900 [10:29<14:22,  1.37s/it]
 30%|███       | 270/900 [10:30<12:11,  1.16s/it]
 30%|███       | 271/900 [10:31<10:50,  1.03s/it]
 30%|███       | 272/900 [10:32<09:46,  1.07it/s]
 30%|███       | 273/900 [10:39<30:49,  2.95s/it]
 30%|███       | 274/900 [10:40<23:44,  2.27s/it]
 31%|███       | 275/900 [10:41<18:56,  1.82s/it]
 31%|███       | 276/900 [10:41<15:26,  1.48s/it]
 31%|███       | 277/900 [10:42<13:11,  1.27s/it]
 31%|███       | 278/900 [10:43<11:31,  1.11s/it]
 31%|███       | 279/900 [10:44<10:23,  1.00s/it]
 31%|███       | 280/900 [10:44<09:28,  1.09it/s]
 31%|███       | 281/900 [11:04<1:05:49,  6.38s/it]
 31%|███▏      | 282/900 [11:04<48:19,  4.69s/it]  
 31%|███▏      | 283/900 [11:05<36:01,  3.50s/it]
 32%|███▏      | 284/900 [11:06<27:24,  2.67s/it]
 32%|███▏      | 285/900 [11:06<21:19,  2.08s/it]
 32%|███▏      | 286/900 [11:07<17:04,  1.67s/it]
 32%|███▏      | 287/900 [11:08<13:59,  1.37s/it]
 32%|███▏      | 288/900 [11:09<12:00,  1.18s/it]
 32%|███▏      | 289/900 [11:18<38:47,  3.81s/it]
 32%|███▏      | 290/900 [11:19<29:13,  2.87s/it]
 32%|███▏      | 291/900 [11:20<22:30,  2.22s/it]
 32%|███▏      | 292/900 [11:21<17:48,  1.76s/it]
 33%|███▎      | 293/900 [11:21<14:40,  1.45s/it]
 33%|███▎      | 294/900 [11:22<12:29,  1.24s/it]
 33%|███▎      | 295/900 [11:23<11:03,  1.10s/it]
 33%|███▎      | 296/900 [11:24<10:00,  1.01it/s]
 33%|███▎      | 297/900 [11:36<43:52,  4.36s/it]
 33%|███▎      | 298/900 [11:37<32:54,  3.28s/it]
 33%|███▎      | 299/900 [11:37<25:08,  2.51s/it]
 33%|███▎      | 300/900 [11:38<19:48,  1.98s/it]
 33%|███▎      | 301/900 [11:39<15:59,  1.60s/it]
 34%|███▎      | 302/900 [11:39<13:24,  1.35s/it]
 34%|███▎      | 303/900 [11:40<11:41,  1.17s/it]
 34%|███▍      | 304/900 [11:41<10:22,  1.04s/it]
 34%|███▍      | 305/900 [11:49<31:30,  3.18s/it]
 34%|███▍      | 306/900 [11:50<24:14,  2.45s/it]
 34%|███▍      | 307/900 [11:51<19:06,  1.93s/it]
 34%|███▍      | 308/900 [11:51<15:39,  1.59s/it]
 34%|███▍      | 309/900 [11:52<13:09,  1.34s/it]
 34%|███▍      | 310/900 [11:53<11:23,  1.16s/it]
 35%|███▍      | 311/900 [11:54<10:03,  1.03s/it]
 35%|███▍      | 312/900 [11:54<09:07,  1.07it/s]
 35%|███▍      | 313/900 [12:06<41:46,  4.27s/it]
 35%|███▍      | 314/900 [12:07<31:22,  3.21s/it]
 35%|███▌      | 315/900 [12:08<24:07,  2.47s/it]
 35%|███▌      | 316/900 [12:09<19:00,  1.95s/it]
 35%|███▌      | 317/900 [12:09<15:23,  1.58s/it]
 35%|███▌      | 318/900 [12:10<12:54,  1.33s/it]
 35%|███▌      | 319/900 [12:11<11:07,  1.15s/it]
 36%|███▌      | 320/900 [12:11<09:49,  1.02s/it]
 36%|███▌      | 321/900 [12:21<33:11,  3.44s/it]
 36%|███▌      | 322/900 [12:21<25:12,  2.62s/it]
 36%|███▌      | 323/900 [12:22<19:46,  2.06s/it]
 36%|███▌      | 324/900 [12:23<15:57,  1.66s/it]
 36%|███▌      | 325/900 [12:23<13:12,  1.38s/it]
 36%|███▌      | 326/900 [12:24<11:13,  1.17s/it]
 36%|███▋      | 327/900 [12:25<09:47,  1.03s/it]
 36%|███▋      | 328/900 [12:26<08:50,  1.08it/s]
 37%|███▋      | 329/900 [12:41<51:16,  5.39s/it]
 37%|███▋      | 330/900 [12:42<37:51,  3.99s/it]
 37%|███▋      | 331/900 [12:43<28:23,  2.99s/it]
 37%|███▋      | 332/900 [12:43<21:48,  2.30s/it]
 37%|███▋      | 333/900 [12:44<17:16,  1.83s/it]
 37%|███▋      | 334/900 [12:45<14:00,  1.49s/it]
 37%|███▋      | 335/900 [12:46<11:44,  1.25s/it]
 37%|███▋      | 336/900 [12:46<10:13,  1.09s/it]
 37%|███▋      | 337/900 [12:53<26:33,  2.83s/it]
 38%|███▊      | 338/900 [12:54<20:30,  2.19s/it]
 38%|███▊      | 339/900 [12:55<16:16,  1.74s/it]
 38%|███▊      | 340/900 [12:55<13:21,  1.43s/it]
 38%|███▊      | 341/900 [12:56<11:19,  1.22s/it]
 38%|███▊      | 342/900 [12:57<09:58,  1.07s/it]
 38%|███▊      | 343/900 [12:57<08:57,  1.04it/s]
 38%|███▊      | 344/900 [12:58<08:10,  1.13it/s]
 38%|███▊      | 345/900 [13:07<29:24,  3.18s/it]
 38%|███▊      | 346/900 [13:07<22:31,  2.44s/it]
 39%|███▊      | 347/900 [13:08<17:40,  1.92s/it]
 39%|███▊      | 348/900 [13:09<14:23,  1.56s/it]
 39%|███▉      | 349/900 [13:10<12:01,  1.31s/it]
 39%|███▉      | 350/900 [13:10<10:23,  1.13s/it]
 39%|███▉      | 351/900 [13:11<09:19,  1.02s/it]
 39%|███▉      | 352/900 [13:12<08:35,  1.06it/s]
 39%|███▉      | 353/900 [13:19<26:40,  2.93s/it]
 39%|███▉      | 354/900 [13:20<20:36,  2.26s/it]
 39%|███▉      | 355/900 [13:21<16:20,  1.80s/it]
 40%|███▉      | 356/900 [13:21<13:16,  1.46s/it]
 40%|███▉      | 357/900 [13:22<11:08,  1.23s/it]
 40%|███▉      | 358/900 [13:23<09:39,  1.07s/it]
 40%|███▉      | 359/900 [13:24<08:40,  1.04it/s]
 40%|████      | 360/900 [13:24<07:57,  1.13it/s]
 40%|████      | 361/900 [13:35<35:35,  3.96s/it]
 40%|████      | 362/900 [13:36<26:49,  2.99s/it]
 40%|████      | 363/900 [13:37<20:41,  2.31s/it]
 40%|████      | 364/900 [13:38<16:25,  1.84s/it]
 41%|████      | 365/900 [13:38<13:31,  1.52s/it]
 41%|████      | 366/900 [13:39<11:21,  1.28s/it]
 41%|████      | 367/900 [13:40<09:56,  1.12s/it]
 41%|████      | 368/900 [13:40<08:51,  1.00it/s]
 41%|████      | 369/900 [13:50<32:07,  3.63s/it]
 41%|████      | 370/900 [13:51<24:20,  2.75s/it]
 41%|████      | 371/900 [13:52<18:49,  2.13s/it]
 41%|████▏     | 372/900 [13:52<14:57,  1.70s/it]
 41%|████▏     | 373/900 [13:53<12:14,  1.39s/it]
 42%|████▏     | 374/900 [13:54<10:20,  1.18s/it]
 42%|████▏     | 375/900 [13:54<09:01,  1.03s/it]
 42%|████▏     | 376/900 [13:55<08:09,  1.07it/s]
 42%|████▏     | 377/900 [14:45<2:16:47, 15.69s/it]
 42%|████▏     | 378/900 [14:46<1:37:29, 11.21s/it]
 42%|████▏     | 379/900 [14:47<1:10:00,  8.06s/it]
 42%|████▏     | 380/900 [14:47<50:43,  5.85s/it]  
 42%|████▏     | 381/900 [14:48<37:13,  4.30s/it]
 42%|████▏     | 382/900 [14:49<27:53,  3.23s/it]
 43%|████▎     | 383/900 [14:50<21:22,  2.48s/it]
 43%|████▎     | 384/900 [14:50<16:42,  1.94s/it]
 43%|████▎     | 385/900 [15:04<46:51,  5.46s/it]
 43%|████▎     | 386/900 [15:05<34:31,  4.03s/it]
 43%|████▎     | 387/900 [15:05<25:55,  3.03s/it]
 43%|████▎     | 388/900 [15:06<20:03,  2.35s/it]
 43%|████▎     | 389/900 [15:07<15:53,  1.87s/it]
 43%|████▎     | 390/900 [15:08<12:57,  1.52s/it]
 43%|████▎     | 391/900 [15:08<10:55,  1.29s/it]
 44%|████▎     | 392/900 [15:09<09:31,  1.13s/it]
 44%|████▎     | 393/900 [15:17<27:11,  3.22s/it]
 44%|████▍     | 394/900 [15:18<20:43,  2.46s/it]
 44%|████▍     | 395/900 [15:18<16:10,  1.92s/it]
 44%|████▍     | 396/900 [15:19<13:09,  1.57s/it]
 44%|████▍     | 397/900 [15:20<10:58,  1.31s/it]
 44%|████▍     | 398/900 [15:21<09:24,  1.12s/it]
 44%|████▍     | 399/900 [15:21<08:16,  1.01it/s]
 44%|████▍     | 400/900 [15:22<07:28,  1.11it/s]
 45%|████▍     | 401/900 [15:32<29:29,  3.55s/it]
 45%|████▍     | 402/900 [15:32<22:24,  2.70s/it]
 45%|████▍     | 403/900 [15:33<17:25,  2.10s/it]
 45%|████▍     | 404/900 [15:34<13:56,  1.69s/it]
 45%|████▌     | 405/900 [15:35<11:27,  1.39s/it]
 45%|████▌     | 406/900 [15:35<09:46,  1.19s/it]
 45%|████▌     | 407/900 [15:36<08:32,  1.04s/it]
 45%|████▌     | 408/900 [15:37<07:42,  1.06it/s]
 45%|████▌     | 409/900 [15:45<25:05,  3.07s/it]
 46%|████▌     | 410/900 [15:45<19:14,  2.36s/it]
 46%|████▌     | 411/900 [15:46<15:10,  1.86s/it]
 46%|████▌     | 412/900 [15:47<12:21,  1.52s/it]
 46%|████▌     | 413/900 [15:47<10:20,  1.27s/it]
 46%|████▌     | 414/900 [15:48<08:53,  1.10s/it]
 46%|████▌     | 415/900 [15:49<07:52,  1.03it/s]
 46%|████▌     | 416/900 [15:50<07:09,  1.13it/s]
 46%|████▋     | 417/900 [16:06<44:12,  5.49s/it]
 46%|████▋     | 418/900 [16:06<32:30,  4.05s/it]
 47%|████▋     | 419/900 [16:07<24:24,  3.04s/it]
 47%|████▋     | 420/900 [16:08<18:38,  2.33s/it]
 47%|████▋     | 421/900 [16:08<14:38,  1.83s/it]
 47%|████▋     | 422/900 [16:09<11:48,  1.48s/it]
 47%|████▋     | 423/900 [16:10<10:00,  1.26s/it]
 47%|████▋     | 424/900 [16:11<08:38,  1.09s/it]
 47%|████▋     | 425/900 [16:57<1:56:33, 14.72s/it]
 47%|████▋     | 426/900 [16:58<1:23:00, 10.51s/it]
 47%|████▋     | 427/900 [16:58<59:36,  7.56s/it]  
 48%|████▊     | 428/900 [16:59<43:16,  5.50s/it]
 48%|████▊     | 429/900 [17:00<31:57,  4.07s/it]
 48%|████▊     | 430/900 [17:01<23:52,  3.05s/it]
 48%|████▊     | 431/900 [17:01<18:13,  2.33s/it]
 48%|████▊     | 432/900 [17:02<14:25,  1.85s/it]
 48%|████▊     | 433/900 [17:14<37:42,  4.84s/it]
 48%|████▊     | 434/900 [17:14<27:55,  3.59s/it]
 48%|████▊     | 435/900 [17:15<21:03,  2.72s/it]
 48%|████▊     | 436/900 [17:16<16:18,  2.11s/it]
 49%|████▊     | 437/900 [17:17<13:00,  1.69s/it]
 49%|████▊     | 438/900 [17:17<10:42,  1.39s/it]
 49%|████▉     | 439/900 [17:18<09:04,  1.18s/it]
 49%|████▉     | 440/900 [17:19<08:00,  1.05s/it]
 49%|████▉     | 441/900 [17:44<1:04:02,  8.37s/it]
 49%|████▉     | 442/900 [17:45<46:21,  6.07s/it]  
 49%|████▉     | 443/900 [17:46<34:02,  4.47s/it]
 49%|████▉     | 444/900 [17:46<25:21,  3.34s/it]
 49%|████▉     | 445/900 [17:47<19:14,  2.54s/it]
 50%|████▉     | 446/900 [17:48<15:02,  1.99s/it]
 50%|████▉     | 447/900 [17:48<12:01,  1.59s/it]
 50%|████▉     | 448/900 [17:49<09:53,  1.31s/it]
 50%|████▉     | 449/900 [17:58<28:08,  3.74s/it]
 50%|█████     | 450/900 [17:59<21:11,  2.83s/it]
 50%|█████     | 451/900 [18:00<16:19,  2.18s/it]
 50%|█████     | 452/900 [18:00<12:54,  1.73s/it]
 50%|█████     | 453/900 [18:01<10:31,  1.41s/it]
 50%|█████     | 454/900 [18:02<08:56,  1.20s/it]
 51%|█████     | 455/900 [18:02<07:44,  1.04s/it]
 51%|█████     | 456/900 [18:03<07:00,  1.06it/s]
 51%|█████     | 457/900 [18:20<41:56,  5.68s/it]
 51%|█████     | 458/900 [18:21<30:50,  4.19s/it]
 51%|█████     | 459/900 [18:21<22:59,  3.13s/it]
 51%|█████     | 460/900 [18:22<17:28,  2.38s/it]
 51%|█████     | 461/900 [18:23<13:42,  1.87s/it]
 51%|█████▏    | 462/900 [18:23<11:06,  1.52s/it]
 51%|█████▏    | 463/900 [18:24<09:13,  1.27s/it]
 52%|█████▏    | 464/900 [18:25<07:52,  1.08s/it]
 52%|█████▏    | 465/900 [18:33<24:33,  3.39s/it]
 52%|█████▏    | 466/900 [18:34<18:42,  2.59s/it]
 52%|█████▏    | 467/900 [18:35<14:34,  2.02s/it]
 52%|█████▏    | 468/900 [18:36<11:47,  1.64s/it]
 52%|█████▏    | 469/900 [18:36<09:48,  1.37s/it]
 52%|█████▏    | 470/900 [18:37<08:22,  1.17s/it]
 52%|█████▏    | 471/900 [18:38<07:23,  1.03s/it]
 52%|█████▏    | 472/900 [18:38<06:40,  1.07it/s]
 53%|█████▎    | 473/900 [18:48<24:27,  3.44s/it]
 53%|█████▎    | 474/900 [18:48<18:36,  2.62s/it]
 53%|█████▎    | 475/900 [18:49<14:25,  2.04s/it]
 53%|█████▎    | 476/900 [18:50<11:28,  1.62s/it]
 53%|█████▎    | 477/900 [18:50<09:27,  1.34s/it]
 53%|█████▎    | 478/900 [18:51<08:05,  1.15s/it]
 53%|█████▎    | 479/900 [18:52<07:08,  1.02s/it]
 53%|█████▎    | 480/900 [18:53<06:29,  1.08it/s]
 53%|█████▎    | 481/900 [19:05<31:02,  4.44s/it]
 54%|█████▎    | 482/900 [19:06<23:07,  3.32s/it]
 54%|█████▎    | 483/900 [19:07<17:35,  2.53s/it]
 54%|█████▍    | 484/900 [19:07<13:43,  1.98s/it]
 54%|█████▍    | 485/900 [19:08<11:01,  1.59s/it]
 54%|█████▍    | 486/900 [19:09<09:06,  1.32s/it]
 54%|█████▍    | 487/900 [19:09<07:45,  1.13s/it]
 54%|█████▍    | 488/900 [19:10<06:47,  1.01it/s]
 54%|█████▍    | 489/900 [19:20<25:59,  3.79s/it]
 54%|█████▍    | 490/900 [19:21<19:35,  2.87s/it]
 55%|█████▍    | 491/900 [19:22<15:07,  2.22s/it]
 55%|█████▍    | 492/900 [19:22<12:02,  1.77s/it]
 55%|█████▍    | 493/900 [19:23<09:48,  1.45s/it]
 55%|█████▍    | 494/900 [19:24<08:20,  1.23s/it]
 55%|█████▌    | 495/900 [19:25<07:12,  1.07s/it]
 55%|█████▌    | 496/900 [19:25<06:28,  1.04it/s]
 55%|█████▌    | 497/900 [19:35<23:40,  3.52s/it]
 55%|█████▌    | 498/900 [19:36<17:55,  2.68s/it]
 55%|█████▌    | 499/900 [19:36<13:54,  2.08s/it]
 56%|█████▌    | 500/900 [19:37<12:04,  1.81s/it]
 56%|█████▌    | 501/900 [19:38<09:51,  1.48s/it]
 56%|█████▌    | 502/900 [19:39<08:18,  1.25s/it]
 56%|█████▌    | 503/900 [19:39<07:09,  1.08s/it]
 56%|█████▌    | 504/900 [19:40<06:25,  1.03it/s]
 56%|█████▌    | 505/900 [19:54<32:31,  4.94s/it]
 56%|█████▌    | 506/900 [19:55<24:08,  3.68s/it]
 56%|█████▋    | 507/900 [19:56<18:10,  2.78s/it]
 56%|█████▋    | 508/900 [19:56<14:01,  2.15s/it]
 57%|█████▋    | 509/900 [19:57<11:05,  1.70s/it]
 57%|█████▋    | 510/900 [19:58<09:03,  1.39s/it]
 57%|█████▋    | 511/900 [19:59<07:38,  1.18s/it]
 57%|█████▋    | 512/900 [19:59<06:42,  1.04s/it]
 57%|█████▋    | 513/900 [20:14<33:37,  5.21s/it]
 57%|█████▋    | 514/900 [20:15<24:53,  3.87s/it]
 57%|█████▋    | 515/900 [20:16<18:40,  2.91s/it]
 57%|█████▋    | 516/900 [20:16<14:21,  2.24s/it]
 57%|█████▋    | 517/900 [20:17<11:19,  1.77s/it]
 58%|█████▊    | 518/900 [20:18<09:10,  1.44s/it]
 58%|█████▊    | 519/900 [20:18<07:43,  1.22s/it]
 58%|█████▊    | 520/900 [20:19<06:40,  1.05s/it]
 58%|█████▊    | 521/900 [20:31<27:38,  4.38s/it]
 58%|█████▊    | 522/900 [20:32<20:34,  3.26s/it]
 58%|█████▊    | 523/900 [20:32<15:39,  2.49s/it]
 58%|█████▊    | 524/900 [20:33<12:13,  1.95s/it]
 58%|█████▊    | 525/900 [20:34<09:50,  1.58s/it]
 58%|█████▊    | 526/900 [20:35<08:10,  1.31s/it]
 59%|█████▊    | 527/900 [20:35<07:01,  1.13s/it]
 59%|█████▊    | 528/900 [20:36<06:12,  1.00s/it]
 59%|█████▉    | 529/900 [20:45<20:47,  3.36s/it]
 59%|█████▉    | 530/900 [20:46<15:52,  2.57s/it]
 59%|█████▉    | 531/900 [20:46<12:24,  2.02s/it]
 59%|█████▉    | 532/900 [20:47<10:00,  1.63s/it]
 59%|█████▉    | 533/900 [20:48<08:19,  1.36s/it]
 59%|█████▉    | 534/900 [20:48<07:05,  1.16s/it]
 59%|█████▉    | 535/900 [20:49<06:15,  1.03s/it]
 60%|█████▉    | 536/900 [20:50<05:41,  1.07it/s]
 60%|█████▉    | 537/900 [21:03<28:11,  4.66s/it]
 60%|█████▉    | 538/900 [21:04<20:58,  3.48s/it]
 60%|█████▉    | 539/900 [21:05<15:59,  2.66s/it]
 60%|██████    | 540/900 [21:05<12:32,  2.09s/it]
 60%|██████    | 541/900 [21:06<10:08,  1.70s/it]
 60%|██████    | 542/900 [21:07<08:23,  1.41s/it]
 60%|██████    | 543/900 [21:08<07:11,  1.21s/it]
 60%|██████    | 544/900 [21:08<06:19,  1.07s/it]
 61%|██████    | 545/900 [21:29<40:16,  6.81s/it]
 61%|██████    | 546/900 [21:29<29:22,  4.98s/it]
 61%|██████    | 547/900 [21:30<21:43,  3.69s/it]
 61%|██████    | 548/900 [21:31<16:22,  2.79s/it]
 61%|██████    | 549/900 [21:31<12:39,  2.16s/it]
 61%|██████    | 550/900 [21:32<10:02,  1.72s/it]
 61%|██████    | 551/900 [21:33<08:17,  1.42s/it]
 61%|██████▏   | 552/900 [21:34<07:04,  1.22s/it]
 61%|██████▏   | 553/900 [21:48<30:12,  5.22s/it]
 62%|██████▏   | 554/900 [21:49<22:15,  3.86s/it]
 62%|██████▏   | 555/900 [21:50<16:46,  2.92s/it]
 62%|██████▏   | 556/900 [21:50<12:56,  2.26s/it]
 62%|██████▏   | 557/900 [21:51<10:16,  1.80s/it]
 62%|██████▏   | 558/900 [21:52<08:25,  1.48s/it]
 62%|██████▏   | 559/900 [21:52<07:06,  1.25s/it]
 62%|██████▏   | 560/900 [21:53<06:11,  1.09s/it]
 62%|██████▏   | 561/900 [24:40<4:47:42, 50.92s/it]
 62%|██████▏   | 562/900 [24:41<3:22:00, 35.86s/it]
 63%|██████▎   | 563/900 [24:42<2:22:08, 25.31s/it]
 63%|██████▎   | 564/900 [24:43<1:40:26, 17.94s/it]
 63%|██████▎   | 565/900 [24:43<1:11:17, 12.77s/it]
 63%|██████▎   | 566/900 [24:44<50:56,  9.15s/it]  
 63%|██████▎   | 567/900 [24:45<36:43,  6.62s/it]
 63%|██████▎   | 568/900 [24:45<26:48,  4.85s/it]
 63%|██████▎   | 569/900 [24:55<34:12,  6.20s/it]
 63%|██████▎   | 570/900 [24:55<25:03,  4.56s/it]
 63%|██████▎   | 571/900 [24:56<18:38,  3.40s/it]
 64%|██████▎   | 572/900 [24:57<14:08,  2.59s/it]
 64%|██████▎   | 573/900 [24:58<11:04,  2.03s/it]
 64%|██████▍   | 574/900 [24:58<08:50,  1.63s/it]
 64%|██████▍   | 575/900 [24:59<07:16,  1.34s/it]
 64%|██████▍   | 576/900 [25:00<06:13,  1.15s/it]
 64%|██████▍   | 577/900 [25:16<31:08,  5.79s/it]
 64%|██████▍   | 578/900 [25:17<22:51,  4.26s/it]
 64%|██████▍   | 579/900 [25:18<17:06,  3.20s/it]
 64%|██████▍   | 580/900 [25:18<13:03,  2.45s/it]
 65%|██████▍   | 581/900 [25:19<10:14,  1.93s/it]
 65%|██████▍   | 582/900 [25:20<08:23,  1.58s/it]
 65%|██████▍   | 583/900 [25:21<06:57,  1.32s/it]
 65%|██████▍   | 584/900 [25:21<05:58,  1.14s/it]
 65%|██████▌   | 585/900 [25:32<21:03,  4.01s/it]
 65%|██████▌   | 586/900 [25:33<15:50,  3.03s/it]
 65%|██████▌   | 587/900 [25:33<12:08,  2.33s/it]
 65%|██████▌   | 588/900 [25:34<09:37,  1.85s/it]
 65%|██████▌   | 589/900 [25:35<07:51,  1.52s/it]
 66%|██████▌   | 590/900 [25:36<06:36,  1.28s/it]
 66%|██████▌   | 591/900 [25:36<05:41,  1.10s/it]
 66%|██████▌   | 592/900 [25:37<05:03,  1.01it/s]
 66%|██████▌   | 593/900 [25:58<35:35,  6.96s/it]
 66%|██████▌   | 594/900 [25:59<25:57,  5.09s/it]
 66%|██████▌   | 595/900 [25:59<19:13,  3.78s/it]
 66%|██████▌   | 596/900 [26:00<14:30,  2.86s/it]
 66%|██████▋   | 597/900 [26:01<11:08,  2.21s/it]
 66%|██████▋   | 598/900 [26:01<08:51,  1.76s/it]
 67%|██████▋   | 599/900 [26:02<07:11,  1.43s/it]
 67%|██████▋   | 600/900 [26:03<06:02,  1.21s/it]
 67%|██████▋   | 601/900 [26:25<37:37,  7.55s/it]
 67%|██████▋   | 602/900 [26:26<27:15,  5.49s/it]
 67%|██████▋   | 603/900 [26:27<20:03,  4.05s/it]
 67%|██████▋   | 604/900 [26:27<15:02,  3.05s/it]
 67%|██████▋   | 605/900 [26:28<11:29,  2.34s/it]
 67%|██████▋   | 606/900 [26:29<09:05,  1.86s/it]
 67%|██████▋   | 607/900 [26:29<07:22,  1.51s/it]
 68%|██████▊   | 608/900 [26:30<06:10,  1.27s/it]
 68%|██████▊   | 609/900 [26:44<24:27,  5.04s/it]
 68%|██████▊   | 610/900 [26:45<18:02,  3.73s/it]
 68%|██████▊   | 611/900 [26:45<13:34,  2.82s/it]
 68%|██████▊   | 612/900 [26:46<10:27,  2.18s/it]
 68%|██████▊   | 613/900 [26:47<08:18,  1.74s/it]
 68%|██████▊   | 614/900 [26:47<06:45,  1.42s/it]
 68%|██████▊   | 615/900 [26:48<05:41,  1.20s/it]
 68%|██████▊   | 616/900 [26:49<04:56,  1.04s/it]
 69%|██████▊   | 617/900 [27:05<26:27,  5.61s/it]
 69%|██████▊   | 618/900 [27:06<19:25,  4.13s/it]
 69%|██████▉   | 619/900 [27:06<14:30,  3.10s/it]
 69%|██████▉   | 620/900 [27:07<11:07,  2.38s/it]
 69%|██████▉   | 621/900 [27:08<08:42,  1.87s/it]
 69%|██████▉   | 622/900 [27:08<07:01,  1.52s/it]
 69%|██████▉   | 623/900 [27:09<05:53,  1.28s/it]
 69%|██████▉   | 624/900 [27:10<05:05,  1.11s/it]
 69%|██████▉   | 625/900 [27:34<36:40,  8.00s/it]
 70%|██████▉   | 626/900 [27:35<26:31,  5.81s/it]
 70%|██████▉   | 627/900 [27:35<19:28,  4.28s/it]
 70%|██████▉   | 628/900 [27:36<14:30,  3.20s/it]
 70%|██████▉   | 629/900 [27:37<11:02,  2.45s/it]
 70%|███████   | 630/900 [27:37<08:40,  1.93s/it]
 70%|███████   | 631/900 [27:38<06:59,  1.56s/it]
 70%|███████   | 632/900 [27:39<05:53,  1.32s/it]
 70%|███████   | 633/900 [27:50<18:44,  4.21s/it]
 70%|███████   | 634/900 [27:51<13:59,  3.16s/it]
 71%|███████   | 635/900 [27:51<10:40,  2.42s/it]
 71%|███████   | 636/900 [27:52<08:21,  1.90s/it]
 71%|███████   | 637/900 [27:53<06:44,  1.54s/it]
 71%|███████   | 638/900 [27:53<05:36,  1.28s/it]
 71%|███████   | 639/900 [27:54<04:50,  1.11s/it]
 71%|███████   | 640/900 [27:55<04:16,  1.01it/s]
 71%|███████   | 641/900 [28:07<18:14,  4.23s/it]
 71%|███████▏  | 642/900 [28:07<13:36,  3.16s/it]
 71%|███████▏  | 643/900 [28:08<10:24,  2.43s/it]
 72%|███████▏  | 644/900 [28:09<08:10,  1.91s/it]
 72%|███████▏  | 645/900 [28:09<06:38,  1.56s/it]
 72%|███████▏  | 646/900 [28:10<05:30,  1.30s/it]
 72%|███████▏  | 647/900 [28:11<04:41,  1.11s/it]
 72%|███████▏  | 648/900 [28:11<04:08,  1.01it/s]
 72%|███████▏  | 649/900 [28:28<23:07,  5.53s/it]
 72%|███████▏  | 650/900 [28:28<16:59,  4.08s/it]
 72%|███████▏  | 651/900 [28:29<12:41,  3.06s/it]
 72%|███████▏  | 652/900 [28:30<09:44,  2.36s/it]
 73%|███████▎  | 653/900 [28:30<07:37,  1.85s/it]
 73%|███████▎  | 654/900 [28:31<06:08,  1.50s/it]
 73%|███████▎  | 655/900 [28:32<05:06,  1.25s/it]
 73%|███████▎  | 656/900 [28:32<04:25,  1.09s/it]
 73%|███████▎  | 657/900 [28:49<22:42,  5.61s/it]
 73%|███████▎  | 658/900 [28:49<16:38,  4.13s/it]
 73%|███████▎  | 659/900 [28:50<12:26,  3.10s/it]
 73%|███████▎  | 660/900 [28:51<09:30,  2.38s/it]
 73%|███████▎  | 661/900 [28:51<07:27,  1.87s/it]
 74%|███████▎  | 662/900 [28:52<06:02,  1.52s/it]
 74%|███████▎  | 663/900 [28:53<05:02,  1.28s/it]
 74%|███████▍  | 664/900 [28:53<04:20,  1.11s/it]
 74%|███████▍  | 665/900 [29:04<16:02,  4.10s/it]
 74%|███████▍  | 666/900 [29:05<11:57,  3.07s/it]
 74%|███████▍  | 667/900 [29:06<09:07,  2.35s/it]
 74%|███████▍  | 668/900 [29:07<07:10,  1.86s/it]
 74%|███████▍  | 669/900 [29:07<05:51,  1.52s/it]
 74%|███████▍  | 670/900 [29:08<04:55,  1.28s/it]
 75%|███████▍  | 671/900 [29:09<04:13,  1.11s/it]
 75%|███████▍  | 672/900 [29:09<03:43,  1.02it/s]
 75%|███████▍  | 673/900 [29:22<16:26,  4.35s/it]
 75%|███████▍  | 674/900 [29:22<12:16,  3.26s/it]
 75%|███████▌  | 675/900 [29:23<09:21,  2.50s/it]
 75%|███████▌  | 676/900 [29:24<07:19,  1.96s/it]
 75%|███████▌  | 677/900 [29:24<05:52,  1.58s/it]
 75%|███████▌  | 678/900 [29:25<04:50,  1.31s/it]
 75%|███████▌  | 679/900 [29:26<04:07,  1.12s/it]
 76%|███████▌  | 680/900 [29:26<03:37,  1.01it/s]
 76%|███████▌  | 681/900 [29:38<14:54,  4.08s/it]
 76%|███████▌  | 682/900 [29:38<11:06,  3.06s/it]
 76%|███████▌  | 683/900 [29:39<08:27,  2.34s/it]
 76%|███████▌  | 684/900 [29:40<06:37,  1.84s/it]
 76%|███████▌  | 685/900 [29:40<05:21,  1.49s/it]
 76%|███████▌  | 686/900 [29:41<04:27,  1.25s/it]
 76%|███████▋  | 687/900 [29:42<03:49,  1.08s/it]
 76%|███████▋  | 688/900 [29:42<03:22,  1.05it/s]
 77%|███████▋  | 689/900 [29:54<14:33,  4.14s/it]
 77%|███████▋  | 690/900 [29:55<10:54,  3.12s/it]
 77%|███████▋  | 691/900 [29:55<08:22,  2.40s/it]
 77%|███████▋  | 692/900 [29:56<06:34,  1.90s/it]
 77%|███████▋  | 693/900 [29:57<05:20,  1.55s/it]
 77%|███████▋  | 694/900 [29:58<04:28,  1.30s/it]
 77%|███████▋  | 695/900 [29:58<03:51,  1.13s/it]
 77%|███████▋  | 696/900 [29:59<03:24,  1.00s/it]
 77%|███████▋  | 697/900 [30:09<12:39,  3.74s/it]
 78%|███████▊  | 698/900 [30:10<09:31,  2.83s/it]
 78%|███████▊  | 699/900 [30:11<07:20,  2.19s/it]
 78%|███████▊  | 700/900 [30:11<05:49,  1.75s/it]
 78%|███████▊  | 701/900 [30:12<04:44,  1.43s/it]
 78%|███████▊  | 702/900 [30:13<03:59,  1.21s/it]
 78%|███████▊  | 703/900 [30:13<03:26,  1.05s/it]
 78%|███████▊  | 704/900 [30:14<03:05,  1.06it/s]
 78%|███████▊  | 705/900 [30:25<12:49,  3.94s/it]
 78%|███████▊  | 706/900 [30:26<09:37,  2.98s/it]
 79%|███████▊  | 707/900 [30:27<07:24,  2.31s/it]
 79%|███████▊  | 708/900 [30:27<05:49,  1.82s/it]
 79%|███████▉  | 709/900 [30:28<04:43,  1.48s/it]
 79%|███████▉  | 710/900 [30:29<03:56,  1.25s/it]
 79%|███████▉  | 711/900 [30:29<03:24,  1.08s/it]
 79%|███████▉  | 712/900 [30:30<03:00,  1.04it/s]
 79%|███████▉  | 713/900 [30:45<16:18,  5.23s/it]
 79%|███████▉  | 714/900 [30:46<11:59,  3.87s/it]
 79%|███████▉  | 715/900 [30:47<08:58,  2.91s/it]
 80%|███████▉  | 716/900 [30:47<06:55,  2.26s/it]
 80%|███████▉  | 717/900 [30:48<05:25,  1.78s/it]
 80%|███████▉  | 718/900 [30:49<04:26,  1.46s/it]
 80%|███████▉  | 719/900 [30:49<03:42,  1.23s/it]
 80%|████████  | 720/900 [30:50<03:10,  1.06s/it]
 80%|████████  | 721/900 [31:09<19:28,  6.53s/it]
 80%|████████  | 722/900 [31:10<14:10,  4.78s/it]
 80%|████████  | 723/900 [31:11<10:30,  3.56s/it]
 80%|████████  | 724/900 [31:11<07:55,  2.70s/it]
 81%|████████  | 725/900 [31:12<06:06,  2.10s/it]
 81%|████████  | 726/900 [31:13<04:52,  1.68s/it]
 81%|████████  | 727/900 [31:13<03:57,  1.37s/it]
 81%|████████  | 728/900 [31:14<03:19,  1.16s/it]
 81%|████████  | 729/900 [31:25<11:26,  4.01s/it]
 81%|████████  | 730/900 [31:25<08:31,  3.01s/it]
 81%|████████  | 731/900 [31:26<06:31,  2.31s/it]
 81%|████████▏ | 732/900 [31:27<05:05,  1.82s/it]
 81%|████████▏ | 733/900 [31:28<04:08,  1.49s/it]
 82%|████████▏ | 734/900 [31:28<03:26,  1.25s/it]
 82%|████████▏ | 735/900 [31:29<02:57,  1.08s/it]
 82%|████████▏ | 736/900 [31:30<02:37,  1.04it/s]
 82%|████████▏ | 737/900 [31:43<12:46,  4.70s/it]
 82%|████████▏ | 738/900 [31:44<09:28,  3.51s/it]
 82%|████████▏ | 739/900 [31:44<07:10,  2.67s/it]
 82%|████████▏ | 740/900 [31:45<05:32,  2.08s/it]
 82%|████████▏ | 741/900 [31:46<04:25,  1.67s/it]
 82%|████████▏ | 742/900 [31:47<03:39,  1.39s/it]
 83%|████████▎ | 743/900 [31:47<03:06,  1.19s/it]
 83%|████████▎ | 744/900 [31:48<02:43,  1.05s/it]
 83%|████████▎ | 745/900 [32:02<12:54,  4.99s/it]
 83%|████████▎ | 746/900 [32:03<09:32,  3.72s/it]
 83%|████████▎ | 747/900 [32:04<07:10,  2.81s/it]
 83%|████████▎ | 748/900 [32:04<05:31,  2.18s/it]
 83%|████████▎ | 749/900 [32:05<04:22,  1.74s/it]
 83%|████████▎ | 750/900 [32:06<03:34,  1.43s/it]
 83%|████████▎ | 751/900 [32:07<03:01,  1.22s/it]
 84%|████████▎ | 752/900 [32:07<02:37,  1.07s/it]
 84%|████████▎ | 753/900 [32:26<15:29,  6.33s/it]
 84%|████████▍ | 754/900 [32:27<11:16,  4.64s/it]
 84%|████████▍ | 755/900 [32:27<08:23,  3.47s/it]
 84%|████████▍ | 756/900 [32:28<06:20,  2.65s/it]
 84%|████████▍ | 757/900 [32:29<04:54,  2.06s/it]
 84%|████████▍ | 758/900 [32:29<03:54,  1.65s/it]
 84%|████████▍ | 759/900 [32:30<03:12,  1.36s/it]
 84%|████████▍ | 760/900 [32:31<02:43,  1.17s/it]
 85%|████████▍ | 761/900 [32:42<09:49,  4.24s/it]
 85%|████████▍ | 762/900 [32:43<07:18,  3.18s/it]
 85%|████████▍ | 763/900 [32:44<05:33,  2.43s/it]
 85%|████████▍ | 764/900 [32:44<04:18,  1.90s/it]
 85%|████████▌ | 765/900 [32:45<03:27,  1.54s/it]
 85%|████████▌ | 766/900 [32:46<02:51,  1.28s/it]
 85%|████████▌ | 767/900 [32:46<02:26,  1.10s/it]
 85%|████████▌ | 768/900 [32:47<02:09,  1.02it/s]
 85%|████████▌ | 769/900 [33:15<19:40,  9.01s/it]
 86%|████████▌ | 770/900 [33:15<14:07,  6.52s/it]
 86%|████████▌ | 771/900 [33:16<10:15,  4.77s/it]
 86%|████████▌ | 772/900 [33:17<07:34,  3.55s/it]
 86%|████████▌ | 773/900 [33:18<05:42,  2.70s/it]
 86%|████████▌ | 774/900 [33:18<04:25,  2.11s/it]
 86%|████████▌ | 775/900 [33:19<03:30,  1.68s/it]
 86%|████████▌ | 776/900 [33:20<02:52,  1.39s/it]
 86%|████████▋ | 777/900 [33:29<07:49,  3.82s/it]
 86%|████████▋ | 778/900 [33:30<05:51,  2.88s/it]
 87%|████████▋ | 779/900 [33:31<04:28,  2.22s/it]
 87%|████████▋ | 780/900 [33:31<03:31,  1.76s/it]
 87%|████████▋ | 781/900 [33:32<02:53,  1.45s/it]
 87%|████████▋ | 782/900 [33:33<02:26,  1.24s/it]
 87%|████████▋ | 783/900 [33:33<02:06,  1.08s/it]
 87%|████████▋ | 784/900 [33:34<01:52,  1.03it/s]
 87%|████████▋ | 785/900 [33:44<06:49,  3.56s/it]
 87%|████████▋ | 786/900 [33:44<05:08,  2.71s/it]
 87%|████████▋ | 787/900 [33:45<03:57,  2.11s/it]
 88%|████████▊ | 788/900 [33:46<03:09,  1.69s/it]
 88%|████████▊ | 789/900 [33:47<02:34,  1.39s/it]
 88%|████████▊ | 790/900 [33:47<02:09,  1.18s/it]
 88%|████████▊ | 791/900 [33:48<01:52,  1.03s/it]
 88%|████████▊ | 792/900 [33:49<01:40,  1.08it/s]
 88%|████████▊ | 793/900 [34:00<07:13,  4.05s/it]
 88%|████████▊ | 794/900 [34:01<05:21,  3.03s/it]
 88%|████████▊ | 795/900 [34:01<04:05,  2.33s/it]
 88%|████████▊ | 796/900 [34:02<03:12,  1.85s/it]
 89%|████████▊ | 797/900 [34:03<02:34,  1.50s/it]
 89%|████████▊ | 798/900 [34:03<02:07,  1.25s/it]
 89%|████████▉ | 799/900 [34:04<01:49,  1.09s/it]
 89%|████████▉ | 800/900 [34:05<01:37,  1.03it/s]
 89%|████████▉ | 801/900 [34:24<10:46,  6.53s/it]
 89%|████████▉ | 802/900 [34:25<07:49,  4.79s/it]
 89%|████████▉ | 803/900 [34:26<05:45,  3.56s/it]
 89%|████████▉ | 804/900 [34:26<04:19,  2.70s/it]
 89%|████████▉ | 805/900 [34:27<03:19,  2.10s/it]
 90%|████████▉ | 806/900 [34:28<02:38,  1.69s/it]
 90%|████████▉ | 807/900 [34:29<02:09,  1.39s/it]
 90%|████████▉ | 808/900 [34:29<01:49,  1.19s/it]
 90%|████████▉ | 809/900 [34:43<07:37,  5.03s/it]
 90%|█████████ | 810/900 [34:44<05:36,  3.74s/it]
 90%|█████████ | 811/900 [34:45<04:11,  2.83s/it]
 90%|█████████ | 812/900 [34:45<03:12,  2.19s/it]
 90%|█████████ | 813/900 [34:46<02:32,  1.75s/it]
 90%|█████████ | 814/900 [34:47<02:03,  1.44s/it]
 91%|█████████ | 815/900 [34:48<01:45,  1.24s/it]
 91%|█████████ | 816/900 [34:48<01:30,  1.08s/it]
 91%|█████████ | 817/900 [35:05<08:02,  5.82s/it]
 91%|█████████ | 818/900 [35:06<05:51,  4.29s/it]
 91%|█████████ | 819/900 [35:07<04:19,  3.21s/it]
 91%|█████████ | 820/900 [35:07<03:16,  2.46s/it]
 91%|█████████ | 821/900 [35:08<02:32,  1.93s/it]
 91%|█████████▏| 822/900 [35:09<02:01,  1.56s/it]
 91%|█████████▏| 823/900 [35:09<01:40,  1.31s/it]
 92%|█████████▏| 824/900 [35:10<01:26,  1.13s/it]
 92%|█████████▏| 825/900 [35:32<09:09,  7.33s/it]
 92%|█████████▏| 826/900 [35:33<06:36,  5.35s/it]
 92%|█████████▏| 827/900 [35:33<04:49,  3.97s/it]
 92%|█████████▏| 828/900 [35:34<03:34,  2.98s/it]
 92%|█████████▏| 829/900 [35:35<02:43,  2.30s/it]
 92%|█████████▏| 830/900 [35:36<02:07,  1.82s/it]
 92%|█████████▏| 831/900 [35:36<01:42,  1.48s/it]
 92%|█████████▏| 832/900 [35:37<01:24,  1.24s/it]
 93%|█████████▎| 833/900 [36:05<10:15,  9.19s/it]
 93%|█████████▎| 834/900 [36:05<07:19,  6.66s/it]
 93%|█████████▎| 835/900 [36:06<05:18,  4.90s/it]
 93%|█████████▎| 836/900 [36:07<03:53,  3.65s/it]
 93%|█████████▎| 837/900 [36:08<02:54,  2.78s/it]
 93%|█████████▎| 838/900 [36:08<02:13,  2.16s/it]
 93%|█████████▎| 839/900 [36:09<01:45,  1.74s/it]
 93%|█████████▎| 840/900 [36:10<01:25,  1.43s/it]
 93%|█████████▎| 841/900 [36:24<05:15,  5.34s/it]
 94%|█████████▎| 842/900 [36:25<03:49,  3.95s/it]
 94%|█████████▎| 843/900 [36:26<02:49,  2.98s/it]
 94%|█████████▍| 844/900 [36:26<02:08,  2.29s/it]
 94%|█████████▍| 845/900 [36:27<01:39,  1.82s/it]
 94%|█████████▍| 846/900 [36:28<01:20,  1.49s/it]
 94%|█████████▍| 847/900 [36:29<01:06,  1.26s/it]
 94%|█████████▍| 848/900 [36:29<00:56,  1.10s/it]
 94%|█████████▍| 849/900 [36:58<08:02,  9.47s/it]
 94%|█████████▍| 850/900 [36:59<05:41,  6.83s/it]
 95%|█████████▍| 851/900 [37:00<04:03,  4.98s/it]
 95%|█████████▍| 852/900 [37:00<02:56,  3.68s/it]
 95%|█████████▍| 853/900 [37:01<02:10,  2.78s/it]
 95%|█████████▍| 854/900 [37:02<01:39,  2.15s/it]
 95%|█████████▌| 855/900 [37:02<01:17,  1.71s/it]
 95%|█████████▌| 856/900 [37:03<01:02,  1.42s/it]
 95%|█████████▌| 857/900 [37:14<03:01,  4.23s/it]
 95%|█████████▌| 858/900 [37:15<02:12,  3.16s/it]
 95%|█████████▌| 859/900 [37:15<01:38,  2.41s/it]
 96%|█████████▌| 860/900 [37:16<01:15,  1.89s/it]
 96%|█████████▌| 861/900 [37:17<00:59,  1.53s/it]
 96%|█████████▌| 862/900 [37:17<00:49,  1.29s/it]
 96%|█████████▌| 863/900 [37:18<00:41,  1.12s/it]
 96%|█████████▌| 864/900 [37:19<00:36,  1.01s/it]
 96%|█████████▌| 865/900 [37:44<04:52,  8.35s/it]
 96%|█████████▌| 866/900 [37:45<03:26,  6.06s/it]
 96%|█████████▋| 867/900 [37:46<02:26,  4.45s/it]
 96%|█████████▋| 868/900 [37:46<01:46,  3.32s/it]
 97%|█████████▋| 869/900 [37:47<01:18,  2.52s/it]
 97%|█████████▋| 870/900 [37:48<00:58,  1.96s/it]
 97%|█████████▋| 871/900 [37:48<00:45,  1.58s/it]
 97%|█████████▋| 872/900 [37:49<00:36,  1.32s/it]
 97%|█████████▋| 873/900 [38:04<02:29,  5.53s/it]
 97%|█████████▋| 874/900 [38:05<01:45,  4.07s/it]
 97%|█████████▋| 875/900 [38:06<01:16,  3.06s/it]
 97%|█████████▋| 876/900 [38:06<00:56,  2.35s/it]
 97%|█████████▋| 877/900 [38:07<00:42,  1.86s/it]
 98%|█████████▊| 878/900 [38:08<00:33,  1.52s/it]
 98%|█████████▊| 879/900 [38:09<00:26,  1.27s/it]
 98%|█████████▊| 880/900 [38:09<00:22,  1.11s/it]
 98%|█████████▊| 881/900 [38:23<01:34,  4.99s/it]
 98%|█████████▊| 882/900 [38:24<01:06,  3.71s/it]
 98%|█████████▊| 883/900 [38:25<00:47,  2.81s/it]
 98%|█████████▊| 884/900 [38:25<00:34,  2.17s/it]
 98%|█████████▊| 885/900 [38:26<00:25,  1.72s/it]
 98%|█████████▊| 886/900 [38:27<00:19,  1.42s/it]
 99%|█████████▊| 887/900 [38:28<00:15,  1.21s/it]
 99%|█████████▊| 888/900 [38:28<00:12,  1.06s/it]
 99%|█████████▉| 889/900 [38:46<01:07,  6.14s/it]
 99%|█████████▉| 890/900 [38:47<00:45,  4.50s/it]
 99%|█████████▉| 891/900 [38:48<00:30,  3.36s/it]
 99%|█████████▉| 892/900 [38:48<00:20,  2.57s/it]
 99%|█████████▉| 893/900 [38:49<00:14,  2.00s/it]
 99%|█████████▉| 894/900 [38:50<00:09,  1.61s/it]
 99%|█████████▉| 895/900 [38:50<00:06,  1.33s/it]
100%|█████████▉| 896/900 [38:51<00:04,  1.15s/it]
100%|█████████▉| 897/900 [39:03<00:13,  4.47s/it]
100%|█████████▉| 898/900 [39:04<00:06,  3.34s/it]
100%|█████████▉| 899/900 [39:05<00:02,  2.55s/it]
100%|█████████▉| 899/900 [39:06<00:02,  2.61s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/log_0_env0.json.
+SmallPumpkinInBinTask_0 complete: task_name: SmallPumpkinInBinTask, run_name: SmallPumpkinInBinTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the small pumpkin in the bin, attributes: ['size', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -14.619028420581369, 'joint_sparc_mean': -15.299403687447747, 'ee_isj': 3566.2226426023335, 'joint_isj': 478727.3024038384, 'ee_path_length': 5.839748940159623, 'joint_rmse_mean': 1.37621761627703, 'ee_speed_max': 0.7833203673362732, 'ee_speed_mean': 0.0934501513838768}, events: {'OBJECT_BUMPED': 3, 'GRIPPER_HIT_OBJECT': 4, 'GRIPPER_FULLY_CLOSED': 17, 'WRONG_OBJECT_GRABBED': 3, 'TARGET_OBJECT_DROPPED': 11, 'wrong_objects_grabbed': ['lemon_01', 'whitepackerbottle_a01', 'lemon_02']}, instruction_type: default, timing: {'policy_inference_s': 1717.932, 'policy_inference_avg_ms': 1908.8, 'env_step_s': 620.828, 'env_step_avg_ms': 689.8, 'video_write_s': 6.774, 'video_write_avg_ms': 7.5, 'wall_total_s': 2345.533, 'it_per_sec': 0.38}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=pumpkinsmall) (step 1/2), harness_episode_id: e7f704762b864274a6fe70667dcd3430-0
+[RoboLab] Running SmallPumpkinInBinTask_1: 'Put the small pumpkin in the bin' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:35<8:47:00, 35.17s/it]
  0%|          | 2/900 [00:35<3:42:49, 14.89s/it]
  0%|          | 3/900 [00:36<2:05:49,  8.42s/it]
  0%|          | 4/900 [00:37<1:20:12,  5.37s/it]
  1%|          | 5/900 [00:38<55:06,  3.69s/it]  
  1%|          | 6/900 [00:38<39:50,  2.67s/it]
  1%|          | 7/900 [00:39<30:13,  2.03s/it]
  1%|          | 8/900 [00:40<23:53,  1.61s/it]
  1%|          | 9/900 [00:56<1:34:16,  6.35s/it]
  1%|          | 10/900 [00:57<1:08:15,  4.60s/it]
  1%|          | 11/900 [00:58<50:26,  3.40s/it]  
  1%|▏         | 12/900 [00:58<38:10,  2.58s/it]
  1%|▏         | 13/900 [00:59<29:46,  2.01s/it]
  2%|▏         | 14/900 [01:00<24:00,  1.63s/it]
  2%|▏         | 15/900 [01:01<19:55,  1.35s/it]
  2%|▏         | 16/900 [01:01<16:59,  1.15s/it]
  2%|▏         | 17/900 [01:09<44:56,  3.05s/it]
  2%|▏         | 18/900 [01:09<34:28,  2.34s/it]
  2%|▏         | 19/900 [01:10<27:05,  1.84s/it]
  2%|▏         | 20/900 [01:11<21:54,  1.49s/it]
  2%|▏         | 21/900 [01:11<18:14,  1.24s/it]
  2%|▏         | 22/900 [01:12<15:41,  1.07s/it]
  3%|▎         | 23/900 [01:13<13:55,  1.05it/s]
  3%|▎         | 24/900 [01:14<12:46,  1.14it/s]
  3%|▎         | 25/900 [01:23<49:37,  3.40s/it]
  3%|▎         | 26/900 [01:24<37:41,  2.59s/it]
  3%|▎         | 27/900 [01:24<29:21,  2.02s/it]
  3%|▎         | 28/900 [01:25<23:29,  1.62s/it]
  3%|▎         | 29/900 [01:26<19:21,  1.33s/it]
  3%|▎         | 30/900 [01:26<16:32,  1.14s/it]
  3%|▎         | 31/900 [01:27<14:34,  1.01s/it]
  4%|▎         | 32/900 [01:28<13:13,  1.09it/s]
  4%|▎         | 33/900 [01:38<53:57,  3.73s/it]
  4%|▍         | 34/900 [01:39<40:42,  2.82s/it]
  4%|▍         | 35/900 [01:39<31:35,  2.19s/it]
  4%|▍         | 36/900 [01:40<25:14,  1.75s/it]
  4%|▍         | 37/900 [01:41<20:43,  1.44s/it]
  4%|▍         | 38/900 [01:41<17:23,  1.21s/it]
  4%|▍         | 39/900 [01:42<15:06,  1.05s/it]
  4%|▍         | 40/900 [01:43<13:32,  1.06it/s]
  5%|▍         | 41/900 [01:49<37:09,  2.60s/it]
  5%|▍         | 42/900 [01:50<28:58,  2.03s/it]
  5%|▍         | 43/900 [01:51<23:07,  1.62s/it]
  5%|▍         | 44/900 [01:51<19:02,  1.33s/it]
  5%|▌         | 45/900 [01:52<16:08,  1.13s/it]
  5%|▌         | 46/900 [01:53<14:11,  1.00it/s]
  5%|▌         | 47/900 [01:53<12:53,  1.10it/s]
  5%|▌         | 48/900 [01:54<12:04,  1.18it/s]
  5%|▌         | 49/900 [02:05<55:52,  3.94s/it]
  6%|▌         | 50/900 [02:06<42:16,  2.98s/it]
  6%|▌         | 51/900 [02:07<32:38,  2.31s/it]
  6%|▌         | 52/900 [02:07<25:54,  1.83s/it]
  6%|▌         | 53/900 [02:08<21:12,  1.50s/it]
  6%|▌         | 54/900 [02:09<17:52,  1.27s/it]
  6%|▌         | 55/900 [02:10<15:34,  1.11s/it]
  6%|▌         | 56/900 [02:10<14:07,  1.00s/it]
  6%|▋         | 57/900 [02:19<44:38,  3.18s/it]
  6%|▋         | 58/900 [02:19<34:09,  2.43s/it]
  7%|▋         | 59/900 [02:20<26:42,  1.91s/it]
  7%|▋         | 60/900 [02:21<21:30,  1.54s/it]
  7%|▋         | 61/900 [02:21<17:53,  1.28s/it]
  7%|▋         | 62/900 [02:22<15:23,  1.10s/it]
  7%|▋         | 63/900 [02:23<13:38,  1.02it/s]
  7%|▋         | 64/900 [02:23<12:26,  1.12it/s]
  7%|▋         | 65/900 [02:35<58:41,  4.22s/it]
  7%|▋         | 66/900 [02:36<44:12,  3.18s/it]
  7%|▋         | 67/900 [02:37<33:45,  2.43s/it]
  8%|▊         | 68/900 [02:38<26:29,  1.91s/it]
  8%|▊         | 69/900 [02:38<21:21,  1.54s/it]
  8%|▊         | 70/900 [02:39<17:45,  1.28s/it]
  8%|▊         | 71/900 [02:40<15:10,  1.10s/it]
  8%|▊         | 72/900 [02:40<13:23,  1.03it/s]
  8%|▊         | 73/900 [02:47<36:15,  2.63s/it]
  8%|▊         | 74/900 [02:47<28:08,  2.04s/it]
  8%|▊         | 75/900 [02:48<22:24,  1.63s/it]
  8%|▊         | 76/900 [02:49<18:27,  1.34s/it]
  9%|▊         | 77/900 [02:49<15:48,  1.15s/it]
  9%|▊         | 78/900 [02:50<13:53,  1.01s/it]
  9%|▉         | 79/900 [02:51<12:26,  1.10it/s]
  9%|▉         | 80/900 [02:52<11:29,  1.19it/s]
  9%|▉         | 81/900 [03:33<2:59:15, 13.13s/it]
  9%|▉         | 82/900 [03:34<2:08:08,  9.40s/it]
  9%|▉         | 83/900 [03:35<1:32:23,  6.79s/it]
  9%|▉         | 84/900 [03:35<1:07:21,  4.95s/it]
  9%|▉         | 85/900 [03:36<49:52,  3.67s/it]  
 10%|▉         | 86/900 [03:37<37:37,  2.77s/it]
 10%|▉         | 87/900 [03:37<29:03,  2.14s/it]
 10%|▉         | 88/900 [03:38<22:58,  1.70s/it]
 10%|▉         | 89/900 [03:51<1:09:44,  5.16s/it]
 10%|█         | 90/900 [03:52<51:38,  3.83s/it]  
 10%|█         | 91/900 [03:53<38:59,  2.89s/it]
 10%|█         | 92/900 [03:53<30:00,  2.23s/it]
 10%|█         | 93/900 [03:54<23:42,  1.76s/it]
 10%|█         | 94/900 [03:55<19:16,  1.44s/it]
 11%|█         | 95/900 [03:55<16:17,  1.21s/it]
 11%|█         | 96/900 [03:56<14:04,  1.05s/it]
 11%|█         | 97/900 [04:06<48:13,  3.60s/it]
 11%|█         | 98/900 [04:06<36:39,  2.74s/it]
 11%|█         | 99/900 [04:07<28:23,  2.13s/it]
 11%|█         | 100/900 [04:08<22:40,  1.70s/it]
 11%|█         | 101/900 [04:09<18:48,  1.41s/it]
 11%|█▏        | 102/900 [04:09<15:58,  1.20s/it]
 11%|█▏        | 103/900 [04:10<14:05,  1.06s/it]
 12%|█▏        | 104/900 [04:11<12:35,  1.05it/s]
 12%|█▏        | 105/900 [04:18<38:11,  2.88s/it]
 12%|█▏        | 106/900 [04:19<29:18,  2.21s/it]
 12%|█▏        | 107/900 [04:19<23:06,  1.75s/it]
 12%|█▏        | 108/900 [04:20<18:47,  1.42s/it]
 12%|█▏        | 109/900 [04:21<15:44,  1.19s/it]
 12%|█▏        | 110/900 [04:21<13:37,  1.03s/it]
 12%|█▏        | 111/900 [04:22<12:13,  1.08it/s]
 12%|█▏        | 112/900 [04:23<11:11,  1.17it/s]
 13%|█▎        | 113/900 [04:29<30:35,  2.33s/it]
 13%|█▎        | 114/900 [04:29<24:09,  1.84s/it]
 13%|█▎        | 115/900 [04:30<19:47,  1.51s/it]
 13%|█▎        | 116/900 [04:31<16:32,  1.27s/it]
 13%|█▎        | 117/900 [04:31<14:16,  1.09s/it]
 13%|█▎        | 118/900 [04:32<12:38,  1.03it/s]
 13%|█▎        | 119/900 [04:33<11:34,  1.12it/s]
 13%|█▎        | 120/900 [04:33<10:51,  1.20it/s]
 13%|█▎        | 121/900 [04:44<49:14,  3.79s/it]
 14%|█▎        | 122/900 [04:45<37:11,  2.87s/it]
 14%|█▎        | 123/900 [04:46<28:43,  2.22s/it]
 14%|█▍        | 124/900 [04:46<22:49,  1.77s/it]
 14%|█▍        | 125/900 [04:47<18:32,  1.44s/it]
 14%|█▍        | 126/900 [04:48<15:33,  1.21s/it]
 14%|█▍        | 127/900 [04:48<13:33,  1.05s/it]
 14%|█▍        | 128/900 [04:49<12:08,  1.06it/s]
 14%|█▍        | 129/900 [05:08<1:23:40,  6.51s/it]
 14%|█▍        | 130/900 [05:09<1:01:11,  4.77s/it]
 15%|█▍        | 131/900 [05:10<45:21,  3.54s/it]  
 15%|█▍        | 132/900 [05:11<34:21,  2.68s/it]
 15%|█▍        | 133/900 [05:11<26:35,  2.08s/it]
 15%|█▍        | 134/900 [05:12<21:09,  1.66s/it]
 15%|█▌        | 135/900 [05:13<17:19,  1.36s/it]
 15%|█▌        | 136/900 [05:13<14:52,  1.17s/it]
 15%|█▌        | 137/900 [05:28<1:06:56,  5.26s/it]
 15%|█▌        | 138/900 [05:29<49:22,  3.89s/it]  
 15%|█▌        | 139/900 [05:29<37:05,  2.92s/it]
 16%|█▌        | 140/900 [05:30<28:29,  2.25s/it]
 16%|█▌        | 141/900 [05:31<22:30,  1.78s/it]
 16%|█▌        | 142/900 [05:31<18:20,  1.45s/it]
 16%|█▌        | 143/900 [05:32<15:24,  1.22s/it]
 16%|█▌        | 144/900 [05:33<13:27,  1.07s/it]
 16%|█▌        | 145/900 [05:44<51:08,  4.06s/it]
 16%|█▌        | 146/900 [05:45<38:30,  3.06s/it]
 16%|█▋        | 147/900 [05:45<29:39,  2.36s/it]
 16%|█▋        | 148/900 [05:46<23:18,  1.86s/it]
 17%|█▋        | 149/900 [05:47<18:56,  1.51s/it]
 17%|█▋        | 150/900 [05:48<16:03,  1.28s/it]
 17%|█▋        | 151/900 [05:48<13:54,  1.11s/it]
 17%|█▋        | 152/900 [05:49<12:27,  1.00it/s]
 17%|█▋        | 153/900 [05:58<44:01,  3.54s/it]
 17%|█▋        | 154/900 [05:59<33:26,  2.69s/it]
 17%|█▋        | 155/900 [06:00<26:21,  2.12s/it]
 17%|█▋        | 156/900 [06:01<21:02,  1.70s/it]
 17%|█▋        | 157/900 [06:01<17:19,  1.40s/it]
 18%|█▊        | 158/900 [06:02<14:42,  1.19s/it]
 18%|█▊        | 159/900 [06:03<12:49,  1.04s/it]
 18%|█▊        | 160/900 [06:03<11:37,  1.06it/s]
 18%|█▊        | 161/900 [06:12<39:58,  3.25s/it]
 18%|█▊        | 162/900 [06:13<30:31,  2.48s/it]
 18%|█▊        | 163/900 [06:13<23:54,  1.95s/it]
 18%|█▊        | 164/900 [06:14<19:17,  1.57s/it]
 18%|█▊        | 165/900 [06:15<15:58,  1.30s/it]
 18%|█▊        | 166/900 [06:16<13:45,  1.12s/it]
 19%|█▊        | 167/900 [06:16<12:17,  1.01s/it]
 19%|█▊        | 168/900 [06:17<11:11,  1.09it/s]
 19%|█▉        | 169/900 [06:34<1:09:08,  5.67s/it]
 19%|█▉        | 170/900 [06:35<50:59,  4.19s/it]  
 19%|█▉        | 171/900 [06:35<38:22,  3.16s/it]
 19%|█▉        | 172/900 [06:36<29:27,  2.43s/it]
 19%|█▉        | 173/900 [06:37<23:11,  1.91s/it]
 19%|█▉        | 174/900 [06:37<18:52,  1.56s/it]
 19%|█▉        | 175/900 [06:38<15:43,  1.30s/it]
 20%|█▉        | 176/900 [06:39<13:39,  1.13s/it]
 20%|█▉        | 177/900 [06:47<38:14,  3.17s/it]
 20%|█▉        | 178/900 [06:48<29:25,  2.45s/it]
 20%|█▉        | 179/900 [06:48<23:18,  1.94s/it]
 20%|██        | 180/900 [06:49<18:52,  1.57s/it]
 20%|██        | 181/900 [06:50<15:50,  1.32s/it]
 20%|██        | 182/900 [06:50<13:36,  1.14s/it]
 20%|██        | 183/900 [06:51<12:03,  1.01s/it]
 20%|██        | 184/900 [06:52<10:58,  1.09it/s]
 21%|██        | 185/900 [07:12<1:18:39,  6.60s/it]
 21%|██        | 186/900 [07:12<57:35,  4.84s/it]  
 21%|██        | 187/900 [07:13<42:48,  3.60s/it]
 21%|██        | 188/900 [07:14<32:24,  2.73s/it]
 21%|██        | 189/900 [07:15<25:13,  2.13s/it]
 21%|██        | 190/900 [07:15<20:11,  1.71s/it]
 21%|██        | 191/900 [07:16<16:39,  1.41s/it]
 21%|██▏       | 192/900 [07:17<14:10,  1.20s/it]
 21%|██▏       | 193/900 [07:26<41:05,  3.49s/it]
 22%|██▏       | 194/900 [07:26<31:18,  2.66s/it]
 22%|██▏       | 195/900 [07:27<24:24,  2.08s/it]
 22%|██▏       | 196/900 [07:28<19:34,  1.67s/it]
 22%|██▏       | 197/900 [07:28<16:09,  1.38s/it]
 22%|██▏       | 198/900 [07:29<13:50,  1.18s/it]
 22%|██▏       | 199/900 [07:30<12:19,  1.05s/it]
 22%|██▏       | 200/900 [07:31<11:09,  1.05it/s]
 22%|██▏       | 201/900 [07:40<42:03,  3.61s/it]
 22%|██▏       | 202/900 [07:41<31:53,  2.74s/it]
 23%|██▎       | 203/900 [07:42<24:47,  2.13s/it]
 23%|██▎       | 204/900 [07:43<19:46,  1.70s/it]
 23%|██▎       | 205/900 [07:43<16:23,  1.41s/it]
 23%|██▎       | 206/900 [07:44<13:56,  1.21s/it]
 23%|██▎       | 207/900 [07:45<12:11,  1.06s/it]
 23%|██▎       | 208/900 [07:45<10:56,  1.05it/s]
 23%|██▎       | 209/900 [07:54<37:03,  3.22s/it]
 23%|██▎       | 210/900 [07:55<28:24,  2.47s/it]
 23%|██▎       | 211/900 [07:55<22:14,  1.94s/it]
 24%|██▎       | 212/900 [07:56<17:59,  1.57s/it]
 24%|██▎       | 213/900 [07:57<15:00,  1.31s/it]
 24%|██▍       | 214/900 [07:58<12:55,  1.13s/it]
 24%|██▍       | 215/900 [07:58<11:29,  1.01s/it]
 24%|██▍       | 216/900 [07:59<10:27,  1.09it/s]
 24%|██▍       | 217/900 [08:08<37:49,  3.32s/it]
 24%|██▍       | 218/900 [08:09<28:53,  2.54s/it]
 24%|██▍       | 219/900 [08:09<22:41,  2.00s/it]
 24%|██▍       | 220/900 [08:10<18:21,  1.62s/it]
 25%|██▍       | 221/900 [08:11<15:23,  1.36s/it]
 25%|██▍       | 222/900 [08:12<13:11,  1.17s/it]
 25%|██▍       | 223/900 [08:12<11:35,  1.03s/it]
 25%|██▍       | 224/900 [08:13<10:29,  1.07it/s]
 25%|██▌       | 225/900 [08:28<59:16,  5.27s/it]
 25%|██▌       | 226/900 [08:29<43:51,  3.90s/it]
 25%|██▌       | 227/900 [08:30<33:03,  2.95s/it]
 25%|██▌       | 228/900 [08:31<25:34,  2.28s/it]
 25%|██▌       | 229/900 [08:31<20:16,  1.81s/it]
 26%|██▌       | 230/900 [08:32<16:31,  1.48s/it]
 26%|██▌       | 231/900 [08:33<13:49,  1.24s/it]
 26%|██▌       | 232/900 [08:33<12:05,  1.09s/it]
 26%|██▌       | 233/900 [08:42<38:35,  3.47s/it]
 26%|██▌       | 234/900 [08:43<29:17,  2.64s/it]
 26%|██▌       | 235/900 [08:44<22:50,  2.06s/it]
 26%|██▌       | 236/900 [08:44<18:18,  1.65s/it]
 26%|██▋       | 237/900 [08:45<15:11,  1.37s/it]
 26%|██▋       | 238/900 [08:46<13:02,  1.18s/it]
 27%|██▋       | 239/900 [08:47<11:29,  1.04s/it]
 27%|██▋       | 240/900 [08:47<10:23,  1.06it/s]
 27%|██▋       | 241/900 [08:57<39:16,  3.58s/it]
 27%|██▋       | 242/900 [08:58<29:55,  2.73s/it]
 27%|██▋       | 243/900 [08:59<23:17,  2.13s/it]
 27%|██▋       | 244/900 [08:59<18:36,  1.70s/it]
 27%|██▋       | 245/900 [09:00<15:25,  1.41s/it]
 27%|██▋       | 246/900 [09:01<13:05,  1.20s/it]
 27%|██▋       | 247/900 [09:01<11:19,  1.04s/it]
 28%|██▊       | 248/900 [09:02<10:07,  1.07it/s]
 28%|██▊       | 249/900 [09:40<2:11:31, 12.12s/it]
 28%|██▊       | 250/900 [09:41<1:34:15,  8.70s/it]
 28%|██▊       | 251/900 [09:42<1:08:14,  6.31s/it]
 28%|██▊       | 252/900 [09:42<49:57,  4.63s/it]  
 28%|██▊       | 253/900 [09:43<37:13,  3.45s/it]
 28%|██▊       | 254/900 [09:44<28:21,  2.63s/it]
 28%|██▊       | 255/900 [09:45<22:08,  2.06s/it]
 28%|██▊       | 256/900 [09:45<17:54,  1.67s/it]
 29%|██▊       | 257/900 [09:57<50:50,  4.74s/it]
 29%|██▊       | 258/900 [09:58<37:42,  3.52s/it]
 29%|██▉       | 259/900 [09:59<28:31,  2.67s/it]
 29%|██▉       | 260/900 [09:59<22:10,  2.08s/it]
 29%|██▉       | 261/900 [10:00<17:41,  1.66s/it]
 29%|██▉       | 262/900 [10:01<14:30,  1.36s/it]
 29%|██▉       | 263/900 [10:01<12:21,  1.16s/it]
 29%|██▉       | 264/900 [10:02<10:46,  1.02s/it]
 29%|██▉       | 265/900 [10:11<35:07,  3.32s/it]
 30%|██▉       | 266/900 [10:11<26:47,  2.54s/it]
 30%|██▉       | 267/900 [10:12<20:55,  1.98s/it]
 30%|██▉       | 268/900 [10:13<16:44,  1.59s/it]
 30%|██▉       | 269/900 [10:14<13:52,  1.32s/it]
 30%|███       | 270/900 [10:14<11:50,  1.13s/it]
 30%|███       | 271/900 [10:15<10:22,  1.01it/s]
 30%|███       | 272/900 [10:16<09:26,  1.11it/s]
 30%|███       | 273/900 [10:23<29:43,  2.84s/it]
 30%|███       | 274/900 [10:24<23:01,  2.21s/it]
 31%|███       | 275/900 [10:24<18:19,  1.76s/it]
 31%|███       | 276/900 [10:25<15:04,  1.45s/it]
 31%|███       | 277/900 [10:26<12:50,  1.24s/it]
 31%|███       | 278/900 [10:27<11:18,  1.09s/it]
 31%|███       | 279/900 [10:27<10:09,  1.02it/s]
 31%|███       | 280/900 [10:28<09:20,  1.11it/s]
 31%|███       | 281/900 [10:36<30:24,  2.95s/it]
 31%|███▏      | 282/900 [10:36<23:25,  2.27s/it]
 31%|███▏      | 283/900 [10:37<18:40,  1.82s/it]
 32%|███▏      | 284/900 [10:38<15:17,  1.49s/it]
 32%|███▏      | 285/900 [10:39<12:48,  1.25s/it]
 32%|███▏      | 286/900 [10:39<11:07,  1.09s/it]
 32%|███▏      | 287/900 [10:40<09:56,  1.03it/s]
 32%|███▏      | 288/900 [10:41<09:09,  1.11it/s]
 32%|███▏      | 289/900 [10:50<34:51,  3.42s/it]
 32%|███▏      | 290/900 [10:51<26:26,  2.60s/it]
 32%|███▏      | 291/900 [10:51<20:31,  2.02s/it]
 32%|███▏      | 292/900 [10:52<16:23,  1.62s/it]
 33%|███▎      | 293/900 [10:53<13:34,  1.34s/it]
 33%|███▎      | 294/900 [10:53<11:35,  1.15s/it]
 33%|███▎      | 295/900 [10:54<10:12,  1.01s/it]
 33%|███▎      | 296/900 [10:55<09:18,  1.08it/s]
 33%|███▎      | 297/900 [11:02<27:03,  2.69s/it]
 33%|███▎      | 298/900 [11:03<21:15,  2.12s/it]
 33%|███▎      | 299/900 [11:03<17:01,  1.70s/it]
 33%|███▎      | 300/900 [11:04<14:04,  1.41s/it]
 33%|███▎      | 301/900 [11:05<12:04,  1.21s/it]
 34%|███▎      | 302/900 [11:05<10:37,  1.07s/it]
 34%|███▎      | 303/900 [11:06<09:37,  1.03it/s]
 34%|███▍      | 304/900 [11:07<08:51,  1.12it/s]
 34%|███▍      | 305/900 [11:20<43:52,  4.42s/it]
 34%|███▍      | 306/900 [11:20<32:53,  3.32s/it]
 34%|███▍      | 307/900 [11:21<25:08,  2.54s/it]
 34%|███▍      | 308/900 [11:22<19:41,  2.00s/it]
 34%|███▍      | 309/900 [11:22<15:54,  1.62s/it]
 34%|███▍      | 310/900 [11:23<13:13,  1.34s/it]
 35%|███▍      | 311/900 [11:24<11:22,  1.16s/it]
 35%|███▍      | 312/900 [11:25<10:02,  1.02s/it]
 35%|███▍      | 313/900 [11:40<52:55,  5.41s/it]
 35%|███▍      | 314/900 [11:41<38:59,  3.99s/it]
 35%|███▌      | 315/900 [11:42<29:15,  3.00s/it]
 35%|███▌      | 316/900 [11:42<22:35,  2.32s/it]
 35%|███▌      | 317/900 [11:43<17:55,  1.84s/it]
 35%|███▌      | 318/900 [11:44<14:30,  1.50s/it]
 35%|███▌      | 319/900 [11:44<12:10,  1.26s/it]
 36%|███▌      | 320/900 [11:45<10:28,  1.08s/it]
 36%|███▌      | 321/900 [11:56<39:37,  4.11s/it]
 36%|███▌      | 322/900 [11:57<29:44,  3.09s/it]
 36%|███▌      | 323/900 [11:58<22:48,  2.37s/it]
 36%|███▌      | 324/900 [11:58<18:00,  1.88s/it]
 36%|███▌      | 325/900 [11:59<14:40,  1.53s/it]
 36%|███▌      | 326/900 [12:00<12:20,  1.29s/it]
 36%|███▋      | 327/900 [12:01<10:43,  1.12s/it]
 36%|███▋      | 328/900 [12:01<09:31,  1.00it/s]
 37%|███▋      | 329/900 [12:09<29:11,  3.07s/it]
 37%|███▋      | 330/900 [12:10<22:31,  2.37s/it]
 37%|███▋      | 331/900 [12:11<17:39,  1.86s/it]
 37%|███▋      | 332/900 [12:11<14:13,  1.50s/it]
 37%|███▋      | 333/900 [12:12<12:01,  1.27s/it]
 37%|███▋      | 334/900 [12:13<10:19,  1.09s/it]
 37%|███▋      | 335/900 [12:13<09:14,  1.02it/s]
 37%|███▋      | 336/900 [12:14<08:23,  1.12it/s]
 37%|███▋      | 337/900 [12:23<29:32,  3.15s/it]
 38%|███▊      | 338/900 [12:23<22:37,  2.42s/it]
 38%|███▊      | 339/900 [12:24<17:45,  1.90s/it]
 38%|███▊      | 340/900 [12:25<14:19,  1.54s/it]
 38%|███▊      | 341/900 [12:25<11:59,  1.29s/it]
 38%|███▊      | 342/900 [12:26<10:23,  1.12s/it]
 38%|███▊      | 343/900 [12:27<09:11,  1.01it/s]
 38%|███▊      | 344/900 [12:27<08:20,  1.11it/s]
 38%|███▊      | 345/900 [12:37<31:31,  3.41s/it]
 38%|███▊      | 346/900 [12:37<24:00,  2.60s/it]
 39%|███▊      | 347/900 [12:38<18:41,  2.03s/it]
 39%|███▊      | 348/900 [12:39<15:01,  1.63s/it]
 39%|███▉      | 349/900 [12:40<12:35,  1.37s/it]
 39%|███▉      | 350/900 [12:40<10:46,  1.18s/it]
 39%|███▉      | 351/900 [12:41<09:27,  1.03s/it]
 39%|███▉      | 352/900 [12:42<08:31,  1.07it/s]
 39%|███▉      | 353/900 [12:54<40:46,  4.47s/it]
 39%|███▉      | 354/900 [12:55<30:21,  3.34s/it]
 39%|███▉      | 355/900 [12:56<23:03,  2.54s/it]
 40%|███▉      | 356/900 [12:57<18:07,  2.00s/it]
 40%|███▉      | 357/900 [12:57<14:29,  1.60s/it]
 40%|███▉      | 358/900 [12:58<11:56,  1.32s/it]
 40%|███▉      | 359/900 [12:59<10:11,  1.13s/it]
 40%|████      | 360/900 [12:59<08:57,  1.00it/s]
 40%|████      | 361/900 [13:08<29:58,  3.34s/it]
 40%|████      | 362/900 [13:09<22:50,  2.55s/it]
 40%|████      | 363/900 [13:09<17:53,  2.00s/it]
 40%|████      | 364/900 [13:10<14:25,  1.61s/it]
 41%|████      | 365/900 [13:11<12:07,  1.36s/it]
 41%|████      | 366/900 [13:12<10:22,  1.17s/it]
 41%|████      | 367/900 [13:12<09:16,  1.04s/it]
 41%|████      | 368/900 [13:13<08:27,  1.05it/s]
 41%|████      | 369/900 [13:23<32:03,  3.62s/it]
 41%|████      | 370/900 [13:24<24:16,  2.75s/it]
 41%|████      | 371/900 [13:24<18:52,  2.14s/it]
 41%|████▏     | 372/900 [13:25<15:01,  1.71s/it]
 41%|████▏     | 373/900 [13:26<12:22,  1.41s/it]
 42%|████▏     | 374/900 [13:27<10:25,  1.19s/it]
 42%|████▏     | 375/900 [13:27<09:03,  1.04s/it]
 42%|████▏     | 376/900 [13:28<08:05,  1.08it/s]
 42%|████▏     | 377/900 [13:49<1:01:11,  7.02s/it]
 42%|████▏     | 378/900 [13:50<44:36,  5.13s/it]  
 42%|████▏     | 379/900 [13:51<32:56,  3.79s/it]
 42%|████▏     | 380/900 [13:51<24:44,  2.85s/it]
 42%|████▏     | 381/900 [13:52<18:59,  2.19s/it]
 42%|████▏     | 382/900 [13:53<15:00,  1.74s/it]
 43%|████▎     | 383/900 [13:53<12:16,  1.42s/it]
 43%|████▎     | 384/900 [13:54<10:22,  1.21s/it]
 43%|████▎     | 385/900 [14:03<29:28,  3.43s/it]
 43%|████▎     | 386/900 [14:03<22:26,  2.62s/it]
 43%|████▎     | 387/900 [14:04<17:25,  2.04s/it]
 43%|████▎     | 388/900 [14:05<13:56,  1.63s/it]
 43%|████▎     | 389/900 [14:05<11:34,  1.36s/it]
 43%|████▎     | 390/900 [14:06<09:53,  1.16s/it]
 43%|████▎     | 391/900 [14:07<08:43,  1.03s/it]
 44%|████▎     | 392/900 [14:07<07:54,  1.07it/s]
 44%|████▎     | 393/900 [14:21<38:56,  4.61s/it]
 44%|████▍     | 394/900 [14:21<29:00,  3.44s/it]
 44%|████▍     | 395/900 [14:22<21:59,  2.61s/it]
 44%|████▍     | 396/900 [14:23<17:08,  2.04s/it]
 44%|████▍     | 397/900 [14:23<13:43,  1.64s/it]
 44%|████▍     | 398/900 [14:24<11:17,  1.35s/it]
 44%|████▍     | 399/900 [14:25<09:40,  1.16s/it]
 44%|████▍     | 400/900 [14:26<08:30,  1.02s/it]
 45%|████▍     | 401/900 [14:42<48:00,  5.77s/it]
 45%|████▍     | 402/900 [14:43<35:13,  4.24s/it]
 45%|████▍     | 403/900 [14:44<26:17,  3.17s/it]
 45%|████▍     | 404/900 [14:44<20:04,  2.43s/it]
 45%|████▌     | 405/900 [14:45<15:38,  1.90s/it]
 45%|████▌     | 406/900 [14:46<12:35,  1.53s/it]
 45%|████▌     | 407/900 [14:46<10:30,  1.28s/it]
 45%|████▌     | 408/900 [14:47<09:04,  1.11s/it]
 45%|████▌     | 409/900 [14:56<27:34,  3.37s/it]
 46%|████▌     | 410/900 [14:57<21:00,  2.57s/it]
 46%|████▌     | 411/900 [14:57<16:25,  2.02s/it]
 46%|████▌     | 412/900 [14:58<13:13,  1.63s/it]
 46%|████▌     | 413/900 [14:59<10:58,  1.35s/it]
 46%|████▌     | 414/900 [14:59<09:24,  1.16s/it]
 46%|████▌     | 415/900 [15:00<08:20,  1.03s/it]
 46%|████▌     | 416/900 [15:01<07:35,  1.06it/s]
 46%|████▋     | 417/900 [15:11<28:47,  3.58s/it]
 46%|████▋     | 418/900 [15:11<21:50,  2.72s/it]
 47%|████▋     | 419/900 [15:12<17:01,  2.12s/it]
 47%|████▋     | 420/900 [15:13<13:40,  1.71s/it]
 47%|████▋     | 421/900 [15:14<11:17,  1.42s/it]
 47%|████▋     | 422/900 [15:14<09:41,  1.22s/it]
 47%|████▋     | 423/900 [15:15<08:27,  1.06s/it]
 47%|████▋     | 424/900 [15:16<07:37,  1.04it/s]
 47%|████▋     | 425/900 [15:26<28:52,  3.65s/it]
 47%|████▋     | 426/900 [15:26<21:55,  2.78s/it]
 47%|████▋     | 427/900 [15:27<16:58,  2.15s/it]
 48%|████▊     | 428/900 [15:28<13:33,  1.72s/it]
 48%|████▊     | 429/900 [15:28<11:02,  1.41s/it]
 48%|████▊     | 430/900 [15:29<09:19,  1.19s/it]
 48%|████▊     | 431/900 [15:30<08:11,  1.05s/it]
 48%|████▊     | 432/900 [15:31<07:19,  1.06it/s]
 48%|████▊     | 433/900 [15:41<28:45,  3.70s/it]
 48%|████▊     | 434/900 [15:41<21:41,  2.79s/it]
 48%|████▊     | 435/900 [15:42<16:45,  2.16s/it]
 48%|████▊     | 436/900 [15:43<13:18,  1.72s/it]
 49%|████▊     | 437/900 [15:43<10:52,  1.41s/it]
 49%|████▊     | 438/900 [15:44<09:09,  1.19s/it]
 49%|████▉     | 439/900 [15:45<07:55,  1.03s/it]
 49%|████▉     | 440/900 [15:45<07:05,  1.08it/s]
 49%|████▉     | 441/900 [16:05<48:54,  6.39s/it]
 49%|████▉     | 442/900 [16:05<35:45,  4.68s/it]
 49%|████▉     | 443/900 [16:06<26:32,  3.48s/it]
 49%|████▉     | 444/900 [16:07<20:06,  2.65s/it]
 49%|████▉     | 445/900 [16:07<15:42,  2.07s/it]
 50%|████▉     | 446/900 [16:08<12:32,  1.66s/it]
 50%|████▉     | 447/900 [16:09<10:20,  1.37s/it]
 50%|████▉     | 448/900 [16:09<08:49,  1.17s/it]
 50%|████▉     | 449/900 [16:20<30:37,  4.08s/it]
 50%|█████     | 450/900 [16:21<22:59,  3.07s/it]
 50%|█████     | 451/900 [16:22<17:38,  2.36s/it]
 50%|█████     | 452/900 [16:23<14:00,  1.88s/it]
 50%|█████     | 453/900 [16:23<11:23,  1.53s/it]
 50%|█████     | 454/900 [16:24<09:35,  1.29s/it]
 51%|█████     | 455/900 [16:25<08:14,  1.11s/it]
 51%|█████     | 456/900 [16:25<07:22,  1.00it/s]
 51%|█████     | 457/900 [16:38<32:56,  4.46s/it]
 51%|█████     | 458/900 [16:39<24:35,  3.34s/it]
 51%|█████     | 459/900 [16:39<18:42,  2.55s/it]
 51%|█████     | 460/900 [16:40<14:35,  1.99s/it]
 51%|█████     | 461/900 [16:41<11:40,  1.60s/it]
 51%|█████▏    | 462/900 [16:41<09:37,  1.32s/it]
 51%|█████▏    | 463/900 [16:42<08:10,  1.12s/it]
 52%|█████▏    | 464/900 [16:43<07:14,  1.00it/s]
 52%|█████▏    | 465/900 [17:11<1:05:38,  9.05s/it]
 52%|█████▏    | 466/900 [17:11<47:24,  6.55s/it]  
 52%|█████▏    | 467/900 [17:12<34:35,  4.79s/it]
 52%|█████▏    | 468/900 [17:13<25:37,  3.56s/it]
 52%|█████▏    | 469/900 [17:13<19:23,  2.70s/it]
 52%|█████▏    | 470/900 [17:14<15:02,  2.10s/it]
 52%|█████▏    | 471/900 [17:15<12:01,  1.68s/it]
 52%|█████▏    | 472/900 [17:15<09:53,  1.39s/it]
 53%|█████▎    | 473/900 [17:25<27:07,  3.81s/it]
 53%|█████▎    | 474/900 [17:26<20:26,  2.88s/it]
 53%|█████▎    | 475/900 [17:26<15:45,  2.23s/it]
 53%|█████▎    | 476/900 [17:27<12:27,  1.76s/it]
 53%|█████▎    | 477/900 [17:28<10:07,  1.44s/it]
 53%|█████▎    | 478/900 [17:28<08:28,  1.21s/it]
 53%|█████▎    | 479/900 [17:29<07:21,  1.05s/it]
 53%|█████▎    | 480/900 [17:30<06:40,  1.05it/s]
 53%|█████▎    | 481/900 [17:46<38:22,  5.49s/it]
 54%|█████▎    | 482/900 [17:47<28:16,  4.06s/it]
 54%|█████▎    | 483/900 [17:47<21:19,  3.07s/it]
 54%|█████▍    | 484/900 [17:48<16:21,  2.36s/it]
 54%|█████▍    | 485/900 [17:49<12:50,  1.86s/it]
 54%|█████▍    | 486/900 [17:49<10:28,  1.52s/it]
 54%|█████▍    | 487/900 [17:50<08:44,  1.27s/it]
 54%|█████▍    | 488/900 [17:51<07:32,  1.10s/it]
 54%|█████▍    | 489/900 [18:00<23:57,  3.50s/it]
 54%|█████▍    | 490/900 [18:01<18:11,  2.66s/it]
 55%|█████▍    | 491/900 [18:01<14:09,  2.08s/it]
 55%|█████▍    | 492/900 [18:02<11:23,  1.68s/it]
 55%|█████▍    | 493/900 [18:03<09:25,  1.39s/it]
 55%|█████▍    | 494/900 [18:04<08:07,  1.20s/it]
 55%|█████▌    | 495/900 [18:04<07:12,  1.07s/it]
 55%|█████▌    | 496/900 [18:05<06:33,  1.03it/s]
 55%|█████▌    | 497/900 [18:15<25:19,  3.77s/it]
 55%|█████▌    | 498/900 [18:16<19:09,  2.86s/it]
 55%|█████▌    | 499/900 [18:17<14:51,  2.22s/it]
 56%|█████▌    | 500/900 [18:18<12:51,  1.93s/it]
 56%|█████▌    | 501/900 [18:19<10:26,  1.57s/it]
 56%|█████▌    | 502/900 [18:20<08:43,  1.32s/it]
 56%|█████▌    | 503/900 [18:20<07:32,  1.14s/it]
 56%|█████▌    | 504/900 [18:21<06:45,  1.02s/it]
 56%|█████▌    | 505/900 [19:13<1:47:58, 16.40s/it]
 56%|█████▌    | 506/900 [19:14<1:16:47, 11.69s/it]
 56%|█████▋    | 507/900 [19:15<55:00,  8.40s/it]  
 56%|█████▋    | 508/900 [19:15<39:46,  6.09s/it]
 57%|█████▋    | 509/900 [19:16<29:09,  4.47s/it]
 57%|█████▋    | 510/900 [19:17<21:44,  3.34s/it]
 57%|█████▋    | 511/900 [19:18<16:34,  2.56s/it]
 57%|█████▋    | 512/900 [19:18<12:57,  2.00s/it]
 57%|█████▋    | 513/900 [19:34<38:57,  6.04s/it]
 57%|█████▋    | 514/900 [19:35<28:36,  4.45s/it]
 57%|█████▋    | 515/900 [19:35<21:23,  3.33s/it]
 57%|█████▋    | 516/900 [19:36<16:18,  2.55s/it]
 57%|█████▋    | 517/900 [19:37<12:45,  2.00s/it]
 58%|█████▊    | 518/900 [19:37<10:20,  1.62s/it]
 58%|█████▊    | 519/900 [19:38<08:38,  1.36s/it]
 58%|█████▊    | 520/900 [19:39<07:23,  1.17s/it]
 58%|█████▊    | 521/900 [19:53<31:45,  5.03s/it]
 58%|█████▊    | 522/900 [19:54<23:32,  3.74s/it]
 58%|█████▊    | 523/900 [19:54<17:45,  2.83s/it]
 58%|█████▊    | 524/900 [19:55<13:44,  2.19s/it]
 58%|█████▊    | 525/900 [19:56<10:56,  1.75s/it]
 58%|█████▊    | 526/900 [19:56<08:57,  1.44s/it]
 59%|█████▊    | 527/900 [19:57<07:32,  1.21s/it]
 59%|█████▊    | 528/900 [19:58<06:34,  1.06s/it]
 59%|█████▉    | 529/900 [20:07<21:33,  3.49s/it]
 59%|█████▉    | 530/900 [20:08<16:22,  2.65s/it]
 59%|█████▉    | 531/900 [20:08<12:43,  2.07s/it]
 59%|█████▉    | 532/900 [20:09<10:11,  1.66s/it]
 59%|█████▉    | 533/900 [20:10<08:25,  1.38s/it]
 59%|█████▉    | 534/900 [20:11<07:11,  1.18s/it]
 59%|█████▉    | 535/900 [20:11<06:17,  1.04s/it]
 60%|█████▉    | 536/900 [20:12<05:39,  1.07it/s]
 60%|█████▉    | 537/900 [20:49<1:11:33, 11.83s/it]
 60%|█████▉    | 538/900 [20:50<51:14,  8.49s/it]  
 60%|█████▉    | 539/900 [20:51<36:59,  6.15s/it]
 60%|██████    | 540/900 [20:51<27:04,  4.51s/it]
 60%|██████    | 541/900 [20:52<20:09,  3.37s/it]
 60%|██████    | 542/900 [20:53<15:19,  2.57s/it]
 60%|██████    | 543/900 [20:53<11:54,  2.00s/it]
 60%|██████    | 544/900 [20:54<09:30,  1.60s/it]
 61%|██████    | 545/900 [21:05<25:30,  4.31s/it]
 61%|██████    | 546/900 [21:05<19:01,  3.22s/it]
 61%|██████    | 547/900 [21:06<14:29,  2.46s/it]
 61%|██████    | 548/900 [21:07<11:22,  1.94s/it]
 61%|██████    | 549/900 [21:08<09:14,  1.58s/it]
 61%|██████    | 550/900 [21:08<07:41,  1.32s/it]
 61%|██████    | 551/900 [21:09<06:33,  1.13s/it]
 61%|██████▏   | 552/900 [21:10<05:43,  1.01it/s]
 61%|██████▏   | 553/900 [21:23<28:06,  4.86s/it]
 62%|██████▏   | 554/900 [21:24<20:50,  3.61s/it]
 62%|██████▏   | 555/900 [21:25<15:43,  2.73s/it]
 62%|██████▏   | 556/900 [21:26<12:08,  2.12s/it]
 62%|██████▏   | 557/900 [21:26<09:37,  1.68s/it]
 62%|██████▏   | 558/900 [21:27<07:51,  1.38s/it]
 62%|██████▏   | 559/900 [21:28<06:40,  1.17s/it]
 62%|██████▏   | 560/900 [21:28<05:50,  1.03s/it]
 62%|██████▏   | 561/900 [21:38<19:51,  3.51s/it]
 62%|██████▏   | 562/900 [21:38<15:04,  2.68s/it]
 63%|██████▎   | 563/900 [21:39<11:43,  2.09s/it]
 63%|██████▎   | 564/900 [21:40<09:20,  1.67s/it]
 63%|██████▎   | 565/900 [21:40<07:40,  1.37s/it]
 63%|██████▎   | 566/900 [21:41<06:30,  1.17s/it]
 63%|██████▎   | 567/900 [21:42<05:44,  1.03s/it]
 63%|██████▎   | 568/900 [21:42<05:08,  1.08it/s]
 63%|██████▎   | 569/900 [21:53<20:13,  3.67s/it]
 63%|██████▎   | 570/900 [21:53<15:16,  2.78s/it]
 63%|██████▎   | 571/900 [21:54<11:52,  2.16s/it]
 64%|██████▎   | 572/900 [21:55<09:24,  1.72s/it]
 64%|██████▎   | 573/900 [21:55<07:40,  1.41s/it]
 64%|██████▍   | 574/900 [21:56<06:29,  1.20s/it]
 64%|██████▍   | 575/900 [21:57<05:40,  1.05s/it]
 64%|██████▍   | 576/900 [21:57<05:06,  1.06it/s]
 64%|██████▍   | 577/900 [22:06<17:49,  3.31s/it]
 64%|██████▍   | 578/900 [22:07<13:35,  2.53s/it]
 64%|██████▍   | 579/900 [22:08<10:38,  1.99s/it]
 64%|██████▍   | 580/900 [22:08<08:38,  1.62s/it]
 65%|██████▍   | 581/900 [22:09<07:16,  1.37s/it]
 65%|██████▍   | 582/900 [22:10<06:13,  1.17s/it]
 65%|██████▍   | 583/900 [22:11<05:27,  1.03s/it]
 65%|██████▍   | 584/900 [22:11<04:54,  1.07it/s]
 65%|██████▌   | 585/900 [22:39<47:04,  8.97s/it]
 65%|██████▌   | 586/900 [22:40<33:56,  6.49s/it]
 65%|██████▌   | 587/900 [22:40<24:45,  4.75s/it]
 65%|██████▌   | 588/900 [22:41<18:18,  3.52s/it]
 65%|██████▌   | 589/900 [22:42<13:51,  2.67s/it]
 66%|██████▌   | 590/900 [22:43<10:42,  2.07s/it]
 66%|██████▌   | 591/900 [22:43<08:30,  1.65s/it]
 66%|██████▌   | 592/900 [22:44<06:59,  1.36s/it]
 66%|██████▌   | 593/900 [22:56<24:13,  4.74s/it]
 66%|██████▌   | 594/900 [22:57<17:57,  3.52s/it]
 66%|██████▌   | 595/900 [22:58<13:32,  2.67s/it]
 66%|██████▌   | 596/900 [22:58<10:28,  2.07s/it]
 66%|██████▋   | 597/900 [22:59<08:20,  1.65s/it]
 66%|██████▋   | 598/900 [23:00<06:51,  1.36s/it]
 67%|██████▋   | 599/900 [23:01<05:48,  1.16s/it]
 67%|██████▋   | 600/900 [23:01<05:01,  1.01s/it]
 67%|██████▋   | 601/900 [23:16<25:50,  5.19s/it]
 67%|██████▋   | 602/900 [23:17<19:03,  3.84s/it]
 67%|██████▋   | 603/900 [23:17<14:16,  2.88s/it]
 67%|██████▋   | 604/900 [23:18<10:56,  2.22s/it]
 67%|██████▋   | 605/900 [23:19<08:35,  1.75s/it]
 67%|██████▋   | 606/900 [23:19<06:57,  1.42s/it]
 67%|██████▋   | 607/900 [23:20<05:51,  1.20s/it]
 68%|██████▊   | 608/900 [23:21<05:06,  1.05s/it]
 68%|██████▊   | 609/900 [23:31<18:59,  3.92s/it]
 68%|██████▊   | 610/900 [23:32<14:13,  2.94s/it]
 68%|██████▊   | 611/900 [23:33<10:53,  2.26s/it]
 68%|██████▊   | 612/900 [23:33<08:33,  1.78s/it]
 68%|██████▊   | 613/900 [23:34<06:55,  1.45s/it]
 68%|██████▊   | 614/900 [23:35<05:49,  1.22s/it]
 68%|██████▊   | 615/900 [23:35<05:02,  1.06s/it]
 68%|██████▊   | 616/900 [23:36<04:27,  1.06it/s]
 69%|██████▊   | 617/900 [23:57<32:21,  6.86s/it]
 69%|██████▊   | 618/900 [23:57<23:29,  5.00s/it]
 69%|██████▉   | 619/900 [23:58<17:20,  3.70s/it]
 69%|██████▉   | 620/900 [23:59<13:04,  2.80s/it]
 69%|██████▉   | 621/900 [24:00<10:04,  2.17s/it]
 69%|██████▉   | 622/900 [24:00<07:59,  1.72s/it]
 69%|██████▉   | 623/900 [24:01<06:32,  1.42s/it]
 69%|██████▉   | 624/900 [24:02<05:33,  1.21s/it]
 69%|██████▉   | 625/900 [24:14<21:15,  4.64s/it]
 70%|██████▉   | 626/900 [24:15<15:46,  3.46s/it]
 70%|██████▉   | 627/900 [24:16<12:01,  2.64s/it]
 70%|██████▉   | 628/900 [24:16<09:20,  2.06s/it]
 70%|██████▉   | 629/900 [24:17<07:25,  1.64s/it]
 70%|███████   | 630/900 [24:18<06:04,  1.35s/it]
 70%|███████   | 631/900 [24:18<05:07,  1.14s/it]
 70%|███████   | 632/900 [24:19<04:27,  1.00it/s]
 70%|███████   | 633/900 [24:40<31:37,  7.11s/it]
 70%|███████   | 634/900 [24:41<22:57,  5.18s/it]
 71%|███████   | 635/900 [24:42<16:53,  3.82s/it]
 71%|███████   | 636/900 [24:42<12:39,  2.88s/it]
 71%|███████   | 637/900 [24:43<09:42,  2.21s/it]
 71%|███████   | 638/900 [24:44<07:40,  1.76s/it]
 71%|███████   | 639/900 [24:45<06:14,  1.44s/it]
 71%|███████   | 640/900 [24:45<05:13,  1.21s/it]
 71%|███████   | 641/900 [24:58<20:17,  4.70s/it]
 71%|███████▏  | 642/900 [24:59<15:08,  3.52s/it]
 71%|███████▏  | 643/900 [25:00<11:28,  2.68s/it]
 72%|███████▏  | 644/900 [25:00<08:55,  2.09s/it]
 72%|███████▏  | 645/900 [25:01<07:06,  1.67s/it]
 72%|███████▏  | 646/900 [25:02<05:50,  1.38s/it]
 72%|███████▏  | 647/900 [25:02<05:01,  1.19s/it]
 72%|███████▏  | 648/900 [25:03<04:24,  1.05s/it]
 72%|███████▏  | 649/900 [25:14<16:37,  3.97s/it]
 72%|███████▏  | 650/900 [25:15<12:29,  3.00s/it]
 72%|███████▏  | 651/900 [25:15<09:37,  2.32s/it]
 72%|███████▏  | 652/900 [25:16<07:38,  1.85s/it]
 73%|███████▎  | 653/900 [25:17<06:12,  1.51s/it]
 73%|███████▎  | 654/900 [25:18<05:13,  1.28s/it]
 73%|███████▎  | 655/900 [25:18<04:32,  1.11s/it]
 73%|███████▎  | 656/900 [25:19<04:02,  1.01it/s]
 73%|███████▎  | 657/900 [25:31<17:36,  4.35s/it]
 73%|███████▎  | 658/900 [25:32<13:07,  3.26s/it]
 73%|███████▎  | 659/900 [25:33<10:00,  2.49s/it]
 73%|███████▎  | 660/900 [25:33<07:49,  1.96s/it]
 73%|███████▎  | 661/900 [25:34<06:18,  1.58s/it]
 74%|███████▎  | 662/900 [25:35<05:14,  1.32s/it]
 74%|███████▎  | 663/900 [25:35<04:27,  1.13s/it]
 74%|███████▍  | 664/900 [25:36<03:55,  1.00it/s]
 74%|███████▍  | 665/900 [25:47<16:05,  4.11s/it]
 74%|███████▍  | 666/900 [25:48<12:03,  3.09s/it]
 74%|███████▍  | 667/900 [25:49<09:12,  2.37s/it]
 74%|███████▍  | 668/900 [25:50<07:17,  1.88s/it]
 74%|███████▍  | 669/900 [25:50<05:54,  1.54s/it]
 74%|███████▍  | 670/900 [25:51<04:59,  1.30s/it]
 75%|███████▍  | 671/900 [25:52<04:16,  1.12s/it]
 75%|███████▍  | 672/900 [25:52<03:45,  1.01it/s]
 75%|███████▍  | 673/900 [26:12<24:39,  6.52s/it]
 75%|███████▍  | 674/900 [26:13<17:58,  4.77s/it]
 75%|███████▌  | 675/900 [26:13<13:20,  3.56s/it]
 75%|███████▌  | 676/900 [26:14<10:02,  2.69s/it]
 75%|███████▌  | 677/900 [26:15<07:44,  2.09s/it]
 75%|███████▌  | 678/900 [26:15<06:08,  1.66s/it]
 75%|███████▌  | 679/900 [26:16<05:00,  1.36s/it]
 76%|███████▌  | 680/900 [26:17<04:15,  1.16s/it]
 76%|███████▌  | 681/900 [26:31<18:48,  5.15s/it]
 76%|███████▌  | 682/900 [26:32<13:51,  3.82s/it]
 76%|███████▌  | 683/900 [26:33<10:24,  2.88s/it]
 76%|███████▌  | 684/900 [26:33<08:00,  2.22s/it]
 76%|███████▌  | 685/900 [26:34<06:19,  1.76s/it]
 76%|███████▌  | 686/900 [26:35<05:09,  1.45s/it]
 76%|███████▋  | 687/900 [26:35<04:22,  1.23s/it]
 76%|███████▋  | 688/900 [26:36<03:50,  1.09s/it]
 77%|███████▋  | 689/900 [27:14<43:01, 12.24s/it]
 77%|███████▋  | 690/900 [27:15<30:41,  8.77s/it]
 77%|███████▋  | 691/900 [27:16<22:08,  6.36s/it]
 77%|███████▋  | 692/900 [27:16<16:11,  4.67s/it]
 77%|███████▋  | 693/900 [27:17<11:57,  3.47s/it]
 77%|███████▋  | 694/900 [27:18<09:01,  2.63s/it]
 77%|███████▋  | 695/900 [27:19<06:59,  2.05s/it]
 77%|███████▋  | 696/900 [27:19<05:37,  1.65s/it]
 77%|███████▋  | 697/900 [27:30<14:21,  4.24s/it]
 78%|███████▊  | 698/900 [27:30<10:40,  3.17s/it]
 78%|███████▊  | 699/900 [27:31<08:06,  2.42s/it]
 78%|███████▊  | 700/900 [27:32<06:21,  1.91s/it]
 78%|███████▊  | 701/900 [27:32<05:09,  1.55s/it]
 78%|███████▊  | 702/900 [27:33<04:16,  1.30s/it]
 78%|███████▊  | 703/900 [27:34<03:43,  1.13s/it]
 78%|███████▊  | 704/900 [27:34<03:18,  1.01s/it]
 78%|███████▊  | 705/900 [27:46<13:55,  4.28s/it]
 78%|███████▊  | 706/900 [27:47<10:23,  3.22s/it]
 79%|███████▊  | 707/900 [27:48<07:56,  2.47s/it]
 79%|███████▊  | 708/900 [27:49<06:15,  1.95s/it]
 79%|███████▉  | 709/900 [27:49<05:03,  1.59s/it]
 79%|███████▉  | 710/900 [27:50<04:11,  1.32s/it]
 79%|███████▉  | 711/900 [27:51<03:37,  1.15s/it]
 79%|███████▉  | 712/900 [27:52<03:11,  1.02s/it]
 79%|███████▉  | 713/900 [28:03<12:57,  4.16s/it]
 79%|███████▉  | 714/900 [28:04<09:40,  3.12s/it]
 79%|███████▉  | 715/900 [28:04<07:25,  2.41s/it]
 80%|███████▉  | 716/900 [28:05<05:48,  1.89s/it]
 80%|███████▉  | 717/900 [28:06<04:39,  1.53s/it]
 80%|███████▉  | 718/900 [28:07<03:53,  1.28s/it]
 80%|███████▉  | 719/900 [28:07<03:20,  1.11s/it]
 80%|████████  | 720/900 [28:08<02:57,  1.01it/s]
 80%|████████  | 721/900 [28:22<15:04,  5.05s/it]
 80%|████████  | 722/900 [28:23<11:07,  3.75s/it]
 80%|████████  | 723/900 [28:24<08:22,  2.84s/it]
 80%|████████  | 724/900 [28:25<06:27,  2.20s/it]
 81%|████████  | 725/900 [28:25<05:07,  1.76s/it]
 81%|████████  | 726/900 [28:26<04:12,  1.45s/it]
 81%|████████  | 727/900 [28:27<03:33,  1.24s/it]
 81%|████████  | 728/900 [28:28<03:08,  1.10s/it]
 81%|████████  | 729/900 [28:38<11:21,  3.98s/it]
 81%|████████  | 730/900 [28:39<08:29,  3.00s/it]
 81%|████████  | 731/900 [28:40<06:29,  2.31s/it]
 81%|████████▏ | 732/900 [28:40<05:05,  1.82s/it]
 81%|████████▏ | 733/900 [28:41<04:09,  1.50s/it]
 82%|████████▏ | 734/900 [28:42<03:31,  1.28s/it]
 82%|████████▏ | 735/900 [28:43<03:02,  1.11s/it]
 82%|████████▏ | 736/900 [28:43<02:42,  1.01it/s]
 82%|████████▏ | 737/900 [28:58<13:28,  4.96s/it]
 82%|████████▏ | 738/900 [28:58<09:56,  3.68s/it]
 82%|████████▏ | 739/900 [28:59<07:29,  2.79s/it]
 82%|████████▏ | 740/900 [29:00<05:46,  2.16s/it]
 82%|████████▏ | 741/900 [29:00<04:34,  1.73s/it]
 82%|████████▏ | 742/900 [29:01<03:43,  1.42s/it]
 83%|████████▎ | 743/900 [29:02<03:09,  1.21s/it]
 83%|████████▎ | 744/900 [29:02<02:43,  1.05s/it]
 83%|████████▎ | 745/900 [29:13<09:56,  3.85s/it]
 83%|████████▎ | 746/900 [29:14<07:37,  2.97s/it]
 83%|████████▎ | 747/900 [29:14<05:51,  2.30s/it]
 83%|████████▎ | 748/900 [29:15<04:36,  1.82s/it]
 83%|████████▎ | 749/900 [29:16<03:45,  1.49s/it]
 83%|████████▎ | 750/900 [29:17<03:09,  1.26s/it]
 83%|████████▎ | 751/900 [29:17<02:45,  1.11s/it]
 84%|████████▎ | 752/900 [29:18<02:28,  1.00s/it]
 84%|████████▎ | 753/900 [29:31<10:52,  4.44s/it]
 84%|████████▍ | 754/900 [29:31<08:05,  3.32s/it]
 84%|████████▍ | 755/900 [29:32<06:12,  2.57s/it]
 84%|████████▍ | 756/900 [29:33<04:51,  2.02s/it]
 84%|████████▍ | 757/900 [29:34<03:53,  1.63s/it]
 84%|████████▍ | 758/900 [29:34<03:14,  1.37s/it]
 84%|████████▍ | 759/900 [29:35<02:46,  1.18s/it]
 84%|████████▍ | 760/900 [29:36<02:25,  1.04s/it]
 85%|████████▍ | 761/900 [29:57<16:24,  7.08s/it]
 85%|████████▍ | 762/900 [29:58<11:53,  5.17s/it]
 85%|████████▍ | 763/900 [29:58<08:45,  3.84s/it]
 85%|████████▍ | 764/900 [29:59<06:34,  2.90s/it]
 85%|████████▌ | 765/900 [30:00<05:03,  2.25s/it]
 85%|████████▌ | 766/900 [30:01<03:58,  1.78s/it]
 85%|████████▌ | 767/900 [30:01<03:14,  1.46s/it]
 85%|████████▌ | 768/900 [30:02<02:44,  1.24s/it]
 85%|████████▌ | 769/900 [30:31<20:47,  9.52s/it]
 86%|████████▌ | 770/900 [30:32<14:54,  6.88s/it]
 86%|████████▌ | 771/900 [30:32<10:49,  5.03s/it]
 86%|████████▌ | 772/900 [30:33<07:59,  3.75s/it]
 86%|████████▌ | 773/900 [30:34<06:01,  2.85s/it]
 86%|████████▌ | 774/900 [30:34<04:37,  2.20s/it]
 86%|████████▌ | 775/900 [30:35<03:38,  1.75s/it]
 86%|████████▌ | 776/900 [30:36<02:57,  1.44s/it]
 86%|████████▋ | 777/900 [31:08<21:53, 10.68s/it]
 86%|████████▋ | 778/900 [31:09<15:37,  7.69s/it]
 87%|████████▋ | 779/900 [31:10<11:16,  5.59s/it]
 87%|████████▋ | 780/900 [31:10<08:14,  4.12s/it]
 87%|████████▋ | 781/900 [31:11<06:07,  3.09s/it]
 87%|████████▋ | 782/900 [31:12<04:39,  2.37s/it]
 87%|████████▋ | 783/900 [31:12<03:38,  1.87s/it]
 87%|████████▋ | 784/900 [31:13<02:56,  1.52s/it]
 87%|████████▋ | 785/900 [31:28<10:50,  5.66s/it]
 87%|████████▋ | 786/900 [31:29<07:56,  4.18s/it]
 87%|████████▋ | 787/900 [31:30<05:53,  3.13s/it]
 88%|████████▊ | 788/900 [31:30<04:28,  2.40s/it]
 88%|████████▊ | 789/900 [31:31<03:29,  1.89s/it]
 88%|████████▊ | 790/900 [31:32<02:48,  1.53s/it]
 88%|████████▊ | 791/900 [31:33<02:20,  1.29s/it]
 88%|████████▊ | 792/900 [31:33<02:00,  1.11s/it]
 88%|████████▊ | 793/900 [31:44<07:18,  4.10s/it]
 88%|████████▊ | 794/900 [31:45<05:27,  3.09s/it]
 88%|████████▊ | 795/900 [31:46<04:09,  2.37s/it]
 88%|████████▊ | 796/900 [31:46<03:15,  1.88s/it]
 89%|████████▊ | 797/900 [31:47<02:37,  1.53s/it]
 89%|████████▊ | 798/900 [31:48<02:10,  1.28s/it]
 89%|████████▉ | 799/900 [31:49<01:51,  1.10s/it]
 89%|████████▉ | 800/900 [31:49<01:39,  1.00it/s]
 89%|████████▉ | 801/900 [32:06<09:30,  5.76s/it]
 89%|████████▉ | 802/900 [32:07<06:56,  4.25s/it]
 89%|████████▉ | 803/900 [32:08<05:09,  3.19s/it]
 89%|████████▉ | 804/900 [32:08<03:55,  2.45s/it]
 89%|████████▉ | 805/900 [32:09<03:02,  1.92s/it]
 90%|████████▉ | 806/900 [32:10<02:25,  1.55s/it]
 90%|████████▉ | 807/900 [32:10<02:01,  1.30s/it]
 90%|████████▉ | 808/900 [32:11<01:43,  1.12s/it]
 90%|████████▉ | 809/900 [32:25<07:34,  4.99s/it]
 90%|█████████ | 810/900 [32:26<05:33,  3.71s/it]
 90%|█████████ | 811/900 [32:27<04:10,  2.82s/it]
 90%|█████████ | 812/900 [32:27<03:12,  2.19s/it]
 90%|█████████ | 813/900 [32:28<02:32,  1.75s/it]
 90%|█████████ | 814/900 [32:29<02:03,  1.44s/it]
 91%|█████████ | 815/900 [32:29<01:43,  1.22s/it]
 91%|█████████ | 816/900 [32:30<01:29,  1.07s/it]
 91%|█████████ | 817/900 [32:43<06:14,  4.52s/it]
 91%|█████████ | 818/900 [32:44<04:37,  3.39s/it]
 91%|█████████ | 819/900 [32:44<03:29,  2.59s/it]
 91%|█████████ | 820/900 [32:45<02:43,  2.05s/it]
 91%|█████████ | 821/900 [32:46<02:10,  1.65s/it]
 91%|█████████▏| 822/900 [32:46<01:46,  1.37s/it]
 91%|█████████▏| 823/900 [32:47<01:30,  1.17s/it]
 92%|█████████▏| 824/900 [32:48<01:17,  1.03s/it]
 92%|█████████▏| 825/900 [33:05<07:18,  5.85s/it]
 92%|█████████▏| 826/900 [33:06<05:19,  4.32s/it]
 92%|█████████▏| 827/900 [33:06<03:55,  3.23s/it]
 92%|█████████▏| 828/900 [33:07<02:57,  2.46s/it]
 92%|█████████▏| 829/900 [33:08<02:16,  1.93s/it]
 92%|█████████▏| 830/900 [33:08<01:48,  1.55s/it]
 92%|█████████▏| 831/900 [33:09<01:28,  1.29s/it]
 92%|█████████▏| 832/900 [33:10<01:14,  1.10s/it]
 93%|█████████▎| 833/900 [33:25<06:01,  5.40s/it]
 93%|█████████▎| 834/900 [33:26<04:23,  3.99s/it]
 93%|█████████▎| 835/900 [33:27<03:14,  2.99s/it]
 93%|█████████▎| 836/900 [33:27<02:27,  2.30s/it]
 93%|█████████▎| 837/900 [33:28<01:54,  1.82s/it]
 93%|█████████▎| 838/900 [33:29<01:32,  1.49s/it]
 93%|█████████▎| 839/900 [33:29<01:16,  1.25s/it]
 93%|█████████▎| 840/900 [33:30<01:05,  1.08s/it]
 93%|█████████▎| 841/900 [33:49<06:17,  6.40s/it]
 94%|█████████▎| 842/900 [33:50<04:32,  4.69s/it]
 94%|█████████▎| 843/900 [33:50<03:18,  3.49s/it]
 94%|█████████▍| 844/900 [33:51<02:28,  2.65s/it]
 94%|█████████▍| 845/900 [33:52<01:53,  2.07s/it]
 94%|█████████▍| 846/900 [33:52<01:28,  1.65s/it]
 94%|█████████▍| 847/900 [33:53<01:11,  1.35s/it]
 94%|█████████▍| 848/900 [33:54<01:00,  1.15s/it]
 94%|█████████▍| 849/900 [34:26<09:01, 10.62s/it]
 94%|█████████▍| 850/900 [34:27<06:22,  7.64s/it]
 95%|█████████▍| 851/900 [34:28<04:32,  5.56s/it]
 95%|█████████▍| 852/900 [34:29<03:17,  4.11s/it]
 95%|█████████▍| 853/900 [34:29<02:25,  3.11s/it]
 95%|█████████▍| 854/900 [34:30<01:50,  2.40s/it]
 95%|█████████▌| 855/900 [34:31<01:25,  1.89s/it]
 95%|█████████▌| 856/900 [34:31<01:07,  1.54s/it]
 95%|█████████▌| 857/900 [34:46<03:51,  5.39s/it]
 95%|█████████▌| 858/900 [34:46<02:47,  3.98s/it]
 95%|█████████▌| 859/900 [34:47<02:03,  3.00s/it]
 96%|█████████▌| 860/900 [34:48<01:32,  2.31s/it]
 96%|█████████▌| 861/900 [34:49<01:11,  1.83s/it]
 96%|█████████▌| 862/900 [34:49<00:56,  1.49s/it]
 96%|█████████▌| 863/900 [34:50<00:46,  1.25s/it]
 96%|█████████▌| 864/900 [34:51<00:39,  1.09s/it]
 96%|█████████▌| 865/900 [35:13<04:20,  7.44s/it]
 96%|█████████▌| 866/900 [35:14<03:04,  5.43s/it]
 96%|█████████▋| 867/900 [35:14<02:12,  4.02s/it]
 96%|█████████▋| 868/900 [35:15<01:36,  3.03s/it]
 97%|█████████▋| 869/900 [35:16<01:12,  2.33s/it]
 97%|█████████▋| 870/900 [35:17<00:55,  1.85s/it]
 97%|█████████▋| 871/900 [35:17<00:43,  1.51s/it]
 97%|█████████▋| 872/900 [35:18<00:35,  1.28s/it]
 97%|█████████▋| 873/900 [35:36<02:46,  6.16s/it]
 97%|█████████▋| 874/900 [35:36<01:57,  4.54s/it]
 97%|█████████▋| 875/900 [35:37<01:25,  3.41s/it]
 97%|█████████▋| 876/900 [35:38<01:02,  2.60s/it]
 97%|█████████▋| 877/900 [35:39<00:46,  2.04s/it]
 98%|█████████▊| 878/900 [35:39<00:36,  1.65s/it]
 98%|█████████▊| 879/900 [35:40<00:28,  1.37s/it]
 98%|█████████▊| 880/900 [35:41<00:23,  1.18s/it]
 98%|█████████▊| 881/900 [35:56<01:42,  5.40s/it]
 98%|█████████▊| 882/900 [35:57<01:12,  4.00s/it]
 98%|█████████▊| 883/900 [35:57<00:51,  3.01s/it]
 98%|█████████▊| 884/900 [35:58<00:37,  2.34s/it]
 98%|█████████▊| 885/900 [35:59<00:27,  1.86s/it]
 98%|█████████▊| 886/900 [36:00<00:21,  1.51s/it]
 99%|█████████▊| 887/900 [36:00<00:16,  1.26s/it]
 99%|█████████▊| 888/900 [36:01<00:13,  1.10s/it]
 99%|█████████▊| 888/900 [36:13<00:29,  2.45s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/log_1_env0.json.
+SmallPumpkinInBinTask_1 complete: task_name: SmallPumpkinInBinTask, run_name: SmallPumpkinInBinTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the small pumpkin in the bin, attributes: ['size', 'simple'], success: True, episode_step: 889, duration: 59.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -11.559619988885828, 'joint_sparc_mean': -16.68886901030177, 'ee_isj': 6252.464853654236, 'joint_isj': 402748.82904520695, 'ee_path_length': 6.038909621912612, 'joint_rmse_mean': 1.1455838267762115, 'ee_speed_max': 0.8193885684013367, 'ee_speed_mean': 0.09788486361503601}, events: {'OBJECT_BUMPED': 3, 'GRIPPER_HIT_OBJECT': 4, 'GRIPPER_FULLY_CLOSED': 19, 'WRONG_OBJECT_GRABBED': 2, 'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 17, 'MULTIPLE_OBJECTS_GRABBED': 1, 'wrong_objects_grabbed': ['pumpkinlarge', 'pumpkinlarge']}, instruction_type: default, timing: {'policy_inference_s': 1553.469, 'policy_inference_avg_ms': 1747.4, 'env_step_s': 612.447, 'env_step_avg_ms': 688.9, 'video_write_s': 6.703, 'video_write_avg_ms': 7.5, 'wall_total_s': 2172.619, 'it_per_sec': 0.41}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 24678918fe064d188992e416b380d253-1
+[RoboLab] Running SmallPumpkinInBinTask_2: 'Put the small pumpkin in the bin' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:32<8:06:25, 32.46s/it]
  0%|          | 2/900 [00:33<3:26:19, 13.79s/it]
  0%|          | 3/900 [00:33<1:56:52,  7.82s/it]
  0%|          | 4/900 [00:34<1:14:39,  5.00s/it]
  1%|          | 5/900 [00:35<51:25,  3.45s/it]  
  1%|          | 6/900 [00:35<37:25,  2.51s/it]
  1%|          | 7/900 [00:36<28:31,  1.92s/it]
  1%|          | 8/900 [00:37<22:48,  1.53s/it]
  1%|          | 9/900 [00:45<51:42,  3.48s/it]
  1%|          | 10/900 [00:45<38:50,  2.62s/it]
  1%|          | 11/900 [00:46<30:04,  2.03s/it]
  1%|▏         | 12/900 [00:47<23:59,  1.62s/it]
  1%|▏         | 13/900 [00:47<19:48,  1.34s/it]
  2%|▏         | 14/900 [00:48<16:55,  1.15s/it]
  2%|▏         | 15/900 [00:49<14:54,  1.01s/it]
  2%|▏         | 16/900 [00:49<13:26,  1.10it/s]
  2%|▏         | 17/900 [01:10<1:40:30,  6.83s/it]
  2%|▏         | 18/900 [01:11<1:13:20,  4.99s/it]
  2%|▏         | 19/900 [01:11<54:17,  3.70s/it]  
  2%|▏         | 20/900 [01:12<41:19,  2.82s/it]
  2%|▏         | 21/900 [01:13<31:57,  2.18s/it]
  2%|▏         | 22/900 [01:14<25:22,  1.73s/it]
  3%|▎         | 23/900 [01:14<21:01,  1.44s/it]
  3%|▎         | 24/900 [01:15<18:03,  1.24s/it]
  3%|▎         | 25/900 [01:22<44:14,  3.03s/it]
  3%|▎         | 26/900 [01:23<33:54,  2.33s/it]
  3%|▎         | 27/900 [01:24<26:43,  1.84s/it]
  3%|▎         | 28/900 [01:24<21:44,  1.50s/it]
  3%|▎         | 29/900 [01:25<18:18,  1.26s/it]
  3%|▎         | 30/900 [01:26<15:52,  1.10s/it]
  3%|▎         | 31/900 [01:27<14:12,  1.02it/s]
  4%|▎         | 32/900 [01:27<12:53,  1.12it/s]
  4%|▎         | 33/900 [01:49<1:45:23,  7.29s/it]
  4%|▍         | 34/900 [01:50<1:16:40,  5.31s/it]
  4%|▍         | 35/900 [01:51<56:48,  3.94s/it]  
  4%|▍         | 36/900 [01:52<42:40,  2.96s/it]
  4%|▍         | 37/900 [01:52<32:56,  2.29s/it]
  4%|▍         | 38/900 [01:53<25:59,  1.81s/it]
  4%|▍         | 39/900 [01:54<21:11,  1.48s/it]
  4%|▍         | 40/900 [01:54<17:50,  1.24s/it]
  5%|▍         | 41/900 [02:24<2:19:51,  9.77s/it]
  5%|▍         | 42/900 [02:25<1:40:42,  7.04s/it]
  5%|▍         | 43/900 [02:25<1:13:29,  5.14s/it]
  5%|▍         | 44/900 [02:26<54:20,  3.81s/it]  
  5%|▌         | 45/900 [02:27<40:56,  2.87s/it]
  5%|▌         | 46/900 [02:28<31:55,  2.24s/it]
  5%|▌         | 47/900 [02:28<25:12,  1.77s/it]
  5%|▌         | 48/900 [02:29<20:41,  1.46s/it]
  5%|▌         | 49/900 [02:36<42:09,  2.97s/it]
  6%|▌         | 50/900 [02:36<32:35,  2.30s/it]
  6%|▌         | 51/900 [02:37<25:50,  1.83s/it]
  6%|▌         | 52/900 [02:38<21:01,  1.49s/it]
  6%|▌         | 53/900 [02:38<17:37,  1.25s/it]
  6%|▌         | 54/900 [02:39<15:21,  1.09s/it]
  6%|▌         | 55/900 [02:40<13:49,  1.02it/s]
  6%|▌         | 56/900 [02:41<12:48,  1.10it/s]
  6%|▋         | 57/900 [02:51<54:45,  3.90s/it]
  6%|▋         | 58/900 [02:52<41:09,  2.93s/it]
  7%|▋         | 59/900 [02:53<31:51,  2.27s/it]
  7%|▋         | 60/900 [02:54<25:13,  1.80s/it]
  7%|▋         | 61/900 [02:54<20:35,  1.47s/it]
  7%|▋         | 62/900 [02:55<17:31,  1.25s/it]
  7%|▋         | 63/900 [02:56<15:14,  1.09s/it]
  7%|▋         | 64/900 [02:56<13:37,  1.02it/s]
  7%|▋         | 65/900 [03:06<49:36,  3.56s/it]
  7%|▋         | 66/900 [03:07<37:41,  2.71s/it]
  7%|▋         | 67/900 [03:07<29:22,  2.12s/it]
  8%|▊         | 68/900 [03:08<23:43,  1.71s/it]
  8%|▊         | 69/900 [03:09<19:38,  1.42s/it]
  8%|▊         | 70/900 [03:10<16:44,  1.21s/it]
  8%|▊         | 71/900 [03:10<14:39,  1.06s/it]
  8%|▊         | 72/900 [03:11<13:22,  1.03it/s]
  8%|▊         | 73/900 [03:18<36:05,  2.62s/it]
  8%|▊         | 74/900 [03:18<28:14,  2.05s/it]
  8%|▊         | 75/900 [03:19<22:42,  1.65s/it]
  8%|▊         | 76/900 [03:20<18:48,  1.37s/it]
  9%|▊         | 77/900 [03:21<16:09,  1.18s/it]
  9%|▊         | 78/900 [03:21<14:16,  1.04s/it]
  9%|▉         | 79/900 [03:22<12:59,  1.05it/s]
  9%|▉         | 80/900 [03:23<12:09,  1.12it/s]
  9%|▉         | 81/900 [03:37<1:05:28,  4.80s/it]
  9%|▉         | 82/900 [03:37<48:50,  3.58s/it]  
  9%|▉         | 83/900 [03:38<37:06,  2.72s/it]
  9%|▉         | 84/900 [03:39<28:54,  2.13s/it]
  9%|▉         | 85/900 [03:40<23:19,  1.72s/it]
 10%|▉         | 86/900 [03:40<19:15,  1.42s/it]
 10%|▉         | 87/900 [03:41<16:19,  1.21s/it]
 10%|▉         | 88/900 [03:42<14:15,  1.05s/it]
 10%|▉         | 89/900 [03:57<1:11:57,  5.32s/it]
 10%|█         | 90/900 [03:58<53:07,  3.94s/it]  
 10%|█         | 91/900 [03:58<40:06,  2.97s/it]
 10%|█         | 92/900 [03:59<31:02,  2.30s/it]
 10%|█         | 93/900 [04:00<24:39,  1.83s/it]
 10%|█         | 94/900 [04:01<20:03,  1.49s/it]
 11%|█         | 95/900 [04:01<16:51,  1.26s/it]
 11%|█         | 96/900 [04:02<14:36,  1.09s/it]
 11%|█         | 97/900 [04:14<59:38,  4.46s/it]
 11%|█         | 98/900 [04:15<44:33,  3.33s/it]
 11%|█         | 99/900 [04:16<33:56,  2.54s/it]
 11%|█         | 100/900 [04:17<26:46,  2.01s/it]
 11%|█         | 101/900 [04:17<21:44,  1.63s/it]
 11%|█▏        | 102/900 [04:18<18:02,  1.36s/it]
 11%|█▏        | 103/900 [04:19<15:35,  1.17s/it]
 12%|█▏        | 104/900 [04:19<13:50,  1.04s/it]
 12%|█▏        | 105/900 [04:29<48:45,  3.68s/it]
 12%|█▏        | 106/900 [04:30<36:53,  2.79s/it]
 12%|█▏        | 107/900 [04:31<28:31,  2.16s/it]
 12%|█▏        | 108/900 [04:31<22:49,  1.73s/it]
 12%|█▏        | 109/900 [04:32<18:47,  1.43s/it]
 12%|█▏        | 110/900 [04:33<15:54,  1.21s/it]
 12%|█▏        | 111/900 [04:34<14:01,  1.07s/it]
 12%|█▏        | 112/900 [04:34<12:39,  1.04it/s]
 13%|█▎        | 113/900 [04:42<39:53,  3.04s/it]
 13%|█▎        | 114/900 [04:43<30:56,  2.36s/it]
 13%|█▎        | 115/900 [04:44<24:33,  1.88s/it]
 13%|█▎        | 116/900 [04:44<20:02,  1.53s/it]
 13%|█▎        | 117/900 [04:45<16:55,  1.30s/it]
 13%|█▎        | 118/900 [04:46<14:48,  1.14s/it]
 13%|█▎        | 119/900 [04:47<13:15,  1.02s/it]
 13%|█▎        | 120/900 [04:47<12:04,  1.08it/s]
 13%|█▎        | 120/900 [04:56<32:09,  2.47s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/log_2_env0.json.
+SmallPumpkinInBinTask_2 complete: task_name: SmallPumpkinInBinTask, run_name: SmallPumpkinInBinTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the small pumpkin in the bin, attributes: ['size', 'simple'], success: True, episode_step: 121, duration: 8.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -3.3325694425842896, 'joint_sparc_mean': -4.250778919626958, 'ee_isj': 600.0438995724617, 'joint_isj': 10124.719478882264, 'ee_path_length': 1.4416214813780748, 'joint_rmse_mean': 0.9028270382163831, 'ee_speed_max': 0.6088853478431702, 'ee_speed_mean': 0.1715874969959259}, events: {'OBJECT_BUMPED': 1, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 210.587, 'policy_inference_avg_ms': 1740.4, 'env_step_s': 84.764, 'env_step_avg_ms': 700.5, 'video_write_s': 1.408, 'video_write_avg_ms': 11.6, 'wall_total_s': 296.759, 'it_per_sec': 0.41}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: cd7dfcfa8f3f49149bb61c70940759e1-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-29T18:18:30Z [5,001,212ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.220844 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-29T18:18:35Z [5,005,536ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T18:18:35Z [5,005,536ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T18:18:35Z [5,005,546ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T18:18:35Z [5,005,546ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T18:18:35Z [5,005,555ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T18:18:35Z [5,005,565ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-29T18:18:35Z [5,005,583ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-29T18:18:37Z [5,007,954ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((385))' not available in the MDL representation.
+2026-10-29T18:18:37Z [5,007,954ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((385))' not available in the MDL representation.
+2026-10-29T18:18:37Z [5,007,982ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((394))' not available in the MDL representation.
+2026-10-29T18:18:37Z [5,007,982ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((394))' not available in the MDL representation.
+2026-10-29T18:18:37Z [5,008,020ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((402))' not available in the MDL representation.
+2026-10-29T18:18:37Z [5,008,020ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((402))' not available in the MDL representation.
+2026-10-29T18:18:37Z [5,008,031ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((404))' not available in the MDL representation.
+2026-10-29T18:18:37Z [5,008,032ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((404))' not available in the MDL representation.
+2026-10-29T18:18:37Z [5,008,060ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((411))' not available in the MDL representation.
+2026-10-29T18:18:37Z [5,008,060ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((411))' not available in the MDL representation.
+2026-10-29T18:18:37Z [5,008,088ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((424))' not available in the MDL representation.
+2026-10-29T18:18:37Z [5,008,088ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((424))' not available in the MDL representation.
+2026-10-29T18:18:40Z [5,010,645ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((385))' not available in the MDL representation.
+2026-10-29T18:18:40Z [5,010,646ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((385))' not available in the MDL representation.
+2026-10-29T18:18:40Z [5,010,647ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((394))' not available in the MDL representation.
+2026-10-29T18:18:40Z [5,010,647ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((394))' not available in the MDL representation.
+2026-10-29T18:18:40Z [5,010,648ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((402))' not available in the MDL representation.
+2026-10-29T18:18:40Z [5,010,648ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((402))' not available in the MDL representation.
+2026-10-29T18:18:40Z [5,010,649ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((404))' not available in the MDL representation.
+2026-10-29T18:18:40Z [5,010,649ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((404))' not available in the MDL representation.
+2026-10-29T18:18:40Z [5,010,650ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((411))' not available in the MDL representation.
+2026-10-29T18:18:40Z [5,010,650ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((411))' not available in the MDL representation.
+2026-10-29T18:18:40Z [5,010,651ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((424))' not available in the MDL representation.
+2026-10-29T18:18:40Z [5,010,651ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((424))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 9.327950 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ReorientWhiteMugsTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Make sure all the white mugs are upright so that the opening is facing upwards. │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ReorientWhiteMugsTaskSceneEnvCfg              │
+│  Attributes  : reorientation, color, moderate                │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running ReorientWhiteMugsTask_0: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:34<8:35:53, 34.43s/it]
  0%|          | 2/900 [00:34<3:35:13, 14.38s/it]
  0%|          | 3/900 [00:35<1:58:56,  7.96s/it]
  0%|          | 4/900 [00:35<1:13:43,  4.94s/it]
  1%|          | 5/900 [00:35<48:45,  3.27s/it]  
  1%|          | 6/900 [00:36<33:42,  2.26s/it]
  1%|          | 7/900 [00:36<24:11,  1.62s/it]
  1%|          | 8/900 [00:36<17:55,  1.21s/it]
  1%|          | 9/900 [00:52<1:24:30,  5.69s/it]
  1%|          | 10/900 [00:52<59:51,  4.04s/it] 
  1%|          | 11/900 [00:52<42:51,  2.89s/it]
  1%|▏         | 12/900 [00:53<31:13,  2.11s/it]
  1%|▏         | 13/900 [00:53<23:01,  1.56s/it]
  2%|▏         | 14/900 [00:53<17:21,  1.18s/it]
  2%|▏         | 15/900 [00:54<13:23,  1.10it/s]
  2%|▏         | 16/900 [00:54<10:47,  1.37it/s]
  2%|▏         | 17/900 [01:01<39:00,  2.65s/it]
  2%|▏         | 18/900 [01:01<28:33,  1.94s/it]
  2%|▏         | 19/900 [01:02<21:14,  1.45s/it]
  2%|▏         | 20/900 [01:02<16:06,  1.10s/it]
  2%|▏         | 21/900 [01:02<12:32,  1.17it/s]
  2%|▏         | 22/900 [01:02<10:02,  1.46it/s]
  3%|▎         | 23/900 [01:03<08:21,  1.75it/s]
  3%|▎         | 24/900 [01:03<07:06,  2.05it/s]
  3%|▎         | 25/900 [01:14<51:33,  3.54s/it]
  3%|▎         | 26/900 [01:14<37:23,  2.57s/it]
  3%|▎         | 27/900 [01:14<27:26,  1.89s/it]
  3%|▎         | 28/900 [01:15<20:26,  1.41s/it]
  3%|▎         | 29/900 [01:15<15:35,  1.07s/it]
  3%|▎         | 30/900 [01:15<12:10,  1.19it/s]
  3%|▎         | 31/900 [01:15<09:51,  1.47it/s]
  4%|▎         | 32/900 [01:16<08:15,  1.75it/s]
  4%|▎         | 33/900 [01:29<1:04:32,  4.47s/it]
  4%|▍         | 34/900 [01:30<46:24,  3.22s/it]  
  4%|▍         | 35/900 [01:30<33:45,  2.34s/it]
  4%|▍         | 36/900 [01:30<25:01,  1.74s/it]
  4%|▍         | 37/900 [01:31<18:51,  1.31s/it]
  4%|▍         | 38/900 [01:31<14:36,  1.02s/it]
  4%|▍         | 39/900 [01:31<11:32,  1.24it/s]
  4%|▍         | 40/900 [01:31<09:24,  1.52it/s]
  5%|▍         | 41/900 [01:48<1:16:00,  5.31s/it]
  5%|▍         | 42/900 [01:48<54:27,  3.81s/it]  
  5%|▍         | 43/900 [01:48<39:23,  2.76s/it]
  5%|▍         | 44/900 [01:49<28:55,  2.03s/it]
  5%|▌         | 45/900 [01:49<21:38,  1.52s/it]
  5%|▌         | 46/900 [01:49<16:30,  1.16s/it]
  5%|▌         | 47/900 [01:50<12:52,  1.10it/s]
  5%|▌         | 48/900 [01:50<10:24,  1.36it/s]
  5%|▌         | 49/900 [02:06<1:16:54,  5.42s/it]
  6%|▌         | 50/900 [02:07<55:02,  3.89s/it]  
  6%|▌         | 51/900 [02:07<39:43,  2.81s/it]
  6%|▌         | 52/900 [02:07<29:01,  2.05s/it]
  6%|▌         | 53/900 [02:07<21:32,  1.53s/it]
  6%|▌         | 54/900 [02:08<16:22,  1.16s/it]
  6%|▌         | 55/900 [02:08<12:43,  1.11it/s]
  6%|▌         | 56/900 [02:08<10:16,  1.37it/s]
  6%|▋         | 57/900 [02:15<36:07,  2.57s/it]
  6%|▋         | 58/900 [02:16<26:34,  1.89s/it]
  7%|▋         | 59/900 [02:16<19:51,  1.42s/it]
  7%|▋         | 60/900 [02:16<15:10,  1.08s/it]
  7%|▋         | 61/900 [02:16<11:56,  1.17it/s]
  7%|▋         | 62/900 [02:17<09:46,  1.43it/s]
  7%|▋         | 63/900 [02:17<08:06,  1.72it/s]
  7%|▋         | 64/900 [02:17<06:56,  2.01it/s]
  7%|▋         | 65/900 [02:24<34:04,  2.45s/it]
  7%|▋         | 66/900 [02:25<25:09,  1.81s/it]
  7%|▋         | 67/900 [02:25<18:50,  1.36s/it]
  8%|▊         | 68/900 [02:25<14:21,  1.04s/it]
  8%|▊         | 69/900 [02:26<11:17,  1.23it/s]
  8%|▊         | 70/900 [02:26<09:08,  1.51it/s]
  8%|▊         | 71/900 [02:26<07:37,  1.81it/s]
  8%|▊         | 72/900 [02:27<06:36,  2.09it/s]
  8%|▊         | 73/900 [02:37<47:09,  3.42s/it]
  8%|▊         | 74/900 [02:37<34:12,  2.49s/it]
  8%|▊         | 75/900 [02:37<25:09,  1.83s/it]
  8%|▊         | 76/900 [02:38<18:48,  1.37s/it]
  9%|▊         | 77/900 [02:38<14:21,  1.05s/it]
  9%|▊         | 78/900 [02:38<11:12,  1.22it/s]
  9%|▉         | 79/900 [02:39<09:03,  1.51it/s]
  9%|▉         | 80/900 [02:39<07:33,  1.81it/s]
  9%|▉         | 81/900 [03:42<4:23:08, 19.28s/it]
  9%|▉         | 82/900 [03:42<3:05:09, 13.58s/it]
  9%|▉         | 83/900 [03:42<2:10:38,  9.59s/it]
  9%|▉         | 84/900 [03:43<1:32:34,  6.81s/it]
  9%|▉         | 85/900 [03:43<1:05:58,  4.86s/it]
 10%|▉         | 86/900 [03:43<47:19,  3.49s/it]  
 10%|▉         | 87/900 [03:44<34:17,  2.53s/it]
 10%|▉         | 88/900 [03:44<25:11,  1.86s/it]
 10%|▉         | 89/900 [03:53<53:00,  3.92s/it]
 10%|█         | 90/900 [03:53<38:15,  2.83s/it]
 10%|█         | 91/900 [03:53<27:56,  2.07s/it]
 10%|█         | 92/900 [03:54<20:50,  1.55s/it]
 10%|█         | 93/900 [03:54<15:44,  1.17s/it]
 10%|█         | 94/900 [03:54<12:12,  1.10it/s]
 11%|█         | 95/900 [03:54<09:41,  1.38it/s]
 11%|█         | 96/900 [03:55<07:56,  1.69it/s]
 11%|█         | 97/900 [04:05<47:34,  3.55s/it]
 11%|█         | 98/900 [04:06<34:29,  2.58s/it]
 11%|█         | 99/900 [04:06<25:17,  1.89s/it]
 11%|█         | 100/900 [04:06<18:51,  1.41s/it]
 11%|█         | 101/900 [04:06<14:23,  1.08s/it]
 11%|█▏        | 102/900 [04:07<11:14,  1.18it/s]
 11%|█▏        | 103/900 [04:07<09:02,  1.47it/s]
 12%|█▏        | 104/900 [04:07<07:29,  1.77it/s]
 12%|█▏        | 105/900 [04:44<2:30:43, 11.38s/it]
 12%|█▏        | 106/900 [04:44<1:46:33,  8.05s/it]
 12%|█▏        | 107/900 [04:45<1:15:41,  5.73s/it]
 12%|█▏        | 108/900 [04:45<54:06,  4.10s/it]  
 12%|█▏        | 109/900 [04:45<38:59,  2.96s/it]
 12%|█▏        | 110/900 [04:45<28:31,  2.17s/it]
 12%|█▏        | 111/900 [04:46<21:06,  1.60s/it]
 12%|█▏        | 112/900 [04:46<15:55,  1.21s/it]
 13%|█▎        | 113/900 [04:51<32:27,  2.47s/it]
 13%|█▎        | 114/900 [04:52<23:52,  1.82s/it]
 13%|█▎        | 115/900 [04:52<17:53,  1.37s/it]
 13%|█▎        | 116/900 [04:52<13:46,  1.05s/it]
 13%|█▎        | 117/900 [04:53<10:48,  1.21it/s]
 13%|█▎        | 118/900 [04:53<08:50,  1.47it/s]
 13%|█▎        | 119/900 [04:53<07:17,  1.78it/s]
 13%|█▎        | 120/900 [04:54<06:15,  2.08it/s]
 13%|█▎        | 121/900 [05:35<2:47:01, 12.86s/it]
 14%|█▎        | 122/900 [05:36<1:57:57,  9.10s/it]
 14%|█▎        | 123/900 [05:36<1:23:35,  6.45s/it]
 14%|█▍        | 124/900 [05:36<59:35,  4.61s/it]  
 14%|█▍        | 125/900 [05:37<42:47,  3.31s/it]
 14%|█▍        | 126/900 [05:37<31:04,  2.41s/it]
 14%|█▍        | 127/900 [05:37<22:52,  1.78s/it]
 14%|█▍        | 128/900 [05:37<17:08,  1.33s/it]
 14%|█▍        | 129/900 [05:44<37:12,  2.90s/it]
 14%|█▍        | 130/900 [05:44<27:26,  2.14s/it]
 15%|█▍        | 131/900 [05:45<20:22,  1.59s/it]
 15%|█▍        | 132/900 [05:45<15:27,  1.21s/it]
 15%|█▍        | 133/900 [05:45<11:58,  1.07it/s]
 15%|█▍        | 134/900 [05:46<09:33,  1.34it/s]
 15%|█▌        | 135/900 [05:46<07:51,  1.62it/s]
 15%|█▌        | 136/900 [05:46<06:39,  1.91it/s]
 15%|█▌        | 137/900 [05:58<49:55,  3.93s/it]
 15%|█▌        | 138/900 [05:58<36:02,  2.84s/it]
 15%|█▌        | 139/900 [05:59<26:19,  2.08s/it]
 16%|█▌        | 140/900 [05:59<19:33,  1.54s/it]
 16%|█▌        | 141/900 [05:59<14:48,  1.17s/it]
 16%|█▌        | 142/900 [06:00<11:27,  1.10it/s]
 16%|█▌        | 143/900 [06:00<09:08,  1.38it/s]
 16%|█▌        | 144/900 [06:00<07:31,  1.67it/s]
 16%|█▌        | 145/900 [06:06<25:29,  2.03s/it]
 16%|█▌        | 146/900 [06:06<18:55,  1.51s/it]
 16%|█▋        | 147/900 [06:06<14:19,  1.14s/it]
 16%|█▋        | 148/900 [06:06<11:05,  1.13it/s]
 17%|█▋        | 149/900 [06:07<08:51,  1.41it/s]
 17%|█▋        | 150/900 [06:07<07:17,  1.71it/s]
 17%|█▋        | 151/900 [06:07<06:11,  2.02it/s]
 17%|█▋        | 152/900 [06:08<05:26,  2.29it/s]
 17%|█▋        | 153/900 [06:29<1:24:51,  6.82s/it]
 17%|█▋        | 154/900 [06:30<1:00:24,  4.86s/it]
 17%|█▋        | 155/900 [06:30<43:18,  3.49s/it]  
 17%|█▋        | 156/900 [06:30<31:24,  2.53s/it]
 17%|█▋        | 157/900 [06:30<23:03,  1.86s/it]
 18%|█▊        | 158/900 [06:31<17:14,  1.39s/it]
 18%|█▊        | 159/900 [06:31<13:11,  1.07s/it]
 18%|█▊        | 160/900 [06:31<10:29,  1.18it/s]
 18%|█▊        | 161/900 [06:59<1:48:36,  8.82s/it]
 18%|█▊        | 162/900 [06:59<1:17:02,  6.26s/it]
 18%|█▊        | 163/900 [06:59<54:56,  4.47s/it]  
 18%|█▊        | 164/900 [07:00<39:31,  3.22s/it]
 18%|█▊        | 165/900 [07:00<28:42,  2.34s/it]
 18%|█▊        | 166/900 [07:00<21:11,  1.73s/it]
 19%|█▊        | 167/900 [07:01<15:53,  1.30s/it]
 19%|█▊        | 168/900 [07:01<12:11,  1.00it/s]
 19%|█▉        | 169/900 [07:26<1:39:07,  8.14s/it]
 19%|█▉        | 170/900 [07:26<1:10:22,  5.78s/it]
 19%|█▉        | 171/900 [07:26<50:16,  4.14s/it]  
 19%|█▉        | 172/900 [07:27<36:13,  2.99s/it]
 19%|█▉        | 173/900 [07:27<26:22,  2.18s/it]
 19%|█▉        | 174/900 [07:27<19:30,  1.61s/it]
 19%|█▉        | 175/900 [07:27<14:42,  1.22s/it]
 20%|█▉        | 176/900 [07:28<11:24,  1.06it/s]
 20%|█▉        | 177/900 [08:01<2:09:03, 10.71s/it]
 20%|█▉        | 178/900 [08:02<1:31:15,  7.58s/it]
 20%|█▉        | 179/900 [08:02<1:04:53,  5.40s/it]
 20%|██        | 180/900 [08:02<46:24,  3.87s/it]  
 20%|██        | 181/900 [08:02<33:38,  2.81s/it]
 20%|██        | 182/900 [08:03<24:33,  2.05s/it]
 20%|██        | 183/900 [08:03<18:12,  1.52s/it]
 20%|██        | 184/900 [08:03<13:46,  1.15s/it]
 21%|██        | 185/900 [08:12<39:51,  3.35s/it]
 21%|██        | 186/900 [08:12<28:57,  2.43s/it]
 21%|██        | 187/900 [08:12<21:16,  1.79s/it]
 21%|██        | 188/900 [08:13<15:56,  1.34s/it]
 21%|██        | 189/900 [08:13<12:11,  1.03s/it]
 21%|██        | 190/900 [08:13<09:36,  1.23it/s]
 21%|██        | 191/900 [08:14<07:46,  1.52it/s]
 21%|██▏       | 192/900 [08:14<06:29,  1.82it/s]
 21%|██▏       | 193/900 [08:26<47:05,  4.00s/it]
 22%|██▏       | 194/900 [08:26<33:56,  2.88s/it]
 22%|██▏       | 195/900 [08:27<24:46,  2.11s/it]
 22%|██▏       | 196/900 [08:27<18:21,  1.56s/it]
 22%|██▏       | 197/900 [08:27<13:52,  1.18s/it]
 22%|██▏       | 198/900 [08:27<10:44,  1.09it/s]
 22%|██▏       | 199/900 [08:28<08:33,  1.37it/s]
 22%|██▏       | 200/900 [08:28<07:09,  1.63it/s]
 22%|██▏       | 201/900 [08:58<1:50:15,  9.46s/it]
 22%|██▏       | 202/900 [08:58<1:18:06,  6.71s/it]
 23%|██▎       | 203/900 [08:59<55:44,  4.80s/it]  
 23%|██▎       | 204/900 [08:59<40:00,  3.45s/it]
 23%|██▎       | 205/900 [08:59<29:01,  2.51s/it]
 23%|██▎       | 206/900 [09:00<21:26,  1.85s/it]
 23%|██▎       | 207/900 [09:00<16:05,  1.39s/it]
 23%|██▎       | 208/900 [09:00<12:24,  1.08s/it]
 23%|██▎       | 209/900 [09:09<37:34,  3.26s/it]
 23%|██▎       | 210/900 [09:09<27:18,  2.37s/it]
 23%|██▎       | 211/900 [09:09<20:08,  1.75s/it]
 24%|██▎       | 212/900 [09:10<15:06,  1.32s/it]
 24%|██▎       | 213/900 [09:10<11:35,  1.01s/it]
 24%|██▍       | 214/900 [09:10<09:06,  1.25it/s]
 24%|██▍       | 215/900 [09:11<07:23,  1.54it/s]
 24%|██▍       | 216/900 [09:11<06:15,  1.82it/s]
 24%|██▍       | 217/900 [09:38<1:37:55,  8.60s/it]
 24%|██▍       | 218/900 [09:39<1:09:30,  6.11s/it]
 24%|██▍       | 219/900 [09:39<49:38,  4.37s/it]  
 24%|██▍       | 220/900 [09:39<35:43,  3.15s/it]
 25%|██▍       | 221/900 [09:39<26:01,  2.30s/it]
 25%|██▍       | 222/900 [09:40<19:17,  1.71s/it]
 25%|██▍       | 223/900 [09:40<14:30,  1.29s/it]
 25%|██▍       | 224/900 [09:40<11:09,  1.01it/s]
 25%|██▌       | 225/900 [09:47<28:27,  2.53s/it]
 25%|██▌       | 226/900 [09:47<20:56,  1.86s/it]
 25%|██▌       | 227/900 [09:47<15:40,  1.40s/it]
 25%|██▌       | 228/900 [09:47<11:57,  1.07s/it]
 25%|██▌       | 229/900 [09:48<09:21,  1.19it/s]
 26%|██▌       | 230/900 [09:48<07:33,  1.48it/s]
 26%|██▌       | 231/900 [09:48<06:17,  1.77it/s]
 26%|██▌       | 232/900 [09:49<05:29,  2.03it/s]
 26%|██▌       | 233/900 [10:17<1:38:12,  8.83s/it]
 26%|██▌       | 234/900 [10:17<1:09:40,  6.28s/it]
 26%|██▌       | 235/900 [10:18<49:43,  4.49s/it]  
 26%|██▌       | 236/900 [10:18<35:51,  3.24s/it]
 26%|██▋       | 237/900 [10:18<26:03,  2.36s/it]
 26%|██▋       | 238/900 [10:19<19:17,  1.75s/it]
 27%|██▋       | 239/900 [10:19<14:29,  1.32s/it]
 27%|██▋       | 240/900 [10:19<11:13,  1.02s/it]
 27%|██▋       | 241/900 [10:26<31:23,  2.86s/it]
 27%|██▋       | 242/900 [10:27<23:01,  2.10s/it]
 27%|██▋       | 243/900 [10:27<17:06,  1.56s/it]
 27%|██▋       | 244/900 [10:27<12:57,  1.18s/it]
 27%|██▋       | 245/900 [10:28<10:02,  1.09it/s]
 27%|██▋       | 246/900 [10:28<08:03,  1.35it/s]
 27%|██▋       | 247/900 [10:28<06:41,  1.63it/s]
 28%|██▊       | 248/900 [10:29<05:39,  1.92it/s]
 28%|██▊       | 249/900 [10:42<48:52,  4.50s/it]
 28%|██▊       | 250/900 [10:43<35:06,  3.24s/it]
 28%|██▊       | 251/900 [10:43<25:33,  2.36s/it]
 28%|██▊       | 252/900 [10:43<18:52,  1.75s/it]
 28%|██▊       | 253/900 [10:44<14:12,  1.32s/it]
 28%|██▊       | 254/900 [10:44<10:57,  1.02s/it]
 28%|██▊       | 255/900 [10:44<08:38,  1.24it/s]
 28%|██▊       | 256/900 [10:44<07:00,  1.53it/s]
 29%|██▊       | 257/900 [11:04<1:07:01,  6.25s/it]
 29%|██▊       | 258/900 [11:04<47:49,  4.47s/it]  
 29%|██▉       | 259/900 [11:04<34:22,  3.22s/it]
 29%|██▉       | 260/900 [11:05<24:57,  2.34s/it]
 29%|██▉       | 261/900 [11:05<18:22,  1.73s/it]
 29%|██▉       | 262/900 [11:05<13:46,  1.30s/it]
 29%|██▉       | 263/900 [11:06<10:35,  1.00it/s]
 29%|██▉       | 264/900 [11:06<08:26,  1.26it/s]
 29%|██▉       | 265/900 [11:19<46:44,  4.42s/it]
 30%|██▉       | 266/900 [11:19<33:38,  3.18s/it]
 30%|██▉       | 267/900 [11:19<24:30,  2.32s/it]
 30%|██▉       | 268/900 [11:20<18:10,  1.73s/it]
 30%|██▉       | 269/900 [11:20<13:41,  1.30s/it]
 30%|███       | 270/900 [11:20<10:33,  1.01s/it]
 30%|███       | 271/900 [11:21<08:20,  1.26it/s]
 30%|███       | 272/900 [11:21<06:47,  1.54it/s]
 30%|███       | 273/900 [11:43<1:12:55,  6.98s/it]
 30%|███       | 274/900 [11:43<51:57,  4.98s/it]  
 31%|███       | 275/900 [11:43<37:18,  3.58s/it]
 31%|███       | 276/900 [11:44<27:04,  2.60s/it]
 31%|███       | 277/900 [11:44<19:51,  1.91s/it]
 31%|███       | 278/900 [11:44<14:46,  1.43s/it]
 31%|███       | 279/900 [11:45<11:15,  1.09s/it]
 31%|███       | 280/900 [11:45<08:48,  1.17it/s]
 31%|███       | 281/900 [11:58<47:36,  4.62s/it]
 31%|███▏      | 282/900 [11:59<34:13,  3.32s/it]
 31%|███▏      | 283/900 [11:59<24:52,  2.42s/it]
 32%|███▏      | 284/900 [11:59<18:26,  1.80s/it]
 32%|███▏      | 285/900 [12:00<13:50,  1.35s/it]
 32%|███▏      | 286/900 [12:00<10:44,  1.05s/it]
 32%|███▏      | 287/900 [12:00<08:29,  1.20it/s]
 32%|███▏      | 288/900 [12:01<06:59,  1.46it/s]
 32%|███▏      | 289/900 [12:22<1:11:17,  7.00s/it]
 32%|███▏      | 290/900 [12:23<50:47,  5.00s/it]  
 32%|███▏      | 291/900 [12:23<36:28,  3.59s/it]
 32%|███▏      | 292/900 [12:23<26:27,  2.61s/it]
 33%|███▎      | 293/900 [12:24<19:25,  1.92s/it]
 33%|███▎      | 294/900 [12:24<14:27,  1.43s/it]
 33%|███▎      | 295/900 [12:24<10:59,  1.09s/it]
 33%|███▎      | 296/900 [12:24<08:34,  1.17it/s]
 33%|███▎      | 297/900 [12:38<46:17,  4.61s/it]
 33%|███▎      | 298/900 [12:38<33:15,  3.31s/it]
 33%|███▎      | 299/900 [12:38<24:07,  2.41s/it]
 33%|███▎      | 300/900 [12:39<17:45,  1.78s/it]
 33%|███▎      | 301/900 [12:39<13:17,  1.33s/it]
 34%|███▎      | 302/900 [12:39<10:15,  1.03s/it]
 34%|███▎      | 303/900 [12:40<08:04,  1.23it/s]
 34%|███▍      | 304/900 [12:40<06:33,  1.52it/s]
 34%|███▍      | 305/900 [12:52<40:52,  4.12s/it]
 34%|███▍      | 306/900 [12:52<29:28,  2.98s/it]
 34%|███▍      | 307/900 [12:53<21:29,  2.17s/it]
 34%|███▍      | 308/900 [12:53<15:55,  1.61s/it]
 34%|███▍      | 309/900 [12:53<12:02,  1.22s/it]
 34%|███▍      | 310/900 [12:54<09:21,  1.05it/s]
 35%|███▍      | 311/900 [12:54<07:27,  1.32it/s]
 35%|███▍      | 312/900 [12:54<06:05,  1.61it/s]
 35%|███▍      | 313/900 [13:03<29:41,  3.03s/it]
 35%|███▍      | 314/900 [13:03<21:37,  2.21s/it]
 35%|███▌      | 315/900 [13:04<16:00,  1.64s/it]
 35%|███▌      | 316/900 [13:04<12:10,  1.25s/it]
 35%|███▌      | 317/900 [13:04<09:21,  1.04it/s]
 35%|███▌      | 318/900 [13:04<07:25,  1.31it/s]
 35%|███▌      | 319/900 [13:05<06:04,  1.59it/s]
 36%|███▌      | 320/900 [13:05<05:07,  1.89it/s]
 36%|███▌      | 321/900 [13:12<22:54,  2.37s/it]
 36%|███▌      | 322/900 [13:12<16:52,  1.75s/it]
 36%|███▌      | 323/900 [13:12<12:39,  1.32s/it]
 36%|███▌      | 324/900 [13:13<09:41,  1.01s/it]
 36%|███▌      | 325/900 [13:13<07:36,  1.26it/s]
 36%|███▌      | 326/900 [13:13<06:09,  1.55it/s]
 36%|███▋      | 327/900 [13:14<05:08,  1.86it/s]
 36%|███▋      | 328/900 [13:14<04:26,  2.15it/s]
 37%|███▋      | 329/900 [13:25<33:54,  3.56s/it]
 37%|███▋      | 330/900 [13:25<24:37,  2.59s/it]
 37%|███▋      | 331/900 [13:25<18:03,  1.90s/it]
 37%|███▋      | 332/900 [13:26<13:32,  1.43s/it]
 37%|███▋      | 333/900 [13:26<10:22,  1.10s/it]
 37%|███▋      | 334/900 [13:26<08:10,  1.15it/s]
 37%|███▋      | 335/900 [13:27<06:36,  1.42it/s]
 37%|███▋      | 336/900 [13:27<05:29,  1.71it/s]
 37%|███▋      | 337/900 [14:32<3:08:34, 20.10s/it]
 38%|███▊      | 338/900 [14:33<2:12:44, 14.17s/it]
 38%|███▊      | 339/900 [14:33<1:33:36, 10.01s/it]
 38%|███▊      | 340/900 [14:33<1:06:17,  7.10s/it]
 38%|███▊      | 341/900 [14:34<47:08,  5.06s/it]  
 38%|███▊      | 342/900 [14:34<33:45,  3.63s/it]
 38%|███▊      | 343/900 [14:34<24:24,  2.63s/it]
 38%|███▊      | 344/900 [14:35<17:53,  1.93s/it]
 38%|███▊      | 345/900 [14:43<35:31,  3.84s/it]
 38%|███▊      | 346/900 [14:43<25:40,  2.78s/it]
 39%|███▊      | 347/900 [14:44<18:46,  2.04s/it]
 39%|███▊      | 348/900 [14:44<13:57,  1.52s/it]
 39%|███▉      | 349/900 [14:44<10:34,  1.15s/it]
 39%|███▉      | 350/900 [14:44<08:12,  1.12it/s]
 39%|███▉      | 351/900 [14:45<06:34,  1.39it/s]
 39%|███▉      | 352/900 [14:45<05:24,  1.69it/s]
 39%|███▉      | 353/900 [14:45<04:56,  1.84it/s]
 39%|███▉      | 354/900 [14:46<04:18,  2.11it/s]
 39%|███▉      | 355/900 [14:46<03:48,  2.39it/s]
 40%|███▉      | 356/900 [14:46<03:28,  2.60it/s]
 40%|███▉      | 357/900 [14:47<03:14,  2.79it/s]
 40%|███▉      | 358/900 [14:47<03:04,  2.94it/s]
 40%|███▉      | 359/900 [14:47<02:59,  3.02it/s]
 40%|████      | 360/900 [14:48<02:53,  3.12it/s]
 40%|████      | 361/900 [14:48<03:04,  2.92it/s]
 40%|████      | 362/900 [14:48<02:59,  2.99it/s]
 40%|████      | 363/900 [14:49<02:55,  3.06it/s]
 40%|████      | 364/900 [14:49<02:50,  3.15it/s]
 41%|████      | 365/900 [14:49<02:46,  3.22it/s]
 41%|████      | 366/900 [14:49<02:43,  3.26it/s]
 41%|████      | 367/900 [14:50<02:42,  3.28it/s]
 41%|████      | 368/900 [14:50<02:41,  3.30it/s]
 41%|████      | 369/900 [14:50<02:57,  2.99it/s]
 41%|████      | 370/900 [14:51<02:56,  3.01it/s]
 41%|████      | 371/900 [14:51<02:51,  3.09it/s]
 41%|████▏     | 372/900 [14:51<02:52,  3.06it/s]
 41%|████▏     | 373/900 [14:52<02:47,  3.15it/s]
 42%|████▏     | 374/900 [14:52<02:45,  3.18it/s]
 42%|████▏     | 375/900 [14:52<02:44,  3.19it/s]
 42%|████▏     | 376/900 [14:53<02:45,  3.17it/s]
 42%|████▏     | 377/900 [15:11<50:37,  5.81s/it]
 42%|████▏     | 378/900 [15:12<36:17,  4.17s/it]
 42%|████▏     | 379/900 [15:12<26:11,  3.02s/it]
 42%|████▏     | 380/900 [15:12<19:06,  2.20s/it]
 42%|████▏     | 381/900 [15:13<14:08,  1.64s/it]
 42%|████▏     | 382/900 [15:13<10:45,  1.25s/it]
 43%|████▎     | 383/900 [15:13<08:17,  1.04it/s]
 43%|████▎     | 384/900 [15:14<06:34,  1.31it/s]
 43%|████▎     | 385/900 [15:14<05:36,  1.53it/s]
 43%|████▎     | 386/900 [15:14<04:41,  1.83it/s]
 43%|████▎     | 387/900 [15:15<04:02,  2.11it/s]
 43%|████▎     | 388/900 [15:15<03:34,  2.38it/s]
 43%|████▎     | 389/900 [15:15<03:16,  2.60it/s]
 43%|████▎     | 390/900 [15:15<03:03,  2.78it/s]
 43%|████▎     | 391/900 [15:16<02:55,  2.90it/s]
 44%|████▎     | 392/900 [15:16<02:48,  3.01it/s]
 44%|████▎     | 393/900 [15:16<02:58,  2.83it/s]
 44%|████▍     | 394/900 [15:17<02:50,  2.97it/s]
 44%|████▍     | 395/900 [15:17<02:44,  3.07it/s]
 44%|████▍     | 396/900 [15:17<02:39,  3.16it/s]
 44%|████▍     | 397/900 [15:18<02:35,  3.23it/s]
 44%|████▍     | 398/900 [15:18<02:34,  3.25it/s]
 44%|████▍     | 399/900 [15:18<02:33,  3.27it/s]
 44%|████▍     | 400/900 [15:19<02:31,  3.30it/s]
 45%|████▍     | 401/900 [15:19<02:48,  2.97it/s]
 45%|████▍     | 402/900 [15:19<02:41,  3.09it/s]
 45%|████▍     | 403/900 [15:20<02:37,  3.16it/s]
 45%|████▍     | 404/900 [15:20<02:36,  3.17it/s]
 45%|████▌     | 405/900 [15:20<02:33,  3.23it/s]
 45%|████▌     | 406/900 [15:20<02:35,  3.18it/s]
 45%|████▌     | 407/900 [15:21<02:31,  3.24it/s]
 45%|████▌     | 408/900 [15:21<02:34,  3.19it/s]
 45%|████▌     | 409/900 [15:22<02:46,  2.95it/s]
 46%|████▌     | 410/900 [15:22<02:45,  2.97it/s]
 46%|████▌     | 411/900 [15:22<02:39,  3.08it/s]
 46%|████▌     | 412/900 [15:22<02:37,  3.10it/s]
 46%|████▌     | 413/900 [15:23<02:33,  3.16it/s]
 46%|████▌     | 414/900 [15:23<02:35,  3.13it/s]
 46%|████▌     | 415/900 [15:23<02:32,  3.18it/s]
 46%|████▌     | 416/900 [15:24<02:33,  3.14it/s]
 46%|████▋     | 417/900 [15:33<23:21,  2.90s/it]
 46%|████▋     | 418/900 [15:33<17:03,  2.12s/it]
 47%|████▋     | 419/900 [15:33<12:39,  1.58s/it]
 47%|████▋     | 420/900 [15:34<09:37,  1.20s/it]
 47%|████▋     | 421/900 [15:34<07:25,  1.07it/s]
 47%|████▋     | 422/900 [15:34<05:54,  1.35it/s]
 47%|████▋     | 423/900 [15:34<04:51,  1.63it/s]
 47%|████▋     | 424/900 [15:35<04:06,  1.93it/s]
 47%|████▋     | 425/900 [15:35<04:03,  1.95it/s]
 47%|████▋     | 426/900 [15:36<03:33,  2.22it/s]
 47%|████▋     | 427/900 [15:36<03:11,  2.47it/s]
 48%|████▊     | 428/900 [15:36<02:55,  2.68it/s]
 48%|████▊     | 429/900 [15:36<02:46,  2.82it/s]
 48%|████▊     | 430/900 [15:37<02:38,  2.96it/s]
 48%|████▊     | 431/900 [15:37<02:32,  3.07it/s]
 48%|████▊     | 432/900 [15:37<02:32,  3.08it/s]
 48%|████▊     | 433/900 [15:38<02:45,  2.83it/s]
 48%|████▊     | 434/900 [15:38<02:42,  2.88it/s]
 48%|████▊     | 435/900 [15:38<02:35,  2.99it/s]
 48%|████▊     | 436/900 [15:39<02:33,  3.02it/s]
 49%|████▊     | 437/900 [15:39<02:30,  3.08it/s]
 49%|████▊     | 438/900 [15:39<02:26,  3.16it/s]
 49%|████▉     | 439/900 [15:40<02:23,  3.20it/s]
 49%|████▉     | 440/900 [15:40<02:25,  3.17it/s]
 49%|████▉     | 441/900 [15:40<02:37,  2.92it/s]
 49%|████▉     | 442/900 [15:41<02:30,  3.04it/s]
 49%|████▉     | 443/900 [15:41<02:27,  3.10it/s]
 49%|████▉     | 444/900 [15:41<02:24,  3.16it/s]
 49%|████▉     | 445/900 [15:42<02:22,  3.19it/s]
 50%|████▉     | 446/900 [15:42<02:20,  3.24it/s]
 50%|████▉     | 447/900 [15:42<02:17,  3.29it/s]
 50%|████▉     | 448/900 [15:43<02:20,  3.22it/s]
 50%|████▉     | 449/900 [15:43<02:31,  2.98it/s]
 50%|█████     | 450/900 [15:43<02:30,  2.99it/s]
 50%|█████     | 451/900 [15:44<02:30,  2.97it/s]
 50%|█████     | 452/900 [15:44<02:28,  3.01it/s]
 50%|█████     | 453/900 [15:44<02:27,  3.04it/s]
 50%|█████     | 454/900 [15:45<02:24,  3.09it/s]
 51%|█████     | 455/900 [15:45<02:23,  3.11it/s]
 51%|█████     | 456/900 [15:45<02:20,  3.17it/s]
 51%|█████     | 457/900 [15:54<20:50,  2.82s/it]
 51%|█████     | 458/900 [15:54<15:13,  2.07s/it]
 51%|█████     | 459/900 [15:54<11:17,  1.54s/it]
 51%|█████     | 460/900 [15:55<08:32,  1.17s/it]
 51%|█████     | 461/900 [15:55<06:38,  1.10it/s]
 51%|█████▏    | 462/900 [15:55<05:18,  1.38it/s]
 51%|█████▏    | 463/900 [15:56<04:23,  1.66it/s]
 52%|█████▏    | 464/900 [15:56<03:41,  1.97it/s]
 52%|█████▏    | 465/900 [16:18<50:31,  6.97s/it]
 52%|█████▏    | 466/900 [16:18<35:57,  4.97s/it]
 52%|█████▏    | 467/900 [16:19<25:45,  3.57s/it]
 52%|█████▏    | 468/900 [16:19<18:37,  2.59s/it]
 52%|█████▏    | 469/900 [16:19<13:38,  1.90s/it]
 52%|█████▏    | 470/900 [16:20<10:11,  1.42s/it]
 52%|█████▏    | 471/900 [16:20<07:46,  1.09s/it]
 52%|█████▏    | 472/900 [16:20<06:04,  1.17it/s]
 53%|█████▎    | 473/900 [16:58<1:25:32, 12.02s/it]
 53%|█████▎    | 474/900 [16:59<1:00:24,  8.51s/it]
 53%|█████▎    | 475/900 [16:59<42:51,  6.05s/it]  
 53%|█████▎    | 476/900 [16:59<30:34,  4.33s/it]
 53%|█████▎    | 477/900 [16:59<21:58,  3.12s/it]
 53%|█████▎    | 478/900 [17:00<15:58,  2.27s/it]
 53%|█████▎    | 479/900 [17:00<11:47,  1.68s/it]
 53%|█████▎    | 480/900 [17:00<08:51,  1.27s/it]
 53%|█████▎    | 481/900 [17:21<50:15,  7.20s/it]
 54%|█████▎    | 482/900 [17:22<35:48,  5.14s/it]
 54%|█████▎    | 483/900 [17:22<25:38,  3.69s/it]
 54%|█████▍    | 484/900 [17:22<18:31,  2.67s/it]
 54%|█████▍    | 485/900 [17:23<13:34,  1.96s/it]
 54%|█████▍    | 486/900 [17:23<10:05,  1.46s/it]
 54%|█████▍    | 487/900 [17:23<07:40,  1.12s/it]
 54%|█████▍    | 488/900 [17:24<06:02,  1.14it/s]
 54%|█████▍    | 489/900 [17:34<26:35,  3.88s/it]
 54%|█████▍    | 490/900 [17:35<19:11,  2.81s/it]
 55%|█████▍    | 491/900 [17:35<14:03,  2.06s/it]
 55%|█████▍    | 492/900 [17:35<10:26,  1.53s/it]
 55%|█████▍    | 493/900 [17:36<07:55,  1.17s/it]
 55%|█████▍    | 494/900 [17:36<06:09,  1.10it/s]
 55%|█████▌    | 495/900 [17:36<04:56,  1.36it/s]
 55%|█████▌    | 496/900 [17:37<04:05,  1.65it/s]
 55%|█████▌    | 497/900 [18:37<2:04:21, 18.51s/it]
 55%|█████▌    | 498/900 [18:37<1:27:27, 13.05s/it]
 55%|█████▌    | 499/900 [18:38<1:01:41,  9.23s/it]
 56%|█████▌    | 500/900 [18:38<44:38,  6.70s/it]  
 56%|█████▌    | 501/900 [18:39<31:48,  4.78s/it]
 56%|█████▌    | 502/900 [18:39<22:52,  3.45s/it]
 56%|█████▌    | 503/900 [18:39<16:36,  2.51s/it]
 56%|█████▌    | 504/900 [18:40<12:15,  1.86s/it]
 56%|█████▌    | 505/900 [18:53<35:01,  5.32s/it]
 56%|█████▌    | 506/900 [18:53<25:03,  3.82s/it]
 56%|█████▋    | 507/900 [18:54<18:07,  2.77s/it]
 56%|█████▋    | 508/900 [18:54<13:16,  2.03s/it]
 57%|█████▋    | 509/900 [18:54<09:53,  1.52s/it]
 57%|█████▋    | 510/900 [18:55<07:32,  1.16s/it]
 57%|█████▋    | 511/900 [18:55<05:52,  1.10it/s]
 57%|█████▋    | 512/900 [18:55<04:43,  1.37it/s]
 57%|█████▋    | 513/900 [19:03<18:53,  2.93s/it]
 57%|█████▋    | 514/900 [19:04<13:51,  2.15s/it]
 57%|█████▋    | 515/900 [19:04<10:17,  1.60s/it]
 57%|█████▋    | 516/900 [19:04<07:48,  1.22s/it]
 57%|█████▋    | 517/900 [19:05<06:04,  1.05it/s]
 58%|█████▊    | 518/900 [19:05<04:51,  1.31it/s]
 58%|█████▊    | 519/900 [19:05<03:59,  1.59it/s]
 58%|█████▊    | 520/900 [19:06<03:23,  1.86it/s]
 58%|█████▊    | 521/900 [19:31<50:03,  7.92s/it]
 58%|█████▊    | 522/900 [19:31<35:35,  5.65s/it]
 58%|█████▊    | 523/900 [19:31<25:26,  4.05s/it]
 58%|█████▊    | 524/900 [19:32<18:20,  2.93s/it]
 58%|█████▊    | 525/900 [19:32<13:22,  2.14s/it]
 58%|█████▊    | 526/900 [19:32<09:53,  1.59s/it]
 59%|█████▊    | 527/900 [19:33<07:28,  1.20s/it]
 59%|█████▊    | 528/900 [19:33<05:48,  1.07it/s]
 59%|█████▉    | 529/900 [19:42<20:06,  3.25s/it]
 59%|█████▉    | 530/900 [19:42<14:36,  2.37s/it]
 59%|█████▉    | 531/900 [19:42<10:44,  1.75s/it]
 59%|█████▉    | 532/900 [19:43<08:03,  1.31s/it]
 59%|█████▉    | 533/900 [19:43<06:10,  1.01s/it]
 59%|█████▉    | 534/900 [19:43<04:50,  1.26it/s]
 59%|█████▉    | 535/900 [19:43<03:54,  1.55it/s]
 60%|█████▉    | 536/900 [19:44<03:16,  1.86it/s]
 60%|█████▉    | 537/900 [20:12<54:22,  8.99s/it]
 60%|█████▉    | 538/900 [20:13<38:31,  6.38s/it]
 60%|█████▉    | 539/900 [20:13<27:24,  4.56s/it]
 60%|██████    | 540/900 [20:13<19:41,  3.28s/it]
 60%|██████    | 541/900 [20:14<14:16,  2.39s/it]
 60%|██████    | 542/900 [20:14<10:31,  1.76s/it]
 60%|██████    | 543/900 [20:14<07:52,  1.32s/it]
 60%|██████    | 544/900 [20:15<06:03,  1.02s/it]
 61%|██████    | 545/900 [20:15<04:57,  1.20it/s]
 61%|██████    | 546/900 [20:15<04:00,  1.47it/s]
 61%|██████    | 547/900 [20:16<03:18,  1.78it/s]
 61%|██████    | 548/900 [20:16<02:50,  2.07it/s]
 61%|██████    | 549/900 [20:16<02:30,  2.33it/s]
 61%|██████    | 550/900 [20:16<02:18,  2.52it/s]
 61%|██████    | 551/900 [20:17<02:08,  2.72it/s]
 61%|██████▏   | 552/900 [20:17<02:00,  2.89it/s]
 61%|██████▏   | 553/900 [20:17<02:07,  2.73it/s]
 62%|██████▏   | 554/900 [20:18<02:01,  2.85it/s]
 62%|██████▏   | 555/900 [20:18<01:55,  2.98it/s]
 62%|██████▏   | 556/900 [20:18<01:52,  3.06it/s]
 62%|██████▏   | 557/900 [20:19<01:49,  3.12it/s]
 62%|██████▏   | 558/900 [20:19<01:48,  3.15it/s]
 62%|██████▏   | 559/900 [20:19<01:46,  3.20it/s]
 62%|██████▏   | 560/900 [20:20<01:47,  3.16it/s]
 62%|██████▏   | 561/900 [20:20<02:00,  2.80it/s]
 62%|██████▏   | 562/900 [20:20<01:54,  2.96it/s]
 63%|██████▎   | 563/900 [20:21<01:49,  3.07it/s]
 63%|██████▎   | 564/900 [20:21<01:46,  3.15it/s]
 63%|██████▎   | 565/900 [20:21<01:44,  3.21it/s]
 63%|██████▎   | 566/900 [20:22<01:44,  3.19it/s]
 63%|██████▎   | 567/900 [20:22<01:42,  3.24it/s]
 63%|██████▎   | 568/900 [20:22<01:41,  3.27it/s]
 63%|██████▎   | 569/900 [20:32<17:02,  3.09s/it]
 63%|██████▎   | 570/900 [20:32<12:23,  2.25s/it]
 63%|██████▎   | 571/900 [20:32<09:08,  1.67s/it]
 64%|██████▎   | 572/900 [20:33<06:54,  1.26s/it]
 64%|██████▎   | 573/900 [20:33<05:19,  1.02it/s]
 64%|██████▍   | 574/900 [20:33<04:13,  1.29it/s]
 64%|██████▍   | 575/900 [20:34<03:25,  1.58it/s]
 64%|██████▍   | 576/900 [20:34<02:54,  1.86it/s]
 64%|██████▍   | 577/900 [20:35<02:58,  1.81it/s]
 64%|██████▍   | 578/900 [20:35<02:35,  2.07it/s]
 64%|██████▍   | 579/900 [20:35<02:17,  2.33it/s]
 64%|██████▍   | 580/900 [20:35<02:04,  2.56it/s]
 65%|██████▍   | 581/900 [20:36<01:56,  2.74it/s]
 65%|██████▍   | 582/900 [20:36<01:52,  2.83it/s]
 65%|██████▍   | 583/900 [20:36<01:48,  2.94it/s]
 65%|██████▍   | 584/900 [20:37<01:47,  2.94it/s]
 65%|██████▌   | 585/900 [20:37<02:16,  2.30it/s]
 65%|██████▌   | 586/900 [20:38<02:05,  2.50it/s]
 65%|██████▌   | 587/900 [20:38<01:56,  2.70it/s]
 65%|██████▌   | 588/900 [20:38<01:50,  2.82it/s]
 65%|██████▌   | 589/900 [20:39<01:45,  2.94it/s]
 66%|██████▌   | 590/900 [20:39<01:42,  3.01it/s]
 66%|██████▌   | 591/900 [20:39<01:40,  3.08it/s]
 66%|██████▌   | 592/900 [20:40<01:37,  3.15it/s]
 66%|██████▌   | 593/900 [20:40<02:23,  2.13it/s]
 66%|██████▌   | 594/900 [20:41<02:08,  2.39it/s]
 66%|██████▌   | 595/900 [20:41<01:58,  2.58it/s]
 66%|██████▌   | 596/900 [20:41<01:50,  2.75it/s]
 66%|██████▋   | 597/900 [20:42<01:44,  2.90it/s]
 66%|██████▋   | 598/900 [20:42<01:41,  2.99it/s]
 67%|██████▋   | 599/900 [20:42<01:38,  3.06it/s]
 67%|██████▋   | 600/900 [20:43<01:36,  3.12it/s]
 67%|██████▋   | 601/900 [20:52<15:28,  3.11s/it]
 67%|██████▋   | 602/900 [20:52<11:17,  2.27s/it]
 67%|██████▋   | 603/900 [20:53<08:19,  1.68s/it]
 67%|██████▋   | 604/900 [20:53<06:16,  1.27s/it]
 67%|██████▋   | 605/900 [20:53<04:48,  1.02it/s]
 67%|██████▋   | 606/900 [20:54<03:48,  1.28it/s]
 67%|██████▋   | 607/900 [20:54<03:05,  1.58it/s]
 68%|██████▊   | 608/900 [20:54<02:37,  1.85it/s]
 68%|██████▊   | 609/900 [22:50<2:49:52, 35.02s/it]
 68%|██████▊   | 610/900 [22:50<1:58:58, 24.62s/it]
 68%|██████▊   | 611/900 [22:50<1:23:27, 17.33s/it]
 68%|██████▊   | 612/900 [22:51<58:38, 12.22s/it]  
 68%|██████▊   | 613/900 [22:51<41:20,  8.64s/it]
 68%|██████▊   | 614/900 [22:51<29:16,  6.14s/it]
 68%|██████▊   | 615/900 [22:52<20:51,  4.39s/it]
 68%|██████▊   | 616/900 [22:52<15:02,  3.18s/it]
 69%|██████▊   | 617/900 [23:00<21:40,  4.59s/it]
 69%|██████▊   | 618/900 [23:00<15:33,  3.31s/it]
 69%|██████▉   | 619/900 [23:00<11:16,  2.41s/it]
 69%|██████▉   | 620/900 [23:01<08:17,  1.78s/it]
 69%|██████▉   | 621/900 [23:01<06:12,  1.33s/it]
 69%|██████▉   | 622/900 [23:01<04:47,  1.03s/it]
 69%|██████▉   | 623/900 [23:02<03:47,  1.22it/s]
 69%|██████▉   | 624/900 [23:02<03:06,  1.48it/s]
 69%|██████▉   | 625/900 [23:12<15:46,  3.44s/it]
 70%|██████▉   | 626/900 [23:12<11:26,  2.51s/it]
 70%|██████▉   | 627/900 [23:13<08:23,  1.85s/it]
 70%|██████▉   | 628/900 [23:13<06:16,  1.38s/it]
 70%|██████▉   | 629/900 [23:13<04:47,  1.06s/it]
 70%|███████   | 630/900 [23:14<03:45,  1.20it/s]
 70%|███████   | 631/900 [23:14<03:02,  1.47it/s]
 70%|███████   | 632/900 [23:14<02:32,  1.76it/s]
 70%|███████   | 633/900 [23:38<33:59,  7.64s/it]
 70%|███████   | 634/900 [23:39<24:06,  5.44s/it]
 71%|███████   | 635/900 [23:39<17:12,  3.90s/it]
 71%|███████   | 636/900 [23:39<12:24,  2.82s/it]
 71%|███████   | 637/900 [23:40<09:02,  2.06s/it]
 71%|███████   | 638/900 [23:40<06:41,  1.53s/it]
 71%|███████   | 639/900 [23:40<05:04,  1.17s/it]
 71%|███████   | 640/900 [23:40<03:56,  1.10it/s]
 71%|███████   | 641/900 [23:53<19:26,  4.50s/it]
 71%|███████▏  | 642/900 [23:54<13:56,  3.24s/it]
 71%|███████▏  | 643/900 [23:54<10:06,  2.36s/it]
 72%|███████▏  | 644/900 [23:54<07:27,  1.75s/it]
 72%|███████▏  | 645/900 [23:55<05:35,  1.32s/it]
 72%|███████▏  | 646/900 [23:55<04:18,  1.02s/it]
 72%|███████▏  | 647/900 [23:55<03:23,  1.24it/s]
 72%|███████▏  | 648/900 [23:55<02:44,  1.53it/s]
 72%|███████▏  | 649/900 [24:12<22:26,  5.36s/it]
 72%|███████▏  | 650/900 [24:12<16:00,  3.84s/it]
 72%|███████▏  | 651/900 [24:12<11:31,  2.78s/it]
 72%|███████▏  | 652/900 [24:13<08:25,  2.04s/it]
 73%|███████▎  | 653/900 [24:13<06:14,  1.52s/it]
 73%|███████▎  | 654/900 [24:13<04:44,  1.16s/it]
 73%|███████▎  | 655/900 [24:14<03:39,  1.12it/s]
 73%|███████▎  | 656/900 [24:14<02:54,  1.40it/s]
 73%|███████▎  | 657/900 [24:24<14:30,  3.58s/it]
 73%|███████▎  | 658/900 [24:24<10:28,  2.60s/it]
 73%|███████▎  | 659/900 [24:25<07:39,  1.91s/it]
 73%|███████▎  | 660/900 [24:25<05:42,  1.43s/it]
 73%|███████▎  | 661/900 [24:25<04:19,  1.09s/it]
 74%|███████▎  | 662/900 [24:26<03:22,  1.18it/s]
 74%|███████▎  | 663/900 [24:26<02:43,  1.45it/s]
 74%|███████▍  | 664/900 [24:26<02:15,  1.74it/s]
 74%|███████▍  | 665/900 [24:27<02:03,  1.90it/s]
 74%|███████▍  | 666/900 [24:27<01:47,  2.18it/s]
 74%|███████▍  | 667/900 [24:27<01:35,  2.44it/s]
 74%|███████▍  | 668/900 [24:28<01:27,  2.66it/s]
 74%|███████▍  | 669/900 [24:28<01:21,  2.83it/s]
 74%|███████▍  | 670/900 [24:28<01:17,  2.96it/s]
 75%|███████▍  | 671/900 [24:29<01:14,  3.06it/s]
 75%|███████▍  | 672/900 [24:29<01:13,  3.12it/s]
 75%|███████▍  | 673/900 [24:29<01:19,  2.84it/s]
 75%|███████▍  | 674/900 [24:30<01:16,  2.95it/s]
 75%|███████▌  | 675/900 [24:30<01:13,  3.05it/s]
 75%|███████▌  | 676/900 [24:30<01:12,  3.10it/s]
 75%|███████▌  | 677/900 [24:30<01:10,  3.18it/s]
 75%|███████▌  | 678/900 [24:31<01:09,  3.19it/s]
 75%|███████▌  | 679/900 [24:31<01:08,  3.24it/s]
 76%|███████▌  | 680/900 [24:31<01:06,  3.29it/s]
 76%|███████▌  | 681/900 [24:32<01:12,  3.00it/s]
 76%|███████▌  | 682/900 [24:32<01:11,  3.07it/s]
 76%|███████▌  | 683/900 [24:32<01:09,  3.14it/s]
 76%|███████▌  | 684/900 [24:33<01:08,  3.15it/s]
 76%|███████▌  | 685/900 [24:33<01:07,  3.19it/s]
 76%|███████▌  | 686/900 [24:33<01:06,  3.20it/s]
 76%|███████▋  | 687/900 [24:34<01:06,  3.20it/s]
 76%|███████▋  | 688/900 [24:34<01:06,  3.21it/s]
 77%|███████▋  | 689/900 [24:51<18:35,  5.29s/it]
 77%|███████▋  | 690/900 [24:51<13:15,  3.79s/it]
 77%|███████▋  | 691/900 [24:51<09:33,  2.74s/it]
 77%|███████▋  | 692/900 [24:52<06:58,  2.01s/it]
 77%|███████▋  | 693/900 [24:52<05:10,  1.50s/it]
 77%|███████▋  | 694/900 [24:52<03:54,  1.14s/it]
 77%|███████▋  | 695/900 [24:53<03:01,  1.13it/s]
 77%|███████▋  | 696/900 [24:53<02:25,  1.40it/s]
 77%|███████▋  | 697/900 [24:53<02:07,  1.59it/s]
 78%|███████▊  | 698/900 [24:54<01:46,  1.89it/s]
 78%|███████▊  | 699/900 [24:54<01:32,  2.18it/s]
 78%|███████▊  | 700/900 [24:54<01:23,  2.39it/s]
 78%|███████▊  | 701/900 [24:55<01:16,  2.61it/s]
 78%|███████▊  | 702/900 [24:55<01:11,  2.75it/s]
 78%|███████▊  | 703/900 [24:55<01:07,  2.91it/s]
 78%|███████▊  | 704/900 [24:56<01:05,  2.97it/s]
 78%|███████▊  | 705/900 [24:56<01:10,  2.79it/s]
 78%|███████▊  | 706/900 [24:56<01:07,  2.87it/s]
 79%|███████▊  | 707/900 [24:57<01:05,  2.96it/s]
 79%|███████▊  | 708/900 [24:57<01:03,  3.01it/s]
 79%|███████▉  | 709/900 [24:57<01:00,  3.13it/s]
 79%|███████▉  | 710/900 [24:57<00:59,  3.21it/s]
 79%|███████▉  | 711/900 [24:58<00:57,  3.26it/s]
 79%|███████▉  | 712/900 [24:58<00:57,  3.29it/s]
 79%|███████▉  | 713/900 [24:58<01:02,  2.99it/s]
 79%|███████▉  | 714/900 [24:59<01:00,  3.08it/s]
 79%|███████▉  | 715/900 [24:59<00:59,  3.13it/s]
 80%|███████▉  | 716/900 [24:59<00:57,  3.18it/s]
 80%|███████▉  | 717/900 [25:00<00:56,  3.23it/s]
 80%|███████▉  | 718/900 [25:00<00:55,  3.26it/s]
 80%|███████▉  | 719/900 [25:00<00:55,  3.25it/s]
 80%|████████  | 720/900 [25:01<00:56,  3.21it/s]
 80%|████████  | 721/900 [25:01<01:10,  2.55it/s]
 80%|████████  | 722/900 [25:01<01:05,  2.73it/s]
 80%|████████  | 723/900 [25:02<01:01,  2.90it/s]
 80%|████████  | 724/900 [25:02<00:58,  3.03it/s]
 81%|████████  | 725/900 [25:02<00:56,  3.11it/s]
 81%|████████  | 726/900 [25:03<00:55,  3.15it/s]
 81%|████████  | 727/900 [25:03<00:54,  3.17it/s]
 81%|████████  | 728/900 [25:03<00:56,  3.03it/s]
 81%|████████  | 729/900 [25:04<01:18,  2.19it/s]
 81%|████████  | 730/900 [25:04<01:10,  2.40it/s]
 81%|████████  | 731/900 [25:05<01:05,  2.59it/s]
 81%|████████▏ | 732/900 [25:05<01:02,  2.69it/s]
 81%|████████▏ | 733/900 [25:05<00:59,  2.80it/s]
 82%|████████▏ | 734/900 [25:06<00:57,  2.88it/s]
 82%|████████▏ | 735/900 [25:06<00:57,  2.88it/s]
 82%|████████▏ | 736/900 [25:06<00:54,  3.00it/s]
 82%|████████▏ | 737/900 [25:07<01:10,  2.30it/s]
 82%|████████▏ | 738/900 [25:07<01:04,  2.50it/s]
 82%|████████▏ | 739/900 [25:08<00:59,  2.69it/s]
 82%|████████▏ | 740/900 [25:08<00:55,  2.86it/s]
 82%|████████▏ | 741/900 [25:08<00:53,  2.95it/s]
 82%|████████▏ | 742/900 [25:09<00:51,  3.05it/s]
 83%|████████▎ | 743/900 [25:09<00:50,  3.12it/s]
 83%|████████▎ | 744/900 [25:09<00:49,  3.15it/s]
 83%|████████▎ | 745/900 [25:11<01:39,  1.56it/s]
 83%|████████▎ | 746/900 [25:11<01:25,  1.81it/s]
 83%|████████▎ | 747/900 [25:11<01:13,  2.09it/s]
 83%|████████▎ | 748/900 [25:12<01:05,  2.33it/s]
 83%|████████▎ | 749/900 [25:12<00:59,  2.53it/s]
 83%|████████▎ | 750/900 [25:12<00:55,  2.71it/s]
 83%|████████▎ | 751/900 [25:13<00:52,  2.84it/s]
 84%|████████▎ | 752/900 [25:13<00:50,  2.95it/s]
 84%|████████▎ | 753/900 [25:31<13:47,  5.63s/it]
 84%|████████▍ | 754/900 [25:31<09:48,  4.03s/it]
 84%|████████▍ | 755/900 [25:31<07:02,  2.91s/it]
 84%|████████▍ | 756/900 [25:32<05:06,  2.13s/it]
 84%|████████▍ | 757/900 [25:32<03:46,  1.58s/it]
 84%|████████▍ | 758/900 [25:32<02:50,  1.20s/it]
 84%|████████▍ | 759/900 [25:33<02:11,  1.07it/s]
 84%|████████▍ | 760/900 [25:33<01:44,  1.34it/s]
 85%|████████▍ | 761/900 [25:33<01:31,  1.52it/s]
 85%|████████▍ | 762/900 [25:34<01:16,  1.81it/s]
 85%|████████▍ | 763/900 [25:34<01:05,  2.11it/s]
 85%|████████▍ | 764/900 [25:34<00:58,  2.32it/s]
 85%|████████▌ | 765/900 [25:35<00:53,  2.54it/s]
 85%|████████▌ | 766/900 [25:35<00:48,  2.74it/s]
 85%|████████▌ | 767/900 [25:35<00:45,  2.90it/s]
 85%|████████▌ | 768/900 [25:36<00:43,  3.04it/s]
 85%|████████▌ | 769/900 [25:36<00:47,  2.78it/s]
 86%|████████▌ | 770/900 [25:36<00:45,  2.87it/s]
 86%|████████▌ | 771/900 [25:37<00:43,  2.98it/s]
 86%|████████▌ | 772/900 [25:37<00:41,  3.06it/s]
 86%|████████▌ | 773/900 [25:37<00:40,  3.14it/s]
 86%|████████▌ | 774/900 [25:37<00:40,  3.14it/s]
 86%|████████▌ | 775/900 [25:38<00:39,  3.18it/s]
 86%|████████▌ | 776/900 [25:38<00:39,  3.12it/s]
 86%|████████▋ | 777/900 [25:39<00:43,  2.83it/s]
 86%|████████▋ | 778/900 [25:39<00:41,  2.97it/s]
 87%|████████▋ | 779/900 [25:39<00:39,  3.05it/s]
 87%|████████▋ | 780/900 [25:39<00:38,  3.12it/s]
 87%|████████▋ | 781/900 [25:40<00:37,  3.15it/s]
 87%|████████▋ | 782/900 [25:40<00:38,  3.10it/s]
 87%|████████▋ | 783/900 [25:40<00:37,  3.13it/s]
 87%|████████▋ | 784/900 [25:41<00:37,  3.09it/s]
 87%|████████▋ | 785/900 [25:41<00:41,  2.79it/s]
 87%|████████▋ | 786/900 [25:42<00:39,  2.91it/s]
 87%|████████▋ | 787/900 [25:42<00:37,  2.98it/s]
 88%|████████▊ | 788/900 [25:42<00:36,  3.06it/s]
 88%|████████▊ | 789/900 [25:42<00:35,  3.09it/s]
 88%|████████▊ | 790/900 [25:43<00:34,  3.15it/s]
 88%|████████▊ | 791/900 [25:43<00:33,  3.21it/s]
 88%|████████▊ | 792/900 [25:43<00:33,  3.25it/s]
 88%|████████▊ | 793/900 [25:44<00:36,  2.92it/s]
 88%|████████▊ | 794/900 [25:44<00:35,  2.99it/s]
 88%|████████▊ | 795/900 [25:44<00:33,  3.09it/s]
 88%|████████▊ | 796/900 [25:45<00:32,  3.18it/s]
 89%|████████▊ | 797/900 [25:45<00:32,  3.21it/s]
 89%|████████▊ | 798/900 [25:45<00:31,  3.25it/s]
 89%|████████▉ | 799/900 [25:46<00:30,  3.27it/s]
 89%|████████▉ | 800/900 [25:46<00:30,  3.31it/s]
 89%|████████▉ | 801/900 [25:46<00:36,  2.71it/s]
 89%|████████▉ | 802/900 [25:47<00:34,  2.86it/s]
 89%|████████▉ | 803/900 [25:47<00:32,  2.97it/s]
 89%|████████▉ | 804/900 [25:47<00:31,  3.05it/s]
 89%|████████▉ | 805/900 [25:48<00:30,  3.11it/s]
 90%|████████▉ | 806/900 [25:48<00:30,  3.03it/s]
 90%|████████▉ | 807/900 [25:48<00:29,  3.11it/s]
 90%|████████▉ | 808/900 [25:49<00:29,  3.16it/s]
 90%|████████▉ | 809/900 [25:49<00:31,  2.85it/s]
 90%|█████████ | 810/900 [25:49<00:30,  3.00it/s]
 90%|█████████ | 811/900 [25:50<00:28,  3.11it/s]
 90%|█████████ | 812/900 [25:50<00:28,  3.14it/s]
 90%|█████████ | 813/900 [25:50<00:27,  3.17it/s]
 90%|█████████ | 814/900 [25:51<00:26,  3.21it/s]
 91%|█████████ | 815/900 [25:51<00:26,  3.20it/s]
 91%|█████████ | 816/900 [25:51<00:25,  3.23it/s]
 91%|█████████ | 817/900 [25:59<03:40,  2.65s/it]
 91%|█████████ | 818/900 [26:00<02:40,  1.95s/it]
 91%|█████████ | 819/900 [26:00<01:57,  1.46s/it]
 91%|█████████ | 820/900 [26:00<01:28,  1.11s/it]
 91%|█████████ | 821/900 [26:00<01:08,  1.15it/s]
 91%|█████████▏| 822/900 [26:01<00:54,  1.44it/s]
 91%|█████████▏| 823/900 [26:01<00:44,  1.73it/s]
 92%|█████████▏| 824/900 [26:01<00:37,  2.02it/s]
 92%|█████████▏| 825/900 [26:02<00:35,  2.12it/s]
 92%|█████████▏| 826/900 [26:02<00:31,  2.36it/s]
 92%|█████████▏| 827/900 [26:02<00:28,  2.55it/s]
 92%|█████████▏| 828/900 [26:03<00:26,  2.73it/s]
 92%|█████████▏| 829/900 [26:03<00:24,  2.86it/s]
 92%|█████████▏| 830/900 [26:03<00:24,  2.89it/s]
 92%|█████████▏| 831/900 [26:04<00:23,  2.99it/s]
 92%|█████████▏| 832/900 [26:04<00:22,  3.07it/s]
 93%|█████████▎| 833/900 [26:05<00:25,  2.61it/s]
 93%|█████████▎| 834/900 [26:05<00:23,  2.77it/s]
 93%|█████████▎| 835/900 [26:05<00:22,  2.87it/s]
 93%|█████████▎| 836/900 [26:05<00:21,  2.98it/s]
 93%|█████████▎| 837/900 [26:06<00:20,  3.09it/s]
 93%|█████████▎| 838/900 [26:06<00:19,  3.14it/s]
 93%|█████████▎| 839/900 [26:06<00:19,  3.17it/s]
 93%|█████████▎| 840/900 [26:07<00:18,  3.18it/s]
 93%|█████████▎| 841/900 [26:07<00:23,  2.46it/s]
 94%|█████████▎| 842/900 [26:08<00:21,  2.68it/s]
 94%|█████████▎| 843/900 [26:08<00:19,  2.86it/s]
 94%|█████████▍| 844/900 [26:08<00:18,  2.97it/s]
 94%|█████████▍| 845/900 [26:09<00:18,  3.02it/s]
 94%|█████████▍| 846/900 [26:09<00:17,  3.05it/s]
 94%|█████████▍| 847/900 [26:09<00:17,  3.05it/s]
 94%|█████████▍| 848/900 [26:09<00:16,  3.07it/s]
 94%|█████████▍| 849/900 [26:10<00:17,  2.86it/s]
 94%|█████████▍| 850/900 [26:10<00:16,  2.97it/s]
 95%|█████████▍| 851/900 [26:10<00:16,  3.03it/s]
 95%|█████████▍| 852/900 [26:11<00:15,  3.10it/s]
 95%|█████████▍| 853/900 [26:11<00:14,  3.15it/s]
 95%|█████████▍| 854/900 [26:11<00:14,  3.09it/s]
 95%|█████████▌| 855/900 [26:12<00:14,  3.10it/s]
 95%|█████████▌| 856/900 [26:12<00:14,  3.06it/s]
 95%|█████████▌| 857/900 [26:13<00:15,  2.83it/s]
 95%|█████████▌| 858/900 [26:13<00:14,  2.88it/s]
 95%|█████████▌| 859/900 [26:13<00:13,  2.98it/s]
 96%|█████████▌| 860/900 [26:13<00:13,  3.07it/s]
 96%|█████████▌| 861/900 [26:14<00:12,  3.15it/s]
 96%|█████████▌| 862/900 [26:14<00:12,  3.14it/s]
 96%|█████████▌| 863/900 [26:14<00:11,  3.17it/s]
 96%|█████████▌| 864/900 [26:15<00:11,  3.12it/s]
 96%|█████████▌| 865/900 [26:15<00:12,  2.91it/s]
 96%|█████████▌| 866/900 [26:15<00:11,  3.04it/s]
 96%|█████████▋| 867/900 [26:16<00:10,  3.13it/s]
 96%|█████████▋| 868/900 [26:16<00:10,  3.17it/s]
 97%|█████████▋| 869/900 [26:16<00:09,  3.21it/s]
 97%|█████████▋| 870/900 [26:17<00:09,  3.28it/s]
 97%|█████████▋| 871/900 [26:17<00:08,  3.31it/s]
 97%|█████████▋| 872/900 [26:17<00:08,  3.31it/s]
 97%|█████████▋| 873/900 [26:18<00:11,  2.30it/s]
 97%|█████████▋| 874/900 [26:18<00:10,  2.55it/s]
 97%|█████████▋| 875/900 [26:19<00:09,  2.76it/s]
 97%|█████████▋| 876/900 [26:19<00:08,  2.92it/s]
 97%|█████████▋| 877/900 [26:19<00:07,  3.03it/s]
 98%|█████████▊| 878/900 [26:19<00:07,  3.12it/s]
 98%|█████████▊| 879/900 [26:20<00:06,  3.17it/s]
 98%|█████████▊| 880/900 [26:20<00:06,  3.25it/s]
 98%|█████████▊| 881/900 [26:37<01:38,  5.19s/it]
 98%|█████████▊| 882/900 [26:37<01:07,  3.72s/it]
 98%|█████████▊| 883/900 [26:37<00:45,  2.70s/it]
 98%|█████████▊| 884/900 [26:38<00:31,  1.99s/it]
 98%|█████████▊| 885/900 [26:38<00:22,  1.49s/it]
 98%|█████████▊| 886/900 [26:38<00:16,  1.15s/it]
 99%|█████████▊| 887/900 [26:39<00:11,  1.12it/s]
 99%|█████████▊| 888/900 [26:39<00:08,  1.38it/s]
 99%|█████████▉| 889/900 [26:39<00:06,  1.58it/s]
 99%|█████████▉| 890/900 [26:40<00:05,  1.85it/s]
 99%|█████████▉| 891/900 [26:40<00:04,  2.11it/s]
 99%|█████████▉| 892/900 [26:40<00:03,  2.31it/s]
 99%|█████████▉| 893/900 [26:41<00:02,  2.54it/s]
 99%|█████████▉| 894/900 [26:41<00:02,  2.69it/s]
 99%|█████████▉| 895/900 [26:41<00:01,  2.86it/s]
100%|█████████▉| 896/900 [26:41<00:01,  3.00it/s]
100%|█████████▉| 897/900 [26:43<00:01,  1.69it/s]
100%|█████████▉| 898/900 [26:43<00:01,  2.00it/s]
100%|█████████▉| 899/900 [26:43<00:00,  2.28it/s]
100%|█████████▉| 899/900 [26:44<00:01,  1.78s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/log_0_env0.json.
+ReorientWhiteMugsTask_0 complete: task_name: ReorientWhiteMugsTask, run_name: ReorientWhiteMugsTask_0, run: 0, env_id: 0, policy: harness, instruction: Make sure all the white mugs are upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -10.22661459989939, 'joint_sparc_mean': -12.927492690294281, 'ee_isj': 77427.96067756512, 'joint_isj': 2013641.2099790138, 'ee_path_length': 14.158784172827307, 'joint_rmse_mean': 1.4760494161675264, 'ee_speed_max': 5.0111284255981445, 'ee_speed_mean': 0.22553285956382751}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 1, 'OBJECT_OUT_OF_SCENE': 7, 'OBJECT_MOVED': 7, 'OBJECT_BUMPED': 17, 'GRIPPER_HIT_TABLE': 2}, instruction_type: default, timing: {'policy_inference_s': 1336.451, 'policy_inference_avg_ms': 1484.9, 'env_step_s': 258.501, 'env_step_avg_ms': 287.2, 'video_write_s': 8.717, 'video_write_avg_ms': 9.7, 'wall_total_s': 1603.67, 'it_per_sec': 0.56}, score: 0.0, reason: Condition not satisfied: object_upright(object=sideways_white_mug, require_gripper_detached=True) (step 2/2), harness_episode_id: c782b17887764a1aa9540111c2676bc8-0
+[RoboLab] Running ReorientWhiteMugsTask_1: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:58<14:37:34, 58.57s/it]
  0%|          | 2/900 [00:58<6:03:43, 24.30s/it] 
  0%|          | 3/900 [00:59<3:19:25, 13.34s/it]
  0%|          | 4/900 [00:59<2:02:21,  8.19s/it]
  1%|          | 5/900 [00:59<1:19:44,  5.35s/it]
  1%|          | 6/900 [01:00<54:01,  3.63s/it]  
  1%|          | 7/900 [01:00<37:44,  2.54s/it]
  1%|          | 8/900 [01:00<27:01,  1.82s/it]
  1%|          | 9/900 [01:21<1:54:44,  7.73s/it]
  1%|          | 10/900 [01:21<1:20:31,  5.43s/it]
  1%|          | 11/900 [01:21<57:14,  3.86s/it]  
  1%|▏         | 12/900 [01:22<41:02,  2.77s/it]
  1%|▏         | 13/900 [01:22<30:00,  2.03s/it]
  2%|▏         | 14/900 [01:22<22:14,  1.51s/it]
  2%|▏         | 15/900 [01:23<16:47,  1.14s/it]
  2%|▏         | 16/900 [01:23<12:58,  1.14it/s]
  2%|▏         | 17/900 [01:30<40:10,  2.73s/it]
  2%|▏         | 18/900 [01:30<29:20,  2.00s/it]
  2%|▏         | 19/900 [01:31<21:47,  1.48s/it]
  2%|▏         | 20/900 [01:31<16:28,  1.12s/it]
  2%|▏         | 21/900 [01:31<12:47,  1.15it/s]
  2%|▏         | 22/900 [01:31<10:14,  1.43it/s]
  3%|▎         | 23/900 [01:32<08:22,  1.74it/s]
  3%|▎         | 24/900 [01:32<07:08,  2.05it/s]
  3%|▎         | 25/900 [01:38<31:27,  2.16s/it]
  3%|▎         | 26/900 [01:38<23:17,  1.60s/it]
  3%|▎         | 27/900 [01:39<17:33,  1.21s/it]
  3%|▎         | 28/900 [01:39<13:33,  1.07it/s]
  3%|▎         | 29/900 [01:39<10:50,  1.34it/s]
  3%|▎         | 30/900 [01:40<08:51,  1.64it/s]
  3%|▎         | 31/900 [01:40<07:33,  1.91it/s]
  4%|▎         | 32/900 [01:40<06:32,  2.21it/s]
  4%|▎         | 33/900 [02:00<1:29:37,  6.20s/it]
  4%|▍         | 34/900 [02:00<1:03:55,  4.43s/it]
  4%|▍         | 35/900 [02:00<45:55,  3.19s/it]  
  4%|▍         | 36/900 [02:01<33:20,  2.32s/it]
  4%|▍         | 37/900 [02:01<24:33,  1.71s/it]
  4%|▍         | 38/900 [02:01<18:29,  1.29s/it]
  4%|▍         | 39/900 [02:01<14:13,  1.01it/s]
  4%|▍         | 40/900 [02:02<11:17,  1.27it/s]
  5%|▍         | 41/900 [02:17<1:15:13,  5.25s/it]
  5%|▍         | 42/900 [02:18<53:56,  3.77s/it]  
  5%|▍         | 43/900 [02:18<39:04,  2.74s/it]
  5%|▍         | 44/900 [02:18<28:34,  2.00s/it]
  5%|▌         | 45/900 [02:19<21:12,  1.49s/it]
  5%|▌         | 46/900 [02:19<16:05,  1.13s/it]
  5%|▌         | 47/900 [02:19<12:38,  1.12it/s]
  5%|▌         | 48/900 [02:20<10:07,  1.40it/s]
  5%|▌         | 49/900 [02:26<35:41,  2.52s/it]
  6%|▌         | 50/900 [02:27<26:16,  1.85s/it]
  6%|▌         | 51/900 [02:27<19:42,  1.39s/it]
  6%|▌         | 52/900 [02:27<15:08,  1.07s/it]
  6%|▌         | 53/900 [02:28<11:58,  1.18it/s]
  6%|▌         | 54/900 [02:28<09:44,  1.45it/s]
  6%|▌         | 55/900 [02:28<08:09,  1.73it/s]
  6%|▌         | 56/900 [02:29<07:04,  1.99it/s]
  6%|▋         | 57/900 [02:42<1:01:10,  4.35s/it]
  6%|▋         | 58/900 [02:42<44:08,  3.15s/it]  
  7%|▋         | 59/900 [02:43<32:13,  2.30s/it]
  7%|▋         | 60/900 [02:43<23:56,  1.71s/it]
  7%|▋         | 61/900 [02:43<18:14,  1.30s/it]
  7%|▋         | 62/900 [02:44<14:05,  1.01s/it]
  7%|▋         | 63/900 [02:44<11:09,  1.25it/s]
  7%|▋         | 64/900 [02:44<09:04,  1.54it/s]
  7%|▋         | 65/900 [03:01<1:15:35,  5.43s/it]
  7%|▋         | 66/900 [03:01<54:10,  3.90s/it]  
  7%|▋         | 67/900 [03:01<39:18,  2.83s/it]
  8%|▊         | 68/900 [03:02<28:43,  2.07s/it]
  8%|▊         | 69/900 [03:02<21:18,  1.54s/it]
  8%|▊         | 70/900 [03:02<16:11,  1.17s/it]
  8%|▊         | 71/900 [03:03<12:35,  1.10it/s]
  8%|▊         | 72/900 [03:03<10:01,  1.38it/s]
  8%|▊         | 73/900 [03:10<38:11,  2.77s/it]
  8%|▊         | 74/900 [03:11<27:56,  2.03s/it]
  8%|▊         | 75/900 [03:11<20:45,  1.51s/it]
  8%|▊         | 76/900 [03:11<15:42,  1.14s/it]
  9%|▊         | 77/900 [03:12<12:11,  1.12it/s]
  9%|▊         | 78/900 [03:12<09:45,  1.40it/s]
  9%|▉         | 79/900 [03:12<08:01,  1.71it/s]
  9%|▉         | 80/900 [03:13<06:48,  2.01it/s]
  9%|▉         | 81/900 [03:26<57:51,  4.24s/it]
  9%|▉         | 82/900 [03:26<41:38,  3.05s/it]
  9%|▉         | 83/900 [03:26<30:19,  2.23s/it]
  9%|▉         | 84/900 [03:26<22:26,  1.65s/it]
  9%|▉         | 85/900 [03:27<16:54,  1.24s/it]
 10%|▉         | 86/900 [03:27<13:04,  1.04it/s]
 10%|▉         | 87/900 [03:27<10:21,  1.31it/s]
 10%|▉         | 88/900 [03:28<08:26,  1.60it/s]
 10%|▉         | 89/900 [03:34<31:50,  2.36s/it]
 10%|█         | 90/900 [03:34<23:29,  1.74s/it]
 10%|█         | 91/900 [03:35<17:38,  1.31s/it]
 10%|█         | 92/900 [03:35<13:32,  1.01s/it]
 10%|█         | 93/900 [03:35<10:38,  1.26it/s]
 10%|█         | 94/900 [03:36<08:36,  1.56it/s]
 11%|█         | 95/900 [03:36<07:15,  1.85it/s]
 11%|█         | 96/900 [03:36<06:17,  2.13it/s]
 11%|█         | 97/900 [03:48<52:50,  3.95s/it]
 11%|█         | 98/900 [03:48<38:07,  2.85s/it]
 11%|█         | 99/900 [03:49<27:51,  2.09s/it]
 11%|█         | 100/900 [03:49<20:42,  1.55s/it]
 11%|█         | 101/900 [03:49<15:40,  1.18s/it]
 11%|█▏        | 102/900 [03:50<12:11,  1.09it/s]
 11%|█▏        | 103/900 [03:50<09:41,  1.37it/s]
 12%|█▏        | 104/900 [03:50<07:54,  1.68it/s]
 12%|█▏        | 105/900 [04:00<42:20,  3.20s/it]
 12%|█▏        | 106/900 [04:00<30:48,  2.33s/it]
 12%|█▏        | 107/900 [04:00<22:44,  1.72s/it]
 12%|█▏        | 108/900 [04:00<17:02,  1.29s/it]
 12%|█▏        | 109/900 [04:01<13:02,  1.01it/s]
 12%|█▏        | 110/900 [04:01<10:15,  1.28it/s]
 12%|█▏        | 111/900 [04:01<08:18,  1.58it/s]
 12%|█▏        | 112/900 [04:02<06:57,  1.89it/s]
 13%|█▎        | 113/900 [04:11<40:30,  3.09s/it]
 13%|█▎        | 114/900 [04:11<29:25,  2.25s/it]
 13%|█▎        | 115/900 [04:11<21:39,  1.66s/it]
 13%|█▎        | 116/900 [04:11<16:15,  1.24s/it]
 13%|█▎        | 117/900 [04:12<12:34,  1.04it/s]
 13%|█▎        | 118/900 [04:12<09:54,  1.32it/s]
 13%|█▎        | 119/900 [04:12<08:04,  1.61it/s]
 13%|█▎        | 120/900 [04:13<06:47,  1.92it/s]
 13%|█▎        | 121/900 [04:22<39:40,  3.06s/it]
 14%|█▎        | 122/900 [04:22<28:51,  2.23s/it]
 14%|█▎        | 123/900 [04:22<21:23,  1.65s/it]
 14%|█▍        | 124/900 [04:23<16:05,  1.24s/it]
 14%|█▍        | 125/900 [04:23<12:27,  1.04it/s]
 14%|█▍        | 126/900 [04:23<09:50,  1.31it/s]
 14%|█▍        | 127/900 [04:23<08:03,  1.60it/s]
 14%|█▍        | 128/900 [04:24<06:48,  1.89it/s]
 14%|█▍        | 129/900 [04:29<25:56,  2.02s/it]
 14%|█▍        | 130/900 [04:30<19:21,  1.51s/it]
 15%|█▍        | 131/900 [04:30<14:47,  1.15s/it]
 15%|█▍        | 132/900 [04:30<11:31,  1.11it/s]
 15%|█▍        | 133/900 [04:30<09:14,  1.38it/s]
 15%|█▍        | 134/900 [04:31<07:40,  1.66it/s]
 15%|█▌        | 135/900 [04:31<06:38,  1.92it/s]
 15%|█▌        | 136/900 [04:31<05:51,  2.18it/s]
 15%|█▌        | 137/900 [04:36<22:07,  1.74s/it]
 15%|█▌        | 138/900 [04:37<16:39,  1.31s/it]
 15%|█▌        | 139/900 [04:37<12:58,  1.02s/it]
 16%|█▌        | 140/900 [04:37<10:16,  1.23it/s]
 16%|█▌        | 141/900 [04:38<08:28,  1.49it/s]
 16%|█▌        | 142/900 [04:38<07:07,  1.77it/s]
 16%|█▌        | 143/900 [04:38<06:14,  2.02it/s]
 16%|█▌        | 144/900 [04:38<05:32,  2.27it/s]
 16%|█▌        | 145/900 [04:46<30:55,  2.46s/it]
 16%|█▌        | 146/900 [04:46<22:50,  1.82s/it]
 16%|█▋        | 147/900 [04:46<17:12,  1.37s/it]
 16%|█▋        | 148/900 [04:47<13:13,  1.06s/it]
 17%|█▋        | 149/900 [04:47<10:21,  1.21it/s]
 17%|█▋        | 150/900 [04:47<08:19,  1.50it/s]
 17%|█▋        | 151/900 [04:47<06:54,  1.81it/s]
 17%|█▋        | 152/900 [04:48<05:54,  2.11it/s]
 17%|█▋        | 153/900 [05:01<53:57,  4.33s/it]
 17%|█▋        | 154/900 [05:01<38:46,  3.12s/it]
 17%|█▋        | 155/900 [05:02<28:09,  2.27s/it]
 17%|█▋        | 156/900 [05:02<20:45,  1.67s/it]
 17%|█▋        | 157/900 [05:02<15:37,  1.26s/it]
 18%|█▊        | 158/900 [05:03<12:00,  1.03it/s]
 18%|█▊        | 159/900 [05:03<09:28,  1.30it/s]
 18%|█▊        | 160/900 [05:03<07:42,  1.60it/s]
 18%|█▊        | 161/900 [05:11<33:48,  2.75s/it]
 18%|█▊        | 162/900 [05:11<24:49,  2.02s/it]
 18%|█▊        | 163/900 [05:11<18:34,  1.51s/it]
 18%|█▊        | 164/900 [05:12<14:10,  1.16s/it]
 18%|█▊        | 165/900 [05:12<11:04,  1.11it/s]
 18%|█▊        | 166/900 [05:12<08:54,  1.37it/s]
 19%|█▊        | 167/900 [05:13<07:24,  1.65it/s]
 19%|█▊        | 168/900 [05:13<06:23,  1.91it/s]
 19%|█▉        | 169/900 [05:19<26:42,  2.19s/it]
 19%|█▉        | 170/900 [05:20<19:49,  1.63s/it]
 19%|█▉        | 171/900 [05:20<15:00,  1.24s/it]
 19%|█▉        | 172/900 [05:20<11:38,  1.04it/s]
 19%|█▉        | 173/900 [05:20<09:23,  1.29it/s]
 19%|█▉        | 174/900 [05:21<07:42,  1.57it/s]
 19%|█▉        | 175/900 [05:21<06:30,  1.85it/s]
 20%|█▉        | 176/900 [05:21<05:41,  2.12it/s]
 20%|█▉        | 177/900 [05:29<29:46,  2.47s/it]
 20%|█▉        | 178/900 [05:29<21:56,  1.82s/it]
 20%|█▉        | 179/900 [05:29<16:32,  1.38s/it]
 20%|██        | 180/900 [05:30<12:42,  1.06s/it]
 20%|██        | 181/900 [05:30<10:02,  1.19it/s]
 20%|██        | 182/900 [05:30<08:10,  1.46it/s]
 20%|██        | 183/900 [05:30<06:53,  1.74it/s]
 20%|██        | 184/900 [05:31<05:57,  2.01it/s]
 21%|██        | 185/900 [05:38<28:57,  2.43s/it]
 21%|██        | 186/900 [05:38<21:22,  1.80s/it]
 21%|██        | 187/900 [05:38<16:06,  1.36s/it]
 21%|██        | 188/900 [05:39<12:23,  1.04s/it]
 21%|██        | 189/900 [05:39<09:48,  1.21it/s]
 21%|██        | 190/900 [05:39<07:59,  1.48it/s]
 21%|██        | 191/900 [05:40<06:46,  1.75it/s]
 21%|██▏       | 192/900 [05:40<05:51,  2.01it/s]
 21%|██▏       | 193/900 [05:57<1:05:10,  5.53s/it]
 22%|██▏       | 194/900 [05:58<46:40,  3.97s/it]  
 22%|██▏       | 195/900 [05:58<33:43,  2.87s/it]
 22%|██▏       | 196/900 [05:58<24:42,  2.11s/it]
 22%|██▏       | 197/900 [05:59<18:24,  1.57s/it]
 22%|██▏       | 198/900 [05:59<13:58,  1.19s/it]
 22%|██▏       | 199/900 [05:59<10:52,  1.08it/s]
 22%|██▏       | 200/900 [06:00<08:42,  1.34it/s]
 22%|██▏       | 201/900 [06:13<52:40,  4.52s/it]
 22%|██▏       | 202/900 [06:13<37:55,  3.26s/it]
 23%|██▎       | 203/900 [06:13<27:35,  2.37s/it]
 23%|██▎       | 204/900 [06:14<20:22,  1.76s/it]
 23%|██▎       | 205/900 [06:14<15:22,  1.33s/it]
 23%|██▎       | 206/900 [06:14<11:56,  1.03s/it]
 23%|██▎       | 207/900 [06:15<09:27,  1.22it/s]
 23%|██▎       | 208/900 [06:15<07:38,  1.51it/s]
 23%|██▎       | 209/900 [06:24<37:41,  3.27s/it]
 23%|██▎       | 210/900 [06:25<27:22,  2.38s/it]
 23%|██▎       | 211/900 [06:25<20:14,  1.76s/it]
 24%|██▎       | 212/900 [06:25<15:07,  1.32s/it]
 24%|██▎       | 213/900 [06:26<11:36,  1.01s/it]
 24%|██▍       | 214/900 [06:26<09:05,  1.26it/s]
 24%|██▍       | 215/900 [06:26<07:23,  1.55it/s]
 24%|██▍       | 216/900 [06:27<06:09,  1.85it/s]
 24%|██▍       | 217/900 [06:34<31:24,  2.76s/it]
 24%|██▍       | 218/900 [06:35<22:56,  2.02s/it]
 24%|██▍       | 219/900 [06:35<17:01,  1.50s/it]
 24%|██▍       | 220/900 [06:35<12:51,  1.14s/it]
 25%|██▍       | 221/900 [06:36<10:00,  1.13it/s]
 25%|██▍       | 222/900 [06:36<07:58,  1.42it/s]
 25%|██▍       | 223/900 [06:36<06:35,  1.71it/s]
 25%|██▍       | 224/900 [06:36<05:36,  2.01it/s]
 25%|██▌       | 225/900 [06:54<1:03:08,  5.61s/it]
 25%|██▌       | 226/900 [06:54<45:07,  4.02s/it]  
 25%|██▌       | 227/900 [06:55<32:33,  2.90s/it]
 25%|██▌       | 228/900 [06:55<23:43,  2.12s/it]
 25%|██▌       | 229/900 [06:55<17:36,  1.57s/it]
 26%|██▌       | 230/900 [06:56<13:16,  1.19s/it]
 26%|██▌       | 231/900 [06:56<10:18,  1.08it/s]
 26%|██▌       | 232/900 [06:56<08:12,  1.36it/s]
 26%|██▌       | 233/900 [07:05<34:59,  3.15s/it]
 26%|██▌       | 234/900 [07:05<25:28,  2.30s/it]
 26%|██▌       | 235/900 [07:06<18:51,  1.70s/it]
 26%|██▌       | 236/900 [07:06<14:09,  1.28s/it]
 26%|██▋       | 237/900 [07:06<10:50,  1.02it/s]
 26%|██▋       | 238/900 [07:06<08:32,  1.29it/s]
 27%|██▋       | 239/900 [07:07<06:54,  1.59it/s]
 27%|██▋       | 240/900 [07:07<05:48,  1.89it/s]
 27%|██▋       | 241/900 [07:20<45:43,  4.16s/it]
 27%|██▋       | 242/900 [07:20<32:55,  3.00s/it]
 27%|██▋       | 243/900 [07:20<23:59,  2.19s/it]
 27%|██▋       | 244/900 [07:21<17:44,  1.62s/it]
 27%|██▋       | 245/900 [07:21<13:24,  1.23s/it]
 27%|██▋       | 246/900 [07:21<10:21,  1.05it/s]
 27%|██▋       | 247/900 [07:21<08:10,  1.33it/s]
 28%|██▊       | 248/900 [07:22<06:41,  1.62it/s]
 28%|██▊       | 249/900 [07:29<27:40,  2.55s/it]
 28%|██▊       | 250/900 [07:29<20:21,  1.88s/it]
 28%|██▊       | 251/900 [07:29<15:17,  1.41s/it]
 28%|██▊       | 252/900 [07:30<11:43,  1.09s/it]
 28%|██▊       | 253/900 [07:30<09:15,  1.16it/s]
 28%|██▊       | 254/900 [07:30<07:29,  1.44it/s]
 28%|██▊       | 255/900 [07:31<06:16,  1.71it/s]
 28%|██▊       | 256/900 [07:31<05:22,  1.99it/s]
 29%|██▊       | 257/900 [07:45<49:36,  4.63s/it]
 29%|██▊       | 258/900 [07:46<35:40,  3.33s/it]
 29%|██▉       | 259/900 [07:46<25:56,  2.43s/it]
 29%|██▉       | 260/900 [07:46<19:19,  1.81s/it]
 29%|██▉       | 261/900 [07:47<14:32,  1.37s/it]
 29%|██▉       | 262/900 [07:47<11:09,  1.05s/it]
 29%|██▉       | 263/900 [07:47<08:51,  1.20it/s]
 29%|██▉       | 264/900 [07:48<07:13,  1.47it/s]
 29%|██▉       | 265/900 [07:58<37:38,  3.56s/it]
 30%|██▉       | 266/900 [07:58<27:19,  2.59s/it]
 30%|██▉       | 267/900 [07:58<20:11,  1.91s/it]
 30%|██▉       | 268/900 [07:59<15:03,  1.43s/it]
 30%|██▉       | 269/900 [07:59<11:27,  1.09s/it]
 30%|███       | 270/900 [07:59<08:53,  1.18it/s]
 30%|███       | 271/900 [08:00<07:06,  1.47it/s]
 30%|███       | 272/900 [08:00<05:51,  1.79it/s]
 30%|███       | 273/900 [08:19<1:02:59,  6.03s/it]
 30%|███       | 274/900 [08:19<44:55,  4.31s/it]  
 31%|███       | 275/900 [08:19<32:19,  3.10s/it]
 31%|███       | 276/900 [08:20<23:28,  2.26s/it]
 31%|███       | 277/900 [08:20<17:21,  1.67s/it]
 31%|███       | 278/900 [08:20<13:02,  1.26s/it]
 31%|███       | 279/900 [08:20<10:00,  1.03it/s]
 31%|███       | 280/900 [08:21<07:52,  1.31it/s]
 31%|███       | 281/900 [08:41<1:06:36,  6.46s/it]
 31%|███▏      | 282/900 [08:41<47:27,  4.61s/it]  
 31%|███▏      | 283/900 [08:41<34:02,  3.31s/it]
 32%|███▏      | 284/900 [08:41<24:41,  2.40s/it]
 32%|███▏      | 285/900 [08:42<18:06,  1.77s/it]
 32%|███▏      | 286/900 [08:42<13:33,  1.33s/it]
 32%|███▏      | 287/900 [08:42<10:21,  1.01s/it]
 32%|███▏      | 288/900 [08:43<08:09,  1.25it/s]
 32%|███▏      | 289/900 [08:50<29:24,  2.89s/it]
 32%|███▏      | 290/900 [08:51<21:29,  2.11s/it]
 32%|███▏      | 291/900 [08:51<15:57,  1.57s/it]
 32%|███▏      | 292/900 [08:51<12:04,  1.19s/it]
 33%|███▎      | 293/900 [08:52<09:21,  1.08it/s]
 33%|███▎      | 294/900 [08:52<07:27,  1.35it/s]
 33%|███▎      | 295/900 [08:52<06:10,  1.63it/s]
 33%|███▎      | 296/900 [08:52<05:13,  1.93it/s]
 33%|███▎      | 297/900 [09:04<37:06,  3.69s/it]
 33%|███▎      | 298/900 [09:04<26:47,  2.67s/it]
 33%|███▎      | 299/900 [09:04<19:36,  1.96s/it]
 33%|███▎      | 300/900 [09:04<14:34,  1.46s/it]
 33%|███▎      | 301/900 [09:05<11:05,  1.11s/it]
 34%|███▎      | 302/900 [09:05<08:35,  1.16it/s]
 34%|███▎      | 303/900 [09:05<06:51,  1.45it/s]
 34%|███▍      | 304/900 [09:06<05:36,  1.77it/s]
 34%|███▍      | 305/900 [09:17<38:58,  3.93s/it]
 34%|███▍      | 306/900 [09:18<28:06,  2.84s/it]
 34%|███▍      | 307/900 [09:18<20:29,  2.07s/it]
 34%|███▍      | 308/900 [09:18<15:09,  1.54s/it]
 34%|███▍      | 309/900 [09:18<11:25,  1.16s/it]
 34%|███▍      | 310/900 [09:19<08:48,  1.12it/s]
 35%|███▍      | 311/900 [09:19<07:02,  1.39it/s]
 35%|███▍      | 312/900 [09:19<05:45,  1.70it/s]
 35%|███▍      | 313/900 [09:30<36:31,  3.73s/it]
 35%|███▍      | 314/900 [09:31<26:24,  2.70s/it]
 35%|███▌      | 315/900 [09:31<19:20,  1.98s/it]
 35%|███▌      | 316/900 [09:31<14:22,  1.48s/it]
 35%|███▌      | 317/900 [09:32<10:58,  1.13s/it]
 35%|███▌      | 318/900 [09:32<08:31,  1.14it/s]
 35%|███▌      | 319/900 [09:32<06:47,  1.43it/s]
 36%|███▌      | 320/900 [09:33<05:34,  1.73it/s]
 36%|███▌      | 321/900 [09:47<45:14,  4.69s/it]
 36%|███▌      | 322/900 [09:47<32:26,  3.37s/it]
 36%|███▌      | 323/900 [09:47<23:32,  2.45s/it]
 36%|███▌      | 324/900 [09:48<17:17,  1.80s/it]
 36%|███▌      | 325/900 [09:48<12:57,  1.35s/it]
 36%|███▌      | 326/900 [09:48<09:53,  1.03s/it]
 36%|███▋      | 327/900 [09:49<07:46,  1.23it/s]
 36%|███▋      | 328/900 [09:49<06:15,  1.52it/s]
 37%|███▋      | 329/900 [09:56<25:45,  2.71s/it]
 37%|███▋      | 330/900 [09:57<18:49,  1.98s/it]
 37%|███▋      | 331/900 [09:57<14:01,  1.48s/it]
 37%|███▋      | 332/900 [09:57<10:36,  1.12s/it]
 37%|███▋      | 333/900 [09:58<08:16,  1.14it/s]
 37%|███▋      | 334/900 [09:58<06:37,  1.42it/s]
 37%|███▋      | 335/900 [09:58<05:30,  1.71it/s]
 37%|███▋      | 336/900 [09:58<04:38,  2.02it/s]
 37%|███▋      | 337/900 [10:10<36:41,  3.91s/it]
 38%|███▊      | 338/900 [10:11<26:26,  2.82s/it]
 38%|███▊      | 339/900 [10:11<19:16,  2.06s/it]
 38%|███▊      | 340/900 [10:11<14:16,  1.53s/it]
 38%|███▊      | 341/900 [10:11<10:49,  1.16s/it]
 38%|███▊      | 342/900 [10:12<08:31,  1.09it/s]
 38%|███▊      | 343/900 [10:12<06:48,  1.37it/s]
 38%|███▊      | 344/900 [10:12<05:33,  1.67it/s]
 38%|███▊      | 345/900 [10:23<32:17,  3.49s/it]
 38%|███▊      | 346/900 [10:23<23:21,  2.53s/it]
 39%|███▊      | 347/900 [10:23<17:09,  1.86s/it]
 39%|███▊      | 348/900 [10:24<12:46,  1.39s/it]
 39%|███▉      | 349/900 [10:24<09:46,  1.07s/it]
 39%|███▉      | 350/900 [10:24<07:41,  1.19it/s]
 39%|███▉      | 351/900 [10:24<06:12,  1.47it/s]
 39%|███▉      | 352/900 [10:25<05:09,  1.77it/s]
 39%|███▉      | 353/900 [10:33<24:59,  2.74s/it]
 39%|███▉      | 354/900 [10:33<18:14,  2.01s/it]
 39%|███▉      | 355/900 [10:33<13:35,  1.50s/it]
 40%|███▉      | 356/900 [10:33<10:17,  1.14s/it]
 40%|███▉      | 357/900 [10:34<08:01,  1.13it/s]
 40%|███▉      | 358/900 [10:34<06:23,  1.41it/s]
 40%|███▉      | 359/900 [10:34<05:15,  1.71it/s]
 40%|████      | 360/900 [10:35<04:28,  2.01it/s]
 40%|████      | 361/900 [10:46<33:47,  3.76s/it]
 40%|████      | 362/900 [10:46<24:24,  2.72s/it]
 40%|████      | 363/900 [10:47<17:55,  2.00s/it]
 40%|████      | 364/900 [10:47<13:18,  1.49s/it]
 41%|████      | 365/900 [10:47<10:06,  1.13s/it]
 41%|████      | 366/900 [10:48<07:50,  1.13it/s]
 41%|████      | 367/900 [10:48<06:16,  1.41it/s]
 41%|████      | 368/900 [10:48<05:08,  1.72it/s]
 41%|████      | 369/900 [10:57<27:48,  3.14s/it]
 41%|████      | 370/900 [10:58<20:13,  2.29s/it]
 41%|████      | 371/900 [10:58<14:58,  1.70s/it]
 41%|████▏     | 372/900 [10:58<11:15,  1.28s/it]
 41%|████▏     | 373/900 [10:58<08:41,  1.01it/s]
 42%|████▏     | 374/900 [10:59<06:51,  1.28it/s]
 42%|████▏     | 375/900 [10:59<05:34,  1.57it/s]
 42%|████▏     | 376/900 [10:59<04:40,  1.87it/s]
 42%|████▏     | 377/900 [11:07<24:12,  2.78s/it]
 42%|████▏     | 378/900 [11:08<17:43,  2.04s/it]
 42%|████▏     | 379/900 [11:08<13:10,  1.52s/it]
 42%|████▏     | 380/900 [11:08<09:58,  1.15s/it]
 42%|████▏     | 381/900 [11:09<07:46,  1.11it/s]
 42%|████▏     | 382/900 [11:09<06:12,  1.39it/s]
 43%|████▎     | 383/900 [11:09<05:05,  1.69it/s]
 43%|████▎     | 384/900 [11:09<04:19,  1.99it/s]
 43%|████▎     | 385/900 [11:22<34:11,  3.98s/it]
 43%|████▎     | 386/900 [11:22<24:43,  2.89s/it]
 43%|████▎     | 387/900 [11:22<18:06,  2.12s/it]
 43%|████▎     | 388/900 [11:23<13:28,  1.58s/it]
 43%|████▎     | 389/900 [11:23<10:18,  1.21s/it]
 43%|████▎     | 390/900 [11:23<08:00,  1.06it/s]
 43%|████▎     | 391/900 [11:24<06:28,  1.31it/s]
 44%|████▎     | 392/900 [11:24<05:19,  1.59it/s]
 44%|████▎     | 393/900 [11:31<22:23,  2.65s/it]
 44%|████▍     | 394/900 [11:32<16:29,  1.96s/it]
 44%|████▍     | 395/900 [11:32<12:21,  1.47s/it]
 44%|████▍     | 396/900 [11:32<09:27,  1.13s/it]
 44%|████▍     | 397/900 [11:33<07:25,  1.13it/s]
 44%|████▍     | 398/900 [11:33<05:59,  1.40it/s]
 44%|████▍     | 399/900 [11:33<05:00,  1.67it/s]
 44%|████▍     | 400/900 [11:34<04:19,  1.92it/s]
 45%|████▍     | 401/900 [11:44<28:35,  3.44s/it]
 45%|████▍     | 402/900 [11:44<20:50,  2.51s/it]
 45%|████▍     | 403/900 [11:44<15:22,  1.86s/it]
 45%|████▍     | 404/900 [11:45<11:33,  1.40s/it]
 45%|████▌     | 405/900 [11:45<08:52,  1.08s/it]
 45%|████▌     | 406/900 [11:45<06:58,  1.18it/s]
 45%|████▌     | 407/900 [11:46<05:43,  1.44it/s]
 45%|████▌     | 408/900 [11:46<04:49,  1.70it/s]
 45%|████▌     | 409/900 [12:12<1:05:41,  8.03s/it]
 46%|████▌     | 410/900 [12:12<46:42,  5.72s/it]  
 46%|████▌     | 411/900 [12:12<33:25,  4.10s/it]
 46%|████▌     | 412/900 [12:12<24:06,  2.96s/it]
 46%|████▌     | 413/900 [12:13<17:40,  2.18s/it]
 46%|████▌     | 414/900 [12:13<13:11,  1.63s/it]
 46%|████▌     | 415/900 [12:14<10:05,  1.25s/it]
 46%|████▌     | 416/900 [12:14<07:52,  1.02it/s]
 46%|████▋     | 417/900 [12:22<24:11,  3.00s/it]
 46%|████▋     | 418/900 [12:22<17:40,  2.20s/it]
 47%|████▋     | 419/900 [12:22<13:10,  1.64s/it]
 47%|████▋     | 420/900 [12:23<09:56,  1.24s/it]
 47%|████▋     | 421/900 [12:23<07:40,  1.04it/s]
 47%|████▋     | 422/900 [12:23<06:02,  1.32it/s]
 47%|████▋     | 423/900 [12:23<04:55,  1.61it/s]
 47%|████▋     | 424/900 [12:24<04:08,  1.91it/s]
 47%|████▋     | 425/900 [12:35<28:29,  3.60s/it]
 47%|████▋     | 426/900 [12:35<20:35,  2.61s/it]
 47%|████▋     | 427/900 [12:35<15:07,  1.92s/it]
 48%|████▊     | 428/900 [12:35<11:14,  1.43s/it]
 48%|████▊     | 429/900 [12:36<08:31,  1.09s/it]
 48%|████▊     | 430/900 [12:36<06:38,  1.18it/s]
 48%|████▊     | 431/900 [12:36<05:26,  1.44it/s]
 48%|████▊     | 432/900 [12:37<04:32,  1.72it/s]
 48%|████▊     | 433/900 [12:49<33:06,  4.25s/it]
 48%|████▊     | 434/900 [12:50<23:48,  3.07s/it]
 48%|████▊     | 435/900 [12:50<17:22,  2.24s/it]
 48%|████▊     | 436/900 [12:50<12:48,  1.66s/it]
 49%|████▊     | 437/900 [12:51<09:38,  1.25s/it]
 49%|████▊     | 438/900 [12:51<07:25,  1.04it/s]
 49%|████▉     | 439/900 [12:51<05:55,  1.30it/s]
 49%|████▉     | 440/900 [12:52<04:48,  1.59it/s]
 49%|████▉     | 441/900 [12:59<21:28,  2.81s/it]
 49%|████▉     | 442/900 [13:00<15:40,  2.05s/it]
 49%|████▉     | 443/900 [13:00<11:36,  1.53s/it]
 49%|████▉     | 444/900 [13:00<08:47,  1.16s/it]
 49%|████▉     | 445/900 [13:01<06:47,  1.12it/s]
 50%|████▉     | 446/900 [13:01<05:23,  1.40it/s]
 50%|████▉     | 447/900 [13:01<04:27,  1.70it/s]
 50%|████▉     | 448/900 [13:02<03:45,  2.00it/s]
 50%|████▉     | 449/900 [14:15<2:48:29, 22.42s/it]
 50%|█████     | 450/900 [14:15<1:58:19, 15.78s/it]
 50%|█████     | 451/900 [14:16<1:23:17, 11.13s/it]
 50%|█████     | 452/900 [14:16<58:48,  7.88s/it]  
 50%|█████     | 453/900 [14:16<41:43,  5.60s/it]
 50%|█████     | 454/900 [14:17<29:47,  4.01s/it]
 51%|█████     | 455/900 [14:17<21:30,  2.90s/it]
 51%|█████     | 456/900 [14:17<15:40,  2.12s/it]
 51%|█████     | 457/900 [14:29<38:15,  5.18s/it]
 51%|█████     | 458/900 [14:30<27:21,  3.71s/it]
 51%|█████     | 459/900 [14:30<19:44,  2.68s/it]
 51%|█████     | 460/900 [14:30<14:25,  1.97s/it]
 51%|█████     | 461/900 [14:31<10:41,  1.46s/it]
 51%|█████▏    | 462/900 [14:31<08:05,  1.11s/it]
 51%|█████▏    | 463/900 [14:31<06:16,  1.16it/s]
 52%|█████▏    | 464/900 [14:31<05:00,  1.45it/s]
 52%|█████▏    | 465/900 [14:48<40:04,  5.53s/it]
 52%|█████▏    | 466/900 [14:49<28:42,  3.97s/it]
 52%|█████▏    | 467/900 [14:49<20:51,  2.89s/it]
 52%|█████▏    | 468/900 [14:49<15:17,  2.12s/it]
 52%|█████▏    | 469/900 [14:50<11:23,  1.58s/it]
 52%|█████▏    | 470/900 [14:50<08:38,  1.21s/it]
 52%|█████▏    | 471/900 [14:50<06:48,  1.05it/s]
 52%|█████▏    | 472/900 [14:51<05:22,  1.33it/s]
 53%|█████▎    | 473/900 [15:07<38:57,  5.47s/it]
 53%|█████▎    | 474/900 [15:07<27:52,  3.92s/it]
 53%|█████▎    | 475/900 [15:08<20:06,  2.84s/it]
 53%|█████▎    | 476/900 [15:08<14:42,  2.08s/it]
 53%|█████▎    | 477/900 [15:08<10:53,  1.55s/it]
 53%|█████▎    | 478/900 [15:09<08:16,  1.18s/it]
 53%|█████▎    | 479/900 [15:09<06:29,  1.08it/s]
 53%|█████▎    | 480/900 [15:09<05:10,  1.35it/s]
 53%|█████▎    | 481/900 [15:21<27:23,  3.92s/it]
 54%|█████▎    | 482/900 [15:21<19:44,  2.83s/it]
 54%|█████▎    | 483/900 [15:21<14:23,  2.07s/it]
 54%|█████▍    | 484/900 [15:22<10:39,  1.54s/it]
 54%|█████▍    | 485/900 [15:22<08:03,  1.17s/it]
 54%|█████▍    | 486/900 [15:22<06:14,  1.11it/s]
 54%|█████▍    | 487/900 [15:22<04:57,  1.39it/s]
 54%|█████▍    | 488/900 [15:23<04:03,  1.69it/s]
 54%|█████▍    | 489/900 [15:35<28:09,  4.11s/it]
 54%|█████▍    | 490/900 [15:35<20:18,  2.97s/it]
 55%|█████▍    | 491/900 [15:36<14:53,  2.18s/it]
 55%|█████▍    | 492/900 [15:36<11:04,  1.63s/it]
 55%|█████▍    | 493/900 [15:36<08:27,  1.25s/it]
 55%|█████▍    | 494/900 [15:37<06:34,  1.03it/s]
 55%|█████▌    | 495/900 [15:37<05:15,  1.28it/s]
 55%|█████▌    | 496/900 [15:37<04:18,  1.56it/s]
 55%|█████▌    | 497/900 [15:49<26:08,  3.89s/it]
 55%|█████▌    | 498/900 [15:49<18:53,  2.82s/it]
 55%|█████▌    | 499/900 [15:49<13:50,  2.07s/it]
 56%|█████▌    | 500/900 [15:50<11:12,  1.68s/it]
 56%|█████▌    | 501/900 [15:51<08:28,  1.27s/it]
 56%|█████▌    | 502/900 [15:51<06:33,  1.01it/s]
 56%|█████▌    | 503/900 [15:51<05:13,  1.27it/s]
 56%|█████▌    | 504/900 [15:52<04:17,  1.54it/s]
 56%|█████▌    | 505/900 [16:04<27:03,  4.11s/it]
 56%|█████▌    | 506/900 [16:04<19:31,  2.97s/it]
 56%|█████▋    | 507/900 [16:04<14:15,  2.18s/it]
 56%|█████▋    | 508/900 [16:05<10:35,  1.62s/it]
 57%|█████▋    | 509/900 [16:05<08:04,  1.24s/it]
 57%|█████▋    | 510/900 [16:05<06:15,  1.04it/s]
 57%|█████▋    | 511/900 [16:06<04:58,  1.30it/s]
 57%|█████▋    | 512/900 [16:06<04:05,  1.58it/s]
 57%|█████▋    | 513/900 [16:17<23:37,  3.66s/it]
 57%|█████▋    | 514/900 [16:17<17:06,  2.66s/it]
 57%|█████▋    | 515/900 [16:17<12:35,  1.96s/it]
 57%|█████▋    | 516/900 [16:18<09:24,  1.47s/it]
 57%|█████▋    | 517/900 [16:18<07:12,  1.13s/it]
 58%|█████▊    | 518/900 [16:18<05:38,  1.13it/s]
 58%|█████▊    | 519/900 [16:19<04:36,  1.38it/s]
 58%|█████▊    | 520/900 [16:19<03:54,  1.62it/s]
 58%|█████▊    | 521/900 [16:36<34:20,  5.44s/it]
 58%|█████▊    | 522/900 [16:36<24:35,  3.90s/it]
 58%|█████▊    | 523/900 [16:36<17:50,  2.84s/it]
 58%|█████▊    | 524/900 [16:37<13:04,  2.09s/it]
 58%|█████▊    | 525/900 [16:37<09:44,  1.56s/it]
 58%|█████▊    | 526/900 [16:37<07:23,  1.19s/it]
 59%|█████▊    | 527/900 [16:38<05:49,  1.07it/s]
 59%|█████▊    | 528/900 [16:38<04:40,  1.33it/s]
 59%|█████▉    | 529/900 [17:03<50:06,  8.10s/it]
 59%|█████▉    | 530/900 [17:04<35:36,  5.77s/it]
 59%|█████▉    | 531/900 [17:04<25:28,  4.14s/it]
 59%|█████▉    | 532/900 [17:04<18:21,  2.99s/it]
 59%|█████▉    | 533/900 [17:05<13:24,  2.19s/it]
 59%|█████▉    | 534/900 [17:05<09:57,  1.63s/it]
 59%|█████▉    | 535/900 [17:05<07:36,  1.25s/it]
 60%|█████▉    | 536/900 [17:06<05:54,  1.03it/s]
 60%|█████▉    | 537/900 [17:18<26:06,  4.32s/it]
 60%|█████▉    | 538/900 [17:18<18:52,  3.13s/it]
 60%|█████▉    | 539/900 [17:19<13:52,  2.31s/it]
 60%|██████    | 540/900 [17:19<10:20,  1.72s/it]
 60%|██████    | 541/900 [17:19<07:53,  1.32s/it]
 60%|██████    | 542/900 [17:20<06:05,  1.02s/it]
 60%|██████    | 543/900 [17:20<04:51,  1.23it/s]
 60%|██████    | 544/900 [17:20<03:59,  1.49it/s]
 61%|██████    | 545/900 [17:34<26:32,  4.49s/it]
 61%|██████    | 546/900 [17:34<19:07,  3.24s/it]
 61%|██████    | 547/900 [17:34<14:01,  2.38s/it]
 61%|██████    | 548/900 [17:35<10:22,  1.77s/it]
 61%|██████    | 549/900 [17:35<07:50,  1.34s/it]
 61%|██████    | 550/900 [17:35<06:02,  1.04s/it]
 61%|██████    | 551/900 [17:36<04:47,  1.21it/s]
 61%|██████▏   | 552/900 [17:36<03:58,  1.46it/s]
 61%|██████▏   | 553/900 [17:46<20:07,  3.48s/it]
 62%|██████▏   | 554/900 [17:46<14:37,  2.54s/it]
 62%|██████▏   | 555/900 [17:47<10:47,  1.88s/it]
 62%|██████▏   | 556/900 [17:47<08:07,  1.42s/it]
 62%|██████▏   | 557/900 [17:47<06:13,  1.09s/it]
 62%|██████▏   | 558/900 [17:48<04:53,  1.17it/s]
 62%|██████▏   | 559/900 [17:48<03:56,  1.44it/s]
 62%|██████▏   | 560/900 [17:48<03:14,  1.75it/s]
 62%|██████▏   | 561/900 [17:58<18:11,  3.22s/it]
 62%|██████▏   | 562/900 [17:58<13:13,  2.35s/it]
 63%|██████▎   | 563/900 [17:58<09:45,  1.74s/it]
 63%|██████▎   | 564/900 [17:59<07:18,  1.31s/it]
 63%|██████▎   | 565/900 [17:59<05:37,  1.01s/it]
 63%|██████▎   | 566/900 [17:59<04:25,  1.26it/s]
 63%|██████▎   | 567/900 [18:00<03:35,  1.55it/s]
 63%|██████▎   | 568/900 [18:00<03:00,  1.84it/s]
 63%|██████▎   | 569/900 [18:11<19:45,  3.58s/it]
 63%|██████▎   | 570/900 [18:11<14:16,  2.59s/it]
 63%|██████▎   | 571/900 [18:11<10:28,  1.91s/it]
 64%|██████▎   | 572/900 [18:11<07:49,  1.43s/it]
 64%|██████▎   | 573/900 [18:12<05:55,  1.09s/it]
 64%|██████▍   | 574/900 [18:12<04:38,  1.17it/s]
 64%|██████▍   | 575/900 [18:12<03:42,  1.46it/s]
 64%|██████▍   | 576/900 [18:13<03:03,  1.76it/s]
 64%|██████▍   | 577/900 [18:28<27:15,  5.06s/it]
 64%|██████▍   | 578/900 [18:28<19:31,  3.64s/it]
 64%|██████▍   | 579/900 [18:29<14:06,  2.64s/it]
 64%|██████▍   | 580/900 [18:29<10:21,  1.94s/it]
 65%|██████▍   | 581/900 [18:29<07:41,  1.45s/it]
 65%|██████▍   | 582/900 [18:30<05:51,  1.10s/it]
 65%|██████▍   | 583/900 [18:30<04:32,  1.16it/s]
 65%|██████▍   | 584/900 [18:30<03:36,  1.46it/s]
 65%|██████▌   | 585/900 [18:44<23:27,  4.47s/it]
 65%|██████▌   | 586/900 [18:44<16:48,  3.21s/it]
 65%|██████▌   | 587/900 [18:44<12:10,  2.33s/it]
 65%|██████▌   | 588/900 [18:44<08:57,  1.72s/it]
 65%|██████▌   | 589/900 [18:45<06:43,  1.30s/it]
 66%|██████▌   | 590/900 [18:45<05:08,  1.00it/s]
 66%|██████▌   | 591/900 [18:45<04:02,  1.27it/s]
 66%|██████▌   | 592/900 [18:46<03:16,  1.57it/s]
 66%|██████▌   | 593/900 [19:03<29:38,  5.79s/it]
 66%|██████▌   | 594/900 [19:04<21:08,  4.15s/it]
 66%|██████▌   | 595/900 [19:04<15:15,  3.00s/it]
 66%|██████▌   | 596/900 [19:04<11:05,  2.19s/it]
 66%|██████▋   | 597/900 [19:05<08:11,  1.62s/it]
 66%|██████▋   | 598/900 [19:05<06:10,  1.23s/it]
 67%|██████▋   | 599/900 [19:05<04:45,  1.05it/s]
 67%|██████▋   | 600/900 [19:06<03:44,  1.33it/s]
 67%|██████▋   | 601/900 [19:19<23:15,  4.67s/it]
 67%|██████▋   | 602/900 [19:20<16:40,  3.36s/it]
 67%|██████▋   | 603/900 [19:20<12:04,  2.44s/it]
 67%|██████▋   | 604/900 [19:20<08:52,  1.80s/it]
 67%|██████▋   | 605/900 [19:21<06:41,  1.36s/it]
 67%|██████▋   | 606/900 [19:21<05:05,  1.04s/it]
 67%|██████▋   | 607/900 [19:21<04:03,  1.21it/s]
 68%|██████▊   | 608/900 [19:22<03:15,  1.49it/s]
 68%|██████▊   | 609/900 [19:32<17:34,  3.62s/it]
 68%|██████▊   | 610/900 [19:32<12:41,  2.63s/it]
 68%|██████▊   | 611/900 [19:33<09:20,  1.94s/it]
 68%|██████▊   | 612/900 [19:33<06:56,  1.44s/it]
 68%|██████▊   | 613/900 [19:33<05:14,  1.10s/it]
 68%|██████▊   | 614/900 [19:34<04:04,  1.17it/s]
 68%|██████▊   | 615/900 [19:34<03:15,  1.46it/s]
 68%|██████▊   | 616/900 [19:34<02:41,  1.76it/s]
 69%|██████▊   | 617/900 [19:44<15:58,  3.39s/it]
 69%|██████▊   | 618/900 [19:44<11:32,  2.46s/it]
 69%|██████▉   | 619/900 [19:45<08:28,  1.81s/it]
 69%|██████▉   | 620/900 [19:45<06:19,  1.35s/it]
 69%|██████▉   | 621/900 [19:45<04:48,  1.04s/it]
 69%|██████▉   | 622/900 [19:46<03:45,  1.23it/s]
 69%|██████▉   | 623/900 [19:46<03:02,  1.52it/s]
 69%|██████▉   | 624/900 [19:46<02:33,  1.80it/s]
 69%|██████▉   | 625/900 [19:57<16:53,  3.69s/it]
 70%|██████▉   | 626/900 [19:57<12:10,  2.67s/it]
 70%|██████▉   | 627/900 [19:58<08:53,  1.96s/it]
 70%|██████▉   | 628/900 [19:58<06:35,  1.45s/it]
 70%|██████▉   | 629/900 [19:58<05:00,  1.11s/it]
 70%|███████   | 630/900 [19:59<03:54,  1.15it/s]
 70%|███████   | 631/900 [19:59<03:06,  1.44it/s]
 70%|███████   | 632/900 [19:59<02:33,  1.75it/s]
 70%|███████   | 633/900 [20:13<20:03,  4.51s/it]
 70%|███████   | 634/900 [20:13<14:27,  3.26s/it]
 71%|███████   | 635/900 [20:14<10:30,  2.38s/it]
 71%|███████   | 636/900 [20:14<07:43,  1.76s/it]
 71%|███████   | 637/900 [20:14<05:47,  1.32s/it]
 71%|███████   | 638/900 [20:15<04:26,  1.02s/it]
 71%|███████   | 639/900 [20:15<03:29,  1.25it/s]
 71%|███████   | 640/900 [20:15<02:48,  1.54it/s]
 71%|███████   | 641/900 [20:37<30:36,  7.09s/it]
 71%|███████▏  | 642/900 [20:38<21:43,  5.05s/it]
 71%|███████▏  | 643/900 [20:38<15:34,  3.64s/it]
 72%|███████▏  | 644/900 [20:38<11:13,  2.63s/it]
 72%|███████▏  | 645/900 [20:38<08:13,  1.93s/it]
 72%|███████▏  | 646/900 [20:39<06:06,  1.44s/it]
 72%|███████▏  | 647/900 [20:39<04:38,  1.10s/it]
 72%|███████▏  | 648/900 [20:39<03:36,  1.16it/s]
 72%|███████▏  | 649/900 [20:53<19:22,  4.63s/it]
 72%|███████▏  | 650/900 [20:53<13:53,  3.33s/it]
 72%|███████▏  | 651/900 [20:53<10:03,  2.42s/it]
 72%|███████▏  | 652/900 [20:54<07:22,  1.78s/it]
 73%|███████▎  | 653/900 [20:54<05:31,  1.34s/it]
 73%|███████▎  | 654/900 [20:54<04:12,  1.03s/it]
 73%|███████▎  | 655/900 [20:55<03:17,  1.24it/s]
 73%|███████▎  | 656/900 [20:55<02:39,  1.53it/s]
 73%|███████▎  | 657/900 [21:05<14:17,  3.53s/it]
 73%|███████▎  | 658/900 [21:05<10:20,  2.57s/it]
 73%|███████▎  | 659/900 [21:06<07:36,  1.89s/it]
 73%|███████▎  | 660/900 [21:06<05:40,  1.42s/it]
 73%|███████▎  | 661/900 [21:06<04:20,  1.09s/it]
 74%|███████▎  | 662/900 [21:07<03:25,  1.16it/s]
 74%|███████▎  | 663/900 [21:07<02:47,  1.42it/s]
 74%|███████▍  | 664/900 [21:07<02:19,  1.69it/s]
 74%|███████▍  | 665/900 [21:17<12:45,  3.26s/it]
 74%|███████▍  | 666/900 [21:17<09:17,  2.38s/it]
 74%|███████▍  | 667/900 [21:18<06:51,  1.77s/it]
 74%|███████▍  | 668/900 [21:18<05:10,  1.34s/it]
 74%|███████▍  | 669/900 [21:18<03:59,  1.04s/it]
 74%|███████▍  | 670/900 [21:18<03:08,  1.22it/s]
 75%|███████▍  | 671/900 [21:19<02:33,  1.49it/s]
 75%|███████▍  | 672/900 [21:19<02:06,  1.80it/s]
 75%|███████▍  | 673/900 [21:34<18:43,  4.95s/it]
 75%|███████▍  | 674/900 [21:35<13:23,  3.56s/it]
 75%|███████▌  | 675/900 [21:35<09:41,  2.58s/it]
 75%|███████▌  | 676/900 [21:35<07:05,  1.90s/it]
 75%|███████▌  | 677/900 [21:36<05:17,  1.42s/it]
 75%|███████▌  | 678/900 [21:36<04:02,  1.09s/it]
 75%|███████▌  | 679/900 [21:36<03:11,  1.16it/s]
 76%|███████▌  | 680/900 [21:37<02:35,  1.42it/s]
 76%|███████▌  | 681/900 [21:57<24:20,  6.67s/it]
 76%|███████▌  | 682/900 [21:57<17:18,  4.77s/it]
 76%|███████▌  | 683/900 [21:58<12:25,  3.43s/it]
 76%|███████▌  | 684/900 [21:58<08:59,  2.50s/it]
 76%|███████▌  | 685/900 [21:58<06:36,  1.85s/it]
 76%|███████▌  | 686/900 [21:59<04:57,  1.39s/it]
 76%|███████▋  | 687/900 [21:59<03:47,  1.07s/it]
 76%|███████▋  | 688/900 [21:59<03:00,  1.17it/s]
 77%|███████▋  | 689/900 [22:10<12:53,  3.66s/it]
 77%|███████▋  | 690/900 [22:10<09:17,  2.66s/it]
 77%|███████▋  | 691/900 [22:10<06:49,  1.96s/it]
 77%|███████▋  | 692/900 [22:11<05:04,  1.47s/it]
 77%|███████▋  | 693/900 [22:11<03:52,  1.12s/it]
 77%|███████▋  | 694/900 [22:11<03:02,  1.13it/s]
 77%|███████▋  | 695/900 [22:12<02:27,  1.39it/s]
 77%|███████▋  | 696/900 [22:12<02:02,  1.66it/s]
 77%|███████▋  | 697/900 [22:47<37:07, 10.98s/it]
 78%|███████▊  | 698/900 [22:47<26:10,  7.77s/it]
 78%|███████▊  | 699/900 [22:48<18:32,  5.53s/it]
 78%|███████▊  | 700/900 [22:48<13:13,  3.97s/it]
 78%|███████▊  | 701/900 [22:48<09:32,  2.88s/it]
 78%|███████▊  | 702/900 [22:49<06:57,  2.11s/it]
 78%|███████▊  | 703/900 [22:49<05:09,  1.57s/it]
 78%|███████▊  | 704/900 [22:49<03:53,  1.19s/it]
 78%|███████▊  | 705/900 [23:07<20:23,  6.27s/it]
 78%|███████▊  | 706/900 [23:08<14:29,  4.48s/it]
 79%|███████▊  | 707/900 [23:08<10:22,  3.23s/it]
 79%|███████▊  | 708/900 [23:08<07:31,  2.35s/it]
 79%|███████▉  | 709/900 [23:09<05:33,  1.75s/it]
 79%|███████▉  | 710/900 [23:09<04:09,  1.31s/it]
 79%|███████▉  | 711/900 [23:09<03:11,  1.01s/it]
 79%|███████▉  | 712/900 [23:10<02:30,  1.25it/s]
 79%|███████▉  | 713/900 [23:25<16:06,  5.17s/it]
 79%|███████▉  | 714/900 [23:25<11:30,  3.71s/it]
 79%|███████▉  | 715/900 [23:26<08:19,  2.70s/it]
 80%|███████▉  | 716/900 [23:26<06:05,  1.99s/it]
 80%|███████▉  | 717/900 [23:26<04:32,  1.49s/it]
 80%|███████▉  | 718/900 [23:27<03:27,  1.14s/it]
 80%|███████▉  | 719/900 [23:27<02:41,  1.12it/s]
 80%|████████  | 720/900 [23:27<02:10,  1.38it/s]
 80%|████████  | 721/900 [23:49<21:20,  7.15s/it]
 80%|████████  | 722/900 [23:50<15:07,  5.10s/it]
 80%|████████  | 723/900 [23:50<10:50,  3.68s/it]
 80%|████████  | 724/900 [23:50<07:48,  2.66s/it]
 81%|████████  | 725/900 [23:51<05:42,  1.96s/it]
 81%|████████  | 726/900 [23:51<04:14,  1.46s/it]
 81%|████████  | 727/900 [23:51<03:15,  1.13s/it]
 81%|████████  | 728/900 [23:52<02:32,  1.13it/s]
 81%|████████  | 729/900 [24:12<19:14,  6.75s/it]
 81%|████████  | 730/900 [24:12<13:39,  4.82s/it]
 81%|████████  | 731/900 [24:13<09:45,  3.46s/it]
 81%|████████▏ | 732/900 [24:13<07:03,  2.52s/it]
 81%|████████▏ | 733/900 [24:13<05:09,  1.85s/it]
 82%|████████▏ | 734/900 [24:14<03:49,  1.39s/it]
 82%|████████▏ | 735/900 [24:14<02:54,  1.06s/it]
 82%|████████▏ | 736/900 [24:14<02:16,  1.20it/s]
 82%|████████▏ | 737/900 [24:33<17:05,  6.29s/it]
 82%|████████▏ | 738/900 [24:33<12:07,  4.49s/it]
 82%|████████▏ | 739/900 [24:34<08:40,  3.24s/it]
 82%|████████▏ | 740/900 [24:34<06:17,  2.36s/it]
 82%|████████▏ | 741/900 [24:34<04:38,  1.75s/it]
 82%|████████▏ | 742/900 [24:35<03:28,  1.32s/it]
 83%|████████▎ | 743/900 [24:35<02:41,  1.03s/it]
 83%|████████▎ | 744/900 [24:35<02:09,  1.21it/s]
 83%|████████▎ | 745/900 [25:04<23:42,  9.18s/it]
 83%|████████▎ | 746/900 [25:04<16:43,  6.51s/it]
 83%|████████▎ | 747/900 [25:05<11:51,  4.65s/it]
 83%|████████▎ | 748/900 [25:05<08:27,  3.34s/it]
 83%|████████▎ | 749/900 [25:05<06:05,  2.42s/it]
 83%|████████▎ | 750/900 [25:06<04:28,  1.79s/it]
 83%|████████▎ | 751/900 [25:06<03:20,  1.34s/it]
 84%|████████▎ | 752/900 [25:06<02:32,  1.03s/it]
 84%|████████▎ | 753/900 [25:31<19:52,  8.11s/it]
 84%|████████▍ | 754/900 [25:31<14:03,  5.77s/it]
 84%|████████▍ | 755/900 [25:31<10:01,  4.15s/it]
 84%|████████▍ | 756/900 [25:32<07:11,  3.00s/it]
 84%|████████▍ | 757/900 [25:32<05:14,  2.20s/it]
 84%|████████▍ | 758/900 [25:32<03:52,  1.64s/it]
 84%|████████▍ | 759/900 [25:33<02:55,  1.25s/it]
 84%|████████▍ | 760/900 [25:33<02:15,  1.03it/s]
 85%|████████▍ | 761/900 [25:46<10:13,  4.41s/it]
 85%|████████▍ | 762/900 [25:46<07:19,  3.18s/it]
 85%|████████▍ | 763/900 [25:46<05:18,  2.32s/it]
 85%|████████▍ | 764/900 [25:47<03:55,  1.73s/it]
 85%|████████▌ | 765/900 [25:47<02:57,  1.31s/it]
 85%|████████▌ | 766/900 [25:47<02:15,  1.01s/it]
 85%|████████▌ | 767/900 [25:48<01:46,  1.24it/s]
 85%|████████▌ | 768/900 [25:48<01:26,  1.52it/s]
 85%|████████▌ | 769/900 [26:10<15:30,  7.11s/it]
 86%|████████▌ | 770/900 [26:10<10:58,  5.06s/it]
 86%|████████▌ | 771/900 [26:11<07:49,  3.64s/it]
 86%|████████▌ | 772/900 [26:11<05:37,  2.64s/it]
 86%|████████▌ | 773/900 [26:11<04:05,  1.93s/it]
 86%|████████▌ | 774/900 [26:11<03:01,  1.44s/it]
 86%|████████▌ | 775/900 [26:12<02:17,  1.10s/it]
 86%|████████▌ | 776/900 [26:12<01:45,  1.17it/s]
 86%|████████▋ | 777/900 [26:26<09:36,  4.69s/it]
 86%|████████▋ | 778/900 [26:26<06:50,  3.37s/it]
 87%|████████▋ | 779/900 [26:26<04:55,  2.44s/it]
 87%|████████▋ | 780/900 [26:27<03:35,  1.80s/it]
 87%|████████▋ | 781/900 [26:27<02:40,  1.35s/it]
 87%|████████▋ | 782/900 [26:27<02:02,  1.04s/it]
 87%|████████▋ | 783/900 [26:27<01:35,  1.22it/s]
 87%|████████▋ | 784/900 [26:28<01:16,  1.51it/s]
 87%|████████▋ | 785/900 [26:55<16:44,  8.73s/it]
 87%|████████▋ | 786/900 [26:56<11:47,  6.21s/it]
 87%|████████▋ | 787/900 [26:56<08:21,  4.44s/it]
 88%|████████▊ | 788/900 [26:56<05:58,  3.20s/it]
 88%|████████▊ | 789/900 [26:57<04:18,  2.33s/it]
 88%|████████▊ | 790/900 [26:57<03:09,  1.72s/it]
 88%|████████▊ | 791/900 [26:57<02:20,  1.29s/it]
 88%|████████▊ | 792/900 [26:57<01:46,  1.01it/s]
 88%|████████▊ | 793/900 [27:11<08:40,  4.86s/it]
 88%|████████▊ | 794/900 [27:12<06:10,  3.49s/it]
 88%|████████▊ | 795/900 [27:12<04:26,  2.53s/it]
 88%|████████▊ | 796/900 [27:12<03:14,  1.87s/it]
 89%|████████▊ | 797/900 [27:13<02:23,  1.39s/it]
 89%|████████▊ | 798/900 [27:13<01:48,  1.06s/it]
 89%|████████▉ | 799/900 [27:13<01:23,  1.20it/s]
 89%|████████▉ | 800/900 [27:13<01:07,  1.49it/s]
 89%|████████▉ | 801/900 [27:26<06:52,  4.17s/it]
 89%|████████▉ | 802/900 [27:26<04:54,  3.00s/it]
 89%|████████▉ | 803/900 [27:26<03:32,  2.19s/it]
 89%|████████▉ | 804/900 [27:27<02:35,  1.62s/it]
 89%|████████▉ | 805/900 [27:27<01:57,  1.23s/it]
 90%|████████▉ | 806/900 [27:27<01:29,  1.05it/s]
 90%|████████▉ | 807/900 [27:28<01:11,  1.30it/s]
 90%|████████▉ | 808/900 [27:28<00:58,  1.58it/s]
 90%|████████▉ | 809/900 [27:40<06:22,  4.21s/it]
 90%|█████████ | 810/900 [27:41<04:33,  3.04s/it]
 90%|█████████ | 811/900 [27:41<03:17,  2.21s/it]
 90%|█████████ | 812/900 [27:41<02:24,  1.64s/it]
 90%|█████████ | 813/900 [27:42<01:48,  1.24s/it]
 90%|█████████ | 814/900 [27:42<01:22,  1.04it/s]
 91%|█████████ | 815/900 [27:42<01:04,  1.32it/s]
 91%|█████████ | 816/900 [27:43<00:52,  1.61it/s]
 91%|█████████ | 817/900 [28:06<10:21,  7.49s/it]
 91%|█████████ | 818/900 [28:06<07:17,  5.33s/it]
 91%|█████████ | 819/900 [28:07<05:09,  3.83s/it]
 91%|█████████ | 820/900 [28:07<03:41,  2.77s/it]
 91%|█████████ | 821/900 [28:07<02:39,  2.02s/it]
 91%|█████████▏| 822/900 [28:08<01:57,  1.51s/it]
 91%|█████████▏| 823/900 [28:08<01:27,  1.14s/it]
 92%|█████████▏| 824/900 [28:08<01:07,  1.12it/s]
 92%|█████████▏| 825/900 [28:21<05:41,  4.55s/it]
 92%|█████████▏| 826/900 [28:22<04:02,  3.28s/it]
 92%|█████████▏| 827/900 [28:22<02:54,  2.39s/it]
 92%|█████████▏| 828/900 [28:22<02:07,  1.77s/it]
 92%|█████████▏| 829/900 [28:23<01:34,  1.33s/it]
 92%|█████████▏| 830/900 [28:23<01:11,  1.02s/it]
 92%|█████████▏| 831/900 [28:23<00:56,  1.23it/s]
 92%|█████████▏| 832/900 [28:23<00:45,  1.50it/s]
 93%|█████████▎| 833/900 [28:37<04:59,  4.47s/it]
 93%|█████████▎| 834/900 [28:37<03:32,  3.22s/it]
 93%|█████████▎| 835/900 [28:37<02:32,  2.35s/it]
 93%|█████████▎| 836/900 [28:38<01:50,  1.73s/it]
 93%|█████████▎| 837/900 [28:38<01:21,  1.30s/it]
 93%|█████████▎| 838/900 [28:38<01:02,  1.00s/it]
 93%|█████████▎| 839/900 [28:39<00:48,  1.25it/s]
 93%|█████████▎| 840/900 [28:39<00:38,  1.54it/s]
 93%|█████████▎| 841/900 [29:01<07:01,  7.15s/it]
 94%|█████████▎| 842/900 [29:02<04:55,  5.09s/it]
 94%|█████████▎| 843/900 [29:02<03:28,  3.66s/it]
 94%|█████████▍| 844/900 [29:02<02:28,  2.65s/it]
 94%|█████████▍| 845/900 [29:02<01:47,  1.95s/it]
 94%|█████████▍| 846/900 [29:03<01:18,  1.46s/it]
 94%|█████████▍| 847/900 [29:03<00:58,  1.11s/it]
 94%|█████████▍| 848/900 [29:03<00:45,  1.15it/s]
 94%|█████████▍| 849/900 [29:22<05:21,  6.31s/it]
 94%|█████████▍| 850/900 [29:23<03:45,  4.52s/it]
 95%|█████████▍| 851/900 [29:23<02:39,  3.26s/it]
 95%|█████████▍| 852/900 [29:23<01:53,  2.37s/it]
 95%|█████████▍| 853/900 [29:24<01:22,  1.75s/it]
 95%|█████████▍| 854/900 [29:24<01:00,  1.31s/it]
 95%|█████████▌| 855/900 [29:24<00:45,  1.01s/it]
 95%|█████████▌| 856/900 [29:25<00:35,  1.26it/s]
 95%|█████████▌| 857/900 [29:38<03:15,  4.54s/it]
 95%|█████████▌| 858/900 [29:38<02:17,  3.27s/it]
 95%|█████████▌| 859/900 [29:38<01:37,  2.38s/it]
 96%|█████████▌| 860/900 [29:39<01:10,  1.76s/it]
 96%|█████████▌| 861/900 [29:39<00:51,  1.32s/it]
 96%|█████████▌| 862/900 [29:39<00:38,  1.02s/it]
 96%|█████████▌| 863/900 [29:40<00:30,  1.22it/s]
 96%|█████████▌| 864/900 [29:40<00:23,  1.50it/s]
 96%|█████████▌| 865/900 [29:51<02:11,  3.76s/it]
 96%|█████████▌| 866/900 [29:51<01:32,  2.73s/it]
 96%|█████████▋| 867/900 [29:52<01:06,  2.01s/it]
 96%|█████████▋| 868/900 [29:52<00:48,  1.50s/it]
 97%|█████████▋| 869/900 [29:52<00:35,  1.15s/it]
 97%|█████████▋| 870/900 [29:53<00:26,  1.12it/s]
 97%|█████████▋| 871/900 [29:53<00:20,  1.39it/s]
 97%|█████████▋| 872/900 [29:53<00:16,  1.66it/s]
 97%|█████████▋| 873/900 [30:15<03:07,  6.95s/it]
 97%|█████████▋| 874/900 [30:15<02:09,  4.97s/it]
 97%|█████████▋| 875/900 [30:16<01:29,  3.58s/it]
 97%|█████████▋| 876/900 [30:16<01:02,  2.60s/it]
 97%|█████████▋| 877/900 [30:16<00:44,  1.92s/it]
 98%|█████████▊| 878/900 [30:17<00:31,  1.44s/it]
 98%|█████████▊| 879/900 [30:17<00:22,  1.10s/it]
 98%|█████████▊| 880/900 [30:17<00:17,  1.17it/s]
 98%|█████████▊| 881/900 [30:41<02:24,  7.60s/it]
 98%|█████████▊| 882/900 [30:41<01:37,  5.42s/it]
 98%|█████████▊| 883/900 [30:41<01:06,  3.89s/it]
 98%|█████████▊| 884/900 [30:42<00:44,  2.81s/it]
 98%|█████████▊| 885/900 [30:42<00:31,  2.07s/it]
 98%|█████████▊| 886/900 [30:42<00:21,  1.54s/it]
 99%|█████████▊| 887/900 [30:42<00:15,  1.17s/it]
 99%|█████████▊| 888/900 [30:43<00:10,  1.10it/s]
 99%|█████████▉| 889/900 [30:56<00:49,  4.46s/it]
 99%|█████████▉| 890/900 [30:56<00:32,  3.21s/it]
 99%|█████████▉| 891/900 [30:56<00:20,  2.33s/it]
 99%|█████████▉| 892/900 [30:56<00:13,  1.72s/it]
 99%|█████████▉| 893/900 [30:57<00:09,  1.30s/it]
 99%|█████████▉| 894/900 [30:57<00:06,  1.00s/it]
 99%|█████████▉| 895/900 [30:57<00:03,  1.26it/s]
100%|█████████▉| 896/900 [30:58<00:02,  1.54it/s]
100%|█████████▉| 897/900 [31:09<00:11,  3.72s/it]
100%|█████████▉| 898/900 [31:09<00:05,  2.70s/it]
100%|█████████▉| 899/900 [31:09<00:01,  1.97s/it]
100%|█████████▉| 899/900 [31:10<00:02,  2.08s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/log_1_env0.json.
+ReorientWhiteMugsTask_1 complete: task_name: ReorientWhiteMugsTask, run_name: ReorientWhiteMugsTask_1, run: 1, env_id: 0, policy: harness, instruction: Make sure all the white mugs are upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -10.751491368657623, 'joint_sparc_mean': -16.7154707598881, 'ee_isj': 5786.178264716087, 'joint_isj': 185224.75919083314, 'ee_path_length': 8.287937194329015, 'joint_rmse_mean': 1.0596185365318642, 'ee_speed_max': 0.7601848244667053, 'ee_speed_mean': 0.130427286028862}, events: {'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 9, 'GRIPPER_FULLY_CLOSED': 14, 'WRONG_OBJECT_GRABBED': 10, 'wrong_objects_grabbed': ['upright_white_mug', 'upright_white_mug', 'upright_white_mug', 'upright_white_mug', 'upright_white_mug', 'red_mug', 'upright_white_mug', 'upright_white_mug', 'upright_white_mug', 'upright_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 1600.109, 'policy_inference_avg_ms': 1777.9, 'env_step_s': 260.792, 'env_step_avg_ms': 289.8, 'video_write_s': 8.599, 'video_write_avg_ms': 9.6, 'wall_total_s': 1869.5, 'it_per_sec': 0.48}, score: 1.0, reason: Condition not satisfied: object_upright(object=sideways_white_mug, require_gripper_detached=True) (step 2/2), harness_episode_id: 50f7ad5f95444a3aa1846fc1bfa3d4f2-1
+[RoboLab] Running ReorientWhiteMugsTask_2: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:47<11:45:48, 47.11s/it]
  0%|          | 2/900 [00:47<4:52:52, 19.57s/it] 
  0%|          | 3/900 [00:47<2:40:52, 10.76s/it]
  0%|          | 4/900 [00:47<1:39:05,  6.64s/it]
  1%|          | 5/900 [00:48<1:04:49,  4.35s/it]
  1%|          | 6/900 [00:48<44:11,  2.97s/it]  
  1%|          | 7/900 [00:48<31:04,  2.09s/it]
  1%|          | 8/900 [00:49<22:31,  1.51s/it]
  1%|          | 9/900 [00:58<58:51,  3.96s/it]
  1%|          | 10/900 [00:58<42:03,  2.84s/it]
  1%|          | 11/900 [00:59<30:27,  2.06s/it]
  1%|▏         | 12/900 [00:59<22:30,  1.52s/it]
  1%|▏         | 13/900 [00:59<16:58,  1.15s/it]
  2%|▏         | 14/900 [00:59<13:17,  1.11it/s]
  2%|▏         | 15/900 [01:00<10:31,  1.40it/s]
  2%|▏         | 16/900 [01:00<08:36,  1.71it/s]
  2%|▏         | 17/900 [01:06<32:08,  2.18s/it]
  2%|▏         | 18/900 [01:06<23:43,  1.61s/it]
  2%|▏         | 19/900 [01:07<17:51,  1.22s/it]
  2%|▏         | 20/900 [01:07<13:44,  1.07it/s]
  2%|▏         | 21/900 [01:07<10:53,  1.35it/s]
  2%|▏         | 22/900 [01:07<08:58,  1.63it/s]
  3%|▎         | 23/900 [01:08<07:32,  1.94it/s]
  3%|▎         | 24/900 [01:08<06:39,  2.19it/s]
  3%|▎         | 25/900 [01:21<59:26,  4.08s/it]
  3%|▎         | 26/900 [01:21<42:50,  2.94s/it]
  3%|▎         | 27/900 [01:21<31:13,  2.15s/it]
  3%|▎         | 28/900 [01:21<23:16,  1.60s/it]
  3%|▎         | 29/900 [01:22<17:34,  1.21s/it]
  3%|▎         | 30/900 [01:22<13:32,  1.07it/s]
  3%|▎         | 31/900 [01:22<10:43,  1.35it/s]
  4%|▎         | 32/900 [01:23<08:49,  1.64it/s]
  4%|▎         | 33/900 [01:33<51:13,  3.54s/it]
  4%|▍         | 34/900 [01:33<37:16,  2.58s/it]
  4%|▍         | 35/900 [01:34<27:22,  1.90s/it]
  4%|▍         | 36/900 [01:34<20:31,  1.43s/it]
  4%|▍         | 37/900 [01:34<15:40,  1.09s/it]
  4%|▍         | 38/900 [01:35<12:20,  1.16it/s]
  4%|▍         | 39/900 [01:35<09:57,  1.44it/s]
  4%|▍         | 40/900 [01:35<08:21,  1.72it/s]
  5%|▍         | 41/900 [01:44<45:05,  3.15s/it]
  5%|▍         | 42/900 [01:45<32:50,  2.30s/it]
  5%|▍         | 43/900 [01:45<24:13,  1.70s/it]
  5%|▍         | 44/900 [01:45<18:16,  1.28s/it]
  5%|▌         | 45/900 [01:46<14:04,  1.01it/s]
  5%|▌         | 46/900 [01:46<11:19,  1.26it/s]
  5%|▌         | 47/900 [01:46<09:16,  1.53it/s]
  5%|▌         | 48/900 [01:47<07:57,  1.79it/s]
  5%|▌         | 49/900 [02:02<1:09:29,  4.90s/it]
  6%|▌         | 50/900 [02:02<49:59,  3.53s/it]  
  6%|▌         | 51/900 [02:02<36:22,  2.57s/it]
  6%|▌         | 52/900 [02:03<26:50,  1.90s/it]
  6%|▌         | 53/900 [02:03<20:13,  1.43s/it]
  6%|▌         | 54/900 [02:03<15:40,  1.11s/it]
  6%|▌         | 55/900 [02:04<12:15,  1.15it/s]
  6%|▌         | 56/900 [02:04<09:55,  1.42it/s]
  6%|▋         | 57/900 [02:17<1:02:21,  4.44s/it]
  6%|▋         | 58/900 [02:17<44:57,  3.20s/it]  
  7%|▋         | 59/900 [02:18<32:44,  2.34s/it]
  7%|▋         | 60/900 [02:18<24:20,  1.74s/it]
  7%|▋         | 61/900 [02:18<18:22,  1.31s/it]
  7%|▋         | 62/900 [02:19<14:12,  1.02s/it]
  7%|▋         | 63/900 [02:19<11:16,  1.24it/s]
  7%|▋         | 64/900 [02:19<09:15,  1.50it/s]
  7%|▋         | 65/900 [02:25<29:21,  2.11s/it]
  7%|▋         | 66/900 [02:25<21:55,  1.58s/it]
  7%|▋         | 67/900 [02:26<16:34,  1.19s/it]
  8%|▊         | 68/900 [02:26<12:51,  1.08it/s]
  8%|▊         | 69/900 [02:26<10:13,  1.35it/s]
  8%|▊         | 70/900 [02:26<08:23,  1.65it/s]
  8%|▊         | 71/900 [02:27<07:05,  1.95it/s]
  8%|▊         | 72/900 [02:27<06:12,  2.22it/s]
  8%|▊         | 73/900 [02:41<1:00:28,  4.39s/it]
  8%|▊         | 74/900 [02:41<43:34,  3.16s/it]  
  8%|▊         | 75/900 [02:41<31:44,  2.31s/it]
  8%|▊         | 76/900 [02:42<23:29,  1.71s/it]
  9%|▊         | 77/900 [02:42<17:40,  1.29s/it]
  9%|▊         | 78/900 [02:42<13:42,  1.00s/it]
  9%|▉         | 79/900 [02:42<10:48,  1.27it/s]
  9%|▉         | 80/900 [02:43<08:47,  1.55it/s]
  9%|▉         | 81/900 [02:49<30:49,  2.26s/it]
  9%|▉         | 82/900 [02:49<22:46,  1.67s/it]
  9%|▉         | 83/900 [02:49<17:05,  1.26s/it]
  9%|▉         | 84/900 [02:50<13:14,  1.03it/s]
  9%|▉         | 85/900 [02:50<10:37,  1.28it/s]
 10%|▉         | 86/900 [02:50<08:46,  1.55it/s]
 10%|▉         | 87/900 [02:51<07:27,  1.82it/s]
 10%|▉         | 88/900 [02:51<06:28,  2.09it/s]
 10%|▉         | 89/900 [02:57<30:16,  2.24s/it]
 10%|█         | 90/900 [02:58<22:29,  1.67s/it]
 10%|█         | 91/900 [02:58<17:00,  1.26s/it]
 10%|█         | 92/900 [02:58<13:11,  1.02it/s]
 10%|█         | 93/900 [02:59<10:31,  1.28it/s]
 10%|█         | 94/900 [02:59<08:39,  1.55it/s]
 11%|█         | 95/900 [02:59<07:19,  1.83it/s]
 11%|█         | 96/900 [03:00<06:22,  2.10it/s]
 11%|█         | 97/900 [03:08<38:39,  2.89s/it]
 11%|█         | 98/900 [03:08<28:22,  2.12s/it]
 11%|█         | 99/900 [03:09<21:08,  1.58s/it]
 11%|█         | 100/900 [03:09<16:08,  1.21s/it]
 11%|█         | 101/900 [03:09<12:36,  1.06it/s]
 11%|█▏        | 102/900 [03:10<10:08,  1.31it/s]
 11%|█▏        | 103/900 [03:10<08:27,  1.57it/s]
 12%|█▏        | 104/900 [03:10<07:16,  1.82it/s]
 12%|█▏        | 105/900 [03:21<47:32,  3.59s/it]
 12%|█▏        | 106/900 [03:21<34:35,  2.61s/it]
 12%|█▏        | 107/900 [03:22<25:30,  1.93s/it]
 12%|█▏        | 108/900 [03:22<19:08,  1.45s/it]
 12%|█▏        | 109/900 [03:22<14:40,  1.11s/it]
 12%|█▏        | 110/900 [03:23<11:34,  1.14it/s]
 12%|█▏        | 111/900 [03:23<09:26,  1.39it/s]
 12%|█▏        | 112/900 [03:23<07:57,  1.65it/s]
 13%|█▎        | 113/900 [03:29<26:40,  2.03s/it]
 13%|█▎        | 114/900 [03:29<19:58,  1.52s/it]
 13%|█▎        | 115/900 [03:30<15:14,  1.17s/it]
 13%|█▎        | 116/900 [03:30<11:57,  1.09it/s]
 13%|█▎        | 117/900 [03:30<09:37,  1.36it/s]
 13%|█▎        | 118/900 [03:31<08:01,  1.62it/s]
 13%|█▎        | 119/900 [03:31<06:52,  1.89it/s]
 13%|█▎        | 120/900 [03:31<06:07,  2.12it/s]
 13%|█▎        | 121/900 [03:47<1:04:44,  4.99s/it]
 14%|█▎        | 122/900 [03:47<46:35,  3.59s/it]  
 14%|█▎        | 123/900 [03:47<33:49,  2.61s/it]
 14%|█▍        | 124/900 [03:48<24:56,  1.93s/it]
 14%|█▍        | 125/900 [03:48<18:43,  1.45s/it]
 14%|█▍        | 126/900 [03:48<14:21,  1.11s/it]
 14%|█▍        | 127/900 [03:49<11:19,  1.14it/s]
 14%|█▍        | 128/900 [03:49<09:13,  1.40it/s]
 14%|█▍        | 129/900 [04:03<59:12,  4.61s/it]
 14%|█▍        | 130/900 [04:03<42:46,  3.33s/it]
 15%|█▍        | 131/900 [04:03<31:13,  2.44s/it]
 15%|█▍        | 132/900 [04:04<23:06,  1.81s/it]
 15%|█▍        | 133/900 [04:04<17:26,  1.36s/it]
 15%|█▍        | 134/900 [04:04<13:25,  1.05s/it]
 15%|█▌        | 135/900 [04:05<10:41,  1.19it/s]
 15%|█▌        | 136/900 [04:05<08:42,  1.46it/s]
 15%|█▌        | 137/900 [04:11<29:12,  2.30s/it]
 15%|█▌        | 138/900 [04:11<21:39,  1.71s/it]
 15%|█▌        | 139/900 [04:12<16:22,  1.29s/it]
 16%|█▌        | 140/900 [04:12<12:39,  1.00it/s]
 16%|█▌        | 141/900 [04:12<10:04,  1.26it/s]
 16%|█▌        | 142/900 [04:13<08:20,  1.51it/s]
 16%|█▌        | 143/900 [04:13<07:03,  1.79it/s]
 16%|█▌        | 144/900 [04:13<06:14,  2.02it/s]
 16%|█▌        | 144/900 [04:19<22:44,  1.80s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/log_2_env0.json.
+ReorientWhiteMugsTask_2 complete: task_name: ReorientWhiteMugsTask, run_name: ReorientWhiteMugsTask_2, run: 2, env_id: 0, policy: harness, instruction: Make sure all the white mugs are upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: True, episode_step: 145, duration: 9.666666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.776055593924271, 'joint_sparc_mean': -5.256733497975114, 'ee_isj': 1629.457649066679, 'joint_isj': 55263.698650665574, 'ee_path_length': 1.4400836828665446, 'joint_rmse_mean': 1.2365110803991903, 'ee_speed_max': 0.39325278997421265, 'ee_speed_mean': 0.14602972567081451}, events: {'GRIPPER_HIT_TABLE': 1, 'GRIPPER_FULLY_CLOSED': 1, 'GRIPPER_HIT_OBJECT': 1}, instruction_type: default, timing: {'policy_inference_s': 214.609, 'policy_inference_avg_ms': 1480.1, 'env_step_s': 43.196, 'env_step_avg_ms': 297.9, 'video_write_s': 1.949, 'video_write_avg_ms': 13.4, 'wall_total_s': 259.754, 'it_per_sec': 0.56}, score: 1.0, reason: Completed subtask 'reorient_white_mugs' 1/1, harness_episode_id: b5cfe831600149da9a78d45c63a59fb5-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-29T19:21:58Z [8,808,808ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.242704 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-29T19:22:02Z [8,812,622ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-29T19:22:02Z [8,812,731ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T19:22:02Z [8,812,731ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T19:22:02Z [8,812,740ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T19:22:02Z [8,812,740ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T19:22:02Z [8,812,748ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T19:22:02Z [8,812,755ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-29T19:22:03Z [8,813,503ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((609))' not available in the MDL representation.
+2026-10-29T19:22:03Z [8,813,503ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((609))' not available in the MDL representation.
+2026-10-29T19:22:03Z [8,813,514ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((610))' not available in the MDL representation.
+2026-10-29T19:22:03Z [8,813,514ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((610))' not available in the MDL representation.
+2026-10-29T19:22:03Z [8,813,514ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((610))' not available in the MDL representation.
+2026-10-29T19:22:03Z [8,813,519ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((612))' not available in the MDL representation.
+2026-10-29T19:22:03Z [8,813,519ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((612))' not available in the MDL representation.
+2026-10-29T19:22:03Z [8,813,528ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((613))' not available in the MDL representation.
+2026-10-29T19:22:03Z [8,813,528ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((613))' not available in the MDL representation.
+2026-10-29T19:22:03Z [8,813,942ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((653))' not available in the MDL representation.
+2026-10-29T19:22:03Z [8,813,943ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((653))' not available in the MDL representation.
+2026-10-29T19:22:03Z [8,813,943ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((653))' not available in the MDL representation.
+2026-10-29T19:22:03Z [8,814,153ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((666))' not available in the MDL representation.
+2026-10-29T19:22:03Z [8,814,153ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((666))' not available in the MDL representation.
+2026-10-29T19:22:03Z [8,814,153ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((666))' not available in the MDL representation.
+2026-10-29T19:22:03Z [8,814,169ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((674))' not available in the MDL representation.
+2026-10-29T19:22:03Z [8,814,169ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((674))' not available in the MDL representation.
+2026-10-29T19:22:04Z [8,814,497ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((734))' not available in the MDL representation.
+2026-10-29T19:22:04Z [8,814,497ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((734))' not available in the MDL representation.
+2026-10-29T19:22:04Z [8,814,497ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((734))' not available in the MDL representation.
+2026-10-29T19:22:04Z [8,815,091ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((609))' not available in the MDL representation.
+2026-10-29T19:22:04Z [8,815,091ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((609))' not available in the MDL representation.
+2026-10-29T19:22:04Z [8,815,092ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((610))' not available in the MDL representation.
+2026-10-29T19:22:04Z [8,815,092ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((610))' not available in the MDL representation.
+2026-10-29T19:22:04Z [8,815,092ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((610))' not available in the MDL representation.
+2026-10-29T19:22:04Z [8,815,093ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((612))' not available in the MDL representation.
+2026-10-29T19:22:04Z [8,815,093ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((612))' not available in the MDL representation.
+2026-10-29T19:22:04Z [8,815,094ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((613))' not available in the MDL representation.
+2026-10-29T19:22:04Z [8,815,094ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((613))' not available in the MDL representation.
+2026-10-29T19:22:04Z [8,815,097ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((653))' not available in the MDL representation.
+2026-10-29T19:22:04Z [8,815,097ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((653))' not available in the MDL representation.
+2026-10-29T19:22:04Z [8,815,097ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((653))' not available in the MDL representation.
+2026-10-29T19:22:04Z [8,815,098ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((666))' not available in the MDL representation.
+2026-10-29T19:22:04Z [8,815,099ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((666))' not available in the MDL representation.
+2026-10-29T19:22:04Z [8,815,099ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((666))' not available in the MDL representation.
+2026-10-29T19:22:04Z [8,815,103ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((734))' not available in the MDL representation.
+2026-10-29T19:22:04Z [8,815,103ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((734))' not available in the MDL representation.
+2026-10-29T19:22:04Z [8,815,103ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((734))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.213476 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : TakeSpatulaOffShelfTask                       │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Take the spatula off the shelf and put it on the table │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : TakeSpatulaOffShelfTaskSceneEnvCfg            │
+│  Attributes  : affordance, spatial, moderate                 │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running TakeSpatulaOffShelfTask_0: 'Take the spatula off the shelf and put it on the table' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:46<11:38:05, 46.59s/it]
  0%|          | 2/900 [00:46<4:50:05, 19.38s/it] 
  0%|          | 3/900 [00:47<2:39:38, 10.68s/it]
  0%|          | 4/900 [00:47<1:38:23,  6.59s/it]
  1%|          | 5/900 [00:47<1:04:34,  4.33s/it]
  1%|          | 6/900 [00:48<44:12,  2.97s/it]  
  1%|          | 7/900 [00:48<31:15,  2.10s/it]
  1%|          | 8/900 [00:48<22:45,  1.53s/it]
  1%|          | 9/900 [00:58<1:01:16,  4.13s/it]
  1%|          | 10/900 [00:59<43:54,  2.96s/it] 
  1%|          | 11/900 [00:59<31:57,  2.16s/it]
  1%|▏         | 12/900 [00:59<23:39,  1.60s/it]
  1%|▏         | 13/900 [01:00<18:01,  1.22s/it]
  2%|▏         | 14/900 [01:00<14:01,  1.05it/s]
  2%|▏         | 15/900 [01:00<11:23,  1.30it/s]
  2%|▏         | 16/900 [01:01<09:31,  1.55it/s]
  2%|▏         | 17/900 [01:13<1:03:33,  4.32s/it]
  2%|▏         | 18/900 [01:14<45:57,  3.13s/it]  
  2%|▏         | 19/900 [01:14<33:37,  2.29s/it]
  2%|▏         | 20/900 [01:14<24:58,  1.70s/it]
  2%|▏         | 21/900 [01:15<18:58,  1.30s/it]
  2%|▏         | 22/900 [01:15<14:55,  1.02s/it]
  3%|▎         | 23/900 [01:16<11:56,  1.22it/s]
  3%|▎         | 24/900 [01:16<09:57,  1.47it/s]
  3%|▎         | 25/900 [01:22<31:38,  2.17s/it]
  3%|▎         | 26/900 [01:22<23:37,  1.62s/it]
  3%|▎         | 27/900 [01:22<17:58,  1.24s/it]
  3%|▎         | 28/900 [01:23<14:01,  1.04it/s]
  3%|▎         | 29/900 [01:23<11:16,  1.29it/s]
  3%|▎         | 30/900 [01:23<09:28,  1.53it/s]
  3%|▎         | 31/900 [01:24<08:06,  1.78it/s]
  4%|▎         | 32/900 [01:24<07:11,  2.01it/s]
  4%|▎         | 33/900 [01:30<29:40,  2.05s/it]
  4%|▍         | 34/900 [01:30<22:13,  1.54s/it]
  4%|▍         | 35/900 [01:30<17:08,  1.19s/it]
  4%|▍         | 36/900 [01:31<13:38,  1.06it/s]
  4%|▍         | 37/900 [01:31<10:57,  1.31it/s]
  4%|▍         | 38/900 [01:31<09:05,  1.58it/s]
  4%|▍         | 39/900 [01:32<07:48,  1.84it/s]
  4%|▍         | 40/900 [01:32<06:52,  2.09it/s]
  5%|▍         | 41/900 [01:37<24:02,  1.68s/it]
  5%|▍         | 42/900 [01:37<18:23,  1.29s/it]
  5%|▍         | 43/900 [01:37<14:24,  1.01s/it]
  5%|▍         | 44/900 [01:38<11:36,  1.23it/s]
  5%|▌         | 45/900 [01:38<09:30,  1.50it/s]
  5%|▌         | 46/900 [01:38<08:10,  1.74it/s]
  5%|▌         | 47/900 [01:39<07:12,  1.97it/s]
  5%|▌         | 48/900 [01:39<06:26,  2.20it/s]
  5%|▌         | 49/900 [01:50<49:50,  3.51s/it]
  6%|▌         | 50/900 [01:50<36:22,  2.57s/it]
  6%|▌         | 51/900 [01:50<26:51,  1.90s/it]
  6%|▌         | 52/900 [01:51<20:11,  1.43s/it]
  6%|▌         | 53/900 [01:51<15:29,  1.10s/it]
  6%|▌         | 54/900 [01:51<12:10,  1.16it/s]
  6%|▌         | 55/900 [01:52<09:54,  1.42it/s]
  6%|▌         | 56/900 [01:52<08:15,  1.70it/s]
  6%|▋         | 57/900 [02:06<1:02:56,  4.48s/it]
  6%|▋         | 58/900 [02:06<45:29,  3.24s/it]  
  7%|▋         | 59/900 [02:06<33:10,  2.37s/it]
  7%|▋         | 60/900 [02:07<24:38,  1.76s/it]
  7%|▋         | 61/900 [02:07<18:39,  1.33s/it]
  7%|▋         | 62/900 [02:07<14:26,  1.03s/it]
  7%|▋         | 63/900 [02:08<11:37,  1.20it/s]
  7%|▋         | 64/900 [02:08<09:31,  1.46it/s]
  7%|▋         | 65/900 [02:14<32:57,  2.37s/it]
  7%|▋         | 66/900 [02:15<24:20,  1.75s/it]
  7%|▋         | 67/900 [02:15<18:20,  1.32s/it]
  8%|▊         | 68/900 [02:15<14:08,  1.02s/it]
  8%|▊         | 69/900 [02:16<11:23,  1.22it/s]
  8%|▊         | 70/900 [02:16<09:25,  1.47it/s]
  8%|▊         | 71/900 [02:16<08:08,  1.70it/s]
  8%|▊         | 72/900 [02:17<07:11,  1.92it/s]
  8%|▊         | 73/900 [02:45<2:03:48,  8.98s/it]
  8%|▊         | 74/900 [02:46<1:27:59,  6.39s/it]
  8%|▊         | 75/900 [02:46<1:02:52,  4.57s/it]
  8%|▊         | 76/900 [02:46<45:15,  3.30s/it]  
  9%|▊         | 77/900 [02:47<32:56,  2.40s/it]
  9%|▊         | 78/900 [02:47<24:26,  1.78s/it]
  9%|▉         | 79/900 [02:47<18:27,  1.35s/it]
  9%|▉         | 80/900 [02:48<14:16,  1.05s/it]
  9%|▉         | 81/900 [02:54<34:00,  2.49s/it]
  9%|▉         | 82/900 [02:54<25:07,  1.84s/it]
  9%|▉         | 83/900 [02:54<18:53,  1.39s/it]
  9%|▉         | 84/900 [02:54<14:27,  1.06s/it]
  9%|▉         | 85/900 [02:55<11:28,  1.18it/s]
 10%|▉         | 86/900 [02:55<09:19,  1.45it/s]
 10%|▉         | 87/900 [02:55<07:49,  1.73it/s]
 10%|▉         | 88/900 [02:56<06:45,  2.00it/s]
 10%|▉         | 89/900 [03:22<1:51:59,  8.29s/it]
 10%|█         | 90/900 [03:23<1:19:36,  5.90s/it]
 10%|█         | 91/900 [03:23<57:07,  4.24s/it]  
 10%|█         | 92/900 [03:23<41:12,  3.06s/it]
 10%|█         | 93/900 [03:24<30:12,  2.25s/it]
 10%|█         | 94/900 [03:24<22:22,  1.67s/it]
 11%|█         | 95/900 [03:24<17:04,  1.27s/it]
 11%|█         | 96/900 [03:25<13:22,  1.00it/s]
 11%|█         | 97/900 [03:33<41:09,  3.07s/it]
 11%|█         | 98/900 [03:33<30:00,  2.24s/it]
 11%|█         | 99/900 [03:33<22:14,  1.67s/it]
 11%|█         | 100/900 [03:33<16:48,  1.26s/it]
 11%|█         | 101/900 [03:34<13:01,  1.02it/s]
 11%|█▏        | 102/900 [03:34<10:27,  1.27it/s]
 11%|█▏        | 103/900 [03:34<08:31,  1.56it/s]
 12%|█▏        | 104/900 [03:35<07:12,  1.84it/s]
 12%|█▏        | 105/900 [03:45<44:57,  3.39s/it]
 12%|█▏        | 106/900 [03:45<32:42,  2.47s/it]
 12%|█▏        | 107/900 [03:45<24:19,  1.84s/it]
 12%|█▏        | 108/900 [03:46<18:19,  1.39s/it]
 12%|█▏        | 109/900 [03:46<14:06,  1.07s/it]
 12%|█▏        | 110/900 [03:46<11:08,  1.18it/s]
 12%|█▏        | 111/900 [03:47<09:08,  1.44it/s]
 12%|█▏        | 112/900 [03:47<07:45,  1.69it/s]
 13%|█▎        | 113/900 [03:55<35:02,  2.67s/it]
 13%|█▎        | 114/900 [03:55<25:47,  1.97s/it]
 13%|█▎        | 115/900 [03:55<19:24,  1.48s/it]
 13%|█▎        | 116/900 [03:56<14:52,  1.14s/it]
 13%|█▎        | 117/900 [03:56<11:39,  1.12it/s]
 13%|█▎        | 118/900 [03:56<09:23,  1.39it/s]
 13%|█▎        | 119/900 [03:57<07:49,  1.66it/s]
 13%|█▎        | 120/900 [03:57<06:43,  1.93it/s]
 13%|█▎        | 121/900 [04:04<30:31,  2.35s/it]
 14%|█▎        | 122/900 [04:04<22:34,  1.74s/it]
 14%|█▎        | 123/900 [04:04<17:00,  1.31s/it]
 14%|█▍        | 124/900 [04:05<13:13,  1.02s/it]
 14%|█▍        | 125/900 [04:05<10:44,  1.20it/s]
 14%|█▍        | 126/900 [04:05<08:43,  1.48it/s]
 14%|█▍        | 127/900 [04:06<07:19,  1.76it/s]
 14%|█▍        | 128/900 [04:06<06:21,  2.02it/s]
 14%|█▍        | 129/900 [04:46<2:40:32, 12.49s/it]
 14%|█▍        | 130/900 [04:47<1:53:29,  8.84s/it]
 15%|█▍        | 131/900 [04:47<1:20:42,  6.30s/it]
 15%|█▍        | 132/900 [04:47<57:38,  4.50s/it]  
 15%|█▍        | 133/900 [04:48<41:33,  3.25s/it]
 15%|█▍        | 134/900 [04:48<30:25,  2.38s/it]
 15%|█▌        | 135/900 [04:48<22:33,  1.77s/it]
 15%|█▌        | 136/900 [04:49<17:02,  1.34s/it]
 15%|█▌        | 137/900 [04:57<45:01,  3.54s/it]
 15%|█▌        | 138/900 [04:58<32:46,  2.58s/it]
 15%|█▌        | 139/900 [04:58<24:10,  1.91s/it]
 16%|█▌        | 140/900 [04:58<18:08,  1.43s/it]
 16%|█▌        | 141/900 [04:59<13:58,  1.10s/it]
 16%|█▌        | 142/900 [04:59<10:58,  1.15it/s]
 16%|█▌        | 143/900 [04:59<08:52,  1.42it/s]
 16%|█▌        | 144/900 [05:00<07:24,  1.70it/s]
 16%|█▌        | 145/900 [05:09<40:41,  3.23s/it]
 16%|█▌        | 146/900 [05:09<29:47,  2.37s/it]
 16%|█▋        | 147/900 [05:10<22:01,  1.76s/it]
 16%|█▋        | 148/900 [05:10<16:41,  1.33s/it]
 17%|█▋        | 149/900 [05:10<12:50,  1.03s/it]
 17%|█▋        | 150/900 [05:11<10:09,  1.23it/s]
 17%|█▋        | 151/900 [05:11<08:18,  1.50it/s]
 17%|█▋        | 152/900 [05:11<06:59,  1.78it/s]
 17%|█▋        | 153/900 [05:21<42:15,  3.39s/it]
 17%|█▋        | 154/900 [05:22<30:41,  2.47s/it]
 17%|█▋        | 155/900 [05:22<22:37,  1.82s/it]
 17%|█▋        | 156/900 [05:22<16:58,  1.37s/it]
 17%|█▋        | 157/900 [05:23<13:06,  1.06s/it]
 18%|█▊        | 158/900 [05:23<10:20,  1.20it/s]
 18%|█▊        | 159/900 [05:23<08:24,  1.47it/s]
 18%|█▊        | 160/900 [05:24<07:07,  1.73it/s]
 18%|█▊        | 161/900 [05:31<33:06,  2.69s/it]
 18%|█▊        | 162/900 [05:32<24:25,  1.99s/it]
 18%|█▊        | 163/900 [05:32<18:16,  1.49s/it]
 18%|█▊        | 164/900 [05:32<13:57,  1.14s/it]
 18%|█▊        | 165/900 [05:33<10:54,  1.12it/s]
 18%|█▊        | 166/900 [05:33<08:48,  1.39it/s]
 19%|█▊        | 167/900 [05:33<07:28,  1.63it/s]
 19%|█▊        | 168/900 [05:34<06:22,  1.91it/s]
 19%|█▉        | 169/900 [06:16<2:37:55, 12.96s/it]
 19%|█▉        | 170/900 [06:16<1:51:36,  9.17s/it]
 19%|█▉        | 171/900 [06:16<1:19:19,  6.53s/it]
 19%|█▉        | 172/900 [06:17<56:42,  4.67s/it]  
 19%|█▉        | 173/900 [06:17<40:53,  3.37s/it]
 19%|█▉        | 174/900 [06:17<29:49,  2.46s/it]
 19%|█▉        | 175/900 [06:18<22:06,  1.83s/it]
 20%|█▉        | 176/900 [06:18<16:42,  1.38s/it]
 20%|█▉        | 177/900 [06:31<57:16,  4.75s/it]
 20%|█▉        | 178/900 [06:31<41:10,  3.42s/it]
 20%|█▉        | 179/900 [06:31<29:55,  2.49s/it]
 20%|██        | 180/900 [06:32<22:09,  1.85s/it]
 20%|██        | 181/900 [06:32<16:39,  1.39s/it]
 20%|██        | 182/900 [06:32<12:53,  1.08s/it]
 20%|██        | 183/900 [06:33<10:16,  1.16it/s]
 20%|██        | 184/900 [06:33<08:19,  1.43it/s]
 21%|██        | 185/900 [06:41<35:23,  2.97s/it]
 21%|██        | 186/900 [06:42<25:53,  2.18s/it]
 21%|██        | 187/900 [06:42<19:17,  1.62s/it]
 21%|██        | 188/900 [06:42<14:36,  1.23s/it]
 21%|██        | 189/900 [06:42<11:23,  1.04it/s]
 21%|██        | 190/900 [06:43<09:07,  1.30it/s]
 21%|██        | 191/900 [06:43<07:33,  1.56it/s]
 21%|██▏       | 192/900 [06:44<06:33,  1.80it/s]
 21%|██▏       | 193/900 [06:55<46:04,  3.91s/it]
 22%|██▏       | 194/900 [06:56<33:23,  2.84s/it]
 22%|██▏       | 195/900 [06:56<24:30,  2.09s/it]
 22%|██▏       | 196/900 [06:56<18:17,  1.56s/it]
 22%|██▏       | 197/900 [06:57<13:57,  1.19s/it]
 22%|██▏       | 198/900 [06:57<10:59,  1.06it/s]
 22%|██▏       | 199/900 [06:57<08:55,  1.31it/s]
 22%|██▏       | 200/900 [06:58<07:21,  1.59it/s]
 22%|██▏       | 201/900 [07:06<34:31,  2.96s/it]
 22%|██▏       | 202/900 [07:06<25:18,  2.18s/it]
 23%|██▎       | 203/900 [07:07<18:58,  1.63s/it]
 23%|██▎       | 204/900 [07:07<14:24,  1.24s/it]
 23%|██▎       | 205/900 [07:07<11:13,  1.03it/s]
 23%|██▎       | 206/900 [07:08<09:07,  1.27it/s]
 23%|██▎       | 207/900 [07:08<07:31,  1.54it/s]
 23%|██▎       | 208/900 [07:08<06:26,  1.79it/s]
 23%|██▎       | 209/900 [07:19<39:18,  3.41s/it]
 23%|██▎       | 210/900 [07:19<28:40,  2.49s/it]
 23%|██▎       | 211/900 [07:19<21:18,  1.86s/it]
 24%|██▎       | 212/900 [07:20<16:09,  1.41s/it]
 24%|██▎       | 213/900 [07:20<12:26,  1.09s/it]
 24%|██▍       | 214/900 [07:20<09:51,  1.16it/s]
 24%|██▍       | 215/900 [07:21<08:01,  1.42it/s]
 24%|██▍       | 216/900 [07:21<06:45,  1.69it/s]
 24%|██▍       | 217/900 [08:03<2:27:20, 12.94s/it]
 24%|██▍       | 218/900 [08:03<1:44:07,  9.16s/it]
 24%|██▍       | 219/900 [08:03<1:13:52,  6.51s/it]
 24%|██▍       | 220/900 [08:04<52:41,  4.65s/it]  
 25%|██▍       | 221/900 [08:04<37:53,  3.35s/it]
 25%|██▍       | 222/900 [08:04<27:39,  2.45s/it]
 25%|██▍       | 223/900 [08:05<20:24,  1.81s/it]
 25%|██▍       | 224/900 [08:05<15:20,  1.36s/it]
 25%|██▌       | 225/900 [08:14<40:04,  3.56s/it]
 25%|██▌       | 226/900 [08:14<29:07,  2.59s/it]
 25%|██▌       | 227/900 [08:14<21:27,  1.91s/it]
 25%|██▌       | 228/900 [08:15<16:07,  1.44s/it]
 25%|██▌       | 229/900 [08:15<12:25,  1.11s/it]
 26%|██▌       | 230/900 [08:15<09:51,  1.13it/s]
 26%|██▌       | 231/900 [08:16<08:00,  1.39it/s]
 26%|██▌       | 232/900 [08:16<06:41,  1.66it/s]
 26%|██▌       | 233/900 [08:25<34:33,  3.11s/it]
 26%|██▌       | 234/900 [08:25<25:13,  2.27s/it]
 26%|██▌       | 235/900 [08:26<18:48,  1.70s/it]
 26%|██▌       | 236/900 [08:26<14:13,  1.29s/it]
 26%|██▋       | 237/900 [08:26<10:59,  1.00it/s]
 26%|██▋       | 238/900 [08:27<08:45,  1.26it/s]
 27%|██▋       | 239/900 [08:27<07:10,  1.54it/s]
 27%|██▋       | 240/900 [08:27<06:05,  1.81it/s]
 27%|██▋       | 241/900 [08:39<44:01,  4.01s/it]
 27%|██▋       | 242/900 [08:40<31:58,  2.92s/it]
 27%|██▋       | 243/900 [08:40<23:34,  2.15s/it]
 27%|██▋       | 244/900 [08:40<17:44,  1.62s/it]
 27%|██▋       | 245/900 [08:41<13:35,  1.24s/it]
 27%|██▋       | 246/900 [08:41<10:40,  1.02it/s]
 27%|██▋       | 247/900 [08:42<08:43,  1.25it/s]
 28%|██▊       | 248/900 [08:42<07:17,  1.49it/s]
 28%|██▊       | 249/900 [08:48<25:35,  2.36s/it]
 28%|██▊       | 250/900 [08:49<19:02,  1.76s/it]
 28%|██▊       | 251/900 [08:49<14:28,  1.34s/it]
 28%|██▊       | 252/900 [08:49<11:21,  1.05s/it]
 28%|██▊       | 253/900 [08:50<09:04,  1.19it/s]
 28%|██▊       | 254/900 [08:50<07:32,  1.43it/s]
 28%|██▊       | 255/900 [08:50<06:23,  1.68it/s]
 28%|██▊       | 256/900 [08:51<05:35,  1.92it/s]
 29%|██▊       | 257/900 [09:10<1:05:55,  6.15s/it]
 29%|██▊       | 258/900 [09:10<47:13,  4.41s/it]  
 29%|██▉       | 259/900 [09:11<34:09,  3.20s/it]
 29%|██▉       | 260/900 [09:11<25:04,  2.35s/it]
 29%|██▉       | 261/900 [09:11<18:40,  1.75s/it]
 29%|██▉       | 262/900 [09:12<14:12,  1.34s/it]
 29%|██▉       | 263/900 [09:12<11:03,  1.04s/it]
 29%|██▉       | 264/900 [09:13<08:57,  1.18it/s]
 29%|██▉       | 265/900 [09:37<1:23:32,  7.89s/it]
 30%|██▉       | 266/900 [09:37<59:33,  5.64s/it]  
 30%|██▉       | 267/900 [09:38<42:45,  4.05s/it]
 30%|██▉       | 268/900 [09:38<30:58,  2.94s/it]
 30%|██▉       | 269/900 [09:38<22:48,  2.17s/it]
 30%|███       | 270/900 [09:39<17:03,  1.62s/it]
 30%|███       | 271/900 [09:39<12:59,  1.24s/it]
 30%|███       | 272/900 [09:39<10:18,  1.01it/s]
 30%|███       | 273/900 [09:53<48:44,  4.66s/it]
 30%|███       | 274/900 [09:53<35:03,  3.36s/it]
 31%|███       | 275/900 [09:53<25:29,  2.45s/it]
 31%|███       | 275/900 [09:54<22:30,  2.16s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json.
+TakeSpatulaOffShelfTask_0 complete: task_name: TakeSpatulaOffShelfTask, run_name: TakeSpatulaOffShelfTask_0, run: 0, env_id: 0, policy: harness, instruction: Take the spatula off the shelf and put it on the table, attributes: ['affordance', 'spatial', 'moderate'], success: True, episode_step: 276, duration: 18.4, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.812771714941572, 'joint_sparc_mean': -9.26304207393361, 'ee_isj': 2142.7109160043865, 'joint_isj': 54498.7114330943, 'ee_path_length': 2.9647440249732737, 'joint_rmse_mean': 0.8939619144124179, 'ee_speed_max': 0.5040019154548645, 'ee_speed_mean': 0.15351562201976776}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 5, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 502.84, 'policy_inference_avg_ms': 1821.9, 'env_step_s': 88.158, 'env_step_avg_ms': 319.4, 'video_write_s': 3.125, 'video_write_avg_ms': 11.3, 'wall_total_s': 594.124, 'it_per_sec': 0.46}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: 0f4eb624010441ddbb53b7084d35a93b-0
+[RoboLab] Running TakeSpatulaOffShelfTask_1: 'Take the spatula off the shelf and put it on the table' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:52<13:08:55, 52.65s/it]
  0%|          | 2/900 [00:52<5:27:28, 21.88s/it] 
  0%|          | 3/900 [00:53<3:00:14, 12.06s/it]
  0%|          | 4/900 [00:53<1:50:53,  7.43s/it]
  1%|          | 5/900 [00:54<1:12:32,  4.86s/it]
  1%|          | 6/900 [00:54<49:27,  3.32s/it]  
  1%|          | 7/900 [00:54<34:59,  2.35s/it]
  1%|          | 8/900 [00:55<25:37,  1.72s/it]
  1%|          | 9/900 [01:03<55:43,  3.75s/it]
  1%|          | 10/900 [01:03<40:07,  2.71s/it]
  1%|          | 11/900 [01:04<29:28,  1.99s/it]
  1%|▏         | 12/900 [01:04<22:07,  1.50s/it]
  1%|▏         | 13/900 [01:04<16:58,  1.15s/it]
  2%|▏         | 14/900 [01:05<13:30,  1.09it/s]
  2%|▏         | 15/900 [01:05<11:05,  1.33it/s]
  2%|▏         | 16/900 [01:05<09:24,  1.57it/s]
  2%|▏         | 17/900 [01:10<27:53,  1.90s/it]
  2%|▏         | 18/900 [01:11<21:01,  1.43s/it]
  2%|▏         | 19/900 [01:11<16:24,  1.12s/it]
  2%|▏         | 20/900 [01:11<13:08,  1.12it/s]
  2%|▏         | 21/900 [01:12<10:49,  1.35it/s]
  2%|▏         | 22/900 [01:12<09:10,  1.59it/s]
  3%|▎         | 23/900 [01:12<07:57,  1.83it/s]
  3%|▎         | 24/900 [01:13<07:13,  2.02it/s]
  3%|▎         | 25/900 [01:18<28:12,  1.93s/it]
  3%|▎         | 26/900 [01:18<21:16,  1.46s/it]
  3%|▎         | 27/900 [01:19<16:17,  1.12s/it]
  3%|▎         | 28/900 [01:19<12:45,  1.14it/s]
  3%|▎         | 29/900 [01:19<10:16,  1.41it/s]
  3%|▎         | 30/900 [01:20<08:33,  1.70it/s]
  3%|▎         | 31/900 [01:20<07:20,  1.97it/s]
  4%|▎         | 32/900 [01:20<06:27,  2.24it/s]
  4%|▎         | 33/900 [01:27<32:37,  2.26s/it]
  4%|▍         | 34/900 [01:27<24:08,  1.67s/it]
  4%|▍         | 35/900 [01:27<18:14,  1.26s/it]
  4%|▍         | 36/900 [01:28<14:10,  1.02it/s]
  4%|▍         | 37/900 [01:28<11:23,  1.26it/s]
  4%|▍         | 38/900 [01:28<09:24,  1.53it/s]
  4%|▍         | 39/900 [01:29<07:59,  1.80it/s]
  4%|▍         | 40/900 [01:29<07:08,  2.00it/s]
  5%|▍         | 41/900 [01:35<29:08,  2.04s/it]
  5%|▍         | 42/900 [01:35<21:47,  1.52s/it]
  5%|▍         | 43/900 [01:35<16:37,  1.16s/it]
  5%|▍         | 44/900 [01:36<12:58,  1.10it/s]
  5%|▌         | 45/900 [01:36<10:26,  1.36it/s]
  5%|▌         | 46/900 [01:36<08:49,  1.61it/s]
  5%|▌         | 47/900 [01:37<07:35,  1.87it/s]
  5%|▌         | 48/900 [01:37<06:45,  2.10it/s]
  5%|▌         | 49/900 [01:44<33:13,  2.34s/it]
  6%|▌         | 50/900 [01:44<24:40,  1.74s/it]
  6%|▌         | 51/900 [01:44<18:36,  1.32s/it]
  6%|▌         | 52/900 [01:45<14:26,  1.02s/it]
  6%|▌         | 53/900 [01:45<11:27,  1.23it/s]
  6%|▌         | 54/900 [01:45<09:24,  1.50it/s]
  6%|▌         | 55/900 [01:46<07:56,  1.77it/s]
  6%|▌         | 56/900 [01:46<06:59,  2.01it/s]
  6%|▋         | 57/900 [02:02<1:13:28,  5.23s/it]
  6%|▋         | 58/900 [02:03<52:42,  3.76s/it]  
  7%|▋         | 59/900 [02:03<38:09,  2.72s/it]
  7%|▋         | 60/900 [02:03<28:04,  2.01s/it]
  7%|▋         | 61/900 [02:04<20:58,  1.50s/it]
  7%|▋         | 62/900 [02:04<16:00,  1.15s/it]
  7%|▋         | 63/900 [02:04<12:31,  1.11it/s]
  7%|▋         | 64/900 [02:05<10:06,  1.38it/s]
  7%|▋         | 65/900 [02:10<31:37,  2.27s/it]
  7%|▋         | 66/900 [02:11<23:27,  1.69s/it]
  7%|▋         | 67/900 [02:11<17:46,  1.28s/it]
  8%|▊         | 68/900 [02:11<13:47,  1.01it/s]
  8%|▊         | 69/900 [02:12<11:00,  1.26it/s]
  8%|▊         | 70/900 [02:12<09:04,  1.52it/s]
  8%|▊         | 71/900 [02:12<07:49,  1.77it/s]
  8%|▊         | 72/900 [02:13<06:57,  1.98it/s]
  8%|▊         | 73/900 [02:41<2:02:29,  8.89s/it]
  8%|▊         | 74/900 [02:42<1:26:58,  6.32s/it]
  8%|▊         | 75/900 [02:42<1:02:09,  4.52s/it]
  8%|▊         | 76/900 [02:42<44:49,  3.26s/it]  
  9%|▊         | 77/900 [02:43<32:44,  2.39s/it]
  9%|▊         | 78/900 [02:43<24:17,  1.77s/it]
  9%|▉         | 79/900 [02:43<18:19,  1.34s/it]
  9%|▉         | 80/900 [02:44<14:08,  1.03s/it]
  9%|▉         | 81/900 [02:52<44:08,  3.23s/it]
  9%|▉         | 82/900 [02:52<32:18,  2.37s/it]
  9%|▉         | 83/900 [02:53<23:55,  1.76s/it]
  9%|▉         | 84/900 [02:53<18:02,  1.33s/it]
  9%|▉         | 85/900 [02:53<13:56,  1.03s/it]
 10%|▉         | 86/900 [02:54<11:02,  1.23it/s]
 10%|▉         | 87/900 [02:54<09:00,  1.50it/s]
 10%|▉         | 88/900 [02:54<07:35,  1.78it/s]
 10%|▉         | 89/900 [03:01<34:14,  2.53s/it]
 10%|█         | 90/900 [03:02<25:13,  1.87s/it]
 10%|█         | 91/900 [03:02<19:01,  1.41s/it]
 10%|█         | 92/900 [03:02<14:39,  1.09s/it]
 10%|█         | 93/900 [03:03<11:40,  1.15it/s]
 10%|█         | 94/900 [03:03<09:34,  1.40it/s]
 11%|█         | 95/900 [03:03<08:06,  1.65it/s]
 11%|█         | 96/900 [03:04<07:04,  1.89it/s]
 11%|█         | 97/900 [03:15<49:03,  3.67s/it]
 11%|█         | 98/900 [03:15<35:38,  2.67s/it]
 11%|█         | 99/900 [03:15<26:13,  1.96s/it]
 11%|█         | 100/900 [03:16<19:36,  1.47s/it]
 11%|█         | 101/900 [03:16<14:57,  1.12s/it]
 11%|█▏        | 102/900 [03:16<11:50,  1.12it/s]
 11%|█▏        | 103/900 [03:17<09:39,  1.37it/s]
 12%|█▏        | 104/900 [03:17<08:11,  1.62it/s]
 12%|█▏        | 105/900 [03:24<34:49,  2.63s/it]
 12%|█▏        | 106/900 [03:25<25:37,  1.94s/it]
 12%|█▏        | 107/900 [03:25<19:15,  1.46s/it]
 12%|█▏        | 108/900 [03:25<14:47,  1.12s/it]
 12%|█▏        | 109/900 [03:26<11:37,  1.13it/s]
 12%|█▏        | 110/900 [03:26<09:23,  1.40it/s]
 12%|█▏        | 111/900 [03:26<07:51,  1.67it/s]
 12%|█▏        | 112/900 [03:27<06:50,  1.92it/s]
 13%|█▎        | 113/900 [03:51<1:41:07,  7.71s/it]
 13%|█▎        | 114/900 [03:52<1:12:05,  5.50s/it]
 13%|█▎        | 115/900 [03:52<51:38,  3.95s/it]  
 13%|█▎        | 116/900 [03:52<37:20,  2.86s/it]
 13%|█▎        | 117/900 [03:53<27:32,  2.11s/it]
 13%|█▎        | 118/900 [03:53<20:35,  1.58s/it]
 13%|█▎        | 119/900 [03:53<15:52,  1.22s/it]
 13%|█▎        | 120/900 [03:54<12:31,  1.04it/s]
 13%|█▎        | 121/900 [04:01<37:00,  2.85s/it]
 14%|█▎        | 122/900 [04:01<27:14,  2.10s/it]
 14%|█▎        | 123/900 [04:02<20:26,  1.58s/it]
 14%|█▍        | 124/900 [04:02<15:40,  1.21s/it]
 14%|█▍        | 125/900 [04:02<12:21,  1.05it/s]
 14%|█▍        | 126/900 [04:03<09:57,  1.30it/s]
 14%|█▍        | 127/900 [04:03<08:24,  1.53it/s]
 14%|█▍        | 128/900 [04:03<07:19,  1.76it/s]
 14%|█▍        | 129/900 [04:10<29:50,  2.32s/it]
 14%|█▍        | 130/900 [04:10<22:13,  1.73s/it]
 15%|█▍        | 131/900 [04:11<16:56,  1.32s/it]
 15%|█▍        | 132/900 [04:11<13:20,  1.04s/it]
 15%|█▍        | 133/900 [04:11<10:42,  1.19it/s]
 15%|█▍        | 134/900 [04:12<08:55,  1.43it/s]
 15%|█▌        | 135/900 [04:12<07:34,  1.68it/s]
 15%|█▌        | 136/900 [04:12<06:41,  1.90it/s]
 15%|█▌        | 137/900 [04:20<33:55,  2.67s/it]
 15%|█▌        | 138/900 [04:20<25:09,  1.98s/it]
 15%|█▌        | 139/900 [04:21<19:03,  1.50s/it]
 16%|█▌        | 140/900 [04:21<14:49,  1.17s/it]
 16%|█▌        | 141/900 [04:22<11:45,  1.08it/s]
 16%|█▌        | 142/900 [04:22<09:42,  1.30it/s]
 16%|█▌        | 143/900 [04:22<08:15,  1.53it/s]
 16%|█▌        | 144/900 [04:23<07:14,  1.74it/s]
 16%|█▌        | 145/900 [04:46<1:31:23,  7.26s/it]
 16%|█▌        | 146/900 [04:46<1:05:12,  5.19s/it]
 16%|█▋        | 147/900 [04:46<46:57,  3.74s/it]  
 16%|█▋        | 148/900 [04:47<34:06,  2.72s/it]
 17%|█▋        | 149/900 [04:47<25:15,  2.02s/it]
 17%|█▋        | 150/900 [04:47<19:03,  1.52s/it]
 17%|█▋        | 151/900 [04:48<14:39,  1.17s/it]
 17%|█▋        | 152/900 [04:48<11:27,  1.09it/s]
 17%|█▋        | 153/900 [04:58<45:01,  3.62s/it]
 17%|█▋        | 154/900 [04:58<32:42,  2.63s/it]
 17%|█▋        | 155/900 [04:59<24:12,  1.95s/it]
 17%|█▋        | 156/900 [04:59<18:09,  1.46s/it]
 17%|█▋        | 157/900 [04:59<14:04,  1.14s/it]
 18%|█▊        | 158/900 [05:00<11:03,  1.12it/s]
 18%|█▊        | 158/900 [05:00<23:31,  1.90s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/log_1_env0.json.
+TakeSpatulaOffShelfTask_1 complete: task_name: TakeSpatulaOffShelfTask, run_name: TakeSpatulaOffShelfTask_1, run: 1, env_id: 0, policy: harness, instruction: Take the spatula off the shelf and put it on the table, attributes: ['affordance', 'spatial', 'moderate'], success: True, episode_step: 159, duration: 10.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.5914965519631465, 'joint_sparc_mean': -8.360739088027234, 'ee_isj': 2007.7743500620495, 'joint_isj': 143693.31965853245, 'ee_path_length': 2.1333185654821913, 'joint_rmse_mean': 0.8533450703773988, 'ee_speed_max': 0.8220695853233337, 'ee_speed_mean': 0.19453956186771393}, events: {'GRIPPER_HIT_OBJECT': 1, 'TARGET_OBJECT_DROPPED': 2, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 246.774, 'policy_inference_avg_ms': 1552.0, 'env_step_s': 51.753, 'env_step_avg_ms': 325.5, 'video_write_s': 2.043, 'video_write_avg_ms': 12.8, 'wall_total_s': 300.57, 'it_per_sec': 0.53}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: 9222aa96a7064b17a0812853d00f11dc-1
+[RoboLab] Running TakeSpatulaOffShelfTask_2: 'Take the spatula off the shelf and put it on the table' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:44<10:59:45, 44.03s/it]
  0%|          | 2/900 [00:44<4:34:17, 18.33s/it] 
  0%|          | 3/900 [00:44<2:31:13, 10.12s/it]
  0%|          | 4/900 [00:45<1:33:25,  6.26s/it]
  1%|          | 5/900 [00:45<1:01:25,  4.12s/it]
  1%|          | 6/900 [00:45<42:10,  2.83s/it]  
  1%|          | 7/900 [00:46<30:01,  2.02s/it]
  1%|          | 8/900 [00:46<22:02,  1.48s/it]
  1%|          | 9/900 [01:22<3:01:26, 12.22s/it]
  1%|          | 10/900 [01:22<2:06:42,  8.54s/it]
  1%|          | 11/900 [01:22<1:29:25,  6.03s/it]
  1%|▏         | 12/900 [01:23<1:03:43,  4.31s/it]
  1%|▏         | 13/900 [01:23<45:49,  3.10s/it]  
  2%|▏         | 14/900 [01:23<33:24,  2.26s/it]
  2%|▏         | 15/900 [01:24<24:46,  1.68s/it]
  2%|▏         | 16/900 [01:24<18:56,  1.29s/it]
  2%|▏         | 17/900 [01:28<32:10,  2.19s/it]
  2%|▏         | 18/900 [01:29<24:04,  1.64s/it]
  2%|▏         | 19/900 [01:29<18:24,  1.25s/it]
  2%|▏         | 20/900 [01:29<14:17,  1.03it/s]
  2%|▏         | 21/900 [01:30<11:25,  1.28it/s]
  2%|▏         | 22/900 [01:30<09:36,  1.52it/s]
  3%|▎         | 23/900 [01:30<08:15,  1.77it/s]
  3%|▎         | 24/900 [01:31<07:23,  1.98it/s]
  3%|▎         | 25/900 [01:35<23:12,  1.59s/it]
  3%|▎         | 26/900 [01:35<17:44,  1.22s/it]
  3%|▎         | 27/900 [01:36<14:02,  1.04it/s]
  3%|▎         | 28/900 [01:36<11:12,  1.30it/s]
  3%|▎         | 29/900 [01:36<09:17,  1.56it/s]
  3%|▎         | 30/900 [01:37<07:55,  1.83it/s]
  3%|▎         | 31/900 [01:37<06:55,  2.09it/s]
  4%|▎         | 32/900 [01:37<06:11,  2.34it/s]
  4%|▎         | 33/900 [01:50<58:32,  4.05s/it]
  4%|▍         | 34/900 [01:50<42:22,  2.94s/it]
  4%|▍         | 35/900 [01:50<31:09,  2.16s/it]
  4%|▍         | 36/900 [01:51<23:11,  1.61s/it]
  4%|▍         | 37/900 [01:51<17:34,  1.22s/it]
  4%|▍         | 38/900 [01:51<13:40,  1.05it/s]
  4%|▍         | 39/900 [01:52<10:57,  1.31it/s]
  4%|▍         | 40/900 [01:52<09:03,  1.58it/s]
  5%|▍         | 41/900 [02:06<1:04:56,  4.54s/it]
  5%|▍         | 42/900 [02:06<46:54,  3.28s/it]  
  5%|▍         | 43/900 [02:06<34:11,  2.39s/it]
  5%|▍         | 44/900 [02:07<25:31,  1.79s/it]
  5%|▌         | 45/900 [02:07<19:20,  1.36s/it]
  5%|▌         | 46/900 [02:07<14:54,  1.05s/it]
  5%|▌         | 47/900 [02:08<11:50,  1.20it/s]
  5%|▌         | 48/900 [02:08<09:48,  1.45it/s]
  5%|▌         | 49/900 [02:19<53:27,  3.77s/it]
  6%|▌         | 50/900 [02:19<38:41,  2.73s/it]
  6%|▌         | 51/900 [02:20<28:25,  2.01s/it]
  6%|▌         | 52/900 [02:20<21:10,  1.50s/it]
  6%|▌         | 53/900 [02:20<16:07,  1.14s/it]
  6%|▌         | 54/900 [02:21<12:37,  1.12it/s]
  6%|▌         | 55/900 [02:21<10:15,  1.37it/s]
  6%|▌         | 56/900 [02:21<08:38,  1.63it/s]
  6%|▋         | 57/900 [02:46<1:51:42,  7.95s/it]
  6%|▋         | 58/900 [02:47<1:19:27,  5.66s/it]
  7%|▋         | 59/900 [02:47<56:54,  4.06s/it]  
  7%|▋         | 60/900 [02:47<41:16,  2.95s/it]
  7%|▋         | 61/900 [02:48<30:14,  2.16s/it]
  7%|▋         | 62/900 [02:48<22:28,  1.61s/it]
  7%|▋         | 63/900 [02:48<17:02,  1.22s/it]
  7%|▋         | 64/900 [02:49<13:16,  1.05it/s]
  7%|▋         | 65/900 [03:01<59:23,  4.27s/it]
  7%|▋         | 66/900 [03:01<42:53,  3.09s/it]
  7%|▋         | 67/900 [03:01<31:21,  2.26s/it]
  8%|▊         | 68/900 [03:02<23:18,  1.68s/it]
  8%|▊         | 69/900 [03:02<17:38,  1.27s/it]
  8%|▊         | 70/900 [03:02<13:37,  1.01it/s]
  8%|▊         | 71/900 [03:03<10:53,  1.27it/s]
  8%|▊         | 72/900 [03:03<08:56,  1.54it/s]
  8%|▊         | 73/900 [03:18<1:07:03,  4.87s/it]
  8%|▊         | 74/900 [03:18<48:13,  3.50s/it]  
  8%|▊         | 75/900 [03:18<35:05,  2.55s/it]
  8%|▊         | 76/900 [03:19<25:53,  1.89s/it]
  9%|▊         | 77/900 [03:19<19:23,  1.41s/it]
  9%|▊         | 78/900 [03:19<14:51,  1.08s/it]
  9%|▉         | 79/900 [03:20<11:42,  1.17it/s]
  9%|▉         | 80/900 [03:20<09:33,  1.43it/s]
  9%|▉         | 81/900 [03:27<36:04,  2.64s/it]
  9%|▉         | 82/900 [03:27<26:37,  1.95s/it]
  9%|▉         | 83/900 [03:28<20:03,  1.47s/it]
  9%|▉         | 84/900 [03:28<15:30,  1.14s/it]
  9%|▉         | 85/900 [03:29<12:26,  1.09it/s]
 10%|▉         | 86/900 [03:29<10:15,  1.32it/s]
 10%|▉         | 87/900 [03:29<08:46,  1.54it/s]
 10%|▉         | 88/900 [03:30<07:41,  1.76it/s]
 10%|▉         | 89/900 [03:35<27:44,  2.05s/it]
 10%|█         | 90/900 [03:36<20:51,  1.55s/it]
 10%|█         | 91/900 [03:36<16:10,  1.20s/it]
 10%|█         | 92/900 [03:36<12:50,  1.05it/s]
 10%|█         | 93/900 [03:37<10:25,  1.29it/s]
 10%|█         | 94/900 [03:37<08:49,  1.52it/s]
 11%|█         | 95/900 [03:38<07:44,  1.73it/s]
 11%|█         | 96/900 [03:38<07:01,  1.91it/s]
 11%|█         | 97/900 [03:44<29:48,  2.23s/it]
 11%|█         | 98/900 [03:44<22:15,  1.67s/it]
 11%|█         | 99/900 [03:45<16:55,  1.27s/it]
 11%|█         | 100/900 [03:45<13:10,  1.01it/s]
 11%|█         | 101/900 [03:46<10:32,  1.26it/s]
 11%|█▏        | 102/900 [03:46<08:42,  1.53it/s]
 11%|█▏        | 103/900 [03:46<07:25,  1.79it/s]
 12%|█▏        | 104/900 [03:47<06:32,  2.03it/s]
 12%|█▏        | 105/900 [04:09<1:34:53,  7.16s/it]
 12%|█▏        | 106/900 [04:10<1:07:46,  5.12s/it]
 12%|█▏        | 107/900 [04:10<48:45,  3.69s/it]  
 12%|█▏        | 108/900 [04:10<35:26,  2.69s/it]
 12%|█▏        | 109/900 [04:11<26:12,  1.99s/it]
 12%|█▏        | 110/900 [04:11<19:41,  1.50s/it]
 12%|█▏        | 111/900 [04:11<15:07,  1.15s/it]
 12%|█▏        | 112/900 [04:12<11:54,  1.10it/s]
 13%|█▎        | 113/900 [04:43<2:12:20, 10.09s/it]
 13%|█▎        | 114/900 [04:44<1:33:52,  7.17s/it]
 13%|█▎        | 114/900 [04:44<32:41,  2.50s/it]  
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/log_2_env0.json.
+TakeSpatulaOffShelfTask_2 complete: task_name: TakeSpatulaOffShelfTask, run_name: TakeSpatulaOffShelfTask_2, run: 2, env_id: 0, policy: harness, instruction: Take the spatula off the shelf and put it on the table, attributes: ['affordance', 'spatial', 'moderate'], success: True, episode_step: 115, duration: 7.666666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.22249823166629, 'joint_sparc_mean': -5.5841348884212305, 'ee_isj': 1236.7427902206268, 'joint_isj': 54544.26034282491, 'ee_path_length': 1.680116988071886, 'joint_rmse_mean': 0.8805809599397756, 'ee_speed_max': 0.5708090662956238, 'ee_speed_mean': 0.2024432122707367}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 2, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 245.812, 'policy_inference_avg_ms': 2137.5, 'env_step_s': 37.113, 'env_step_avg_ms': 322.7, 'video_write_s': 1.494, 'video_write_avg_ms': 13.0, 'wall_total_s': 284.419, 'it_per_sec': 0.4}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: d525b2189e974a039e5fd20b50a1e644-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-29T19:42:34Z [10,044,368ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.230051 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-29T19:42:37Z [10,047,720ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T19:42:37Z [10,047,720ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T19:42:37Z [10,047,729ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T19:42:37Z [10,047,729ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T19:42:37Z [10,047,737ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T19:42:37Z [10,047,744ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-29T19:42:37Z [10,048,135ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((886))' not available in the MDL representation.
+2026-10-29T19:42:37Z [10,048,135ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((886))' not available in the MDL representation.
+2026-10-29T19:42:37Z [10,048,152ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((889))' not available in the MDL representation.
+2026-10-29T19:42:37Z [10,048,152ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((889))' not available in the MDL representation.
+2026-10-29T19:42:37Z [10,048,188ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((904))' not available in the MDL representation.
+2026-10-29T19:42:37Z [10,048,188ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((904))' not available in the MDL representation.
+2026-10-29T19:42:37Z [10,048,198ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((909))' not available in the MDL representation.
+2026-10-29T19:42:37Z [10,048,199ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((909))' not available in the MDL representation.
+2026-10-29T19:42:38Z [10,048,914ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((886))' not available in the MDL representation.
+2026-10-29T19:42:38Z [10,048,915ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((886))' not available in the MDL representation.
+2026-10-29T19:42:38Z [10,048,915ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((889))' not available in the MDL representation.
+2026-10-29T19:42:38Z [10,048,915ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((889))' not available in the MDL representation.
+2026-10-29T19:42:38Z [10,048,917ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((904))' not available in the MDL representation.
+2026-10-29T19:42:38Z [10,048,917ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((904))' not available in the MDL representation.
+2026-10-29T19:42:38Z [10,048,917ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((909))' not available in the MDL representation.
+2026-10-29T19:42:38Z [10,048,918ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((909))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 4.453420 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : RedItemsInBinTask                             │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put all the red things in the grey bin        │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : RedItemsInBinTaskSceneEnvCfg                  │
+│  Attributes  : color, sorting, moderate                      │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running RedItemsInBinTask_0: 'Put all the red things in the grey bin' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:29<7:24:34, 29.67s/it]
  0%|          | 2/900 [00:29<3:05:12, 12.37s/it]
  0%|          | 3/900 [00:30<1:42:13,  6.84s/it]
  0%|          | 4/900 [00:30<1:03:18,  4.24s/it]
  1%|          | 5/900 [00:30<41:55,  2.81s/it]  
  1%|          | 6/900 [00:30<28:53,  1.94s/it]
  1%|          | 7/900 [00:31<20:46,  1.40s/it]
  1%|          | 8/900 [00:31<15:17,  1.03s/it]
  1%|          | 9/900 [00:40<51:54,  3.50s/it]
  1%|          | 10/900 [00:40<37:00,  2.49s/it]
  1%|          | 11/900 [00:40<26:46,  1.81s/it]
  1%|▏         | 12/900 [00:41<19:46,  1.34s/it]
  1%|▏         | 13/900 [00:41<15:02,  1.02s/it]
  2%|▏         | 14/900 [00:41<11:36,  1.27it/s]
  2%|▏         | 15/900 [00:41<09:24,  1.57it/s]
  2%|▏         | 16/900 [00:42<07:39,  1.92it/s]
  2%|▏         | 17/900 [00:55<1:02:11,  4.23s/it]
  2%|▏         | 18/900 [00:55<44:34,  3.03s/it]  
  2%|▏         | 19/900 [00:55<32:13,  2.19s/it]
  2%|▏         | 20/900 [00:55<23:45,  1.62s/it]
  2%|▏         | 21/900 [00:56<17:42,  1.21s/it]
  2%|▏         | 22/900 [00:56<13:37,  1.07it/s]
  3%|▎         | 23/900 [00:56<10:40,  1.37it/s]
  3%|▎         | 24/900 [00:56<08:30,  1.72it/s]
  3%|▎         | 25/900 [01:06<48:44,  3.34s/it]
  3%|▎         | 26/900 [01:06<35:07,  2.41s/it]
  3%|▎         | 27/900 [01:07<25:36,  1.76s/it]
  3%|▎         | 28/900 [01:07<18:59,  1.31s/it]
  3%|▎         | 29/900 [01:07<14:18,  1.01it/s]
  3%|▎         | 30/900 [01:07<11:01,  1.31it/s]
  3%|▎         | 31/900 [01:08<08:44,  1.66it/s]
  4%|▎         | 32/900 [01:08<07:10,  2.01it/s]
  4%|▎         | 33/900 [01:15<37:33,  2.60s/it]
  4%|▍         | 34/900 [01:16<27:22,  1.90s/it]
  4%|▍         | 35/900 [01:16<20:10,  1.40s/it]
  4%|▍         | 36/900 [01:16<15:08,  1.05s/it]
  4%|▍         | 37/900 [01:16<11:38,  1.24it/s]
  4%|▍         | 38/900 [01:17<09:13,  1.56it/s]
  4%|▍         | 39/900 [01:17<07:29,  1.92it/s]
  4%|▍         | 40/900 [01:17<06:16,  2.28it/s]
  5%|▍         | 41/900 [01:28<49:21,  3.45s/it]
  5%|▍         | 42/900 [01:28<35:40,  2.49s/it]
  5%|▍         | 43/900 [01:28<26:02,  1.82s/it]
  5%|▍         | 44/900 [01:28<19:18,  1.35s/it]
  5%|▌         | 45/900 [01:29<14:37,  1.03s/it]
  5%|▌         | 46/900 [01:29<11:20,  1.25it/s]
  5%|▌         | 47/900 [01:29<09:03,  1.57it/s]
  5%|▌         | 48/900 [01:29<07:26,  1.91it/s]
  5%|▌         | 49/900 [01:50<1:31:19,  6.44s/it]
  6%|▌         | 50/900 [01:50<1:04:57,  4.59s/it]
  6%|▌         | 51/900 [01:50<46:31,  3.29s/it]  
  6%|▌         | 52/900 [01:50<33:39,  2.38s/it]
  6%|▌         | 53/900 [01:51<24:37,  1.74s/it]
  6%|▌         | 54/900 [01:51<18:19,  1.30s/it]
  6%|▌         | 55/900 [01:51<13:56,  1.01it/s]
  6%|▌         | 56/900 [01:51<10:51,  1.30it/s]
  6%|▋         | 57/900 [01:56<26:42,  1.90s/it]
  6%|▋         | 58/900 [01:56<19:48,  1.41s/it]
  7%|▋         | 59/900 [01:57<14:52,  1.06s/it]
  7%|▋         | 60/900 [01:57<11:24,  1.23it/s]
  7%|▋         | 61/900 [01:57<08:59,  1.56it/s]
  7%|▋         | 62/900 [01:57<07:18,  1.91it/s]
  7%|▋         | 63/900 [01:57<06:06,  2.28it/s]
  7%|▋         | 64/900 [01:58<05:19,  2.61it/s]
  7%|▋         | 65/900 [02:05<33:52,  2.43s/it]
  7%|▋         | 66/900 [02:05<24:47,  1.78s/it]
  7%|▋         | 67/900 [02:05<18:19,  1.32s/it]
  8%|▊         | 68/900 [02:06<13:49,  1.00it/s]
  8%|▊         | 69/900 [02:06<10:47,  1.28it/s]
  8%|▊         | 70/900 [02:06<08:33,  1.62it/s]
  8%|▊         | 71/900 [02:06<06:59,  1.98it/s]
  8%|▊         | 72/900 [02:07<06:01,  2.29it/s]
  8%|▊         | 73/900 [02:42<2:32:02, 11.03s/it]
  8%|▊         | 74/900 [02:43<1:47:18,  7.80s/it]
  8%|▊         | 75/900 [02:43<1:16:09,  5.54s/it]
  8%|▊         | 76/900 [02:43<54:14,  3.95s/it]  
  9%|▊         | 77/900 [02:43<38:54,  2.84s/it]
  9%|▊         | 78/900 [02:44<28:11,  2.06s/it]
  9%|▉         | 79/900 [02:44<20:42,  1.51s/it]
  9%|▉         | 80/900 [02:44<15:28,  1.13s/it]
  9%|▉         | 81/900 [02:51<36:35,  2.68s/it]
  9%|▉         | 82/900 [02:51<26:34,  1.95s/it]
  9%|▉         | 83/900 [02:51<19:34,  1.44s/it]
  9%|▉         | 84/900 [02:51<14:41,  1.08s/it]
  9%|▉         | 85/900 [02:51<11:18,  1.20it/s]
 10%|▉         | 86/900 [02:52<08:59,  1.51it/s]
 10%|▉         | 87/900 [02:52<07:16,  1.86it/s]
 10%|▉         | 88/900 [02:52<06:05,  2.22it/s]
 10%|▉         | 89/900 [03:04<53:14,  3.94s/it]
 10%|█         | 90/900 [03:05<38:14,  2.83s/it]
 10%|█         | 91/900 [03:05<27:45,  2.06s/it]
 10%|█         | 92/900 [03:05<20:25,  1.52s/it]
 10%|█         | 93/900 [03:05<15:17,  1.14s/it]
 10%|█         | 94/900 [03:06<11:42,  1.15it/s]
 11%|█         | 95/900 [03:06<09:12,  1.46it/s]
 11%|█         | 96/900 [03:06<07:26,  1.80it/s]
 11%|█         | 97/900 [03:12<30:20,  2.27s/it]
 11%|█         | 98/900 [03:13<22:18,  1.67s/it]
 11%|█         | 99/900 [03:13<16:42,  1.25s/it]
 11%|█         | 100/900 [03:13<12:38,  1.05it/s]
 11%|█         | 101/900 [03:13<09:48,  1.36it/s]
 11%|█▏        | 102/900 [03:14<07:50,  1.70it/s]
 11%|█▏        | 103/900 [03:14<06:28,  2.05it/s]
 12%|█▏        | 104/900 [03:14<05:30,  2.41it/s]
 12%|█▏        | 105/900 [03:18<20:30,  1.55s/it]
 12%|█▏        | 106/900 [03:19<15:19,  1.16s/it]
 12%|█▏        | 107/900 [03:19<11:41,  1.13it/s]
 12%|█▏        | 108/900 [03:19<09:08,  1.44it/s]
 12%|█▏        | 109/900 [03:19<07:22,  1.79it/s]
 12%|█▏        | 110/900 [03:20<06:07,  2.15it/s]
 12%|█▏        | 111/900 [03:20<05:14,  2.51it/s]
 12%|█▏        | 112/900 [03:20<04:40,  2.81it/s]
 13%|█▎        | 113/900 [03:35<1:02:12,  4.74s/it]
 13%|█▎        | 114/900 [03:35<44:29,  3.40s/it]  
 13%|█▎        | 115/900 [03:36<32:13,  2.46s/it]
 13%|█▎        | 116/900 [03:36<23:30,  1.80s/it]
 13%|█▎        | 117/900 [03:36<17:26,  1.34s/it]
 13%|█▎        | 118/900 [03:36<13:14,  1.02s/it]
 13%|█▎        | 119/900 [03:37<10:13,  1.27it/s]
 13%|█▎        | 120/900 [03:37<08:05,  1.61it/s]
 13%|█▎        | 121/900 [03:48<50:44,  3.91s/it]
 14%|█▎        | 122/900 [03:49<36:29,  2.81s/it]
 14%|█▎        | 123/900 [03:49<26:31,  2.05s/it]
 14%|█▍        | 124/900 [03:49<19:32,  1.51s/it]
 14%|█▍        | 125/900 [03:49<14:37,  1.13s/it]
 14%|█▍        | 126/900 [03:50<11:22,  1.13it/s]
 14%|█▍        | 127/900 [03:50<09:02,  1.42it/s]
 14%|█▍        | 128/900 [03:50<07:16,  1.77it/s]
 14%|█▍        | 129/900 [03:58<36:05,  2.81s/it]
 14%|█▍        | 130/900 [03:59<26:13,  2.04s/it]
 15%|█▍        | 131/900 [03:59<19:18,  1.51s/it]
 15%|█▍        | 132/900 [03:59<14:27,  1.13s/it]
 15%|█▍        | 133/900 [03:59<11:08,  1.15it/s]
 15%|█▍        | 134/900 [04:00<08:48,  1.45it/s]
 15%|█▌        | 135/900 [04:00<07:09,  1.78it/s]
 15%|█▌        | 136/900 [04:00<05:58,  2.13it/s]
 15%|█▌        | 137/900 [04:07<28:39,  2.25s/it]
 15%|█▌        | 138/900 [04:07<21:06,  1.66s/it]
 15%|█▌        | 139/900 [04:07<15:41,  1.24s/it]
 16%|█▌        | 140/900 [04:07<11:57,  1.06it/s]
 16%|█▌        | 141/900 [04:08<09:19,  1.36it/s]
 16%|█▌        | 142/900 [04:08<07:39,  1.65it/s]
 16%|█▌        | 143/900 [04:08<06:29,  1.94it/s]
 16%|█▌        | 144/900 [04:08<05:33,  2.27it/s]
 16%|█▌        | 145/900 [04:14<24:08,  1.92s/it]
 16%|█▌        | 146/900 [04:14<17:54,  1.43s/it]
 16%|█▋        | 147/900 [04:14<13:36,  1.08s/it]
 16%|█▋        | 148/900 [04:15<10:39,  1.18it/s]
 17%|█▋        | 149/900 [04:15<08:27,  1.48it/s]
 17%|█▋        | 150/900 [04:15<06:55,  1.81it/s]
 17%|█▋        | 151/900 [04:16<05:54,  2.11it/s]
 17%|█▋        | 152/900 [04:16<05:08,  2.42it/s]
 17%|█▋        | 153/900 [04:31<58:43,  4.72s/it]
 17%|█▋        | 154/900 [04:31<42:01,  3.38s/it]
 17%|█▋        | 155/900 [04:31<30:18,  2.44s/it]
 17%|█▋        | 156/900 [04:31<22:07,  1.78s/it]
 17%|█▋        | 157/900 [04:32<16:23,  1.32s/it]
 18%|█▊        | 158/900 [04:32<12:22,  1.00s/it]
 18%|█▊        | 159/900 [04:32<09:35,  1.29it/s]
 18%|█▊        | 160/900 [04:32<07:37,  1.62it/s]
 18%|█▊        | 161/900 [04:40<32:11,  2.61s/it]
 18%|█▊        | 162/900 [04:40<23:28,  1.91s/it]
 18%|█▊        | 163/900 [04:40<17:22,  1.41s/it]
 18%|█▊        | 164/900 [04:40<13:07,  1.07s/it]
 18%|█▊        | 165/900 [04:41<10:15,  1.19it/s]
 18%|█▊        | 166/900 [04:41<08:05,  1.51it/s]
 19%|█▊        | 167/900 [04:41<06:35,  1.85it/s]
 19%|█▊        | 168/900 [04:41<05:32,  2.20it/s]
 19%|█▉        | 169/900 [04:46<20:33,  1.69s/it]
 19%|█▉        | 170/900 [04:46<15:18,  1.26s/it]
 19%|█▉        | 171/900 [04:46<11:36,  1.05it/s]
 19%|█▉        | 172/900 [04:47<08:58,  1.35it/s]
 19%|█▉        | 173/900 [04:47<07:08,  1.70it/s]
 19%|█▉        | 174/900 [04:47<05:51,  2.07it/s]
 19%|█▉        | 175/900 [04:47<04:58,  2.43it/s]
 20%|█▉        | 176/900 [04:48<04:20,  2.78it/s]
 20%|█▉        | 177/900 [04:57<37:59,  3.15s/it]
 20%|█▉        | 178/900 [04:58<27:28,  2.28s/it]
 20%|█▉        | 179/900 [04:58<20:08,  1.68s/it]
 20%|██        | 180/900 [04:58<14:59,  1.25s/it]
 20%|██        | 181/900 [04:58<11:20,  1.06it/s]
 20%|██        | 182/900 [04:59<08:48,  1.36it/s]
 20%|██        | 183/900 [04:59<07:01,  1.70it/s]
 20%|██        | 184/900 [04:59<05:47,  2.06it/s]
 21%|██        | 185/900 [05:07<31:47,  2.67s/it]
 21%|██        | 186/900 [05:07<23:06,  1.94s/it]
 21%|██        | 187/900 [05:07<17:02,  1.43s/it]
 21%|██        | 188/900 [05:08<12:46,  1.08s/it]
 21%|██        | 189/900 [05:08<09:47,  1.21it/s]
 21%|██        | 190/900 [05:08<07:41,  1.54it/s]
 21%|██        | 191/900 [05:08<06:13,  1.90it/s]
 21%|██▏       | 192/900 [05:09<05:12,  2.26it/s]
 21%|██▏       | 193/900 [05:15<25:09,  2.13s/it]
 22%|██▏       | 194/900 [05:15<18:31,  1.57s/it]
 22%|██▏       | 195/900 [05:15<13:48,  1.18s/it]
 22%|██▏       | 196/900 [05:15<10:30,  1.12it/s]
 22%|██▏       | 197/900 [05:16<08:15,  1.42it/s]
 22%|██▏       | 198/900 [05:16<06:44,  1.73it/s]
 22%|██▏       | 199/900 [05:16<05:38,  2.07it/s]
 22%|██▏       | 200/900 [05:16<04:55,  2.37it/s]
 22%|██▏       | 201/900 [05:23<25:38,  2.20s/it]
 22%|██▏       | 202/900 [05:23<18:50,  1.62s/it]
 23%|██▎       | 203/900 [05:23<14:06,  1.21s/it]
 23%|██▎       | 204/900 [05:24<10:54,  1.06it/s]
 23%|██▎       | 205/900 [05:24<08:49,  1.31it/s]
 23%|██▎       | 206/900 [05:24<07:04,  1.64it/s]
 23%|██▎       | 207/900 [05:25<05:50,  1.98it/s]
 23%|██▎       | 208/900 [05:25<04:58,  2.32it/s]
 23%|██▎       | 209/900 [05:31<24:13,  2.10s/it]
 23%|██▎       | 210/900 [05:31<17:51,  1.55s/it]
 23%|██▎       | 211/900 [05:31<13:19,  1.16s/it]
 24%|██▎       | 212/900 [05:32<10:08,  1.13it/s]
 24%|██▎       | 213/900 [05:32<07:54,  1.45it/s]
 24%|██▍       | 214/900 [05:32<06:21,  1.80it/s]
 24%|██▍       | 215/900 [05:32<05:23,  2.12it/s]
 24%|██▍       | 216/900 [05:33<04:35,  2.48it/s]
 24%|██▍       | 217/900 [05:42<36:41,  3.22s/it]
 24%|██▍       | 218/900 [05:43<26:32,  2.33s/it]
 24%|██▍       | 219/900 [05:43<19:24,  1.71s/it]
 24%|██▍       | 220/900 [05:43<14:28,  1.28s/it]
 25%|██▍       | 221/900 [05:43<11:04,  1.02it/s]
 25%|██▍       | 222/900 [05:44<08:36,  1.31it/s]
 25%|██▍       | 223/900 [05:44<06:56,  1.63it/s]
 25%|██▍       | 224/900 [05:44<05:42,  1.98it/s]
 25%|██▌       | 225/900 [05:51<28:21,  2.52s/it]
 25%|██▌       | 226/900 [05:52<20:42,  1.84s/it]
 25%|██▌       | 227/900 [05:52<15:18,  1.36s/it]
 25%|██▌       | 228/900 [05:52<11:30,  1.03s/it]
 25%|██▌       | 229/900 [05:52<08:51,  1.26it/s]
 26%|██▌       | 230/900 [05:53<06:59,  1.60it/s]
 26%|██▌       | 231/900 [05:53<05:43,  1.95it/s]
 26%|██▌       | 232/900 [05:53<04:53,  2.27it/s]
 26%|██▌       | 233/900 [05:59<23:31,  2.12s/it]
 26%|██▌       | 234/900 [05:59<17:22,  1.57s/it]
 26%|██▌       | 235/900 [06:00<13:01,  1.17s/it]
 26%|██▌       | 236/900 [06:00<09:58,  1.11it/s]
 26%|██▋       | 237/900 [06:00<07:53,  1.40it/s]
 26%|██▋       | 238/900 [06:01<06:23,  1.73it/s]
 27%|██▋       | 239/900 [06:01<05:23,  2.04it/s]
 27%|██▋       | 240/900 [06:01<04:39,  2.36it/s]
 27%|██▋       | 241/900 [06:08<25:00,  2.28s/it]
 27%|██▋       | 242/900 [06:08<18:23,  1.68s/it]
 27%|██▋       | 243/900 [06:08<13:48,  1.26s/it]
 27%|██▋       | 244/900 [06:09<10:34,  1.03it/s]
 27%|██▋       | 245/900 [06:09<08:19,  1.31it/s]
 27%|██▋       | 246/900 [06:09<06:45,  1.61it/s]
 27%|██▋       | 247/900 [06:09<05:42,  1.91it/s]
 28%|██▊       | 248/900 [06:10<04:59,  2.17it/s]
 28%|██▊       | 249/900 [06:22<44:11,  4.07s/it]
 28%|██▊       | 250/900 [06:22<31:44,  2.93s/it]
 28%|██▊       | 251/900 [06:23<23:09,  2.14s/it]
 28%|██▊       | 252/900 [06:23<17:04,  1.58s/it]
 28%|██▊       | 253/900 [06:23<12:50,  1.19s/it]
 28%|██▊       | 254/900 [06:24<09:52,  1.09it/s]
 28%|██▊       | 255/900 [06:24<07:45,  1.38it/s]
 28%|██▊       | 256/900 [06:24<06:16,  1.71it/s]
 29%|██▊       | 257/900 [06:32<30:57,  2.89s/it]
 29%|██▊       | 258/900 [06:33<22:37,  2.11s/it]
 29%|██▉       | 259/900 [06:33<16:42,  1.56s/it]
 29%|██▉       | 260/900 [06:33<12:30,  1.17s/it]
 29%|██▉       | 261/900 [06:34<09:38,  1.10it/s]
 29%|██▉       | 262/900 [06:34<07:38,  1.39it/s]
 29%|██▉       | 263/900 [06:34<06:11,  1.72it/s]
 29%|██▉       | 264/900 [06:34<05:11,  2.04it/s]
 29%|██▉       | 265/900 [06:41<24:35,  2.32s/it]
 30%|██▉       | 266/900 [06:41<17:59,  1.70s/it]
 30%|██▉       | 267/900 [06:41<13:21,  1.27s/it]
 30%|██▉       | 268/900 [06:42<10:06,  1.04it/s]
 30%|██▉       | 269/900 [06:42<07:49,  1.34it/s]
 30%|███       | 270/900 [06:42<06:15,  1.68it/s]
 30%|███       | 271/900 [06:42<05:12,  2.02it/s]
 30%|███       | 272/900 [06:43<04:27,  2.35it/s]
 30%|███       | 273/900 [06:54<39:05,  3.74s/it]
 30%|███       | 274/900 [06:54<28:04,  2.69s/it]
 31%|███       | 275/900 [06:55<20:24,  1.96s/it]
 31%|███       | 276/900 [06:55<15:02,  1.45s/it]
 31%|███       | 277/900 [06:55<11:17,  1.09s/it]
 31%|███       | 278/900 [06:55<08:40,  1.20it/s]
 31%|███       | 279/900 [06:56<06:55,  1.49it/s]
 31%|███       | 280/900 [06:56<05:39,  1.83it/s]
 31%|███       | 281/900 [07:03<24:08,  2.34s/it]
 31%|███▏      | 282/900 [07:03<17:39,  1.71s/it]
 31%|███▏      | 283/900 [07:03<13:09,  1.28s/it]
 32%|███▏      | 284/900 [07:03<09:57,  1.03it/s]
 32%|███▏      | 285/900 [07:04<07:42,  1.33it/s]
 32%|███▏      | 286/900 [07:04<06:08,  1.67it/s]
 32%|███▏      | 287/900 [07:04<05:02,  2.03it/s]
 32%|███▏      | 288/900 [07:04<04:15,  2.40it/s]
 32%|███▏      | 289/900 [07:21<53:33,  5.26s/it]
 32%|███▏      | 290/900 [07:21<38:10,  3.75s/it]
 32%|███▏      | 291/900 [07:21<27:28,  2.71s/it]
 32%|███▏      | 292/900 [07:22<19:55,  1.97s/it]
 33%|███▎      | 293/900 [07:22<14:42,  1.45s/it]
 33%|███▎      | 294/900 [07:22<11:01,  1.09s/it]
 33%|███▎      | 295/900 [07:22<08:31,  1.18it/s]
 33%|███▎      | 296/900 [07:23<06:43,  1.50it/s]
 33%|███▎      | 297/900 [07:32<32:53,  3.27s/it]
 33%|███▎      | 298/900 [07:32<23:42,  2.36s/it]
 33%|███▎      | 299/900 [07:32<17:18,  1.73s/it]
 33%|███▎      | 300/900 [07:33<12:49,  1.28s/it]
 33%|███▎      | 301/900 [07:33<09:42,  1.03it/s]
 34%|███▎      | 302/900 [07:33<07:37,  1.31it/s]
 34%|███▎      | 303/900 [07:33<06:04,  1.64it/s]
 34%|███▍      | 304/900 [07:34<05:03,  1.96it/s]
 34%|███▍      | 305/900 [07:41<25:12,  2.54s/it]
 34%|███▍      | 306/900 [07:41<18:23,  1.86s/it]
 34%|███▍      | 307/900 [07:42<13:44,  1.39s/it]
 34%|███▍      | 308/900 [07:42<10:24,  1.05s/it]
 34%|███▍      | 309/900 [07:42<08:06,  1.22it/s]
 34%|███▍      | 310/900 [07:42<06:31,  1.51it/s]
 35%|███▍      | 311/900 [07:43<05:20,  1.84it/s]
 35%|███▍      | 312/900 [07:43<04:34,  2.14it/s]
 35%|███▍      | 313/900 [07:50<22:32,  2.30s/it]
 35%|███▍      | 314/900 [07:50<16:32,  1.69s/it]
 35%|███▌      | 315/900 [07:50<12:25,  1.27s/it]
 35%|███▌      | 316/900 [07:50<09:27,  1.03it/s]
 35%|███▌      | 317/900 [07:51<07:27,  1.30it/s]
 35%|███▌      | 318/900 [07:51<05:59,  1.62it/s]
 35%|███▌      | 319/900 [07:51<04:57,  1.95it/s]
 36%|███▌      | 320/900 [07:52<04:19,  2.23it/s]
 36%|███▌      | 321/900 [07:58<20:45,  2.15s/it]
 36%|███▌      | 322/900 [07:58<15:16,  1.59s/it]
 36%|███▌      | 323/900 [07:58<11:27,  1.19s/it]
 36%|███▌      | 324/900 [07:58<08:46,  1.09it/s]
 36%|███▌      | 325/900 [07:59<06:57,  1.38it/s]
 36%|███▌      | 326/900 [07:59<05:42,  1.68it/s]
 36%|███▋      | 327/900 [07:59<04:47,  1.99it/s]
 36%|███▋      | 328/900 [08:00<04:14,  2.24it/s]
 37%|███▋      | 329/900 [08:10<32:32,  3.42s/it]
 37%|███▋      | 330/900 [08:10<23:32,  2.48s/it]
 37%|███▋      | 331/900 [08:11<17:16,  1.82s/it]
 37%|███▋      | 332/900 [08:11<12:50,  1.36s/it]
 37%|███▋      | 333/900 [08:11<09:46,  1.03s/it]
 37%|███▋      | 334/900 [08:11<07:37,  1.24it/s]
 37%|███▋      | 335/900 [08:12<06:06,  1.54it/s]
 37%|███▋      | 336/900 [08:12<05:02,  1.86it/s]
 37%|███▋      | 337/900 [08:20<25:11,  2.69s/it]
 38%|███▊      | 338/900 [08:20<18:21,  1.96s/it]
 38%|███▊      | 339/900 [08:20<13:36,  1.46s/it]
 38%|███▊      | 340/900 [08:20<10:16,  1.10s/it]
 38%|███▊      | 341/900 [08:21<07:57,  1.17it/s]
 38%|███▊      | 342/900 [08:21<06:20,  1.47it/s]
 38%|███▊      | 343/900 [08:21<05:16,  1.76it/s]
 38%|███▊      | 344/900 [08:22<04:31,  2.04it/s]
 38%|███▊      | 344/900 [08:30<13:44,  1.48s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/log_0_env0.json.
+RedItemsInBinTask_0 complete: task_name: RedItemsInBinTask, run_name: RedItemsInBinTask_0, run: 0, env_id: 0, policy: harness, instruction: Put all the red things in the grey bin, attributes: ['color', 'sorting', 'moderate'], success: True, episode_step: 345, duration: 23.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.139813265753411, 'joint_sparc_mean': -9.486259603653535, 'ee_isj': 4043.910792833146, 'joint_isj': 122844.02075256011, 'ee_path_length': 4.214280191220167, 'joint_rmse_mean': 0.878979380423849, 'ee_speed_max': 1.109580636024475, 'ee_speed_mean': 0.17373989522457123}, events: {'GRIPPER_FULLY_CLOSED': 5, 'GRIPPER_HIT_TABLE': 2, 'OBJECT_BUMPED': 4, 'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 1, 'TARGET_OBJECT_DROPPED': 2, 'wrong_objects_grabbed': ['grey_bin']}, instruction_type: default, timing: {'policy_inference_s': 422.477, 'policy_inference_avg_ms': 1224.6, 'env_step_s': 83.987, 'env_step_avg_ms': 243.4, 'video_write_s': 3.418, 'video_write_avg_ms': 9.9, 'wall_total_s': 509.882, 'it_per_sec': 0.68}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: f0548c7f850943c79c7e5d31fca086bf-0
+[RoboLab] Running RedItemsInBinTask_1: 'Put all the red things in the grey bin' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:29<7:17:27, 29.20s/it]
  0%|          | 2/900 [00:29<3:02:08, 12.17s/it]
  0%|          | 3/900 [00:29<1:40:31,  6.72s/it]
  0%|          | 4/900 [00:29<1:02:19,  4.17s/it]
  1%|          | 5/900 [00:30<41:12,  2.76s/it]  
  1%|          | 6/900 [00:30<28:24,  1.91s/it]
  1%|          | 7/900 [00:30<20:14,  1.36s/it]
  1%|          | 8/900 [00:30<15:04,  1.01s/it]
  1%|          | 9/900 [00:38<44:35,  3.00s/it]
  1%|          | 10/900 [00:38<31:55,  2.15s/it]
  1%|          | 11/900 [00:38<23:14,  1.57s/it]
  1%|▏         | 12/900 [00:39<17:18,  1.17s/it]
  1%|▏         | 13/900 [00:39<13:07,  1.13it/s]
  2%|▏         | 14/900 [00:39<10:23,  1.42it/s]
  2%|▏         | 15/900 [00:39<08:24,  1.75it/s]
  2%|▏         | 16/900 [00:40<07:07,  2.07it/s]
  2%|▏         | 17/900 [00:49<44:46,  3.04s/it]
  2%|▏         | 18/900 [00:49<32:22,  2.20s/it]
  2%|▏         | 19/900 [00:49<23:44,  1.62s/it]
  2%|▏         | 20/900 [00:49<17:39,  1.20s/it]
  2%|▏         | 21/900 [00:50<13:24,  1.09it/s]
  2%|▏         | 22/900 [00:50<10:28,  1.40it/s]
  3%|▎         | 23/900 [00:50<08:30,  1.72it/s]
  3%|▎         | 24/900 [00:50<07:01,  2.08it/s]
  3%|▎         | 25/900 [00:55<24:43,  1.70s/it]
  3%|▎         | 26/900 [00:55<18:24,  1.26s/it]
  3%|▎         | 27/900 [00:55<13:56,  1.04it/s]
  3%|▎         | 28/900 [00:56<10:55,  1.33it/s]
  3%|▎         | 29/900 [00:56<08:43,  1.67it/s]
  3%|▎         | 30/900 [00:56<07:09,  2.03it/s]
  3%|▎         | 31/900 [00:56<06:03,  2.39it/s]
  4%|▎         | 32/900 [00:57<05:44,  2.52it/s]
  4%|▎         | 33/900 [01:13<1:15:13,  5.21s/it]
  4%|▍         | 34/900 [01:13<53:42,  3.72s/it]  
  4%|▍         | 35/900 [01:14<38:41,  2.68s/it]
  4%|▍         | 36/900 [01:14<28:06,  1.95s/it]
  4%|▍         | 37/900 [01:14<20:41,  1.44s/it]
  4%|▍         | 38/900 [01:14<15:31,  1.08s/it]
  4%|▍         | 39/900 [01:15<11:55,  1.20it/s]
  4%|▍         | 40/900 [01:15<09:30,  1.51it/s]
  5%|▍         | 41/900 [01:31<1:14:48,  5.23s/it]
  5%|▍         | 42/900 [01:31<53:25,  3.74s/it]  
  5%|▍         | 43/900 [01:31<38:33,  2.70s/it]
  5%|▍         | 44/900 [01:32<28:00,  1.96s/it]
  5%|▌         | 45/900 [01:32<20:38,  1.45s/it]
  5%|▌         | 46/900 [01:32<15:26,  1.09s/it]
  5%|▌         | 47/900 [01:32<11:49,  1.20it/s]
  5%|▌         | 48/900 [01:33<09:18,  1.52it/s]
  5%|▌         | 49/900 [01:39<33:31,  2.36s/it]
  6%|▌         | 50/900 [01:39<24:36,  1.74s/it]
  6%|▌         | 51/900 [01:39<18:15,  1.29s/it]
  6%|▌         | 52/900 [01:40<13:48,  1.02it/s]
  6%|▌         | 53/900 [01:40<10:40,  1.32it/s]
  6%|▌         | 54/900 [01:40<08:39,  1.63it/s]
  6%|▌         | 55/900 [01:41<07:18,  1.93it/s]
  6%|▌         | 56/900 [01:41<06:14,  2.25it/s]
  6%|▋         | 57/900 [01:46<27:24,  1.95s/it]
  6%|▋         | 58/900 [01:47<20:16,  1.44s/it]
  7%|▋         | 59/900 [01:47<15:21,  1.10s/it]
  7%|▋         | 60/900 [01:47<11:57,  1.17it/s]
  7%|▋         | 61/900 [01:47<09:34,  1.46it/s]
  7%|▋         | 62/900 [01:48<08:02,  1.74it/s]
  7%|▋         | 63/900 [01:48<06:54,  2.02it/s]
  7%|▋         | 64/900 [01:48<06:06,  2.28it/s]
  7%|▋         | 65/900 [01:53<24:34,  1.77s/it]
  7%|▋         | 66/900 [01:53<18:21,  1.32s/it]
  7%|▋         | 67/900 [01:54<14:00,  1.01s/it]
  8%|▊         | 68/900 [01:54<11:04,  1.25it/s]
  8%|▊         | 69/900 [01:54<08:58,  1.54it/s]
  8%|▊         | 70/900 [01:55<07:35,  1.82it/s]
  8%|▊         | 71/900 [01:55<06:33,  2.11it/s]
  8%|▊         | 72/900 [01:55<05:49,  2.37it/s]
  8%|▊         | 73/900 [02:01<27:09,  1.97s/it]
  8%|▊         | 74/900 [02:01<20:08,  1.46s/it]
  8%|▊         | 75/900 [02:01<15:14,  1.11s/it]
  8%|▊         | 76/900 [02:02<11:49,  1.16it/s]
  9%|▊         | 77/900 [02:02<09:27,  1.45it/s]
  9%|▊         | 78/900 [02:02<07:45,  1.77it/s]
  9%|▉         | 79/900 [02:03<06:40,  2.05it/s]
  9%|▉         | 80/900 [02:03<05:48,  2.35it/s]
  9%|▉         | 81/900 [02:11<38:23,  2.81s/it]
  9%|▉         | 82/900 [02:12<27:58,  2.05s/it]
  9%|▉         | 83/900 [02:12<20:38,  1.52s/it]
  9%|▉         | 84/900 [02:12<15:33,  1.14s/it]
  9%|▉         | 85/900 [02:12<12:00,  1.13it/s]
 10%|▉         | 86/900 [02:13<09:32,  1.42it/s]
 10%|▉         | 87/900 [02:13<07:50,  1.73it/s]
 10%|▉         | 88/900 [02:13<06:35,  2.05it/s]
 10%|▉         | 89/900 [02:18<24:27,  1.81s/it]
 10%|█         | 90/900 [02:18<18:15,  1.35s/it]
 10%|█         | 91/900 [02:19<13:53,  1.03s/it]
 10%|█         | 92/900 [02:19<10:51,  1.24it/s]
 10%|█         | 93/900 [02:19<08:43,  1.54it/s]
 10%|█         | 94/900 [02:20<07:18,  1.84it/s]
 11%|█         | 95/900 [02:20<06:22,  2.10it/s]
 11%|█         | 96/900 [02:20<05:33,  2.41it/s]
 11%|█         | 97/900 [02:28<35:28,  2.65s/it]
 11%|█         | 98/900 [02:28<25:54,  1.94s/it]
 11%|█         | 99/900 [02:29<19:22,  1.45s/it]
 11%|█         | 100/900 [02:29<14:38,  1.10s/it]
 11%|█         | 101/900 [02:29<11:30,  1.16it/s]
 11%|█▏        | 102/900 [02:29<09:08,  1.46it/s]
 11%|█▏        | 103/900 [02:30<07:33,  1.76it/s]
 12%|█▏        | 104/900 [02:30<06:23,  2.08it/s]
 12%|█▏        | 105/900 [02:36<28:41,  2.17s/it]
 12%|█▏        | 106/900 [02:36<21:07,  1.60s/it]
 12%|█▏        | 107/900 [02:37<15:46,  1.19s/it]
 12%|█▏        | 108/900 [02:37<12:01,  1.10it/s]
 12%|█▏        | 109/900 [02:37<09:22,  1.41it/s]
 12%|█▏        | 110/900 [02:37<07:31,  1.75it/s]
 12%|█▏        | 111/900 [02:38<06:15,  2.10it/s]
 12%|█▏        | 112/900 [02:38<05:21,  2.45it/s]
 13%|█▎        | 113/900 [02:50<51:10,  3.90s/it]
 13%|█▎        | 114/900 [02:50<36:46,  2.81s/it]
 13%|█▎        | 115/900 [02:50<26:42,  2.04s/it]
 13%|█▎        | 116/900 [02:51<19:41,  1.51s/it]
 13%|█▎        | 117/900 [02:51<14:44,  1.13s/it]
 13%|█▎        | 118/900 [02:51<11:16,  1.16it/s]
 13%|█▎        | 119/900 [02:51<08:49,  1.47it/s]
 13%|█▎        | 120/900 [02:52<07:06,  1.83it/s]
 13%|█▎        | 121/900 [02:56<23:45,  1.83s/it]
 14%|█▎        | 122/900 [02:57<17:36,  1.36s/it]
 14%|█▎        | 123/900 [02:57<13:23,  1.03s/it]
 14%|█▍        | 124/900 [02:57<10:26,  1.24it/s]
 14%|█▍        | 125/900 [02:58<08:19,  1.55it/s]
 14%|█▍        | 126/900 [02:58<06:53,  1.87it/s]
 14%|█▍        | 127/900 [02:58<05:54,  2.18it/s]
 14%|█▍        | 128/900 [02:58<05:04,  2.54it/s]
 14%|█▍        | 129/900 [03:06<31:29,  2.45s/it]
 14%|█▍        | 130/900 [03:06<22:57,  1.79s/it]
 15%|█▍        | 131/900 [03:06<16:59,  1.33s/it]
 15%|█▍        | 132/900 [03:06<12:56,  1.01s/it]
 15%|█▍        | 133/900 [03:07<10:06,  1.26it/s]
 15%|█▍        | 134/900 [03:07<08:00,  1.60it/s]
 15%|█▌        | 135/900 [03:07<06:30,  1.96it/s]
 15%|█▌        | 136/900 [03:07<05:32,  2.30it/s]
 15%|█▌        | 137/900 [03:30<1:30:17,  7.10s/it]
 15%|█▌        | 138/900 [03:30<1:04:03,  5.04s/it]
 15%|█▌        | 139/900 [03:31<45:45,  3.61s/it]  
 16%|█▌        | 140/900 [03:31<32:57,  2.60s/it]
 16%|█▌        | 141/900 [03:31<23:58,  1.90s/it]
 16%|█▌        | 142/900 [03:31<17:42,  1.40s/it]
 16%|█▌        | 143/900 [03:32<13:19,  1.06s/it]
 16%|█▌        | 144/900 [03:32<10:13,  1.23it/s]
 16%|█▌        | 145/900 [03:38<28:58,  2.30s/it]
 16%|█▌        | 146/900 [03:38<21:10,  1.68s/it]
 16%|█▋        | 147/900 [03:38<15:46,  1.26s/it]
 16%|█▋        | 148/900 [03:38<11:58,  1.05it/s]
 17%|█▋        | 149/900 [03:39<09:17,  1.35it/s]
 17%|█▋        | 150/900 [03:39<07:24,  1.69it/s]
 17%|█▋        | 151/900 [03:39<06:04,  2.05it/s]
 17%|█▋        | 152/900 [03:39<05:11,  2.40it/s]
 17%|█▋        | 153/900 [03:45<24:31,  1.97s/it]
 17%|█▋        | 154/900 [03:45<18:15,  1.47s/it]
 17%|█▋        | 155/900 [03:45<13:49,  1.11s/it]
 17%|█▋        | 156/900 [03:46<10:46,  1.15it/s]
 17%|█▋        | 157/900 [03:46<08:32,  1.45it/s]
 18%|█▊        | 158/900 [03:46<06:55,  1.78it/s]
 18%|█▊        | 159/900 [03:47<05:49,  2.12it/s]
 18%|█▊        | 160/900 [03:47<05:12,  2.37it/s]
 18%|█▊        | 161/900 [03:52<21:54,  1.78s/it]
 18%|█▊        | 162/900 [03:52<16:18,  1.33s/it]
 18%|█▊        | 163/900 [03:52<12:23,  1.01s/it]
 18%|█▊        | 164/900 [03:53<09:43,  1.26it/s]
 18%|█▊        | 165/900 [03:53<07:47,  1.57it/s]
 18%|█▊        | 166/900 [03:53<06:27,  1.90it/s]
 19%|█▊        | 167/900 [03:53<05:31,  2.21it/s]
 19%|█▊        | 168/900 [03:54<04:52,  2.50it/s]
 19%|█▉        | 169/900 [04:03<37:48,  3.10s/it]
 19%|█▉        | 170/900 [04:03<27:24,  2.25s/it]
 19%|█▉        | 171/900 [04:04<20:08,  1.66s/it]
 19%|█▉        | 172/900 [04:04<15:03,  1.24s/it]
 19%|█▉        | 173/900 [04:04<11:37,  1.04it/s]
 19%|█▉        | 174/900 [04:05<09:08,  1.32it/s]
 19%|█▉        | 175/900 [04:05<07:21,  1.64it/s]
 20%|█▉        | 176/900 [04:05<06:05,  1.98it/s]
 20%|█▉        | 177/900 [04:11<27:12,  2.26s/it]
 20%|█▉        | 178/900 [04:12<20:01,  1.66s/it]
 20%|█▉        | 179/900 [04:12<14:59,  1.25s/it]
 20%|██        | 180/900 [04:12<11:30,  1.04it/s]
 20%|██        | 181/900 [04:13<09:07,  1.31it/s]
 20%|██        | 182/900 [04:13<07:24,  1.62it/s]
 20%|██        | 183/900 [04:13<06:08,  1.94it/s]
 20%|██        | 184/900 [04:13<05:22,  2.22it/s]
 21%|██        | 185/900 [04:20<25:54,  2.17s/it]
 21%|██        | 186/900 [04:20<19:06,  1.61s/it]
 21%|██        | 187/900 [04:20<14:23,  1.21s/it]
 21%|██        | 188/900 [04:20<11:01,  1.08it/s]
 21%|██        | 189/900 [04:21<08:48,  1.35it/s]
 21%|██        | 190/900 [04:21<07:17,  1.62it/s]
 21%|██        | 191/900 [04:21<06:10,  1.92it/s]
 21%|██▏       | 192/900 [04:22<05:18,  2.23it/s]
 21%|██▏       | 193/900 [04:33<44:08,  3.75s/it]
 22%|██▏       | 194/900 [04:33<31:53,  2.71s/it]
 22%|██▏       | 195/900 [04:34<23:16,  1.98s/it]
 22%|██▏       | 196/900 [04:34<17:15,  1.47s/it]
 22%|██▏       | 197/900 [04:34<13:02,  1.11s/it]
 22%|██▏       | 198/900 [04:35<10:09,  1.15it/s]
 22%|██▏       | 199/900 [04:35<08:07,  1.44it/s]
 22%|██▏       | 200/900 [04:35<06:44,  1.73it/s]
 22%|██▏       | 200/900 [04:41<16:24,  1.41s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/log_1_env0.json.
+RedItemsInBinTask_1 complete: task_name: RedItemsInBinTask, run_name: RedItemsInBinTask_1, run: 1, env_id: 0, policy: harness, instruction: Put all the red things in the grey bin, attributes: ['color', 'sorting', 'moderate'], success: True, episode_step: 201, duration: 13.4, dt: 0.06666666666666667, metrics: {'ee_sparc': -3.593698973316904, 'joint_sparc_mean': -5.252071628717914, 'ee_isj': 1628.0599342184887, 'joint_isj': 116922.74724685193, 'ee_path_length': 2.811868213004904, 'joint_rmse_mean': 1.0054996111706753, 'ee_speed_max': 0.6271378397941589, 'ee_speed_mean': 0.19613507390022278}, events: {'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 4, 'GRIPPER_FULLY_CLOSED': 2}, instruction_type: default, timing: {'policy_inference_s': 228.258, 'policy_inference_avg_ms': 1135.6, 'env_step_s': 50.609, 'env_step_avg_ms': 251.8, 'video_write_s': 2.277, 'video_write_avg_ms': 11.3, 'wall_total_s': 281.144, 'it_per_sec': 0.71}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: ad1cf5ef30f9477b8bc1bb6011a48fe7-1
+[RoboLab] Running RedItemsInBinTask_2: 'Put all the red things in the grey bin' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:40<10:01:00, 40.11s/it]
  0%|          | 2/900 [00:40<4:09:59, 16.70s/it] 
  0%|          | 3/900 [00:40<2:17:22,  9.19s/it]
  0%|          | 4/900 [00:40<1:24:29,  5.66s/it]
  1%|          | 5/900 [00:41<55:16,  3.71s/it]  
  1%|          | 6/900 [00:41<37:42,  2.53s/it]
  1%|          | 7/900 [00:41<26:33,  1.78s/it]
  1%|          | 8/900 [00:41<19:23,  1.30s/it]
  1%|          | 9/900 [00:54<1:09:21,  4.67s/it]
  1%|          | 10/900 [00:54<49:00,  3.30s/it] 
  1%|          | 11/900 [00:54<35:14,  2.38s/it]
  1%|▏         | 12/900 [00:54<25:38,  1.73s/it]
  1%|▏         | 13/900 [00:55<19:07,  1.29s/it]
  2%|▏         | 14/900 [00:55<14:26,  1.02it/s]
  2%|▏         | 15/900 [00:55<11:11,  1.32it/s]
  2%|▏         | 16/900 [00:55<08:54,  1.65it/s]
  2%|▏         | 17/900 [01:19<1:49:10,  7.42s/it]
  2%|▏         | 18/900 [01:19<1:17:21,  5.26s/it]
  2%|▏         | 19/900 [01:19<55:07,  3.75s/it]  
  2%|▏         | 20/900 [01:19<39:43,  2.71s/it]
  2%|▏         | 21/900 [01:20<28:49,  1.97s/it]
  2%|▏         | 22/900 [01:20<21:11,  1.45s/it]
  3%|▎         | 23/900 [01:20<15:51,  1.09s/it]
  3%|▎         | 24/900 [01:20<12:09,  1.20it/s]
  3%|▎         | 25/900 [01:44<1:51:49,  7.67s/it]
  3%|▎         | 26/900 [01:44<1:19:23,  5.45s/it]
  3%|▎         | 27/900 [01:44<56:39,  3.89s/it]  
  3%|▎         | 28/900 [01:45<40:49,  2.81s/it]
  3%|▎         | 29/900 [01:45<29:42,  2.05s/it]
  3%|▎         | 30/900 [01:45<21:53,  1.51s/it]
  3%|▎         | 31/900 [01:46<16:22,  1.13s/it]
  4%|▎         | 32/900 [01:46<12:33,  1.15it/s]
  4%|▎         | 33/900 [01:58<1:00:00,  4.15s/it]
  4%|▍         | 34/900 [01:58<43:12,  2.99s/it]  
  4%|▍         | 35/900 [01:58<31:29,  2.18s/it]
  4%|▍         | 36/900 [01:58<23:17,  1.62s/it]
  4%|▍         | 37/900 [01:59<17:29,  1.22s/it]
  4%|▍         | 38/900 [01:59<13:23,  1.07it/s]
  4%|▍         | 39/900 [01:59<10:29,  1.37it/s]
  4%|▍         | 40/900 [02:00<08:30,  1.69it/s]
  5%|▍         | 41/900 [02:06<34:58,  2.44s/it]
  5%|▍         | 42/900 [02:07<25:37,  1.79s/it]
  5%|▍         | 43/900 [02:07<19:02,  1.33s/it]
  5%|▍         | 44/900 [02:07<14:30,  1.02s/it]
  5%|▌         | 45/900 [02:07<11:15,  1.27it/s]
  5%|▌         | 46/900 [02:08<08:59,  1.58it/s]
  5%|▌         | 47/900 [02:08<07:25,  1.91it/s]
  5%|▌         | 48/900 [02:08<06:19,  2.24it/s]
  5%|▌         | 49/900 [02:14<27:27,  1.94s/it]
  6%|▌         | 50/900 [02:14<20:20,  1.44s/it]
  6%|▌         | 51/900 [02:14<15:24,  1.09s/it]
  6%|▌         | 52/900 [02:14<11:56,  1.18it/s]
  6%|▌         | 53/900 [02:15<09:39,  1.46it/s]
  6%|▌         | 54/900 [02:15<07:50,  1.80it/s]
  6%|▌         | 55/900 [02:15<06:31,  2.16it/s]
  6%|▌         | 56/900 [02:15<05:37,  2.50it/s]
  6%|▋         | 57/900 [02:29<1:01:58,  4.41s/it]
  6%|▋         | 58/900 [02:29<44:24,  3.16s/it]  
  7%|▋         | 59/900 [02:30<32:15,  2.30s/it]
  7%|▋         | 60/900 [02:30<23:37,  1.69s/it]
  7%|▋         | 61/900 [02:30<17:34,  1.26s/it]
  7%|▋         | 62/900 [02:31<13:27,  1.04it/s]
  7%|▋         | 63/900 [02:31<10:31,  1.33it/s]
  7%|▋         | 64/900 [02:31<08:23,  1.66it/s]
  7%|▋         | 65/900 [02:38<33:57,  2.44s/it]
  7%|▋         | 66/900 [02:38<24:46,  1.78s/it]
  7%|▋         | 67/900 [02:38<18:20,  1.32s/it]
  8%|▊         | 68/900 [02:39<13:51,  1.00it/s]
  8%|▊         | 69/900 [02:39<10:42,  1.29it/s]
  8%|▊         | 70/900 [02:39<08:31,  1.62it/s]
  8%|▊         | 71/900 [02:39<07:01,  1.97it/s]
  8%|▊         | 72/900 [02:40<06:06,  2.26it/s]
  8%|▊         | 73/900 [02:45<25:20,  1.84s/it]
  8%|▊         | 74/900 [02:45<18:51,  1.37s/it]
  8%|▊         | 75/900 [02:45<14:27,  1.05s/it]
  8%|▊         | 76/900 [02:46<11:14,  1.22it/s]
  9%|▊         | 77/900 [02:46<09:00,  1.52it/s]
  9%|▊         | 78/900 [02:46<07:25,  1.85it/s]
  9%|▉         | 79/900 [02:46<06:18,  2.17it/s]
  9%|▉         | 80/900 [02:47<05:33,  2.46it/s]
  9%|▉         | 81/900 [03:20<2:21:29, 10.37s/it]
  9%|▉         | 82/900 [03:21<1:40:05,  7.34s/it]
  9%|▉         | 83/900 [03:21<1:11:11,  5.23s/it]
  9%|▉         | 84/900 [03:21<50:47,  3.73s/it]  
  9%|▉         | 85/900 [03:21<36:37,  2.70s/it]
 10%|▉         | 86/900 [03:22<26:47,  1.97s/it]
 10%|▉         | 87/900 [03:22<19:47,  1.46s/it]
 10%|▉         | 88/900 [03:22<14:54,  1.10s/it]
 10%|▉         | 89/900 [03:29<36:06,  2.67s/it]
 10%|█         | 90/900 [03:29<26:22,  1.95s/it]
 10%|█         | 91/900 [03:29<19:26,  1.44s/it]
 10%|█         | 92/900 [03:29<14:36,  1.08s/it]
 10%|█         | 93/900 [03:30<11:19,  1.19it/s]
 10%|█         | 94/900 [03:30<09:00,  1.49it/s]
 11%|█         | 95/900 [03:30<07:17,  1.84it/s]
 11%|█         | 96/900 [03:30<06:13,  2.15it/s]
 11%|█         | 97/900 [03:41<45:28,  3.40s/it]
 11%|█         | 98/900 [03:41<32:53,  2.46s/it]
 11%|█         | 99/900 [03:41<24:03,  1.80s/it]
 11%|█         | 100/900 [03:41<17:54,  1.34s/it]
 11%|█         | 101/900 [03:42<13:37,  1.02s/it]
 11%|█▏        | 102/900 [03:42<10:40,  1.25it/s]
 11%|█▏        | 103/900 [03:42<08:33,  1.55it/s]
 12%|█▏        | 104/900 [03:43<07:14,  1.83it/s]
 12%|█▏        | 105/900 [03:48<28:15,  2.13s/it]
 12%|█▏        | 106/900 [03:49<20:46,  1.57s/it]
 12%|█▏        | 107/900 [03:49<15:33,  1.18s/it]
 12%|█▏        | 108/900 [03:49<11:50,  1.11it/s]
 12%|█▏        | 109/900 [03:49<09:14,  1.43it/s]
 12%|█▏        | 110/900 [03:50<07:31,  1.75it/s]
 12%|█▏        | 111/900 [03:50<06:13,  2.11it/s]
 12%|█▏        | 112/900 [03:50<05:21,  2.45it/s]
 13%|█▎        | 113/900 [04:16<1:45:50,  8.07s/it]
 13%|█▎        | 114/900 [04:16<1:14:56,  5.72s/it]
 13%|█▎        | 115/900 [04:17<53:20,  4.08s/it]  
 13%|█▎        | 116/900 [04:17<38:14,  2.93s/it]
 13%|█▎        | 117/900 [04:17<27:40,  2.12s/it]
 13%|█▎        | 118/900 [04:17<20:17,  1.56s/it]
 13%|█▎        | 119/900 [04:18<15:08,  1.16s/it]
 13%|█▎        | 120/900 [04:18<11:32,  1.13it/s]
 13%|█▎        | 121/900 [04:35<1:16:37,  5.90s/it]
 14%|█▎        | 122/900 [04:36<54:32,  4.21s/it]  
 14%|█▎        | 123/900 [04:36<39:13,  3.03s/it]
 14%|█▍        | 124/900 [04:36<28:23,  2.20s/it]
 14%|█▍        | 125/900 [04:37<21:01,  1.63s/it]
 14%|█▍        | 126/900 [04:37<15:43,  1.22s/it]
 14%|█▍        | 127/900 [04:37<12:02,  1.07it/s]
 14%|█▍        | 128/900 [04:37<09:25,  1.36it/s]
 14%|█▍        | 129/900 [04:44<31:18,  2.44s/it]
 14%|█▍        | 130/900 [04:44<22:57,  1.79s/it]
 15%|█▍        | 131/900 [04:44<17:05,  1.33s/it]
 15%|█▍        | 132/900 [04:45<13:01,  1.02s/it]
 15%|█▍        | 133/900 [04:45<10:08,  1.26it/s]
 15%|█▍        | 134/900 [04:45<08:08,  1.57it/s]
 15%|█▌        | 135/900 [04:45<06:45,  1.89it/s]
 15%|█▌        | 136/900 [04:46<05:45,  2.21it/s]
 15%|█▌        | 137/900 [04:56<44:31,  3.50s/it]
 15%|█▌        | 138/900 [04:57<32:12,  2.54s/it]
 15%|█▌        | 139/900 [04:57<23:35,  1.86s/it]
 16%|█▌        | 140/900 [04:57<17:32,  1.38s/it]
 16%|█▌        | 141/900 [04:57<13:17,  1.05s/it]
 16%|█▌        | 142/900 [04:58<10:19,  1.22it/s]
 16%|█▌        | 143/900 [04:58<08:22,  1.51it/s]
 16%|█▌        | 144/900 [04:58<06:54,  1.83it/s]
 16%|█▌        | 145/900 [05:08<42:30,  3.38s/it]
 16%|█▌        | 146/900 [05:09<30:47,  2.45s/it]
 16%|█▋        | 147/900 [05:09<22:33,  1.80s/it]
 16%|█▋        | 148/900 [05:09<16:48,  1.34s/it]
 17%|█▋        | 149/900 [05:09<12:48,  1.02s/it]
 17%|█▋        | 150/900 [05:10<09:58,  1.25it/s]
 17%|█▋        | 151/900 [05:10<07:59,  1.56it/s]
 17%|█▋        | 152/900 [05:10<06:35,  1.89it/s]
 17%|█▋        | 153/900 [05:32<1:27:23,  7.02s/it]
 17%|█▋        | 154/900 [05:33<1:02:00,  4.99s/it]
 17%|█▋        | 155/900 [05:33<44:15,  3.56s/it]  
 17%|█▋        | 156/900 [05:33<31:52,  2.57s/it]
 17%|█▋        | 157/900 [05:33<23:22,  1.89s/it]
 18%|█▊        | 158/900 [05:34<17:23,  1.41s/it]
 18%|█▊        | 159/900 [05:34<13:07,  1.06s/it]
 18%|█▊        | 160/900 [05:34<10:04,  1.22it/s]
 18%|█▊        | 161/900 [05:45<45:39,  3.71s/it]
 18%|█▊        | 162/900 [05:45<32:49,  2.67s/it]
 18%|█▊        | 163/900 [05:45<23:51,  1.94s/it]
 18%|█▊        | 164/900 [05:45<17:35,  1.43s/it]
 18%|█▊        | 165/900 [05:46<13:15,  1.08s/it]
 18%|█▊        | 166/900 [05:46<10:20,  1.18it/s]
 19%|█▊        | 167/900 [05:46<08:12,  1.49it/s]
 19%|█▊        | 168/900 [05:46<06:41,  1.82it/s]
 19%|█▉        | 169/900 [06:08<1:25:02,  6.98s/it]
 19%|█▉        | 170/900 [06:09<1:00:25,  4.97s/it]
 19%|█▉        | 171/900 [06:09<43:09,  3.55s/it]  
 19%|█▉        | 172/900 [06:09<31:02,  2.56s/it]
 19%|█▉        | 173/900 [06:09<22:35,  1.86s/it]
 19%|█▉        | 174/900 [06:10<16:42,  1.38s/it]
 19%|█▉        | 175/900 [06:10<12:33,  1.04s/it]
 20%|█▉        | 176/900 [06:10<09:41,  1.25it/s]
 20%|█▉        | 177/900 [06:22<50:20,  4.18s/it]
 20%|█▉        | 178/900 [06:22<36:05,  3.00s/it]
 20%|█▉        | 179/900 [06:23<26:07,  2.17s/it]
 20%|██        | 180/900 [06:23<19:11,  1.60s/it]
 20%|██        | 181/900 [06:23<14:22,  1.20s/it]
 20%|██        | 182/900 [06:23<10:56,  1.09it/s]
 20%|██        | 183/900 [06:24<08:32,  1.40it/s]
 20%|██        | 184/900 [06:24<06:51,  1.74it/s]
 21%|██        | 185/900 [06:35<45:03,  3.78s/it]
 21%|██        | 186/900 [06:35<32:23,  2.72s/it]
 21%|██        | 187/900 [06:36<23:36,  1.99s/it]
 21%|██        | 188/900 [06:36<17:31,  1.48s/it]
 21%|██        | 189/900 [06:36<13:09,  1.11s/it]
 21%|██        | 190/900 [06:37<10:03,  1.18it/s]
 21%|██        | 191/900 [06:37<07:55,  1.49it/s]
 21%|██▏       | 192/900 [06:37<06:31,  1.81it/s]
 21%|██▏       | 193/900 [06:45<32:48,  2.78s/it]
 22%|██▏       | 194/900 [06:45<23:46,  2.02s/it]
 22%|██▏       | 195/900 [06:46<17:28,  1.49s/it]
 22%|██▏       | 196/900 [06:46<13:09,  1.12s/it]
 22%|██▏       | 197/900 [06:46<10:09,  1.15it/s]
 22%|██▏       | 198/900 [06:46<08:00,  1.46it/s]
 22%|██▏       | 199/900 [06:47<06:31,  1.79it/s]
 22%|██▏       | 200/900 [06:47<05:27,  2.14it/s]
 22%|██▏       | 201/900 [06:55<31:58,  2.74s/it]
 22%|██▏       | 202/900 [06:55<23:20,  2.01s/it]
 23%|██▎       | 203/900 [06:56<17:22,  1.50s/it]
 23%|██▎       | 204/900 [06:56<13:06,  1.13s/it]
 23%|██▎       | 205/900 [06:56<10:11,  1.14it/s]
 23%|██▎       | 206/900 [06:56<08:04,  1.43it/s]
 23%|██▎       | 207/900 [06:57<06:42,  1.72it/s]
 23%|██▎       | 208/900 [06:57<05:44,  2.01it/s]
 23%|██▎       | 209/900 [07:14<1:02:07,  5.39s/it]
 23%|██▎       | 210/900 [07:14<44:26,  3.87s/it]  
 23%|██▎       | 211/900 [07:14<31:58,  2.78s/it]
 24%|██▎       | 212/900 [07:15<23:23,  2.04s/it]
 24%|██▎       | 213/900 [07:15<17:22,  1.52s/it]
 24%|██▍       | 214/900 [07:15<13:05,  1.15s/it]
 24%|██▍       | 215/900 [07:16<10:07,  1.13it/s]
 24%|██▍       | 216/900 [07:16<08:08,  1.40it/s]
 24%|██▍       | 217/900 [07:23<30:03,  2.64s/it]
 24%|██▍       | 218/900 [07:23<21:57,  1.93s/it]
 24%|██▍       | 219/900 [07:23<16:15,  1.43s/it]
 24%|██▍       | 220/900 [07:24<12:16,  1.08s/it]
 25%|██▍       | 221/900 [07:24<09:26,  1.20it/s]
 25%|██▍       | 222/900 [07:24<07:32,  1.50it/s]
 25%|██▍       | 223/900 [07:25<06:06,  1.84it/s]
 25%|██▍       | 224/900 [07:25<05:05,  2.21it/s]
 25%|██▌       | 225/900 [07:58<1:55:32, 10.27s/it]
 25%|██▌       | 226/900 [07:58<1:21:36,  7.26s/it]
 25%|██▌       | 227/900 [07:58<57:52,  5.16s/it]  
 25%|██▌       | 228/900 [07:59<41:16,  3.69s/it]
 25%|██▌       | 229/900 [07:59<29:39,  2.65s/it]
 26%|██▌       | 230/900 [07:59<21:33,  1.93s/it]
 26%|██▌       | 231/900 [07:59<15:53,  1.43s/it]
 26%|██▌       | 232/900 [08:00<12:06,  1.09s/it]
 26%|██▌       | 233/900 [08:14<55:07,  4.96s/it]
 26%|██▌       | 234/900 [08:14<39:29,  3.56s/it]
 26%|██▌       | 235/900 [08:14<28:34,  2.58s/it]
 26%|██▌       | 236/900 [08:15<20:50,  1.88s/it]
 26%|██▋       | 237/900 [08:15<15:25,  1.40s/it]
 26%|██▋       | 238/900 [08:15<11:37,  1.05s/it]
 27%|██▋       | 239/900 [08:15<09:00,  1.22it/s]
 27%|██▋       | 240/900 [08:16<07:08,  1.54it/s]
 27%|██▋       | 241/900 [08:38<1:18:15,  7.12s/it]
 27%|██▋       | 242/900 [08:38<55:29,  5.06s/it]  
 27%|██▋       | 243/900 [08:38<39:34,  3.61s/it]
 27%|██▋       | 244/900 [08:39<28:29,  2.61s/it]
 27%|██▋       | 245/900 [08:39<20:44,  1.90s/it]
 27%|██▋       | 246/900 [08:39<15:18,  1.40s/it]
 27%|██▋       | 247/900 [08:39<11:32,  1.06s/it]
 28%|██▊       | 248/900 [08:40<08:51,  1.23it/s]
 28%|██▊       | 249/900 [09:18<2:09:51, 11.97s/it]
 28%|██▊       | 250/900 [09:18<1:31:38,  8.46s/it]
 28%|██▊       | 251/900 [09:18<1:04:56,  6.00s/it]
 28%|██▊       | 252/900 [09:18<46:11,  4.28s/it]  
 28%|██▊       | 253/900 [09:19<33:05,  3.07s/it]
 28%|██▊       | 254/900 [09:19<23:55,  2.22s/it]
 28%|██▊       | 255/900 [09:19<17:33,  1.63s/it]
 28%|██▊       | 256/900 [09:19<13:03,  1.22s/it]
 29%|██▊       | 257/900 [09:29<38:55,  3.63s/it]
 29%|██▊       | 258/900 [09:29<28:00,  2.62s/it]
 29%|██▉       | 259/900 [09:29<20:24,  1.91s/it]
 29%|██▉       | 260/900 [09:29<15:04,  1.41s/it]
 29%|██▉       | 261/900 [09:30<11:19,  1.06s/it]
 29%|██▉       | 262/900 [09:30<08:41,  1.22it/s]
 29%|██▉       | 263/900 [09:30<06:51,  1.55it/s]
 29%|██▉       | 264/900 [09:30<05:33,  1.91it/s]
 29%|██▉       | 265/900 [09:49<1:02:08,  5.87s/it]
 30%|██▉       | 266/900 [09:49<44:16,  4.19s/it]  
 30%|██▉       | 267/900 [09:49<31:45,  3.01s/it]
 30%|██▉       | 268/900 [09:50<22:57,  2.18s/it]
 30%|██▉       | 269/900 [09:50<16:50,  1.60s/it]
 30%|███       | 270/900 [09:50<12:32,  1.19s/it]
 30%|███       | 271/900 [09:50<09:32,  1.10it/s]
 30%|███       | 272/900 [09:50<07:26,  1.41it/s]
 30%|███       | 273/900 [10:03<43:22,  4.15s/it]
 30%|███       | 274/900 [10:03<31:08,  2.98s/it]
 31%|███       | 275/900 [10:03<22:41,  2.18s/it]
 31%|███       | 276/900 [10:04<16:51,  1.62s/it]
 31%|███       | 277/900 [10:04<12:35,  1.21s/it]
 31%|███       | 278/900 [10:04<09:35,  1.08it/s]
 31%|███       | 279/900 [10:04<07:28,  1.38it/s]
 31%|███       | 280/900 [10:05<06:04,  1.70it/s]
 31%|███       | 281/900 [10:16<41:00,  3.97s/it]
 31%|███▏      | 282/900 [10:17<29:35,  2.87s/it]
 31%|███▏      | 283/900 [10:17<21:38,  2.10s/it]
 32%|███▏      | 284/900 [10:17<15:56,  1.55s/it]
 32%|███▏      | 285/900 [10:18<11:57,  1.17s/it]
 32%|███▏      | 286/900 [10:18<09:18,  1.10it/s]
 32%|███▏      | 287/900 [10:18<07:21,  1.39it/s]
 32%|███▏      | 288/900 [10:18<06:00,  1.70it/s]
 32%|███▏      | 289/900 [10:40<1:09:17,  6.80s/it]
 32%|███▏      | 290/900 [10:40<49:17,  4.85s/it]  
 32%|███▏      | 291/900 [10:40<35:17,  3.48s/it]
 32%|███▏      | 292/900 [10:41<25:30,  2.52s/it]
 33%|███▎      | 293/900 [10:41<18:37,  1.84s/it]
 33%|███▎      | 294/900 [10:41<13:46,  1.36s/it]
 33%|███▎      | 295/900 [10:41<10:25,  1.03s/it]
 33%|███▎      | 296/900 [10:42<08:02,  1.25it/s]
 33%|███▎      | 297/900 [11:14<1:42:16, 10.18s/it]
 33%|███▎      | 298/900 [11:14<1:12:18,  7.21s/it]
 33%|███▎      | 299/900 [11:14<51:22,  5.13s/it]  
 33%|███▎      | 300/900 [11:15<36:44,  3.67s/it]
 33%|███▎      | 301/900 [11:15<26:24,  2.64s/it]
 34%|███▎      | 302/900 [11:15<19:10,  1.92s/it]
 34%|███▎      | 303/900 [11:15<14:09,  1.42s/it]
 34%|███▍      | 304/900 [11:16<10:40,  1.08s/it]
 34%|███▍      | 305/900 [11:29<46:57,  4.74s/it]
 34%|███▍      | 306/900 [11:29<33:38,  3.40s/it]
 34%|███▍      | 307/900 [11:29<24:19,  2.46s/it]
 34%|███▍      | 308/900 [11:30<17:46,  1.80s/it]
 34%|███▍      | 309/900 [11:30<13:11,  1.34s/it]
 34%|███▍      | 310/900 [11:30<09:58,  1.01s/it]
 35%|███▍      | 311/900 [11:30<07:42,  1.27it/s]
 35%|███▍      | 312/900 [11:31<06:06,  1.60it/s]
 35%|███▍      | 313/900 [11:40<30:42,  3.14s/it]
 35%|███▍      | 314/900 [11:40<22:12,  2.27s/it]
 35%|███▌      | 315/900 [11:40<16:18,  1.67s/it]
 35%|███▌      | 316/900 [11:40<12:12,  1.25s/it]
 35%|███▌      | 317/900 [11:41<09:17,  1.05it/s]
 35%|███▌      | 318/900 [11:41<07:15,  1.34it/s]
 35%|███▌      | 319/900 [11:41<05:55,  1.63it/s]
 36%|███▌      | 320/900 [11:42<05:01,  1.92it/s]
 36%|███▌      | 321/900 [12:11<1:27:57,  9.11s/it]
 36%|███▌      | 322/900 [12:11<1:02:21,  6.47s/it]
 36%|███▌      | 323/900 [12:11<44:24,  4.62s/it]  
 36%|███▌      | 324/900 [12:12<31:50,  3.32s/it]
 36%|███▌      | 325/900 [12:12<23:05,  2.41s/it]
 36%|███▌      | 326/900 [12:12<16:55,  1.77s/it]
 36%|███▋      | 327/900 [12:13<12:40,  1.33s/it]
 36%|███▋      | 328/900 [12:13<09:39,  1.01s/it]
 37%|███▋      | 329/900 [12:56<2:10:23, 13.70s/it]
 37%|███▋      | 330/900 [12:56<1:31:47,  9.66s/it]
 37%|███▋      | 331/900 [12:57<1:04:49,  6.84s/it]
 37%|███▋      | 332/900 [12:57<46:02,  4.86s/it]  
 37%|███▋      | 333/900 [12:57<32:52,  3.48s/it]
 37%|███▋      | 334/900 [12:57<23:40,  2.51s/it]
 37%|███▋      | 335/900 [12:58<17:14,  1.83s/it]
 37%|███▋      | 336/900 [12:58<12:47,  1.36s/it]
 37%|███▋      | 337/900 [13:05<29:33,  3.15s/it]
 38%|███▊      | 338/900 [13:05<21:25,  2.29s/it]
 38%|███▊      | 339/900 [13:06<15:42,  1.68s/it]
 38%|███▊      | 340/900 [13:06<11:43,  1.26s/it]
 38%|███▊      | 341/900 [13:06<08:56,  1.04it/s]
 38%|███▊      | 342/900 [13:07<07:00,  1.33it/s]
 38%|███▊      | 343/900 [13:07<05:39,  1.64it/s]
 38%|███▊      | 344/900 [13:07<04:44,  1.96it/s]
 38%|███▊      | 345/900 [13:17<31:39,  3.42s/it]
 38%|███▊      | 346/900 [13:18<22:53,  2.48s/it]
 39%|███▊      | 347/900 [13:18<16:44,  1.82s/it]
 39%|███▊      | 348/900 [13:18<12:22,  1.35s/it]
 39%|███▉      | 349/900 [13:18<09:19,  1.02s/it]
 39%|███▉      | 350/900 [13:19<07:09,  1.28it/s]
 39%|███▉      | 351/900 [13:19<05:44,  1.60it/s]
 39%|███▉      | 352/900 [13:19<04:43,  1.93it/s]
 39%|███▉      | 353/900 [13:33<40:58,  4.49s/it]
 39%|███▉      | 354/900 [13:33<29:19,  3.22s/it]
 39%|███▉      | 355/900 [13:33<21:13,  2.34s/it]
 40%|███▉      | 356/900 [13:34<15:31,  1.71s/it]
 40%|███▉      | 357/900 [13:34<11:36,  1.28s/it]
 40%|███▉      | 358/900 [13:34<08:46,  1.03it/s]
 40%|███▉      | 359/900 [13:34<06:49,  1.32it/s]
 40%|████      | 360/900 [13:35<05:31,  1.63it/s]
 40%|████      | 361/900 [14:13<1:46:17, 11.83s/it]
 40%|████      | 362/900 [14:13<1:14:55,  8.36s/it]
 40%|████      | 363/900 [14:13<53:04,  5.93s/it]  
 40%|████      | 364/900 [14:13<37:42,  4.22s/it]
 41%|████      | 365/900 [14:14<27:00,  3.03s/it]
 41%|████      | 366/900 [14:14<19:36,  2.20s/it]
 41%|████      | 367/900 [14:14<14:23,  1.62s/it]
 41%|████      | 368/900 [14:15<10:45,  1.21s/it]
 41%|████      | 369/900 [14:23<29:57,  3.39s/it]
 41%|████      | 370/900 [14:23<21:38,  2.45s/it]
 41%|████      | 371/900 [14:24<15:58,  1.81s/it]
 41%|████▏     | 372/900 [14:24<11:48,  1.34s/it]
 41%|████▏     | 373/900 [14:24<08:52,  1.01s/it]
 42%|████▏     | 374/900 [14:24<06:50,  1.28it/s]
 42%|████▏     | 375/900 [14:25<05:29,  1.59it/s]
 42%|████▏     | 376/900 [14:25<04:28,  1.95it/s]
 42%|████▏     | 377/900 [14:42<49:24,  5.67s/it]
 42%|████▏     | 378/900 [14:43<35:09,  4.04s/it]
 42%|████▏     | 379/900 [14:43<25:13,  2.91s/it]
 42%|████▏     | 380/900 [14:43<18:16,  2.11s/it]
 42%|████▏     | 381/900 [14:43<13:24,  1.55s/it]
 42%|████▏     | 382/900 [14:44<10:03,  1.16s/it]
 43%|████▎     | 383/900 [14:44<07:38,  1.13it/s]
 43%|████▎     | 384/900 [14:44<05:58,  1.44it/s]
 43%|████▎     | 385/900 [14:54<30:10,  3.52s/it]
 43%|████▎     | 386/900 [14:55<21:47,  2.54s/it]
 43%|████▎     | 387/900 [14:55<15:54,  1.86s/it]
 43%|████▎     | 388/900 [14:55<11:44,  1.38s/it]
 43%|████▎     | 389/900 [14:55<08:52,  1.04s/it]
 43%|████▎     | 390/900 [14:56<06:52,  1.24it/s]
 43%|████▎     | 391/900 [14:56<05:31,  1.54it/s]
 44%|████▎     | 392/900 [14:56<04:31,  1.87it/s]
 44%|████▎     | 393/900 [15:04<23:21,  2.76s/it]
 44%|████▍     | 394/900 [15:04<16:59,  2.02s/it]
 44%|████▍     | 395/900 [15:05<12:31,  1.49s/it]
 44%|████▍     | 396/900 [15:05<09:28,  1.13s/it]
 44%|████▍     | 397/900 [15:05<07:20,  1.14it/s]
 44%|████▍     | 398/900 [15:06<05:48,  1.44it/s]
 44%|████▍     | 399/900 [15:06<04:45,  1.75it/s]
 44%|████▍     | 400/900 [15:06<03:58,  2.10it/s]
 45%|████▍     | 401/900 [15:27<55:59,  6.73s/it]
 45%|████▍     | 402/900 [15:28<39:47,  4.79s/it]
 45%|████▍     | 403/900 [15:28<28:24,  3.43s/it]
 45%|████▍     | 404/900 [15:28<20:31,  2.48s/it]
 45%|████▌     | 405/900 [15:28<14:57,  1.81s/it]
 45%|████▌     | 406/900 [15:29<11:02,  1.34s/it]
 45%|████▌     | 407/900 [15:29<08:19,  1.01s/it]
 45%|████▌     | 408/900 [15:29<06:24,  1.28it/s]
 45%|████▌     | 409/900 [15:37<24:39,  3.01s/it]
 46%|████▌     | 410/900 [15:38<17:49,  2.18s/it]
 46%|████▌     | 411/900 [15:38<13:06,  1.61s/it]
 46%|████▌     | 412/900 [15:38<09:47,  1.20s/it]
 46%|████▌     | 413/900 [15:38<07:25,  1.09it/s]
 46%|████▌     | 414/900 [15:39<05:47,  1.40it/s]
 46%|████▌     | 415/900 [15:39<04:38,  1.74it/s]
 46%|████▌     | 416/900 [15:39<03:51,  2.09it/s]
 46%|████▋     | 417/900 [15:48<24:53,  3.09s/it]
 46%|████▋     | 418/900 [15:49<18:00,  2.24s/it]
 47%|████▋     | 419/900 [15:49<13:12,  1.65s/it]
 47%|████▋     | 420/900 [15:49<09:49,  1.23s/it]
 47%|████▋     | 421/900 [15:49<07:27,  1.07it/s]
 47%|████▋     | 422/900 [15:50<05:47,  1.38it/s]
 47%|████▋     | 423/900 [15:50<04:37,  1.72it/s]
 47%|████▋     | 424/900 [15:50<03:48,  2.08it/s]
 47%|████▋     | 425/900 [16:01<27:30,  3.48s/it]
 47%|████▋     | 426/900 [16:01<19:56,  2.52s/it]
 47%|████▋     | 427/900 [16:01<14:34,  1.85s/it]
 48%|████▊     | 428/900 [16:01<10:49,  1.38s/it]
 48%|████▊     | 429/900 [16:02<08:12,  1.05s/it]
 48%|████▊     | 430/900 [16:02<06:21,  1.23it/s]
 48%|████▊     | 431/900 [16:02<05:07,  1.53it/s]
 48%|████▊     | 432/900 [16:03<04:13,  1.85it/s]
 48%|████▊     | 433/900 [16:10<20:08,  2.59s/it]
 48%|████▊     | 434/900 [16:10<14:41,  1.89s/it]
 48%|████▊     | 435/900 [16:10<10:53,  1.41s/it]
 48%|████▊     | 436/900 [16:11<08:13,  1.06s/it]
 49%|████▊     | 437/900 [16:11<06:21,  1.21it/s]
 49%|████▊     | 438/900 [16:11<05:03,  1.52it/s]
 49%|████▉     | 439/900 [16:11<04:09,  1.85it/s]
 49%|████▉     | 440/900 [16:12<03:34,  2.14it/s]
 49%|████▉     | 441/900 [16:21<24:24,  3.19s/it]
 49%|████▉     | 442/900 [16:22<17:41,  2.32s/it]
 49%|████▉     | 443/900 [16:22<13:02,  1.71s/it]
 49%|████▉     | 444/900 [16:22<09:45,  1.28s/it]
 49%|████▉     | 445/900 [16:22<07:26,  1.02it/s]
 50%|████▉     | 446/900 [16:23<05:53,  1.28it/s]
 50%|████▉     | 447/900 [16:23<04:46,  1.58it/s]
 50%|████▉     | 448/900 [16:23<04:02,  1.86it/s]
 50%|████▉     | 449/900 [16:33<23:25,  3.12s/it]
 50%|█████     | 450/900 [16:33<16:58,  2.26s/it]
 50%|█████     | 451/900 [16:33<12:33,  1.68s/it]
 50%|█████     | 452/900 [16:33<09:24,  1.26s/it]
 50%|█████     | 453/900 [16:34<07:12,  1.03it/s]
 50%|█████     | 454/900 [16:34<05:40,  1.31it/s]
 51%|█████     | 455/900 [16:34<04:36,  1.61it/s]
 51%|█████     | 456/900 [16:35<03:52,  1.91it/s]
 51%|█████     | 457/900 [16:45<26:10,  3.55s/it]
 51%|█████     | 458/900 [16:45<18:53,  2.56s/it]
 51%|█████     | 459/900 [16:46<13:48,  1.88s/it]
 51%|█████     | 460/900 [16:46<10:17,  1.40s/it]
 51%|█████     | 461/900 [16:46<07:49,  1.07s/it]
 51%|█████▏    | 462/900 [16:47<06:04,  1.20it/s]
 51%|█████▏    | 463/900 [16:47<04:51,  1.50it/s]
 52%|█████▏    | 464/900 [16:47<04:00,  1.81it/s]
 52%|█████▏    | 465/900 [17:05<41:57,  5.79s/it]
 52%|█████▏    | 466/900 [17:05<29:54,  4.13s/it]
 52%|█████▏    | 467/900 [17:06<21:28,  2.98s/it]
 52%|█████▏    | 468/900 [17:06<15:35,  2.17s/it]
 52%|█████▏    | 469/900 [17:06<11:32,  1.61s/it]
 52%|█████▏    | 470/900 [17:07<08:38,  1.21s/it]
 52%|█████▏    | 471/900 [17:07<06:39,  1.07it/s]
 52%|█████▏    | 472/900 [17:07<05:15,  1.36it/s]
 53%|█████▎    | 473/900 [17:19<30:04,  4.23s/it]
 53%|█████▎    | 474/900 [17:20<21:35,  3.04s/it]
 53%|█████▎    | 475/900 [17:20<15:38,  2.21s/it]
 53%|█████▎    | 476/900 [17:20<11:30,  1.63s/it]
 53%|█████▎    | 477/900 [17:21<08:41,  1.23s/it]
 53%|█████▎    | 478/900 [17:21<06:43,  1.05it/s]
 53%|█████▎    | 479/900 [17:21<05:18,  1.32it/s]
 53%|█████▎    | 480/900 [17:21<04:21,  1.61it/s]
 53%|█████▎    | 481/900 [17:30<20:49,  2.98s/it]
 54%|█████▎    | 482/900 [17:30<15:03,  2.16s/it]
 54%|█████▎    | 483/900 [17:30<11:01,  1.59s/it]
 54%|█████▍    | 484/900 [17:31<08:11,  1.18s/it]
 54%|█████▍    | 485/900 [17:31<06:14,  1.11it/s]
 54%|█████▍    | 486/900 [17:31<04:51,  1.42it/s]
 54%|█████▍    | 487/900 [17:31<03:53,  1.77it/s]
 54%|█████▍    | 488/900 [17:32<03:12,  2.14it/s]
 54%|█████▍    | 489/900 [17:49<38:28,  5.62s/it]
 54%|█████▍    | 490/900 [17:50<27:25,  4.01s/it]
 55%|█████▍    | 491/900 [17:50<19:38,  2.88s/it]
 55%|█████▍    | 492/900 [17:50<14:11,  2.09s/it]
 55%|█████▍    | 493/900 [17:50<10:23,  1.53s/it]
 55%|█████▍    | 494/900 [17:51<07:45,  1.15s/it]
 55%|█████▌    | 495/900 [17:51<05:54,  1.14it/s]
 55%|█████▌    | 496/900 [17:51<04:40,  1.44it/s]
 55%|█████▌    | 497/900 [18:02<26:01,  3.87s/it]
 55%|█████▌    | 498/900 [18:03<18:39,  2.78s/it]
 55%|█████▌    | 499/900 [18:03<13:30,  2.02s/it]
 56%|█████▌    | 500/900 [18:04<10:51,  1.63s/it]
 56%|█████▌    | 501/900 [18:04<08:07,  1.22s/it]
 56%|█████▌    | 502/900 [18:04<06:08,  1.08it/s]
 56%|█████▌    | 503/900 [18:04<04:46,  1.39it/s]
 56%|█████▌    | 504/900 [18:05<03:49,  1.73it/s]
 56%|█████▌    | 505/900 [18:19<31:00,  4.71s/it]
 56%|█████▌    | 506/900 [18:19<22:09,  3.37s/it]
 56%|█████▋    | 507/900 [18:19<16:01,  2.45s/it]
 56%|█████▋    | 508/900 [18:20<11:43,  1.80s/it]
 57%|█████▋    | 509/900 [18:20<08:40,  1.33s/it]
 57%|█████▋    | 510/900 [18:20<06:31,  1.00s/it]
 57%|█████▋    | 511/900 [18:20<05:02,  1.29it/s]
 57%|█████▋    | 512/900 [18:21<04:02,  1.60it/s]
 57%|█████▋    | 513/900 [18:41<42:27,  6.58s/it]
 57%|█████▋    | 514/900 [18:41<30:08,  4.68s/it]
 57%|█████▋    | 515/900 [18:42<21:34,  3.36s/it]
 57%|█████▋    | 516/900 [18:42<15:37,  2.44s/it]
 57%|█████▋    | 517/900 [18:42<11:26,  1.79s/it]
 58%|█████▊    | 518/900 [18:43<08:27,  1.33s/it]
 58%|█████▊    | 519/900 [18:43<06:25,  1.01s/it]
 58%|█████▊    | 520/900 [18:43<05:00,  1.26it/s]
 58%|█████▊    | 521/900 [18:53<22:21,  3.54s/it]
 58%|█████▊    | 522/900 [18:53<16:06,  2.56s/it]
 58%|█████▊    | 523/900 [18:54<11:44,  1.87s/it]
 58%|█████▊    | 524/900 [18:54<08:42,  1.39s/it]
 58%|█████▊    | 525/900 [18:54<06:37,  1.06s/it]
 58%|█████▊    | 526/900 [18:54<05:08,  1.21it/s]
 59%|█████▊    | 527/900 [18:55<04:07,  1.51it/s]
 59%|█████▊    | 528/900 [18:55<03:22,  1.83it/s]
 59%|█████▉    | 529/900 [19:04<19:02,  3.08s/it]
 59%|█████▉    | 530/900 [19:04<13:47,  2.24s/it]
 59%|█████▉    | 531/900 [19:05<10:08,  1.65s/it]
 59%|█████▉    | 532/900 [19:05<07:34,  1.24s/it]
 59%|█████▉    | 533/900 [19:05<05:47,  1.06it/s]
 59%|█████▉    | 534/900 [19:05<04:32,  1.34it/s]
 59%|█████▉    | 535/900 [19:06<03:39,  1.66it/s]
 60%|█████▉    | 536/900 [19:06<03:03,  1.98it/s]
 60%|█████▉    | 537/900 [19:15<18:11,  3.01s/it]
 60%|█████▉    | 538/900 [19:15<13:13,  2.19s/it]
 60%|█████▉    | 539/900 [19:15<09:44,  1.62s/it]
 60%|██████    | 540/900 [19:16<07:18,  1.22s/it]
 60%|██████    | 541/900 [19:16<05:35,  1.07it/s]
 60%|██████    | 542/900 [19:16<04:26,  1.34it/s]
 60%|██████    | 543/900 [19:16<03:39,  1.63it/s]
 60%|██████    | 544/900 [19:17<03:02,  1.95it/s]
 61%|██████    | 545/900 [19:31<27:22,  4.63s/it]
 61%|██████    | 546/900 [19:31<19:31,  3.31s/it]
 61%|██████    | 547/900 [19:31<14:07,  2.40s/it]
 61%|██████    | 548/900 [19:32<10:17,  1.76s/it]
 61%|██████    | 549/900 [19:32<07:37,  1.30s/it]
 61%|██████    | 550/900 [19:32<05:46,  1.01it/s]
 61%|██████    | 551/900 [19:33<04:29,  1.30it/s]
 61%|██████▏   | 552/900 [19:33<03:34,  1.62it/s]
 61%|██████▏   | 553/900 [19:45<24:12,  4.19s/it]
 62%|██████▏   | 554/900 [19:46<17:21,  3.01s/it]
 62%|██████▏   | 555/900 [19:46<12:35,  2.19s/it]
 62%|██████▏   | 556/900 [19:46<09:14,  1.61s/it]
 62%|██████▏   | 557/900 [19:46<06:52,  1.20s/it]
 62%|██████▏   | 558/900 [19:47<05:13,  1.09it/s]
 62%|██████▏   | 559/900 [19:47<04:05,  1.39it/s]
 62%|██████▏   | 560/900 [19:47<03:20,  1.70it/s]
 62%|██████▏   | 561/900 [20:00<24:24,  4.32s/it]
 62%|██████▏   | 562/900 [20:00<17:28,  3.10s/it]
 63%|██████▎   | 563/900 [20:01<12:38,  2.25s/it]
 63%|██████▎   | 564/900 [20:01<09:15,  1.65s/it]
 63%|██████▎   | 565/900 [20:01<06:51,  1.23s/it]
 63%|██████▎   | 566/900 [20:01<05:11,  1.07it/s]
 63%|██████▎   | 567/900 [20:02<04:02,  1.37it/s]
 63%|██████▎   | 568/900 [20:02<03:16,  1.69it/s]
 63%|██████▎   | 569/900 [20:14<22:46,  4.13s/it]
 63%|██████▎   | 570/900 [20:15<16:22,  2.98s/it]
 63%|██████▎   | 571/900 [20:15<11:50,  2.16s/it]
 64%|██████▎   | 572/900 [20:15<08:39,  1.59s/it]
 64%|██████▎   | 573/900 [20:15<06:26,  1.18s/it]
 64%|██████▍   | 574/900 [20:16<04:53,  1.11it/s]
 64%|██████▍   | 575/900 [20:16<03:48,  1.42it/s]
 64%|██████▍   | 576/900 [20:16<03:03,  1.77it/s]
 64%|██████▍   | 577/900 [20:26<18:40,  3.47s/it]
 64%|██████▍   | 578/900 [20:27<13:26,  2.50s/it]
 64%|██████▍   | 579/900 [20:27<09:47,  1.83s/it]
 64%|██████▍   | 580/900 [20:27<07:18,  1.37s/it]
 65%|██████▍   | 581/900 [20:27<05:32,  1.04s/it]
 65%|██████▍   | 582/900 [20:28<04:17,  1.23it/s]
 65%|██████▍   | 583/900 [20:28<03:25,  1.54it/s]
 65%|██████▍   | 584/900 [20:28<02:49,  1.87it/s]
 65%|██████▌   | 585/900 [20:37<15:35,  2.97s/it]
 65%|██████▌   | 586/900 [20:37<11:17,  2.16s/it]
 65%|██████▌   | 587/900 [20:37<08:25,  1.61s/it]
 65%|██████▌   | 588/900 [20:38<06:17,  1.21s/it]
 65%|██████▌   | 589/900 [20:38<04:51,  1.07it/s]
 66%|██████▌   | 590/900 [20:38<03:48,  1.36it/s]
 66%|██████▌   | 591/900 [20:39<03:05,  1.67it/s]
 66%|██████▌   | 592/900 [20:39<02:35,  1.98it/s]
 66%|██████▌   | 593/900 [20:50<18:13,  3.56s/it]
 66%|██████▌   | 594/900 [20:50<13:07,  2.57s/it]
 66%|██████▌   | 595/900 [20:50<09:34,  1.88s/it]
 66%|██████▌   | 596/900 [20:50<07:08,  1.41s/it]
 66%|██████▋   | 597/900 [20:51<05:22,  1.07s/it]
 66%|██████▋   | 598/900 [20:51<04:09,  1.21it/s]
 67%|██████▋   | 599/900 [20:51<03:18,  1.52it/s]
 67%|██████▋   | 600/900 [20:52<02:43,  1.83it/s]
 67%|██████▋   | 601/900 [21:01<16:11,  3.25s/it]
 67%|██████▋   | 602/900 [21:01<11:43,  2.36s/it]
 67%|██████▋   | 603/900 [21:02<08:34,  1.73s/it]
 67%|██████▋   | 604/900 [21:02<06:23,  1.30s/it]
 67%|██████▋   | 605/900 [21:02<04:54,  1.00it/s]
 67%|██████▋   | 606/900 [21:02<03:48,  1.28it/s]
 67%|██████▋   | 607/900 [21:03<03:03,  1.60it/s]
 68%|██████▊   | 608/900 [21:03<02:31,  1.92it/s]
 68%|██████▊   | 609/900 [21:13<16:49,  3.47s/it]
 68%|██████▊   | 610/900 [21:14<12:09,  2.52s/it]
 68%|██████▊   | 611/900 [21:14<08:55,  1.85s/it]
 68%|██████▊   | 612/900 [21:14<06:37,  1.38s/it]
 68%|██████▊   | 613/900 [21:15<05:01,  1.05s/it]
 68%|██████▊   | 614/900 [21:15<04:00,  1.19it/s]
 68%|██████▊   | 615/900 [21:15<03:14,  1.47it/s]
 68%|██████▊   | 616/900 [21:15<02:41,  1.76it/s]
 69%|██████▊   | 617/900 [21:37<32:32,  6.90s/it]
 69%|██████▊   | 618/900 [21:37<23:05,  4.91s/it]
 69%|██████▉   | 619/900 [21:38<16:30,  3.52s/it]
 69%|██████▉   | 620/900 [21:38<11:54,  2.55s/it]
 69%|██████▉   | 621/900 [21:38<08:44,  1.88s/it]
 69%|██████▉   | 622/900 [21:39<06:29,  1.40s/it]
 69%|██████▉   | 623/900 [21:39<04:57,  1.07s/it]
 69%|██████▉   | 624/900 [21:39<03:53,  1.18it/s]
 69%|██████▉   | 625/900 [22:13<49:41, 10.84s/it]
 70%|██████▉   | 626/900 [22:14<35:01,  7.67s/it]
 70%|██████▉   | 627/900 [22:14<24:46,  5.44s/it]
 70%|██████▉   | 628/900 [22:14<17:36,  3.88s/it]
 70%|██████▉   | 629/900 [22:14<12:38,  2.80s/it]
 70%|███████   | 630/900 [22:15<09:10,  2.04s/it]
 70%|███████   | 631/900 [22:15<06:45,  1.51s/it]
 70%|███████   | 632/900 [22:15<05:01,  1.13s/it]
 70%|███████   | 633/900 [22:31<24:06,  5.42s/it]
 70%|███████   | 634/900 [22:31<17:08,  3.87s/it]
 71%|███████   | 635/900 [22:31<12:16,  2.78s/it]
 71%|███████   | 636/900 [22:31<08:53,  2.02s/it]
 71%|███████   | 637/900 [22:32<06:32,  1.49s/it]
 71%|███████   | 638/900 [22:32<04:52,  1.12s/it]
 71%|███████   | 639/900 [22:32<03:43,  1.17it/s]
 71%|███████   | 640/900 [22:32<02:56,  1.48it/s]
 71%|███████   | 641/900 [22:42<15:05,  3.50s/it]
 71%|███████▏  | 642/900 [22:43<10:50,  2.52s/it]
 71%|███████▏  | 643/900 [22:43<07:52,  1.84s/it]
 72%|███████▏  | 644/900 [22:43<05:48,  1.36s/it]
 72%|███████▏  | 645/900 [22:43<04:21,  1.03s/it]
 72%|███████▏  | 646/900 [22:44<03:21,  1.26it/s]
 72%|███████▏  | 647/900 [22:44<02:39,  1.59it/s]
 72%|███████▏  | 648/900 [22:44<02:09,  1.94it/s]
 72%|███████▏  | 649/900 [22:56<16:03,  3.84s/it]
 72%|███████▏  | 650/900 [22:56<11:30,  2.76s/it]
 72%|███████▏  | 651/900 [22:56<08:19,  2.01s/it]
 72%|███████▏  | 652/900 [22:57<06:08,  1.49s/it]
 73%|███████▎  | 653/900 [22:57<04:35,  1.12s/it]
 73%|███████▎  | 654/900 [22:57<03:30,  1.17it/s]
 73%|███████▎  | 655/900 [22:57<02:44,  1.49it/s]
 73%|███████▎  | 656/900 [22:58<02:13,  1.83it/s]
 73%|███████▎  | 657/900 [23:25<35:14,  8.70s/it]
 73%|███████▎  | 658/900 [23:25<24:51,  6.16s/it]
 73%|███████▎  | 659/900 [23:26<17:37,  4.39s/it]
 73%|███████▎  | 660/900 [23:26<12:35,  3.15s/it]
 73%|███████▎  | 661/900 [23:26<09:03,  2.28s/it]
 74%|███████▎  | 662/900 [23:26<06:36,  1.67s/it]
 74%|███████▎  | 663/900 [23:27<04:56,  1.25s/it]
 74%|███████▍  | 664/900 [23:27<03:46,  1.04it/s]
 74%|███████▍  | 665/900 [23:38<15:13,  3.89s/it]
 74%|███████▍  | 666/900 [23:38<10:56,  2.80s/it]
 74%|███████▍  | 667/900 [23:38<07:56,  2.04s/it]
 74%|███████▍  | 668/900 [23:39<05:50,  1.51s/it]
 74%|███████▍  | 669/900 [23:39<04:22,  1.14s/it]
 74%|███████▍  | 670/900 [23:39<03:21,  1.14it/s]
 75%|███████▍  | 671/900 [23:39<02:38,  1.44it/s]
 75%|███████▍  | 672/900 [23:40<02:08,  1.77it/s]
 75%|███████▍  | 673/900 [23:48<11:28,  3.03s/it]
 75%|███████▍  | 674/900 [23:49<08:18,  2.21s/it]
 75%|███████▌  | 675/900 [23:49<06:07,  1.63s/it]
 75%|███████▌  | 676/900 [23:49<04:35,  1.23s/it]
 75%|███████▌  | 677/900 [23:50<03:29,  1.07it/s]
 75%|███████▌  | 678/900 [23:50<02:43,  1.36it/s]
 75%|███████▌  | 679/900 [23:50<02:12,  1.67it/s]
 76%|███████▌  | 680/900 [23:50<01:49,  2.00it/s]
 76%|███████▌  | 681/900 [24:00<11:29,  3.15s/it]
 76%|███████▌  | 682/900 [24:00<08:19,  2.29s/it]
 76%|███████▌  | 683/900 [24:00<06:04,  1.68s/it]
 76%|███████▌  | 684/900 [24:00<04:31,  1.26s/it]
 76%|███████▌  | 685/900 [24:01<03:27,  1.03it/s]
 76%|███████▌  | 686/900 [24:01<02:42,  1.32it/s]
 76%|███████▋  | 687/900 [24:01<02:10,  1.64it/s]
 76%|███████▋  | 688/900 [24:02<01:48,  1.96it/s]
 77%|███████▋  | 689/900 [24:14<14:24,  4.10s/it]
 77%|███████▋  | 690/900 [24:14<10:19,  2.95s/it]
 77%|███████▋  | 691/900 [24:15<07:28,  2.14s/it]
 77%|███████▋  | 692/900 [24:15<05:28,  1.58s/it]
 77%|███████▋  | 693/900 [24:15<04:05,  1.19s/it]
 77%|███████▋  | 694/900 [24:15<03:08,  1.09it/s]
 77%|███████▋  | 695/900 [24:16<02:27,  1.39it/s]
 77%|███████▋  | 696/900 [24:16<01:59,  1.71it/s]
 77%|███████▋  | 697/900 [24:27<12:06,  3.58s/it]
 78%|███████▊  | 698/900 [24:27<08:44,  2.60s/it]
 78%|███████▊  | 699/900 [24:27<06:23,  1.91s/it]
 78%|███████▊  | 700/900 [24:27<04:45,  1.43s/it]
 78%|███████▊  | 701/900 [24:28<03:36,  1.09s/it]
 78%|███████▊  | 702/900 [24:28<02:49,  1.17it/s]
 78%|███████▊  | 703/900 [24:28<02:14,  1.46it/s]
 78%|███████▊  | 704/900 [24:29<01:50,  1.77it/s]
 78%|███████▊  | 705/900 [25:07<38:45, 11.92s/it]
 78%|███████▊  | 706/900 [25:07<27:14,  8.42s/it]
 79%|███████▊  | 707/900 [25:08<19:12,  5.97s/it]
 79%|███████▊  | 708/900 [25:08<13:36,  4.25s/it]
 79%|███████▉  | 709/900 [25:08<09:44,  3.06s/it]
 79%|███████▉  | 710/900 [25:08<07:00,  2.22s/it]
 79%|███████▉  | 711/900 [25:09<05:06,  1.62s/it]
 79%|███████▉  | 712/900 [25:09<03:48,  1.21s/it]
 79%|███████▉  | 713/900 [25:21<13:48,  4.43s/it]
 79%|███████▉  | 714/900 [25:21<09:51,  3.18s/it]
 79%|███████▉  | 715/900 [25:21<07:06,  2.31s/it]
 80%|███████▉  | 716/900 [25:22<05:10,  1.69s/it]
 80%|███████▉  | 717/900 [25:22<03:48,  1.25s/it]
 80%|███████▉  | 718/900 [25:22<02:52,  1.05it/s]
 80%|███████▉  | 719/900 [25:22<02:12,  1.36it/s]
 80%|████████  | 720/900 [25:22<01:45,  1.71it/s]
 80%|████████  | 721/900 [25:34<11:45,  3.94s/it]
 80%|████████  | 722/900 [25:34<08:24,  2.83s/it]
 80%|████████  | 723/900 [25:35<06:04,  2.06s/it]
 80%|████████  | 724/900 [25:35<04:27,  1.52s/it]
 81%|████████  | 725/900 [25:35<03:18,  1.14s/it]
 81%|████████  | 726/900 [25:35<02:32,  1.14it/s]
 81%|████████  | 727/900 [25:36<02:00,  1.44it/s]
 81%|████████  | 728/900 [25:36<01:38,  1.75it/s]
 81%|████████  | 729/900 [25:48<11:11,  3.92s/it]
 81%|████████  | 730/900 [25:48<08:00,  2.83s/it]
 81%|████████  | 731/900 [25:48<05:47,  2.06s/it]
 81%|████████▏ | 732/900 [25:49<04:14,  1.52s/it]
 81%|████████▏ | 733/900 [25:49<03:09,  1.14s/it]
 82%|████████▏ | 734/900 [25:49<02:25,  1.14it/s]
 82%|████████▏ | 735/900 [25:49<01:54,  1.44it/s]
 82%|████████▏ | 736/900 [25:50<01:33,  1.76it/s]
 82%|████████▏ | 737/900 [26:04<13:02,  4.80s/it]
 82%|████████▏ | 738/900 [26:05<09:18,  3.45s/it]
 82%|████████▏ | 739/900 [26:05<06:41,  2.50s/it]
 82%|████████▏ | 740/900 [26:05<04:52,  1.83s/it]
 82%|████████▏ | 741/900 [26:05<03:36,  1.36s/it]
 82%|████████▏ | 742/900 [26:06<02:43,  1.03s/it]
 83%|████████▎ | 743/900 [26:06<02:06,  1.24it/s]
 83%|████████▎ | 744/900 [26:06<01:40,  1.55it/s]
 83%|████████▎ | 745/900 [26:18<10:05,  3.91s/it]
 83%|████████▎ | 746/900 [26:18<07:14,  2.82s/it]
 83%|████████▎ | 747/900 [26:18<05:14,  2.06s/it]
 83%|████████▎ | 748/900 [26:19<03:51,  1.53s/it]
 83%|████████▎ | 749/900 [26:19<02:53,  1.15s/it]
 83%|████████▎ | 750/900 [26:19<02:12,  1.13it/s]
 83%|████████▎ | 751/900 [26:19<01:43,  1.43it/s]
 84%|████████▎ | 752/900 [26:20<01:24,  1.76it/s]
 84%|████████▎ | 753/900 [26:41<16:36,  6.78s/it]
 84%|████████▍ | 754/900 [26:41<11:43,  4.82s/it]
 84%|████████▍ | 755/900 [26:41<08:20,  3.45s/it]
 84%|████████▍ | 756/900 [26:42<05:58,  2.49s/it]
 84%|████████▍ | 757/900 [26:42<04:19,  1.82s/it]
 84%|████████▍ | 758/900 [26:42<03:10,  1.35s/it]
 84%|████████▍ | 759/900 [26:42<02:23,  1.02s/it]
 84%|████████▍ | 760/900 [26:43<01:51,  1.26it/s]
 85%|████████▍ | 761/900 [27:10<20:34,  8.88s/it]
 85%|████████▍ | 762/900 [27:11<14:28,  6.30s/it]
 85%|████████▍ | 763/900 [27:11<10:15,  4.49s/it]
 85%|████████▍ | 764/900 [27:11<07:18,  3.22s/it]
 85%|████████▌ | 765/900 [27:12<05:15,  2.34s/it]
 85%|████████▌ | 766/900 [27:12<03:48,  1.71s/it]
 85%|████████▌ | 767/900 [27:12<02:49,  1.28s/it]
 85%|████████▌ | 768/900 [27:12<02:08,  1.03it/s]
 85%|████████▌ | 769/900 [27:34<15:52,  7.27s/it]
 86%|████████▌ | 770/900 [27:35<11:12,  5.17s/it]
 86%|████████▌ | 771/900 [27:35<07:57,  3.70s/it]
 86%|████████▌ | 772/900 [27:35<05:42,  2.68s/it]
 86%|████████▌ | 773/900 [27:35<04:08,  1.96s/it]
 86%|████████▌ | 774/900 [27:36<03:02,  1.45s/it]
 86%|████████▌ | 775/900 [27:36<02:17,  1.10s/it]
 86%|████████▌ | 776/900 [27:36<01:45,  1.17it/s]
 86%|████████▋ | 777/900 [27:51<10:11,  4.97s/it]
 86%|████████▋ | 778/900 [27:51<07:14,  3.56s/it]
 87%|████████▋ | 779/900 [27:51<05:11,  2.57s/it]
 87%|████████▋ | 780/900 [27:52<03:45,  1.88s/it]
 87%|████████▋ | 781/900 [27:52<02:46,  1.40s/it]
 87%|████████▋ | 782/900 [27:52<02:05,  1.06s/it]
 87%|████████▋ | 783/900 [27:52<01:36,  1.21it/s]
 87%|████████▋ | 784/900 [27:53<01:16,  1.51it/s]
 87%|████████▋ | 785/900 [28:07<09:00,  4.70s/it]
 87%|████████▋ | 786/900 [28:07<06:24,  3.37s/it]
 87%|████████▋ | 787/900 [28:07<04:35,  2.44s/it]
 88%|████████▊ | 788/900 [28:08<03:20,  1.79s/it]
 88%|████████▊ | 789/900 [28:08<02:27,  1.33s/it]
 88%|████████▊ | 790/900 [28:08<01:51,  1.01s/it]
 88%|████████▊ | 791/900 [28:08<01:25,  1.27it/s]
 88%|████████▊ | 792/900 [28:09<01:07,  1.60it/s]
 88%|████████▊ | 793/900 [28:27<10:23,  5.83s/it]
 88%|████████▊ | 794/900 [28:27<07:20,  4.16s/it]
 88%|████████▊ | 795/900 [28:27<05:14,  2.99s/it]
 88%|████████▊ | 796/900 [28:27<03:46,  2.17s/it]
 89%|████████▊ | 797/900 [28:28<02:46,  1.61s/it]
 89%|████████▊ | 798/900 [28:28<02:03,  1.21s/it]
 89%|████████▉ | 799/900 [28:28<01:33,  1.08it/s]
 89%|████████▉ | 800/900 [28:29<01:13,  1.37it/s]
 89%|████████▉ | 801/900 [28:55<14:00,  8.49s/it]
 89%|████████▉ | 802/900 [28:55<09:50,  6.03s/it]
 89%|████████▉ | 803/900 [28:56<06:57,  4.30s/it]
 89%|████████▉ | 804/900 [28:56<04:56,  3.09s/it]
 89%|████████▉ | 805/900 [28:56<03:34,  2.26s/it]
 90%|████████▉ | 806/900 [28:57<02:36,  1.66s/it]
 90%|████████▉ | 807/900 [28:57<01:55,  1.24s/it]
 90%|████████▉ | 808/900 [28:57<01:27,  1.05it/s]
 90%|████████▉ | 809/900 [29:10<06:43,  4.44s/it]
 90%|█████████ | 810/900 [29:10<04:46,  3.18s/it]
 90%|█████████ | 811/900 [29:10<03:25,  2.31s/it]
 90%|█████████ | 812/900 [29:10<02:29,  1.70s/it]
 90%|█████████ | 813/900 [29:11<01:50,  1.27s/it]
 90%|█████████ | 814/900 [29:11<01:23,  1.04it/s]
 91%|█████████ | 815/900 [29:11<01:04,  1.31it/s]
 91%|█████████ | 816/900 [29:12<00:52,  1.61it/s]
 91%|█████████ | 817/900 [29:33<09:40,  6.99s/it]
 91%|█████████ | 818/900 [29:34<06:47,  4.97s/it]
 91%|█████████ | 819/900 [29:34<04:47,  3.55s/it]
 91%|█████████ | 820/900 [29:34<03:24,  2.56s/it]
 91%|█████████ | 821/900 [29:34<02:28,  1.87s/it]
 91%|█████████▏| 822/900 [29:35<01:48,  1.39s/it]
 91%|█████████▏| 823/900 [29:35<01:21,  1.06s/it]
 92%|█████████▏| 824/900 [29:35<01:01,  1.23it/s]
 92%|█████████▏| 825/900 [29:54<07:46,  6.21s/it]
 92%|█████████▏| 826/900 [29:54<05:27,  4.42s/it]
 92%|█████████▏| 827/900 [29:54<03:51,  3.17s/it]
 92%|█████████▏| 828/900 [29:55<02:44,  2.29s/it]
 92%|█████████▏| 829/900 [29:55<01:58,  1.68s/it]
 92%|█████████▏| 830/900 [29:55<01:27,  1.24s/it]
 92%|█████████▏| 831/900 [29:55<01:05,  1.05it/s]
 92%|█████████▏| 832/900 [29:56<00:50,  1.36it/s]
 93%|█████████▎| 833/900 [30:18<07:54,  7.09s/it]
 93%|█████████▎| 834/900 [30:18<05:32,  5.04s/it]
 93%|█████████▎| 835/900 [30:18<03:54,  3.60s/it]
 93%|█████████▎| 836/900 [30:18<02:46,  2.61s/it]
 93%|█████████▎| 837/900 [30:19<01:59,  1.90s/it]
 93%|█████████▎| 838/900 [30:19<01:27,  1.40s/it]
 93%|█████████▎| 839/900 [30:19<01:04,  1.06s/it]
 93%|█████████▎| 840/900 [30:19<00:49,  1.22it/s]
 93%|█████████▎| 841/900 [30:32<04:09,  4.23s/it]
 94%|█████████▎| 842/900 [30:32<02:55,  3.03s/it]
 94%|█████████▎| 843/900 [30:32<02:05,  2.20s/it]
 94%|█████████▍| 844/900 [30:32<01:30,  1.62s/it]
 94%|█████████▍| 845/900 [30:33<01:06,  1.21s/it]
 94%|█████████▍| 846/900 [30:33<00:50,  1.07it/s]
 94%|█████████▍| 847/900 [30:33<00:39,  1.34it/s]
 94%|█████████▍| 848/900 [30:34<00:31,  1.64it/s]
 94%|█████████▍| 849/900 [30:48<04:00,  4.71s/it]
 94%|█████████▍| 850/900 [30:48<02:49,  3.38s/it]
 95%|█████████▍| 851/900 [30:48<01:59,  2.44s/it]
 95%|█████████▍| 852/900 [30:49<01:25,  1.79s/it]
 95%|█████████▍| 853/900 [30:49<01:02,  1.33s/it]
 95%|█████████▍| 854/900 [30:49<00:46,  1.01s/it]
 95%|█████████▌| 855/900 [30:49<00:35,  1.27it/s]
 95%|█████████▌| 856/900 [30:50<00:27,  1.58it/s]
 95%|█████████▌| 857/900 [31:11<04:59,  6.96s/it]
 95%|█████████▌| 858/900 [31:12<03:28,  4.96s/it]
 95%|█████████▌| 859/900 [31:12<02:26,  3.56s/it]
 96%|█████████▌| 860/900 [31:12<01:42,  2.57s/it]
 96%|█████████▌| 861/900 [31:13<01:13,  1.88s/it]
 96%|█████████▌| 862/900 [31:13<00:53,  1.40s/it]
 96%|█████████▌| 863/900 [31:13<00:39,  1.06s/it]
 96%|█████████▌| 864/900 [31:13<00:29,  1.20it/s]
 96%|█████████▌| 865/900 [31:27<02:45,  4.74s/it]
 96%|█████████▌| 866/900 [31:27<01:55,  3.39s/it]
 96%|█████████▋| 867/900 [31:28<01:20,  2.45s/it]
 96%|█████████▋| 868/900 [31:28<00:57,  1.79s/it]
 97%|█████████▋| 869/900 [31:28<00:41,  1.33s/it]
 97%|█████████▋| 870/900 [31:28<00:30,  1.01s/it]
 97%|█████████▋| 871/900 [31:29<00:22,  1.27it/s]
 97%|█████████▋| 872/900 [31:29<00:17,  1.59it/s]
 97%|█████████▋| 873/900 [31:45<02:25,  5.38s/it]
 97%|█████████▋| 874/900 [31:46<01:39,  3.84s/it]
 97%|█████████▋| 875/900 [31:46<01:09,  2.77s/it]
 97%|█████████▋| 876/900 [31:46<00:48,  2.02s/it]
 97%|█████████▋| 877/900 [31:47<00:34,  1.49s/it]
 98%|█████████▊| 878/900 [31:47<00:24,  1.11s/it]
 98%|█████████▊| 879/900 [31:47<00:17,  1.17it/s]
 98%|█████████▊| 880/900 [31:47<00:13,  1.49it/s]
 98%|█████████▊| 881/900 [32:08<02:09,  6.79s/it]
 98%|█████████▊| 882/900 [32:09<01:27,  4.83s/it]
 98%|█████████▊| 883/900 [32:09<00:58,  3.46s/it]
 98%|█████████▊| 884/900 [32:09<00:39,  2.50s/it]
 98%|█████████▊| 885/900 [32:09<00:27,  1.82s/it]
 98%|█████████▊| 886/900 [32:10<00:18,  1.35s/it]
 99%|█████████▊| 887/900 [32:10<00:13,  1.02s/it]
 99%|█████████▊| 888/900 [32:10<00:09,  1.27it/s]
 99%|█████████▉| 889/900 [32:22<00:46,  4.18s/it]
 99%|█████████▉| 890/900 [32:22<00:30,  3.01s/it]
 99%|█████████▉| 891/900 [32:23<00:19,  2.18s/it]
 99%|█████████▉| 892/900 [32:23<00:12,  1.60s/it]
 99%|█████████▉| 893/900 [32:23<00:08,  1.20s/it]
 99%|█████████▉| 894/900 [32:24<00:05,  1.08it/s]
 99%|█████████▉| 895/900 [32:24<00:03,  1.36it/s]
100%|█████████▉| 896/900 [32:24<00:02,  1.68it/s]
100%|█████████▉| 897/900 [32:36<00:12,  4.04s/it]
100%|█████████▉| 898/900 [32:36<00:05,  2.92s/it]
100%|█████████▉| 899/900 [32:37<00:02,  2.12s/it]
100%|█████████▉| 899/900 [32:37<00:02,  2.18s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/log_2_env0.json.
+RedItemsInBinTask_2 complete: task_name: RedItemsInBinTask, run_name: RedItemsInBinTask_2, run: 2, env_id: 0, policy: harness, instruction: Put all the red things in the grey bin, attributes: ['color', 'sorting', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -12.576693472832272, 'joint_sparc_mean': -18.765381547026013, 'ee_isj': 4732.266051195995, 'joint_isj': 362796.5094344965, 'ee_path_length': 6.999321779429955, 'joint_rmse_mean': 1.4001870839536625, 'ee_speed_max': 0.827338695526123, 'ee_speed_mean': 0.10910539329051971}, events: {'GRIPPER_FULLY_CLOSED': 14, 'TARGET_OBJECT_DROPPED': 20, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 1}, instruction_type: default, timing: {'policy_inference_s': 1726.07, 'policy_inference_avg_ms': 1917.9, 'env_step_s': 222.759, 'env_step_avg_ms': 247.5, 'video_write_s': 8.33, 'video_write_avg_ms': 9.3, 'wall_total_s': 1957.159, 'it_per_sec': 0.46}, score: 0.5, reason: Condition not satisfied: object_in_container(object=bowl, container=grey_bin, require_contact_with=False, require_gripper_detached=True) (step 2/2), harness_episode_id: f03117bf4e374caea4f391e54d40f32a-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-29T20:29:26Z [12,857,191ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.196507 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-29T20:29:56Z [12,886,998ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T20:29:56Z [12,886,998ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T20:29:56Z [12,887,007ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-29T20:29:56Z [12,887,008ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T20:29:56Z [12,887,017ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-29T20:29:56Z [12,887,024ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-29T20:29:57Z [12,887,985ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1120))' not available in the MDL representation.
+2026-10-29T20:29:57Z [12,887,985ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1120))' not available in the MDL representation.
+2026-10-29T20:29:58Z [12,889,248ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1120))' not available in the MDL representation.
+2026-10-29T20:29:58Z [12,889,248ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1120))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 31.995318 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : MustardInLeftBinTask                          │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the mustard in the left bin               │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : MustardInLeftBinTaskSceneEnvCfg               │
+│  Attributes  : spatial, simple                               │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running MustardInLeftBinTask_0: 'Put the mustard in the left bin' (run 0, 1 envs)
+
  0%|          | 0/450 [00:00<?, ?it/s]
  0%|          | 1/450 [00:31<3:57:51, 31.79s/it]
  0%|          | 2/450 [00:32<1:38:43, 13.22s/it]
  1%|          | 3/450 [00:32<54:15,  7.28s/it]  
  1%|          | 4/450 [00:32<33:23,  4.49s/it]
  1%|          | 5/450 [00:32<21:56,  2.96s/it]
  1%|▏         | 6/450 [00:32<14:58,  2.02s/it]
  2%|▏         | 7/450 [00:33<10:38,  1.44s/it]
  2%|▏         | 8/450 [00:33<07:48,  1.06s/it]
  2%|▏         | 9/450 [00:37<14:36,  1.99s/it]
  2%|▏         | 10/450 [00:37<10:34,  1.44s/it]
  2%|▏         | 11/450 [00:37<07:47,  1.06s/it]
  3%|▎         | 12/450 [00:38<05:51,  1.25it/s]
  3%|▎         | 13/450 [00:38<04:31,  1.61it/s]
  3%|▎         | 14/450 [00:38<03:36,  2.01it/s]
  3%|▎         | 15/450 [00:38<02:58,  2.44it/s]
  4%|▎         | 16/450 [00:38<02:30,  2.88it/s]
  4%|▍         | 17/450 [00:47<19:44,  2.74s/it]
  4%|▍         | 18/450 [00:47<14:13,  1.97s/it]
  4%|▍         | 19/450 [00:47<10:22,  1.44s/it]
  4%|▍         | 20/450 [00:47<07:41,  1.07s/it]
  5%|▍         | 21/450 [00:47<05:48,  1.23it/s]
  5%|▍         | 22/450 [00:48<04:30,  1.58it/s]
  5%|▌         | 23/450 [00:48<03:35,  1.98it/s]
  5%|▌         | 24/450 [00:48<02:57,  2.40it/s]
  6%|▌         | 25/450 [00:53<11:35,  1.64s/it]
  6%|▌         | 26/450 [00:53<08:35,  1.22s/it]
  6%|▌         | 27/450 [00:53<06:31,  1.08it/s]
  6%|▌         | 28/450 [00:53<05:01,  1.40it/s]
  6%|▋         | 29/450 [00:54<04:01,  1.74it/s]
  7%|▋         | 30/450 [00:54<03:17,  2.12it/s]
  7%|▋         | 31/450 [00:54<02:46,  2.52it/s]
  7%|▋         | 32/450 [00:54<02:25,  2.87it/s]
  7%|▋         | 33/450 [00:59<12:22,  1.78s/it]
  8%|▊         | 34/450 [01:00<09:08,  1.32s/it]
  8%|▊         | 35/450 [01:00<06:53,  1.00it/s]
  8%|▊         | 36/450 [01:00<05:18,  1.30it/s]
  8%|▊         | 37/450 [01:00<04:12,  1.64it/s]
  8%|▊         | 38/450 [01:01<03:28,  1.97it/s]
  9%|▊         | 39/450 [01:01<02:54,  2.35it/s]
  9%|▉         | 40/450 [01:01<02:30,  2.72it/s]
  9%|▉         | 41/450 [01:05<09:45,  1.43s/it]
  9%|▉         | 42/450 [01:05<07:18,  1.08s/it]
 10%|▉         | 43/450 [01:05<05:36,  1.21it/s]
 10%|▉         | 44/450 [01:06<04:24,  1.53it/s]
 10%|█         | 45/450 [01:06<03:32,  1.90it/s]
 10%|█         | 46/450 [01:06<02:54,  2.32it/s]
 10%|█         | 47/450 [01:06<02:29,  2.69it/s]
 11%|█         | 48/450 [01:07<02:10,  3.09it/s]
 11%|█         | 49/450 [01:22<31:40,  4.74s/it]
 11%|█         | 50/450 [01:22<22:33,  3.38s/it]
 11%|█▏        | 51/450 [01:22<16:13,  2.44s/it]
 12%|█▏        | 52/450 [01:22<11:45,  1.77s/it]
 12%|█▏        | 53/450 [01:23<08:38,  1.31s/it]
 12%|█▏        | 54/450 [01:23<06:30,  1.01it/s]
 12%|█▏        | 55/450 [01:23<04:58,  1.32it/s]
 12%|█▏        | 56/450 [01:23<03:53,  1.69it/s]
 13%|█▎        | 57/450 [01:35<26:41,  4.07s/it]
 13%|█▎        | 58/450 [01:36<19:05,  2.92s/it]
 13%|█▎        | 59/450 [01:36<13:46,  2.11s/it]
 13%|█▎        | 60/450 [01:36<10:06,  1.56s/it]
 14%|█▎        | 61/450 [01:36<07:31,  1.16s/it]
 14%|█▍        | 62/450 [01:37<05:40,  1.14it/s]
 14%|█▍        | 63/450 [01:37<04:24,  1.46it/s]
 14%|█▍        | 64/450 [01:37<03:30,  1.84it/s]
 14%|█▍        | 65/450 [01:48<22:56,  3.58s/it]
 15%|█▍        | 66/450 [01:48<16:25,  2.57s/it]
 15%|█▍        | 67/450 [01:48<11:52,  1.86s/it]
 15%|█▌        | 68/450 [01:48<08:42,  1.37s/it]
 15%|█▌        | 69/450 [01:49<06:28,  1.02s/it]
 16%|█▌        | 70/450 [01:49<04:55,  1.29it/s]
 16%|█▌        | 71/450 [01:49<03:54,  1.62it/s]
 16%|█▌        | 72/450 [01:49<03:13,  1.95it/s]
 16%|█▌        | 73/450 [01:57<16:52,  2.69s/it]
 16%|█▋        | 74/450 [01:57<12:11,  1.95s/it]
 17%|█▋        | 75/450 [01:57<08:54,  1.42s/it]
 17%|█▋        | 76/450 [01:58<06:37,  1.06s/it]
 17%|█▋        | 77/450 [01:58<05:04,  1.23it/s]
 17%|█▋        | 78/450 [01:58<03:56,  1.57it/s]
 18%|█▊        | 79/450 [01:58<03:08,  1.97it/s]
 18%|█▊        | 80/450 [01:59<02:34,  2.39it/s]
 18%|█▊        | 81/450 [02:07<17:14,  2.80s/it]
 18%|█▊        | 82/450 [02:07<12:26,  2.03s/it]
 18%|█▊        | 83/450 [02:07<09:04,  1.48s/it]
 19%|█▊        | 84/450 [02:08<06:42,  1.10s/it]
 19%|█▉        | 85/450 [02:08<05:06,  1.19it/s]
 19%|█▉        | 86/450 [02:08<03:57,  1.53it/s]
 19%|█▉        | 87/450 [02:08<03:08,  1.93it/s]
 20%|█▉        | 88/450 [02:08<02:35,  2.33it/s]
 20%|█▉        | 89/450 [02:18<19:50,  3.30s/it]
 20%|██        | 90/450 [02:19<14:13,  2.37s/it]
 20%|██        | 91/450 [02:19<10:18,  1.72s/it]
 20%|██        | 92/450 [02:19<07:37,  1.28s/it]
 21%|██        | 93/450 [02:19<05:43,  1.04it/s]
 21%|██        | 94/450 [02:20<04:27,  1.33it/s]
 21%|██        | 95/450 [02:20<03:31,  1.68it/s]
 21%|██▏       | 96/450 [02:20<02:53,  2.05it/s]
 22%|██▏       | 97/450 [02:27<13:30,  2.29s/it]
 22%|██▏       | 98/450 [02:27<09:50,  1.68s/it]
 22%|██▏       | 99/450 [02:27<07:18,  1.25s/it]
 22%|██▏       | 100/450 [02:27<05:33,  1.05it/s]
 22%|██▏       | 101/450 [02:27<04:16,  1.36it/s]
 23%|██▎       | 102/450 [02:28<03:23,  1.71it/s]
 23%|██▎       | 103/450 [02:28<02:46,  2.08it/s]
 23%|██▎       | 104/450 [02:28<02:21,  2.44it/s]
 23%|██▎       | 105/450 [02:33<10:08,  1.76s/it]
 24%|██▎       | 106/450 [02:33<07:33,  1.32s/it]
 24%|██▍       | 107/450 [02:34<05:42,  1.00it/s]
 24%|██▍       | 108/450 [02:34<04:23,  1.30it/s]
 24%|██▍       | 109/450 [02:34<03:29,  1.63it/s]
 24%|██▍       | 110/450 [02:34<02:50,  2.00it/s]
 25%|██▍       | 111/450 [02:35<02:22,  2.37it/s]
 25%|██▍       | 112/450 [02:35<02:02,  2.75it/s]
 25%|██▌       | 113/450 [02:50<26:30,  4.72s/it]
 25%|██▌       | 114/450 [02:50<18:51,  3.37s/it]
 26%|██▌       | 115/450 [02:50<13:31,  2.42s/it]
 26%|██▌       | 116/450 [02:50<09:49,  1.77s/it]
 26%|██▌       | 117/450 [02:51<07:17,  1.31s/it]
 26%|██▌       | 118/450 [02:51<05:27,  1.01it/s]
 26%|██▋       | 119/450 [02:51<04:10,  1.32it/s]
 27%|██▋       | 120/450 [02:51<03:15,  1.68it/s]
 27%|██▋       | 121/450 [03:00<16:42,  3.05s/it]
 27%|██▋       | 122/450 [03:00<12:01,  2.20s/it]
 27%|██▋       | 123/450 [03:01<08:45,  1.61s/it]
 28%|██▊       | 124/450 [03:01<06:28,  1.19s/it]
 28%|██▊       | 125/450 [03:01<04:58,  1.09it/s]
 28%|██▊       | 126/450 [03:01<03:52,  1.39it/s]
 28%|██▊       | 127/450 [03:02<03:07,  1.73it/s]
 28%|██▊       | 128/450 [03:02<02:35,  2.07it/s]
 29%|██▊       | 129/450 [03:49<1:17:20, 14.46s/it]
 29%|██▉       | 130/450 [03:49<54:20, 10.19s/it]  
 29%|██▉       | 131/450 [03:49<38:16,  7.20s/it]
 29%|██▉       | 132/450 [03:50<27:04,  5.11s/it]
 30%|██▉       | 133/450 [03:50<19:14,  3.64s/it]
 30%|██▉       | 134/450 [03:50<13:48,  2.62s/it]
 30%|███       | 135/450 [03:50<09:58,  1.90s/it]
 30%|███       | 136/450 [03:50<07:18,  1.40s/it]
 30%|███       | 137/450 [03:56<13:14,  2.54s/it]
 31%|███       | 138/450 [03:56<09:34,  1.84s/it]
 31%|███       | 139/450 [03:56<07:01,  1.35s/it]
 31%|███       | 140/450 [03:56<05:14,  1.01s/it]
 31%|███▏      | 141/450 [03:57<03:59,  1.29it/s]
 32%|███▏      | 142/450 [03:57<03:07,  1.64it/s]
 32%|███▏      | 143/450 [03:57<02:34,  1.99it/s]
 32%|███▏      | 144/450 [03:57<02:14,  2.28it/s]
 32%|███▏      | 145/450 [04:38<1:03:24, 12.47s/it]
 32%|███▏      | 146/450 [04:38<44:34,  8.80s/it]  
 33%|███▎      | 147/450 [04:38<31:28,  6.23s/it]
 33%|███▎      | 148/450 [04:39<22:17,  4.43s/it]
 33%|███▎      | 149/450 [04:39<15:55,  3.17s/it]
 33%|███▎      | 150/450 [04:39<11:29,  2.30s/it]
 34%|███▎      | 151/450 [04:39<08:22,  1.68s/it]
 34%|███▍      | 152/450 [04:40<06:12,  1.25s/it]
 34%|███▍      | 153/450 [04:47<15:37,  3.16s/it]
 34%|███▍      | 154/450 [04:47<11:12,  2.27s/it]
 34%|███▍      | 155/450 [04:48<08:07,  1.65s/it]
 35%|███▍      | 156/450 [04:48<05:58,  1.22s/it]
 35%|███▍      | 157/450 [04:48<04:28,  1.09it/s]
 35%|███▌      | 158/450 [04:48<03:26,  1.42it/s]
 35%|███▌      | 159/450 [04:48<02:43,  1.79it/s]
 36%|███▌      | 160/450 [04:49<02:12,  2.19it/s]
 36%|███▌      | 161/450 [04:55<10:49,  2.25s/it]
 36%|███▌      | 162/450 [04:55<07:52,  1.64s/it]
 36%|███▌      | 163/450 [04:55<05:48,  1.21s/it]
 36%|███▋      | 164/450 [04:56<04:22,  1.09it/s]
 37%|███▋      | 165/450 [04:56<03:23,  1.40it/s]
 37%|███▋      | 166/450 [04:56<02:42,  1.75it/s]
 37%|███▋      | 167/450 [04:56<02:13,  2.12it/s]
 37%|███▋      | 168/450 [04:57<01:52,  2.51it/s]
 38%|███▊      | 169/450 [05:06<13:46,  2.94s/it]
 38%|███▊      | 170/450 [05:06<09:57,  2.13s/it]
 38%|███▊      | 171/450 [05:06<07:16,  1.57s/it]
 38%|███▊      | 172/450 [05:06<05:24,  1.17s/it]
 38%|███▊      | 173/450 [05:06<04:06,  1.12it/s]
 39%|███▊      | 174/450 [05:07<03:12,  1.44it/s]
 39%|███▉      | 175/450 [05:07<02:32,  1.80it/s]
 39%|███▉      | 176/450 [05:07<02:05,  2.19it/s]
 39%|███▉      | 177/450 [05:13<09:06,  2.00s/it]
 40%|███▉      | 178/450 [05:13<06:42,  1.48s/it]
 40%|███▉      | 179/450 [05:13<05:01,  1.11s/it]
 40%|████      | 180/450 [05:14<03:47,  1.18it/s]
 40%|████      | 181/450 [05:14<02:58,  1.51it/s]
 40%|████      | 182/450 [05:14<02:24,  1.86it/s]
 41%|████      | 183/450 [05:14<02:00,  2.22it/s]
 41%|████      | 184/450 [05:14<01:40,  2.64it/s]
 41%|████      | 185/450 [05:35<28:39,  6.49s/it]
 41%|████▏     | 186/450 [05:35<20:16,  4.61s/it]
 42%|████▏     | 187/450 [05:36<14:24,  3.29s/it]
 42%|████▏     | 188/450 [05:36<10:19,  2.36s/it]
 42%|████▏     | 189/450 [05:36<07:27,  1.72s/it]
 42%|████▏     | 190/450 [05:36<05:28,  1.26s/it]
 42%|████▏     | 191/450 [05:36<04:05,  1.06it/s]
 43%|████▎     | 192/450 [05:37<03:06,  1.38it/s]
 43%|████▎     | 193/450 [05:44<11:23,  2.66s/it]
 43%|████▎     | 194/450 [05:44<08:13,  1.93s/it]
 43%|████▎     | 195/450 [05:44<06:02,  1.42s/it]
 44%|████▎     | 196/450 [05:45<04:31,  1.07s/it]
 44%|████▍     | 197/450 [05:45<03:28,  1.22it/s]
 44%|████▍     | 198/450 [05:45<02:43,  1.54it/s]
 44%|████▍     | 199/450 [05:45<02:11,  1.91it/s]
 44%|████▍     | 200/450 [05:46<01:51,  2.24it/s]
 45%|████▍     | 201/450 [05:52<09:55,  2.39s/it]
 45%|████▍     | 202/450 [05:53<07:11,  1.74s/it]
 45%|████▌     | 203/450 [05:53<05:16,  1.28s/it]
 45%|████▌     | 204/450 [05:53<03:56,  1.04it/s]
 46%|████▌     | 205/450 [05:53<03:00,  1.36it/s]
 46%|████▌     | 206/450 [05:54<02:23,  1.71it/s]
 46%|████▌     | 207/450 [05:54<01:57,  2.07it/s]
 46%|████▌     | 208/450 [05:54<01:39,  2.44it/s]
 46%|████▋     | 209/450 [06:03<11:55,  2.97s/it]
 47%|████▋     | 210/450 [06:03<08:34,  2.14s/it]
 47%|████▋     | 211/450 [06:03<06:13,  1.56s/it]
 47%|████▋     | 212/450 [06:04<04:36,  1.16s/it]
 47%|████▋     | 213/450 [06:04<03:28,  1.13it/s]
 48%|████▊     | 214/450 [06:04<02:41,  1.46it/s]
 48%|████▊     | 215/450 [06:04<02:07,  1.84it/s]
 48%|████▊     | 216/450 [06:05<01:45,  2.21it/s]
 48%|████▊     | 217/450 [06:12<10:26,  2.69s/it]
 48%|████▊     | 218/450 [06:13<07:33,  1.96s/it]
 49%|████▊     | 219/450 [06:13<05:32,  1.44s/it]
 49%|████▉     | 220/450 [06:13<04:08,  1.08s/it]
 49%|████▉     | 221/450 [06:13<03:09,  1.21it/s]
 49%|████▉     | 222/450 [06:14<02:27,  1.54it/s]
 50%|████▉     | 223/450 [06:14<01:58,  1.91it/s]
 50%|████▉     | 224/450 [06:14<01:38,  2.30it/s]
 50%|█████     | 225/450 [06:23<10:38,  2.84s/it]
 50%|█████     | 226/450 [06:23<07:43,  2.07s/it]
 50%|█████     | 227/450 [06:23<05:38,  1.52s/it]
 51%|█████     | 228/450 [06:23<04:11,  1.13s/it]
 51%|█████     | 229/450 [06:24<03:10,  1.16it/s]
 51%|█████     | 230/450 [06:24<02:29,  1.47it/s]
 51%|█████▏    | 231/450 [06:24<01:59,  1.84it/s]
 52%|█████▏    | 232/450 [06:24<01:38,  2.22it/s]
 52%|█████▏    | 233/450 [06:32<09:04,  2.51s/it]
 52%|█████▏    | 234/450 [06:32<06:34,  1.83s/it]
 52%|█████▏    | 235/450 [06:32<04:50,  1.35s/it]
 52%|█████▏    | 236/450 [06:32<03:37,  1.02s/it]
 53%|█████▎    | 237/450 [06:32<02:46,  1.28it/s]
 53%|█████▎    | 238/450 [06:33<02:11,  1.62it/s]
 53%|█████▎    | 239/450 [06:33<01:46,  1.99it/s]
 53%|█████▎    | 240/450 [06:33<01:30,  2.32it/s]
 54%|█████▎    | 241/450 [06:56<25:11,  7.23s/it]
 54%|█████▍    | 242/450 [06:57<17:48,  5.14s/it]
 54%|█████▍    | 243/450 [06:57<12:37,  3.66s/it]
 54%|█████▍    | 244/450 [06:57<09:00,  2.62s/it]
 54%|█████▍    | 245/450 [06:57<06:29,  1.90s/it]
 55%|█████▍    | 246/450 [06:57<04:45,  1.40s/it]
 55%|█████▍    | 247/450 [06:58<03:32,  1.04s/it]
 55%|█████▌    | 248/450 [06:58<02:40,  1.26it/s]
 55%|█████▌    | 249/450 [07:19<22:44,  6.79s/it]
 56%|█████▌    | 250/450 [07:19<16:04,  4.82s/it]
 56%|█████▌    | 251/450 [07:19<11:24,  3.44s/it]
 56%|█████▌    | 252/450 [07:19<08:09,  2.47s/it]
 56%|█████▌    | 253/450 [07:20<05:54,  1.80s/it]
 56%|█████▋    | 254/450 [07:20<04:21,  1.33s/it]
 57%|█████▋    | 255/450 [07:20<03:14,  1.00it/s]
 57%|█████▋    | 256/450 [07:20<02:29,  1.30it/s]
 57%|█████▋    | 257/450 [07:37<17:29,  5.44s/it]
 57%|█████▋    | 258/450 [07:37<12:23,  3.87s/it]
 58%|█████▊    | 259/450 [07:37<08:49,  2.77s/it]
 58%|█████▊    | 260/450 [07:37<06:22,  2.01s/it]
 58%|█████▊    | 261/450 [07:37<04:38,  1.47s/it]
 58%|█████▊    | 262/450 [07:38<03:25,  1.09s/it]
 58%|█████▊    | 263/450 [07:38<02:36,  1.20it/s]
 59%|█████▊    | 264/450 [07:38<02:02,  1.52it/s]
 59%|█████▉    | 265/450 [07:46<08:53,  2.88s/it]
 59%|█████▉    | 266/450 [07:46<06:22,  2.08s/it]
 59%|█████▉    | 267/450 [07:47<04:37,  1.52s/it]
 60%|█████▉    | 268/450 [07:47<03:24,  1.12s/it]
 60%|█████▉    | 269/450 [07:47<02:33,  1.18it/s]
 60%|██████    | 270/450 [07:47<01:58,  1.52it/s]
 60%|██████    | 271/450 [07:47<01:34,  1.90it/s]
 60%|██████    | 272/450 [07:48<01:17,  2.28it/s]
 61%|██████    | 273/450 [08:00<11:26,  3.88s/it]
 61%|██████    | 274/450 [08:00<08:10,  2.79s/it]
 61%|██████    | 275/450 [08:00<05:54,  2.03s/it]
 61%|██████▏   | 276/450 [08:00<04:19,  1.49s/it]
 62%|██████▏   | 277/450 [08:01<03:12,  1.11s/it]
 62%|██████▏   | 278/450 [08:01<02:25,  1.19it/s]
 62%|██████▏   | 279/450 [08:01<01:53,  1.51it/s]
 62%|██████▏   | 280/450 [08:01<01:31,  1.86it/s]
 62%|██████▏   | 281/450 [08:08<06:56,  2.47s/it]
 63%|██████▎   | 282/450 [08:08<05:00,  1.79s/it]
 63%|██████▎   | 283/450 [08:09<03:41,  1.32s/it]
 63%|██████▎   | 284/450 [08:09<02:44,  1.01it/s]
 63%|██████▎   | 285/450 [08:09<02:06,  1.31it/s]
 64%|██████▎   | 286/450 [08:09<01:38,  1.67it/s]
 64%|██████▍   | 287/450 [08:10<01:20,  2.04it/s]
 64%|██████▍   | 288/450 [08:10<01:05,  2.46it/s]
 64%|██████▍   | 289/450 [08:17<06:50,  2.55s/it]
 64%|██████▍   | 290/450 [08:18<04:56,  1.85s/it]
 65%|██████▍   | 291/450 [08:18<03:36,  1.36s/it]
 65%|██████▍   | 292/450 [08:18<02:39,  1.01s/it]
 65%|██████▌   | 293/450 [08:18<02:01,  1.30it/s]
 65%|██████▌   | 294/450 [08:18<01:34,  1.65it/s]
 66%|██████▌   | 295/450 [08:19<01:15,  2.05it/s]
 66%|██████▌   | 296/450 [08:19<01:03,  2.42it/s]
 66%|██████▌   | 297/450 [08:26<06:29,  2.55s/it]
 66%|██████▌   | 298/450 [08:27<04:41,  1.85s/it]
 66%|██████▋   | 299/450 [08:27<03:25,  1.36s/it]
 67%|██████▋   | 300/450 [08:27<02:32,  1.02s/it]
 67%|██████▋   | 301/450 [08:27<01:55,  1.29it/s]
 67%|██████▋   | 302/450 [08:27<01:30,  1.64it/s]
 67%|██████▋   | 303/450 [08:28<01:12,  2.03it/s]
 68%|██████▊   | 304/450 [08:28<00:59,  2.44it/s]
 68%|██████▊   | 305/450 [08:36<06:31,  2.70s/it]
 68%|██████▊   | 306/450 [08:36<04:41,  1.96s/it]
 68%|██████▊   | 307/450 [08:36<03:24,  1.43s/it]
 68%|██████▊   | 308/450 [08:37<02:31,  1.07s/it]
 69%|██████▊   | 309/450 [08:37<01:55,  1.22it/s]
 69%|██████▉   | 310/450 [08:37<01:29,  1.56it/s]
 69%|██████▉   | 311/450 [08:37<01:10,  1.96it/s]
 69%|██████▉   | 312/450 [08:37<00:58,  2.36it/s]
 70%|██████▉   | 313/450 [08:45<05:53,  2.58s/it]
 70%|██████▉   | 314/450 [08:45<04:14,  1.87s/it]
 70%|███████   | 315/450 [08:46<03:05,  1.37s/it]
 70%|███████   | 316/450 [08:46<02:18,  1.03s/it]
 70%|███████   | 317/450 [08:46<01:45,  1.26it/s]
 71%|███████   | 318/450 [08:46<01:22,  1.59it/s]
 71%|███████   | 319/450 [08:46<01:07,  1.95it/s]
 71%|███████   | 320/450 [08:47<00:56,  2.30it/s]
 71%|███████▏  | 321/450 [09:13<17:46,  8.27s/it]
 72%|███████▏  | 322/450 [09:14<12:29,  5.86s/it]
 72%|███████▏  | 323/450 [09:14<08:49,  4.17s/it]
 72%|███████▏  | 324/450 [09:14<06:16,  2.99s/it]
 72%|███████▏  | 325/450 [09:14<04:30,  2.17s/it]
 72%|███████▏  | 326/450 [09:14<03:16,  1.59s/it]
 73%|███████▎  | 327/450 [09:15<02:26,  1.19s/it]
 73%|███████▎  | 328/450 [09:15<01:49,  1.11it/s]
 73%|███████▎  | 329/450 [09:29<09:31,  4.72s/it]
 73%|███████▎  | 330/450 [09:29<06:44,  3.37s/it]
 74%|███████▎  | 331/450 [09:29<04:48,  2.43s/it]
 74%|███████▍  | 332/450 [09:29<03:27,  1.76s/it]
 74%|███████▍  | 333/450 [09:29<02:31,  1.29s/it]
 74%|███████▍  | 334/450 [09:30<01:52,  1.03it/s]
 74%|███████▍  | 335/450 [09:30<01:25,  1.35it/s]
 75%|███████▍  | 336/450 [09:30<01:06,  1.72it/s]
 75%|███████▍  | 337/450 [09:41<06:50,  3.64s/it]
 75%|███████▌  | 338/450 [09:41<04:52,  2.61s/it]
 75%|███████▌  | 339/450 [09:41<03:29,  1.89s/it]
 76%|███████▌  | 340/450 [09:41<02:32,  1.39s/it]
 76%|███████▌  | 341/450 [09:42<01:52,  1.03s/it]
 76%|███████▌  | 342/450 [09:42<01:25,  1.26it/s]
 76%|███████▌  | 343/450 [09:42<01:06,  1.60it/s]
 76%|███████▋  | 344/450 [09:42<00:53,  1.97it/s]
 77%|███████▋  | 345/450 [09:55<07:19,  4.19s/it]
 77%|███████▋  | 346/450 [09:55<05:11,  3.00s/it]
 77%|███████▋  | 347/450 [09:56<03:43,  2.17s/it]
 77%|███████▋  | 348/450 [09:56<02:41,  1.59s/it]
 78%|███████▊  | 349/450 [09:56<01:59,  1.18s/it]
 78%|███████▊  | 350/450 [09:56<01:29,  1.12it/s]
 78%|███████▊  | 351/450 [09:57<01:09,  1.43it/s]
 78%|███████▊  | 352/450 [09:57<00:54,  1.79it/s]
 78%|███████▊  | 353/450 [10:04<04:16,  2.65s/it]
 79%|███████▊  | 354/450 [10:05<03:04,  1.92s/it]
 79%|███████▉  | 355/450 [10:05<02:14,  1.42s/it]
 79%|███████▉  | 356/450 [10:05<01:39,  1.06s/it]
 79%|███████▉  | 357/450 [10:05<01:15,  1.23it/s]
 80%|███████▉  | 358/450 [10:05<00:59,  1.56it/s]
 80%|███████▉  | 359/450 [10:06<00:46,  1.95it/s]
 80%|████████  | 360/450 [10:06<00:39,  2.30it/s]
 80%|████████  | 361/450 [10:14<04:15,  2.87s/it]
 80%|████████  | 362/450 [10:15<03:03,  2.08s/it]
 81%|████████  | 363/450 [10:15<02:12,  1.52s/it]
 81%|████████  | 364/450 [10:15<01:37,  1.14s/it]
 81%|████████  | 365/450 [10:15<01:13,  1.16it/s]
 81%|████████▏ | 366/450 [10:16<00:56,  1.48it/s]
 82%|████████▏ | 367/450 [10:16<00:44,  1.85it/s]
 82%|████████▏ | 368/450 [10:16<00:37,  2.19it/s]
 82%|████████▏ | 369/450 [10:24<03:42,  2.75s/it]
 82%|████████▏ | 370/450 [10:24<02:39,  2.00s/it]
 82%|████████▏ | 371/450 [10:25<01:55,  1.47s/it]
 83%|████████▎ | 372/450 [10:25<01:25,  1.10s/it]
 83%|████████▎ | 373/450 [10:25<01:04,  1.19it/s]
 83%|████████▎ | 374/450 [10:25<00:50,  1.51it/s]
 83%|████████▎ | 375/450 [10:26<00:40,  1.87it/s]
 84%|████████▎ | 376/450 [10:26<00:33,  2.23it/s]
 84%|████████▍ | 377/450 [10:42<06:23,  5.25s/it]
 84%|████████▍ | 378/450 [10:43<04:30,  3.75s/it]
 84%|████████▍ | 379/450 [10:43<03:11,  2.70s/it]
 84%|████████▍ | 380/450 [10:43<02:17,  1.96s/it]
 85%|████████▍ | 381/450 [10:43<01:39,  1.44s/it]
 85%|████████▍ | 382/450 [10:44<01:13,  1.08s/it]
 85%|████████▌ | 383/450 [10:44<00:55,  1.21it/s]
 85%|████████▌ | 384/450 [10:44<00:42,  1.55it/s]
 86%|████████▌ | 385/450 [10:59<05:15,  4.86s/it]
 86%|████████▌ | 386/450 [10:59<03:42,  3.48s/it]
 86%|████████▌ | 387/450 [10:59<02:37,  2.51s/it]
 86%|████████▌ | 388/450 [10:59<01:53,  1.83s/it]
 86%|████████▋ | 389/450 [11:00<01:22,  1.36s/it]
 87%|████████▋ | 390/450 [11:00<01:01,  1.03s/it]
 87%|████████▋ | 391/450 [11:00<00:47,  1.24it/s]
 87%|████████▋ | 392/450 [11:01<00:37,  1.56it/s]
 87%|████████▋ | 393/450 [11:10<03:14,  3.42s/it]
 88%|████████▊ | 394/450 [11:11<02:18,  2.47s/it]
 88%|████████▊ | 395/450 [11:11<01:38,  1.80s/it]
 88%|████████▊ | 396/450 [11:11<01:11,  1.33s/it]
 88%|████████▊ | 397/450 [11:11<00:53,  1.01s/it]
 88%|████████▊ | 398/450 [11:12<00:40,  1.29it/s]
 89%|████████▊ | 399/450 [11:12<00:31,  1.62it/s]
 89%|████████▉ | 400/450 [11:12<00:25,  1.97it/s]
 89%|████████▉ | 401/450 [11:20<02:19,  2.84s/it]
 89%|████████▉ | 402/450 [11:21<01:38,  2.06s/it]
 90%|████████▉ | 403/450 [11:21<01:11,  1.52s/it]
 90%|████████▉ | 404/450 [11:21<00:52,  1.14s/it]
 90%|█████████ | 405/450 [11:21<00:39,  1.14it/s]
 90%|█████████ | 406/450 [11:22<00:30,  1.45it/s]
 90%|█████████ | 407/450 [11:22<00:23,  1.81it/s]
 91%|█████████ | 408/450 [11:22<00:19,  2.18it/s]
 91%|█████████ | 409/450 [11:30<01:44,  2.55s/it]
 91%|█████████ | 410/450 [11:30<01:14,  1.86s/it]
 91%|█████████▏| 411/450 [11:30<00:53,  1.38s/it]
 92%|█████████▏| 412/450 [11:30<00:39,  1.03s/it]
 92%|█████████▏| 413/450 [11:31<00:29,  1.24it/s]
 92%|█████████▏| 414/450 [11:31<00:22,  1.59it/s]
 92%|█████████▏| 415/450 [11:31<00:17,  1.96it/s]
 92%|█████████▏| 416/450 [11:31<00:14,  2.32it/s]
 93%|█████████▎| 417/450 [11:44<02:15,  4.12s/it]
 93%|█████████▎| 418/450 [11:44<01:34,  2.95s/it]
 93%|█████████▎| 419/450 [11:44<01:06,  2.13s/it]
 93%|█████████▎| 420/450 [11:45<00:46,  1.56s/it]
 94%|█████████▎| 421/450 [11:45<00:33,  1.16s/it]
 94%|█████████▍| 422/450 [11:45<00:24,  1.14it/s]
 94%|█████████▍| 423/450 [11:45<00:18,  1.46it/s]
 94%|█████████▍| 424/450 [11:46<00:14,  1.83it/s]
 94%|█████████▍| 425/450 [11:55<01:17,  3.10s/it]
 95%|█████████▍| 426/450 [11:55<00:53,  2.24s/it]
 95%|█████████▍| 427/450 [11:55<00:37,  1.64s/it]
 95%|█████████▌| 428/450 [11:55<00:26,  1.22s/it]
 95%|█████████▌| 429/450 [11:56<00:19,  1.08it/s]
 96%|█████████▌| 430/450 [11:56<00:14,  1.39it/s]
 96%|█████████▌| 431/450 [11:56<00:10,  1.74it/s]
 96%|█████████▌| 432/450 [11:56<00:08,  2.10it/s]
 96%|█████████▌| 433/450 [12:04<00:45,  2.70s/it]
 96%|█████████▋| 434/450 [12:04<00:31,  1.96s/it]
 97%|█████████▋| 435/450 [12:05<00:21,  1.45s/it]
 97%|█████████▋| 436/450 [12:05<00:15,  1.08s/it]
 97%|█████████▋| 437/450 [12:05<00:10,  1.22it/s]
 97%|█████████▋| 438/450 [12:05<00:07,  1.57it/s]
 98%|█████████▊| 439/450 [12:06<00:05,  1.93it/s]
 98%|█████████▊| 440/450 [12:06<00:04,  2.30it/s]
 98%|█████████▊| 441/450 [12:19<00:37,  4.18s/it]
 98%|█████████▊| 442/450 [12:19<00:23,  2.99s/it]
 98%|█████████▊| 443/450 [12:19<00:15,  2.16s/it]
 99%|█████████▊| 444/450 [12:19<00:09,  1.59s/it]
 99%|█████████▉| 445/450 [12:20<00:05,  1.19s/it]
 99%|█████████▉| 446/450 [12:20<00:03,  1.10it/s]
 99%|█████████▉| 447/450 [12:20<00:02,  1.42it/s]
100%|█████████▉| 448/450 [12:20<00:01,  1.80it/s]
100%|█████████▉| 449/450 [12:33<00:04,  4.12s/it]
100%|█████████▉| 449/450 [12:33<00:01,  1.68s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/log_0_env0.json.
+MustardInLeftBinTask_0 complete: task_name: MustardInLeftBinTask, run_name: MustardInLeftBinTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the mustard in the left bin, attributes: ['spatial', 'simple'], success: False, episode_step: 450, duration: 30.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.279811249418694, 'joint_sparc_mean': -10.586383273917955, 'ee_isj': 3026.969957262689, 'joint_isj': 97504.70047076046, 'ee_path_length': 3.976752499455811, 'joint_rmse_mean': 1.0750246491546018, 'ee_speed_max': 0.6123679876327515, 'ee_speed_mean': 0.12802696228027344}, events: {'GRIPPER_FULLY_CLOSED': 8, 'TARGET_OBJECT_DROPPED': 10}, instruction_type: default, timing: {'policy_inference_s': 653.593, 'policy_inference_avg_ms': 1452.4, 'env_step_s': 95.367, 'env_step_avg_ms': 211.9, 'video_write_s': 4.491, 'video_write_avg_ms': 10.0, 'wall_total_s': 753.452, 'it_per_sec': 0.6}, score: 0.0, reason: Condition not satisfied: object_in_container(object=mustard, container=grey_bin_left, require_contact_with=False, require_gripper_detached=True) (step 2/2), harness_episode_id: 52383fb225e34dfa9a10c4d541eabf05-0
+[RoboLab] Running MustardInLeftBinTask_1: 'Put the mustard in the left bin' (run 1, 1 envs)
+
  0%|          | 0/450 [00:00<?, ?it/s]
  0%|          | 1/450 [00:29<3:39:21, 29.31s/it]
  0%|          | 2/450 [00:29<1:31:12, 12.22s/it]
  1%|          | 3/450 [00:29<50:10,  6.73s/it]  
  1%|          | 4/450 [00:30<30:59,  4.17s/it]
  1%|          | 5/450 [00:30<20:26,  2.76s/it]
  1%|▏         | 6/450 [00:30<13:59,  1.89s/it]
  2%|▏         | 7/450 [00:30<09:59,  1.35s/it]
  2%|▏         | 8/450 [00:30<07:22,  1.00s/it]
  2%|▏         | 9/450 [01:07<1:27:55, 11.96s/it]
  2%|▏         | 10/450 [01:07<1:01:07,  8.34s/it]
  2%|▏         | 11/450 [01:07<42:47,  5.85s/it]  
  3%|▎         | 12/450 [01:07<30:09,  4.13s/it]
  3%|▎         | 13/450 [01:07<21:25,  2.94s/it]
  3%|▎         | 14/450 [01:08<15:22,  2.12s/it]
  3%|▎         | 15/450 [01:08<11:14,  1.55s/it]
  4%|▎         | 16/450 [01:08<08:19,  1.15s/it]
  4%|▍         | 17/450 [01:30<52:42,  7.30s/it]
  4%|▍         | 18/450 [01:30<37:15,  5.17s/it]
  4%|▍         | 19/450 [01:30<26:27,  3.68s/it]
  4%|▍         | 20/450 [01:30<19:00,  2.65s/it]
  5%|▍         | 21/450 [01:31<13:44,  1.92s/it]
  5%|▍         | 22/450 [01:31<10:04,  1.41s/it]
  5%|▌         | 23/450 [01:31<07:33,  1.06s/it]
  5%|▌         | 24/450 [01:31<05:45,  1.23it/s]
  6%|▌         | 25/450 [01:41<24:22,  3.44s/it]
  6%|▌         | 26/450 [01:41<17:28,  2.47s/it]
  6%|▌         | 27/450 [01:41<12:41,  1.80s/it]
  6%|▌         | 28/450 [01:41<09:19,  1.33s/it]
  6%|▋         | 29/450 [01:42<06:57,  1.01it/s]
  7%|▋         | 30/450 [01:42<05:18,  1.32it/s]
  7%|▋         | 31/450 [01:42<04:09,  1.68it/s]
  7%|▋         | 32/450 [01:42<03:20,  2.08it/s]
  7%|▋         | 33/450 [01:57<32:16,  4.64s/it]
  8%|▊         | 34/450 [01:57<23:02,  3.32s/it]
  8%|▊         | 35/450 [01:57<16:32,  2.39s/it]
  8%|▊         | 36/450 [01:57<12:03,  1.75s/it]
  8%|▊         | 37/450 [01:58<08:52,  1.29s/it]
  8%|▊         | 38/450 [01:58<06:41,  1.03it/s]
  9%|▊         | 39/450 [01:58<05:10,  1.32it/s]
  9%|▉         | 40/450 [01:58<04:07,  1.66it/s]
  9%|▉         | 41/450 [02:17<40:09,  5.89s/it]
  9%|▉         | 42/450 [02:17<28:33,  4.20s/it]
 10%|▉         | 43/450 [02:17<20:22,  3.00s/it]
 10%|▉         | 44/450 [02:17<14:41,  2.17s/it]
 10%|█         | 45/450 [02:18<10:43,  1.59s/it]
 10%|█         | 46/450 [02:18<07:59,  1.19s/it]
 10%|█         | 47/450 [02:18<06:03,  1.11it/s]
 11%|█         | 48/450 [02:18<04:42,  1.42it/s]
 11%|█         | 49/450 [02:40<47:01,  7.04s/it]
 11%|█         | 50/450 [02:40<33:16,  4.99s/it]
 11%|█▏        | 51/450 [02:40<23:41,  3.56s/it]
 12%|█▏        | 52/450 [02:41<17:02,  2.57s/it]
 12%|█▏        | 53/450 [02:41<12:22,  1.87s/it]
 12%|█▏        | 54/450 [02:41<09:05,  1.38s/it]
 12%|█▏        | 55/450 [02:41<06:46,  1.03s/it]
 12%|█▏        | 56/450 [02:42<05:10,  1.27it/s]
 13%|█▎        | 57/450 [02:47<15:01,  2.29s/it]
 13%|█▎        | 58/450 [02:48<10:55,  1.67s/it]
 13%|█▎        | 59/450 [02:48<08:03,  1.24s/it]
 13%|█▎        | 60/450 [02:48<06:02,  1.08it/s]
 14%|█▎        | 61/450 [02:48<04:38,  1.40it/s]
 14%|█▍        | 62/450 [02:49<03:40,  1.76it/s]
 14%|█▍        | 63/450 [02:49<03:00,  2.14it/s]
 14%|█▍        | 64/450 [02:49<02:33,  2.52it/s]
 14%|█▍        | 65/450 [02:55<13:05,  2.04s/it]
 15%|█▍        | 66/450 [02:55<09:39,  1.51s/it]
 15%|█▍        | 67/450 [02:55<07:12,  1.13s/it]
 15%|█▌        | 68/450 [02:56<05:32,  1.15it/s]
 15%|█▌        | 69/450 [02:56<04:23,  1.45it/s]
 16%|█▌        | 70/450 [02:56<03:34,  1.77it/s]
 16%|█▌        | 71/450 [02:56<02:54,  2.17it/s]
 16%|█▌        | 72/450 [02:57<02:31,  2.49it/s]
 16%|█▌        | 73/450 [03:04<14:43,  2.34s/it]
 16%|█▋        | 74/450 [03:04<10:41,  1.71s/it]
 17%|█▋        | 75/450 [03:04<07:51,  1.26s/it]
 17%|█▋        | 76/450 [03:04<05:53,  1.06it/s]
 17%|█▋        | 77/450 [03:04<04:30,  1.38it/s]
 17%|█▋        | 78/450 [03:05<03:33,  1.74it/s]
 18%|█▊        | 79/450 [03:05<02:56,  2.10it/s]
 18%|█▊        | 80/450 [03:05<02:31,  2.45it/s]
 18%|█▊        | 81/450 [03:42<1:09:00, 11.22s/it]
 18%|█▊        | 82/450 [03:42<48:37,  7.93s/it]  
 18%|█▊        | 83/450 [03:42<34:23,  5.62s/it]
 19%|█▊        | 84/450 [03:42<24:28,  4.01s/it]
 19%|█▉        | 85/450 [03:43<17:28,  2.87s/it]
 19%|█▉        | 86/450 [03:43<12:38,  2.08s/it]
 19%|█▉        | 87/450 [03:43<09:18,  1.54s/it]
 20%|█▉        | 88/450 [03:43<06:58,  1.16s/it]
 20%|█▉        | 89/450 [03:58<32:07,  5.34s/it]
 20%|██        | 90/450 [03:59<22:52,  3.81s/it]
 20%|██        | 91/450 [03:59<16:23,  2.74s/it]
 20%|██        | 92/450 [03:59<11:51,  1.99s/it]
 21%|██        | 93/450 [03:59<08:42,  1.46s/it]
 21%|██        | 94/450 [04:00<06:29,  1.09s/it]
 21%|██        | 95/450 [04:00<04:59,  1.19it/s]
 21%|██▏       | 96/450 [04:00<03:53,  1.52it/s]
 22%|██▏       | 97/450 [04:14<27:34,  4.69s/it]
 22%|██▏       | 98/450 [04:14<19:38,  3.35s/it]
 22%|██▏       | 99/450 [04:15<14:04,  2.41s/it]
 22%|██▏       | 100/450 [04:15<10:11,  1.75s/it]
 22%|██▏       | 101/450 [04:15<07:28,  1.29s/it]
 23%|██▎       | 102/450 [04:15<05:35,  1.04it/s]
 23%|██▎       | 103/450 [04:15<04:15,  1.36it/s]
 23%|██▎       | 104/450 [04:16<03:20,  1.72it/s]
 23%|██▎       | 105/450 [04:24<16:41,  2.90s/it]
 24%|██▎       | 106/450 [04:24<12:04,  2.11s/it]
 24%|██▍       | 107/450 [04:24<08:47,  1.54s/it]
 24%|██▍       | 108/450 [04:25<06:32,  1.15s/it]
 24%|██▍       | 109/450 [04:25<04:58,  1.14it/s]
 24%|██▍       | 110/450 [04:25<03:53,  1.46it/s]
 25%|██▍       | 111/450 [04:25<03:07,  1.81it/s]
 25%|██▍       | 112/450 [04:26<02:35,  2.17it/s]
 25%|██▌       | 113/450 [04:39<24:47,  4.41s/it]
 25%|██▌       | 114/450 [04:40<17:39,  3.15s/it]
 26%|██▌       | 115/450 [04:40<12:40,  2.27s/it]
 26%|██▌       | 116/450 [04:40<09:11,  1.65s/it]
 26%|██▌       | 117/450 [04:40<06:46,  1.22s/it]
 26%|██▌       | 118/450 [04:40<05:08,  1.08it/s]
 26%|██▋       | 119/450 [04:41<03:59,  1.38it/s]
 27%|██▋       | 120/450 [04:41<03:08,  1.75it/s]
 27%|██▋       | 121/450 [04:51<19:16,  3.52s/it]
 27%|██▋       | 122/450 [04:51<13:49,  2.53s/it]
 27%|██▋       | 123/450 [04:52<10:01,  1.84s/it]
 28%|██▊       | 124/450 [04:52<07:22,  1.36s/it]
 28%|██▊       | 125/450 [04:52<05:29,  1.01s/it]
 28%|██▊       | 126/450 [04:52<04:11,  1.29it/s]
 28%|██▊       | 127/450 [04:53<03:15,  1.65it/s]
 28%|██▊       | 128/450 [04:53<02:36,  2.06it/s]
 29%|██▊       | 129/450 [05:03<18:56,  3.54s/it]
 29%|██▉       | 130/450 [05:04<13:33,  2.54s/it]
 29%|██▉       | 131/450 [05:04<09:47,  1.84s/it]
 29%|██▉       | 132/450 [05:04<07:09,  1.35s/it]
 30%|██▉       | 133/450 [05:04<05:18,  1.01s/it]
 30%|██▉       | 134/450 [05:04<04:03,  1.30it/s]
 30%|███       | 135/450 [05:05<03:11,  1.64it/s]
 30%|███       | 136/450 [05:05<02:33,  2.04it/s]
 30%|███       | 137/450 [05:27<36:54,  7.07s/it]
 31%|███       | 138/450 [05:28<26:04,  5.02s/it]
 31%|███       | 139/450 [05:28<18:31,  3.57s/it]
 31%|███       | 140/450 [05:28<13:14,  2.56s/it]
 31%|███▏      | 141/450 [05:28<09:34,  1.86s/it]
 32%|███▏      | 142/450 [05:28<06:59,  1.36s/it]
 32%|███▏      | 143/450 [05:29<05:11,  1.02s/it]
 32%|███▏      | 144/450 [05:29<03:56,  1.29it/s]
 32%|███▏      | 145/450 [05:36<13:37,  2.68s/it]
 32%|███▏      | 146/450 [05:36<09:50,  1.94s/it]
 33%|███▎      | 147/450 [05:36<07:10,  1.42s/it]
 33%|███▎      | 148/450 [05:37<05:18,  1.06s/it]
 33%|███▎      | 149/450 [05:37<04:00,  1.25it/s]
 33%|███▎      | 150/450 [05:37<03:10,  1.58it/s]
 34%|███▎      | 151/450 [05:37<02:32,  1.96it/s]
 34%|███▍      | 152/450 [05:37<02:06,  2.36it/s]
 34%|███▍      | 153/450 [05:46<13:31,  2.73s/it]
 34%|███▍      | 154/450 [05:46<09:48,  1.99s/it]
 34%|███▍      | 155/450 [05:46<07:13,  1.47s/it]
 35%|███▍      | 156/450 [05:46<05:22,  1.10s/it]
 35%|███▍      | 157/450 [05:47<04:05,  1.19it/s]
 35%|███▌      | 158/450 [05:47<03:11,  1.52it/s]
 35%|███▌      | 159/450 [05:47<02:36,  1.86it/s]
 36%|███▌      | 160/450 [05:47<02:09,  2.23it/s]
 36%|███▌      | 161/450 [06:01<20:44,  4.30s/it]
 36%|███▌      | 162/450 [06:01<14:48,  3.09s/it]
 36%|███▌      | 163/450 [06:01<10:43,  2.24s/it]
 36%|███▋      | 164/450 [06:01<07:50,  1.65s/it]
 37%|███▋      | 165/450 [06:02<05:47,  1.22s/it]
 37%|███▋      | 166/450 [06:02<04:25,  1.07it/s]
 37%|███▋      | 167/450 [06:02<03:25,  1.37it/s]
 37%|███▋      | 168/450 [06:02<02:43,  1.72it/s]
 38%|███▊      | 169/450 [06:09<11:30,  2.46s/it]
 38%|███▊      | 170/450 [06:09<08:21,  1.79s/it]
 38%|███▊      | 171/450 [06:10<06:10,  1.33s/it]
 38%|███▊      | 172/450 [06:10<04:41,  1.01s/it]
 38%|███▊      | 173/450 [06:10<03:40,  1.26it/s]
 39%|███▊      | 174/450 [06:11<02:56,  1.56it/s]
 39%|███▉      | 175/450 [06:11<02:23,  1.91it/s]
 39%|███▉      | 176/450 [06:11<01:59,  2.29it/s]
 39%|███▉      | 177/450 [06:17<09:50,  2.16s/it]
 40%|███▉      | 178/450 [06:17<07:12,  1.59s/it]
 40%|███▉      | 179/450 [06:18<05:21,  1.18s/it]
 40%|████      | 180/450 [06:18<04:03,  1.11it/s]
 40%|████      | 181/450 [06:18<03:08,  1.43it/s]
 40%|████      | 182/450 [06:18<02:30,  1.78it/s]
 41%|████      | 183/450 [06:19<02:04,  2.14it/s]
 41%|████      | 184/450 [06:19<01:47,  2.48it/s]
 41%|████      | 185/450 [06:49<41:06,  9.31s/it]
 41%|████▏     | 186/450 [06:49<28:59,  6.59s/it]
 42%|████▏     | 187/450 [06:49<20:32,  4.69s/it]
 42%|████▏     | 188/450 [06:50<14:38,  3.35s/it]
 42%|████▏     | 189/450 [06:50<10:31,  2.42s/it]
 42%|████▏     | 190/450 [06:50<07:39,  1.77s/it]
 42%|████▏     | 191/450 [06:50<05:37,  1.30s/it]
 43%|████▎     | 192/450 [06:51<04:14,  1.01it/s]
 43%|████▎     | 193/450 [07:01<16:30,  3.85s/it]
 43%|████▎     | 194/450 [07:01<11:47,  2.76s/it]
 43%|████▎     | 195/450 [07:02<08:29,  2.00s/it]
 44%|████▎     | 196/450 [07:02<06:12,  1.47s/it]
 44%|████▍     | 197/450 [07:02<04:35,  1.09s/it]
 44%|████▍     | 198/450 [07:02<03:30,  1.20it/s]
 44%|████▍     | 199/450 [07:03<02:42,  1.54it/s]
 44%|████▍     | 200/450 [07:03<02:09,  1.93it/s]
 45%|████▍     | 201/450 [07:25<28:49,  6.94s/it]
 45%|████▍     | 202/450 [07:25<20:21,  4.93s/it]
 45%|████▌     | 203/450 [07:25<14:30,  3.52s/it]
 45%|████▌     | 204/450 [07:25<10:22,  2.53s/it]
 46%|████▌     | 205/450 [07:26<07:29,  1.84s/it]
 46%|████▌     | 206/450 [07:26<05:31,  1.36s/it]
 46%|████▌     | 207/450 [07:26<04:09,  1.03s/it]
 46%|████▌     | 208/450 [07:26<03:09,  1.28it/s]
 46%|████▋     | 209/450 [07:36<13:59,  3.48s/it]
 47%|████▋     | 210/450 [07:36<10:00,  2.50s/it]
 47%|████▋     | 211/450 [07:37<07:16,  1.83s/it]
 47%|████▋     | 212/450 [07:37<05:20,  1.35s/it]
 47%|████▋     | 213/450 [07:37<03:58,  1.01s/it]
 48%|████▊     | 214/450 [07:37<03:01,  1.30it/s]
 48%|████▊     | 215/450 [07:37<02:22,  1.65it/s]
 48%|████▊     | 216/450 [07:38<01:54,  2.04it/s]
 48%|████▊     | 217/450 [07:47<12:37,  3.25s/it]
 48%|████▊     | 218/450 [07:48<09:06,  2.36s/it]
 49%|████▊     | 219/450 [07:48<06:37,  1.72s/it]
 49%|████▉     | 220/450 [07:48<04:55,  1.28s/it]
 49%|████▉     | 221/450 [07:48<03:41,  1.04it/s]
 49%|████▉     | 222/450 [07:49<02:49,  1.35it/s]
 50%|████▉     | 223/450 [07:49<02:14,  1.68it/s]
 50%|████▉     | 224/450 [07:49<01:49,  2.07it/s]
 50%|█████     | 225/450 [07:56<08:59,  2.40s/it]
 50%|█████     | 226/450 [07:56<06:31,  1.75s/it]
 50%|█████     | 227/450 [07:56<04:51,  1.31s/it]
 51%|█████     | 228/450 [07:57<03:39,  1.01it/s]
 51%|█████     | 229/450 [07:57<02:49,  1.31it/s]
 51%|█████     | 230/450 [07:57<02:14,  1.64it/s]
 51%|█████▏    | 231/450 [07:57<01:49,  2.00it/s]
 52%|█████▏    | 232/450 [07:58<01:32,  2.35it/s]
 52%|█████▏    | 233/450 [08:07<11:44,  3.25s/it]
 52%|█████▏    | 234/450 [08:08<08:26,  2.35s/it]
 52%|█████▏    | 235/450 [08:08<06:08,  1.72s/it]
 52%|█████▏    | 236/450 [08:08<04:31,  1.27s/it]
 53%|█████▎    | 237/450 [08:08<03:22,  1.05it/s]
 53%|█████▎    | 238/450 [08:09<02:35,  1.36it/s]
 53%|█████▎    | 239/450 [08:09<02:01,  1.73it/s]
 53%|█████▎    | 240/450 [08:09<01:38,  2.14it/s]
 54%|█████▎    | 241/450 [08:24<16:56,  4.87s/it]
 54%|█████▍    | 242/450 [08:24<12:03,  3.48s/it]
 54%|█████▍    | 243/450 [08:25<08:36,  2.50s/it]
 54%|█████▍    | 244/450 [08:25<06:12,  1.81s/it]
 54%|█████▍    | 245/450 [08:25<04:34,  1.34s/it]
 55%|█████▍    | 246/450 [08:25<03:26,  1.01s/it]
 55%|█████▍    | 247/450 [08:26<02:37,  1.29it/s]
 55%|█████▌    | 248/450 [08:26<02:04,  1.62it/s]
 55%|█████▌    | 249/450 [08:37<12:45,  3.81s/it]
 56%|█████▌    | 250/450 [08:37<09:05,  2.73s/it]
 56%|█████▌    | 251/450 [08:37<06:32,  1.97s/it]
 56%|█████▌    | 252/450 [08:38<04:45,  1.44s/it]
 56%|█████▌    | 253/450 [08:38<03:31,  1.07s/it]
 56%|█████▋    | 254/450 [08:38<02:40,  1.22it/s]
 57%|█████▋    | 255/450 [08:38<02:04,  1.56it/s]
 57%|█████▋    | 256/450 [08:39<01:40,  1.93it/s]
 57%|█████▋    | 257/450 [08:47<09:38,  3.00s/it]
 57%|█████▋    | 258/450 [08:48<06:58,  2.18s/it]
 58%|█████▊    | 259/450 [08:48<05:04,  1.59s/it]
 58%|█████▊    | 260/450 [08:48<03:45,  1.19s/it]
 58%|█████▊    | 261/450 [08:48<02:49,  1.11it/s]
 58%|█████▊    | 262/450 [08:49<02:11,  1.43it/s]
 58%|█████▊    | 263/450 [08:49<01:43,  1.80it/s]
 59%|█████▊    | 264/450 [08:49<01:23,  2.22it/s]
 59%|█████▉    | 265/450 [08:58<09:14,  3.00s/it]
 59%|█████▉    | 266/450 [08:58<06:39,  2.17s/it]
 59%|█████▉    | 267/450 [08:58<04:51,  1.60s/it]
 60%|█████▉    | 268/450 [08:59<03:36,  1.19s/it]
 60%|█████▉    | 269/450 [08:59<02:44,  1.10it/s]
 60%|██████    | 270/450 [08:59<02:07,  1.41it/s]
 60%|██████    | 271/450 [08:59<01:41,  1.76it/s]
 60%|██████    | 272/450 [09:00<01:24,  2.12it/s]
 61%|██████    | 273/450 [09:06<06:45,  2.29s/it]
 61%|██████    | 274/450 [09:06<04:54,  1.67s/it]
 61%|██████    | 275/450 [09:07<03:38,  1.25s/it]
 61%|██████▏   | 276/450 [09:07<02:46,  1.05it/s]
 62%|██████▏   | 277/450 [09:07<02:07,  1.35it/s]
 62%|██████▏   | 278/450 [09:07<01:41,  1.70it/s]
 62%|██████▏   | 279/450 [09:08<01:24,  2.03it/s]
 62%|██████▏   | 280/450 [09:08<01:10,  2.41it/s]
 62%|██████▏   | 281/450 [09:23<13:34,  4.82s/it]
 63%|██████▎   | 282/450 [09:23<09:38,  3.44s/it]
 63%|██████▎   | 283/450 [09:23<06:54,  2.48s/it]
 63%|██████▎   | 284/450 [09:24<04:59,  1.81s/it]
 63%|██████▎   | 285/450 [09:24<03:40,  1.33s/it]
 64%|██████▎   | 286/450 [09:24<02:44,  1.00s/it]
 64%|██████▍   | 287/450 [09:24<02:06,  1.29it/s]
 64%|██████▍   | 288/450 [09:25<01:39,  1.63it/s]
 64%|██████▍   | 289/450 [09:42<14:55,  5.56s/it]
 64%|██████▍   | 290/450 [09:42<10:34,  3.96s/it]
 65%|██████▍   | 291/450 [09:42<07:33,  2.85s/it]
 65%|██████▍   | 292/450 [09:43<05:28,  2.08s/it]
 65%|██████▌   | 293/450 [09:43<04:01,  1.54s/it]
 65%|██████▌   | 294/450 [09:43<02:58,  1.15s/it]
 66%|██████▌   | 295/450 [09:43<02:15,  1.14it/s]
 66%|██████▌   | 296/450 [09:43<01:45,  1.46it/s]
 66%|██████▌   | 297/450 [10:03<16:06,  6.32s/it]
 66%|██████▌   | 298/450 [10:03<11:22,  4.49s/it]
 66%|██████▋   | 299/450 [10:03<08:04,  3.21s/it]
 67%|██████▋   | 300/450 [10:04<05:47,  2.32s/it]
 67%|██████▋   | 301/450 [10:04<04:11,  1.69s/it]
 67%|██████▋   | 302/450 [10:04<03:04,  1.24s/it]
 67%|██████▋   | 303/450 [10:04<02:17,  1.07it/s]
 68%|██████▊   | 304/450 [10:04<01:44,  1.40it/s]
 68%|██████▊   | 305/450 [10:24<15:37,  6.46s/it]
 68%|██████▊   | 306/450 [10:25<11:02,  4.60s/it]
 68%|██████▊   | 307/450 [10:25<07:49,  3.28s/it]
 68%|██████▊   | 308/450 [10:25<05:36,  2.37s/it]
 69%|██████▊   | 309/450 [10:25<04:03,  1.72s/it]
 69%|██████▉   | 310/450 [10:26<02:59,  1.28s/it]
 69%|██████▉   | 311/450 [10:26<02:14,  1.03it/s]
 69%|██████▉   | 312/450 [10:26<01:43,  1.33it/s]
 70%|██████▉   | 313/450 [10:35<07:20,  3.22s/it]
 70%|██████▉   | 314/450 [10:35<05:14,  2.31s/it]
 70%|███████   | 315/450 [10:35<03:47,  1.68s/it]
 70%|███████   | 316/450 [10:36<02:46,  1.24s/it]
 70%|███████   | 317/450 [10:36<02:03,  1.07it/s]
 71%|███████   | 318/450 [10:36<01:34,  1.40it/s]
 71%|███████   | 319/450 [10:36<01:13,  1.78it/s]
 71%|███████   | 320/450 [10:36<00:59,  2.19it/s]
 71%|███████▏  | 321/450 [10:48<07:58,  3.71s/it]
 72%|███████▏  | 322/450 [10:48<05:41,  2.67s/it]
 72%|███████▏  | 323/450 [10:48<04:06,  1.94s/it]
 72%|███████▏  | 324/450 [10:48<02:59,  1.42s/it]
 72%|███████▏  | 325/450 [10:49<02:12,  1.06s/it]
 72%|███████▏  | 326/450 [10:49<01:40,  1.23it/s]
 73%|███████▎  | 327/450 [10:49<01:17,  1.58it/s]
 73%|███████▎  | 328/450 [10:49<01:01,  1.98it/s]
 73%|███████▎  | 329/450 [10:58<06:11,  3.07s/it]
 73%|███████▎  | 330/450 [10:59<04:26,  2.22s/it]
 74%|███████▎  | 331/450 [10:59<03:14,  1.63s/it]
 74%|███████▍  | 332/450 [10:59<02:23,  1.21s/it]
 74%|███████▍  | 333/450 [10:59<01:47,  1.09it/s]
 74%|███████▍  | 334/450 [11:00<01:22,  1.41it/s]
 74%|███████▍  | 335/450 [11:00<01:05,  1.77it/s]
 75%|███████▍  | 336/450 [11:00<00:52,  2.15it/s]
 75%|███████▍  | 337/450 [11:06<04:12,  2.24s/it]
 75%|███████▌  | 338/450 [11:07<03:03,  1.64s/it]
 75%|███████▌  | 339/450 [11:07<02:16,  1.23s/it]
 76%|███████▌  | 340/450 [11:07<01:43,  1.07it/s]
 76%|███████▌  | 341/450 [11:07<01:19,  1.37it/s]
 76%|███████▌  | 342/450 [11:08<01:02,  1.72it/s]
 76%|███████▌  | 343/450 [11:08<00:51,  2.08it/s]
 76%|███████▋  | 344/450 [11:08<00:43,  2.45it/s]
 77%|███████▋  | 345/450 [11:19<06:10,  3.53s/it]
 77%|███████▋  | 346/450 [11:19<04:24,  2.55s/it]
 77%|███████▋  | 347/450 [11:19<03:10,  1.85s/it]
 77%|███████▋  | 348/450 [11:20<02:19,  1.37s/it]
 78%|███████▊  | 349/450 [11:20<01:42,  1.02s/it]
 78%|███████▊  | 350/450 [11:20<01:17,  1.29it/s]
 78%|███████▊  | 351/450 [11:20<01:00,  1.65it/s]
 78%|███████▊  | 352/450 [11:21<00:48,  2.01it/s]
 78%|███████▊  | 353/450 [11:35<07:44,  4.79s/it]
 79%|███████▊  | 354/450 [11:36<05:27,  3.41s/it]
 79%|███████▉  | 355/450 [11:36<03:52,  2.45s/it]
 79%|███████▉  | 356/450 [11:36<02:47,  1.78s/it]
 79%|███████▉  | 357/450 [11:36<02:01,  1.31s/it]
 80%|███████▉  | 358/450 [11:36<01:29,  1.02it/s]
 80%|███████▉  | 359/450 [11:37<01:08,  1.32it/s]
 80%|████████  | 360/450 [11:37<00:54,  1.66it/s]
 80%|████████  | 361/450 [11:45<04:22,  2.95s/it]
 80%|████████  | 362/450 [11:46<03:08,  2.14s/it]
 81%|████████  | 363/450 [11:46<02:16,  1.57s/it]
 81%|████████  | 364/450 [11:46<01:40,  1.17s/it]
 81%|████████  | 365/450 [11:46<01:16,  1.12it/s]
 81%|████████▏ | 366/450 [11:46<00:58,  1.44it/s]
 82%|████████▏ | 367/450 [11:47<00:46,  1.80it/s]
 82%|████████▏ | 368/450 [11:47<00:38,  2.13it/s]
 82%|████████▏ | 369/450 [12:07<08:44,  6.48s/it]
 82%|████████▏ | 370/450 [12:08<06:09,  4.62s/it]
 82%|████████▏ | 371/450 [12:08<04:20,  3.30s/it]
 83%|████████▎ | 372/450 [12:08<03:05,  2.38s/it]
 83%|████████▎ | 373/450 [12:08<02:14,  1.74s/it]
 83%|████████▎ | 374/450 [12:09<01:38,  1.29s/it]
 83%|████████▎ | 375/450 [12:09<01:12,  1.03it/s]
 84%|████████▎ | 376/450 [12:09<00:54,  1.35it/s]
 84%|████████▍ | 377/450 [12:19<04:07,  3.39s/it]
 84%|████████▍ | 378/450 [12:19<02:56,  2.45s/it]
 84%|████████▍ | 379/450 [12:19<02:06,  1.78s/it]
 84%|████████▍ | 380/450 [12:19<01:31,  1.31s/it]
 85%|████████▍ | 381/450 [12:20<01:07,  1.02it/s]
 85%|████████▍ | 382/450 [12:20<00:51,  1.32it/s]
 85%|████████▌ | 383/450 [12:20<00:40,  1.65it/s]
 85%|████████▌ | 384/450 [12:20<00:32,  2.01it/s]
 86%|████████▌ | 385/450 [12:42<07:24,  6.84s/it]
 86%|████████▌ | 386/450 [12:42<05:10,  4.86s/it]
 86%|████████▌ | 387/450 [12:42<03:38,  3.48s/it]
 86%|████████▌ | 388/450 [12:43<02:35,  2.51s/it]
 86%|████████▋ | 389/450 [12:43<01:51,  1.83s/it]
 87%|████████▋ | 390/450 [12:43<01:20,  1.35s/it]
 87%|████████▋ | 391/450 [12:43<00:59,  1.01s/it]
 87%|████████▋ | 392/450 [12:44<00:45,  1.26it/s]
 87%|████████▋ | 393/450 [12:56<04:04,  4.29s/it]
 88%|████████▊ | 394/450 [12:56<02:52,  3.08s/it]
 88%|████████▊ | 395/450 [12:57<02:02,  2.23s/it]
 88%|████████▊ | 396/450 [12:57<01:28,  1.64s/it]
 88%|████████▊ | 397/450 [12:57<01:05,  1.23s/it]
 88%|████████▊ | 398/450 [12:57<00:48,  1.06it/s]
 89%|████████▊ | 399/450 [12:58<00:37,  1.35it/s]
 89%|████████▉ | 400/450 [12:58<00:29,  1.68it/s]
 89%|████████▉ | 401/450 [13:17<05:05,  6.24s/it]
 89%|████████▉ | 402/450 [13:18<03:33,  4.44s/it]
 90%|████████▉ | 403/450 [13:18<02:29,  3.18s/it]
 90%|████████▉ | 404/450 [13:18<01:45,  2.29s/it]
 90%|█████████ | 405/450 [13:18<01:15,  1.67s/it]
 90%|█████████ | 406/450 [13:19<00:54,  1.24s/it]
 90%|█████████ | 407/450 [13:19<00:40,  1.07it/s]
 91%|█████████ | 408/450 [13:19<00:30,  1.38it/s]
 91%|█████████ | 409/450 [13:37<04:07,  6.03s/it]
 91%|█████████ | 410/450 [13:38<02:51,  4.29s/it]
 91%|█████████▏| 411/450 [13:38<01:59,  3.07s/it]
 92%|█████████▏| 412/450 [13:38<01:24,  2.22s/it]
 92%|█████████▏| 413/450 [13:38<01:00,  1.63s/it]
 92%|█████████▏| 414/450 [13:39<00:43,  1.21s/it]
 92%|█████████▏| 415/450 [13:39<00:32,  1.08it/s]
 92%|█████████▏| 416/450 [13:39<00:24,  1.39it/s]
 93%|█████████▎| 417/450 [13:49<01:51,  3.39s/it]
 93%|█████████▎| 418/450 [13:49<01:18,  2.45s/it]
 93%|█████████▎| 419/450 [13:49<00:55,  1.78s/it]
 93%|█████████▎| 420/450 [13:49<00:39,  1.31s/it]
 94%|█████████▎| 421/450 [13:50<00:28,  1.02it/s]
 94%|█████████▍| 422/450 [13:50<00:21,  1.33it/s]
 94%|█████████▍| 423/450 [13:50<00:15,  1.69it/s]
 94%|█████████▍| 424/450 [13:50<00:12,  2.10it/s]
 94%|█████████▍| 425/450 [14:07<02:13,  5.32s/it]
 95%|█████████▍| 426/450 [14:07<01:30,  3.79s/it]
 95%|█████████▍| 427/450 [14:07<01:02,  2.71s/it]
 95%|█████████▌| 428/450 [14:08<00:43,  1.96s/it]
 95%|█████████▌| 429/450 [14:08<00:30,  1.44s/it]
 96%|█████████▌| 430/450 [14:08<00:21,  1.07s/it]
 96%|█████████▌| 431/450 [14:08<00:15,  1.22it/s]
 96%|█████████▌| 432/450 [14:08<00:11,  1.57it/s]
 96%|█████████▌| 433/450 [14:17<00:51,  3.03s/it]
 96%|█████████▋| 434/450 [14:17<00:35,  2.19s/it]
 97%|█████████▋| 435/450 [14:17<00:24,  1.60s/it]
 97%|█████████▋| 436/450 [14:18<00:16,  1.21s/it]
 97%|█████████▋| 437/450 [14:18<00:11,  1.10it/s]
 97%|█████████▋| 438/450 [14:18<00:08,  1.42it/s]
 98%|█████████▊| 439/450 [14:18<00:06,  1.78it/s]
 98%|█████████▊| 440/450 [14:19<00:04,  2.16it/s]
 98%|█████████▊| 441/450 [14:40<01:00,  6.71s/it]
 98%|█████████▊| 442/450 [14:40<00:38,  4.77s/it]
 98%|█████████▊| 443/450 [14:40<00:23,  3.41s/it]
 99%|█████████▊| 444/450 [14:41<00:14,  2.45s/it]
 99%|█████████▉| 445/450 [14:41<00:08,  1.79s/it]
 99%|█████████▉| 446/450 [14:41<00:05,  1.33s/it]
 99%|█████████▉| 447/450 [14:41<00:03,  1.01s/it]
100%|█████████▉| 448/450 [14:42<00:01,  1.28it/s]
100%|█████████▉| 449/450 [14:50<00:03,  3.17s/it]
100%|█████████▉| 449/450 [14:51<00:01,  1.98s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/log_1_env0.json.
+MustardInLeftBinTask_1 complete: task_name: MustardInLeftBinTask, run_name: MustardInLeftBinTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the mustard in the left bin, attributes: ['spatial', 'simple'], success: False, episode_step: 450, duration: 30.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.666314433662811, 'joint_sparc_mean': -12.303666953786081, 'ee_isj': 3452.580147983705, 'joint_isj': 68583.6696752278, 'ee_path_length': 4.34546560610929, 'joint_rmse_mean': 0.8944743270469967, 'ee_speed_max': 0.7025624513626099, 'ee_speed_mean': 0.14025847613811493}, events: {'TARGET_OBJECT_DROPPED': 12, 'GRIPPER_HIT_TABLE': 2, 'GRIPPER_FULLY_CLOSED': 7, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 1, 'wrong_objects_grabbed': ['grey_bin_right']}, instruction_type: default, timing: {'policy_inference_s': 790.279, 'policy_inference_avg_ms': 1756.2, 'env_step_s': 96.456, 'env_step_avg_ms': 214.3, 'video_write_s': 4.248, 'video_write_avg_ms': 9.4, 'wall_total_s': 890.983, 'it_per_sec': 0.51}, score: 0.0, reason: Condition not satisfied: object_in_container(object=mustard, container=grey_bin_left, require_contact_with=False, require_gripper_detached=True) (step 2/2), harness_episode_id: 7ebd628ab03b488a9e5d812b31800792-1
+[RoboLab] Running MustardInLeftBinTask_2: 'Put the mustard in the left bin' (run 2, 1 envs)
+
  0%|          | 0/450 [00:00<?, ?it/s]
  0%|          | 1/450 [00:27<3:28:14, 27.83s/it]
  0%|          | 2/450 [00:28<1:26:30, 11.59s/it]
  1%|          | 3/450 [00:28<47:37,  6.39s/it]  
  1%|          | 4/450 [00:28<29:22,  3.95s/it]
  1%|          | 5/450 [00:28<19:17,  2.60s/it]
  1%|▏         | 6/450 [00:28<13:13,  1.79s/it]
  2%|▏         | 7/450 [00:29<09:22,  1.27s/it]
  2%|▏         | 8/450 [00:29<06:50,  1.08it/s]
  2%|▏         | 9/450 [00:38<25:23,  3.46s/it]
  2%|▏         | 10/450 [00:38<18:00,  2.46s/it]
  2%|▏         | 11/450 [00:38<12:56,  1.77s/it]
  3%|▎         | 12/450 [00:38<09:31,  1.31s/it]
  3%|▎         | 13/450 [00:39<07:05,  1.03it/s]
  3%|▎         | 14/450 [00:39<05:26,  1.34it/s]
  3%|▎         | 15/450 [00:39<04:18,  1.68it/s]
  4%|▎         | 16/450 [00:39<03:29,  2.07it/s]
  4%|▍         | 17/450 [00:50<26:18,  3.65s/it]
  4%|▍         | 18/450 [00:51<18:50,  2.62s/it]
  4%|▍         | 19/450 [00:51<13:36,  1.89s/it]
  4%|▍         | 20/450 [00:51<09:56,  1.39s/it]
  5%|▍         | 21/450 [00:51<07:24,  1.04s/it]
  5%|▍         | 22/450 [00:51<05:37,  1.27it/s]
  5%|▌         | 23/450 [00:52<04:22,  1.62it/s]
  5%|▌         | 24/450 [00:52<03:34,  1.99it/s]
  6%|▌         | 25/450 [01:07<33:45,  4.77s/it]
  6%|▌         | 26/450 [01:07<24:01,  3.40s/it]
  6%|▌         | 27/450 [01:07<17:13,  2.44s/it]
  6%|▌         | 28/450 [01:07<12:29,  1.78s/it]
  6%|▋         | 29/450 [01:07<09:11,  1.31s/it]
  7%|▋         | 30/450 [01:08<06:57,  1.01it/s]
  7%|▋         | 31/450 [01:08<05:20,  1.31it/s]
  7%|▋         | 32/450 [01:08<04:13,  1.65it/s]
  7%|▋         | 33/450 [01:21<29:09,  4.19s/it]
  8%|▊         | 34/450 [01:21<20:52,  3.01s/it]
  8%|▊         | 35/450 [01:21<15:03,  2.18s/it]
  8%|▊         | 36/450 [01:21<11:00,  1.59s/it]
  8%|▊         | 37/450 [01:22<08:10,  1.19s/it]
  8%|▊         | 38/450 [01:22<06:11,  1.11it/s]
  9%|▊         | 39/450 [01:22<04:48,  1.43it/s]
  9%|▉         | 40/450 [01:22<03:51,  1.77it/s]
  9%|▉         | 41/450 [01:26<11:00,  1.62s/it]
  9%|▉         | 42/450 [01:27<08:10,  1.20s/it]
 10%|▉         | 43/450 [01:27<06:12,  1.09it/s]
 10%|▉         | 44/450 [01:27<04:48,  1.41it/s]
 10%|█         | 45/450 [01:27<03:50,  1.76it/s]
 10%|█         | 46/450 [01:28<03:09,  2.13it/s]
 10%|█         | 47/450 [01:28<02:41,  2.50it/s]
 11%|█         | 48/450 [01:28<02:21,  2.85it/s]
 11%|█         | 49/450 [01:41<28:14,  4.23s/it]
 11%|█         | 50/450 [01:42<20:12,  3.03s/it]
 11%|█▏        | 51/450 [01:42<14:35,  2.19s/it]
 12%|█▏        | 52/450 [01:42<10:39,  1.61s/it]
 12%|█▏        | 53/450 [01:42<07:56,  1.20s/it]
 12%|█▏        | 54/450 [01:43<06:02,  1.09it/s]
 12%|█▏        | 55/450 [01:43<04:45,  1.38it/s]
 12%|█▏        | 56/450 [01:43<03:51,  1.71it/s]
 13%|█▎        | 57/450 [01:48<11:39,  1.78s/it]
 13%|█▎        | 58/450 [01:48<08:37,  1.32s/it]
 13%|█▎        | 59/450 [01:48<06:29,  1.00it/s]
 13%|█▎        | 60/450 [01:49<05:04,  1.28it/s]
 14%|█▎        | 61/450 [01:49<04:04,  1.59it/s]
 14%|█▍        | 62/450 [01:49<03:19,  1.94it/s]
 14%|█▍        | 63/450 [01:49<02:47,  2.31it/s]
 14%|█▍        | 64/450 [01:50<02:24,  2.67it/s]
 14%|█▍        | 65/450 [02:06<33:59,  5.30s/it]
 15%|█▍        | 66/450 [02:07<24:16,  3.79s/it]
 15%|█▍        | 67/450 [02:07<17:28,  2.74s/it]
 15%|█▌        | 68/450 [02:07<12:42,  1.99s/it]
 15%|█▌        | 69/450 [02:07<09:23,  1.48s/it]
 16%|█▌        | 70/450 [02:08<07:00,  1.11s/it]
 16%|█▌        | 71/450 [02:08<05:18,  1.19it/s]
 16%|█▌        | 72/450 [02:08<04:05,  1.54it/s]
 16%|█▌        | 73/450 [02:30<44:41,  7.11s/it]
 16%|█▋        | 74/450 [02:30<31:35,  5.04s/it]
 17%|█▋        | 75/450 [02:31<22:27,  3.59s/it]
 17%|█▋        | 76/450 [02:31<16:05,  2.58s/it]
 17%|█▋        | 77/450 [02:31<11:37,  1.87s/it]
 17%|█▋        | 78/450 [02:31<08:30,  1.37s/it]
 18%|█▊        | 79/450 [02:32<06:19,  1.02s/it]
 18%|█▊        | 80/450 [02:32<04:51,  1.27it/s]
 18%|█▊        | 81/450 [02:48<34:10,  5.56s/it]
 18%|█▊        | 82/450 [02:49<24:15,  3.95s/it]
 18%|█▊        | 83/450 [02:49<17:19,  2.83s/it]
 19%|█▊        | 84/450 [02:49<12:28,  2.05s/it]
 19%|█▉        | 85/450 [02:49<09:05,  1.50s/it]
 19%|█▉        | 86/450 [02:50<06:44,  1.11s/it]
 19%|█▉        | 87/450 [02:50<05:04,  1.19it/s]
 20%|█▉        | 88/450 [02:50<03:55,  1.54it/s]
 20%|█▉        | 89/450 [02:57<14:49,  2.46s/it]
 20%|██        | 90/450 [02:57<10:44,  1.79s/it]
 20%|██        | 91/450 [02:57<07:54,  1.32s/it]
 20%|██        | 92/450 [02:57<05:54,  1.01it/s]
 21%|██        | 93/450 [02:58<04:32,  1.31it/s]
 21%|██        | 94/450 [02:58<03:32,  1.68it/s]
 21%|██        | 95/450 [02:58<02:50,  2.08it/s]
 21%|██▏       | 96/450 [02:58<02:22,  2.49it/s]
 22%|██▏       | 97/450 [03:13<28:32,  4.85s/it]
 22%|██▏       | 98/450 [03:14<20:20,  3.47s/it]
 22%|██▏       | 99/450 [03:14<14:36,  2.50s/it]
 22%|██▏       | 100/450 [03:14<10:36,  1.82s/it]
 22%|██▏       | 101/450 [03:14<07:47,  1.34s/it]
 23%|██▎       | 102/450 [03:15<05:50,  1.01s/it]
 23%|██▎       | 103/450 [03:15<04:28,  1.29it/s]
 23%|██▎       | 104/450 [03:15<03:31,  1.64it/s]
 23%|██▎       | 105/450 [03:22<13:38,  2.37s/it]
 24%|██▎       | 106/450 [03:22<09:52,  1.72s/it]
 24%|██▍       | 107/450 [03:22<07:16,  1.27s/it]
 24%|██▍       | 108/450 [03:22<05:25,  1.05it/s]
 24%|██▍       | 109/450 [03:22<04:08,  1.37it/s]
 24%|██▍       | 110/450 [03:23<03:16,  1.73it/s]
 25%|██▍       | 111/450 [03:23<02:40,  2.12it/s]
 25%|██▍       | 112/450 [03:23<02:14,  2.52it/s]
 25%|██▌       | 113/450 [03:29<12:04,  2.15s/it]
 25%|██▌       | 114/450 [03:29<08:47,  1.57s/it]
 26%|██▌       | 115/450 [03:30<06:31,  1.17s/it]
 26%|██▌       | 116/450 [03:30<04:56,  1.13it/s]
 26%|██▌       | 117/450 [03:30<03:49,  1.45it/s]
 26%|██▌       | 118/450 [03:30<03:01,  1.83it/s]
 26%|██▋       | 119/450 [03:31<02:29,  2.21it/s]
 27%|██▋       | 120/450 [03:31<02:08,  2.56it/s]
 27%|██▋       | 121/450 [03:37<10:54,  1.99s/it]
 27%|██▋       | 122/450 [03:37<07:59,  1.46s/it]
 27%|██▋       | 123/450 [03:37<06:00,  1.10s/it]
 28%|██▊       | 124/450 [03:37<04:35,  1.19it/s]
 28%|██▊       | 125/450 [03:38<03:36,  1.50it/s]
 28%|██▊       | 126/450 [03:38<02:56,  1.84it/s]
 28%|██▊       | 127/450 [03:38<02:25,  2.22it/s]
 28%|██▊       | 128/450 [03:38<02:03,  2.60it/s]
 29%|██▊       | 129/450 [03:46<13:05,  2.45s/it]
 29%|██▉       | 130/450 [03:46<09:32,  1.79s/it]
 29%|██▉       | 131/450 [03:46<07:03,  1.33s/it]
 29%|██▉       | 132/450 [03:46<05:19,  1.00s/it]
 30%|██▉       | 133/450 [03:47<04:04,  1.30it/s]
 30%|██▉       | 134/450 [03:47<03:10,  1.66it/s]
 30%|███       | 135/450 [03:47<02:32,  2.06it/s]
 30%|███       | 136/450 [03:47<02:08,  2.45it/s]
 30%|███       | 137/450 [03:55<14:00,  2.69s/it]
 31%|███       | 138/450 [03:55<10:06,  1.94s/it]
 31%|███       | 139/450 [03:56<07:24,  1.43s/it]
 31%|███       | 140/450 [03:56<05:30,  1.07s/it]
 31%|███▏      | 141/450 [03:56<04:09,  1.24it/s]
 32%|███▏      | 142/450 [03:56<03:13,  1.59it/s]
 32%|███▏      | 143/450 [03:56<02:36,  1.97it/s]
 32%|███▏      | 144/450 [03:57<02:09,  2.36it/s]
 32%|███▏      | 145/450 [04:04<12:29,  2.46s/it]
 32%|███▏      | 146/450 [04:04<09:02,  1.78s/it]
 33%|███▎      | 147/450 [04:04<06:39,  1.32s/it]
 33%|███▎      | 148/450 [04:05<04:58,  1.01it/s]
 33%|███▎      | 149/450 [04:05<03:48,  1.32it/s]
 33%|███▎      | 150/450 [04:05<02:58,  1.68it/s]
 34%|███▎      | 151/450 [04:05<02:29,  2.00it/s]
 34%|███▍      | 152/450 [04:06<02:03,  2.41it/s]
 34%|███▍      | 153/450 [04:11<09:00,  1.82s/it]
 34%|███▍      | 154/450 [04:11<06:37,  1.34s/it]
 34%|███▍      | 155/450 [04:11<04:57,  1.01s/it]
 35%|███▍      | 156/450 [04:11<03:49,  1.28it/s]
 35%|███▍      | 157/450 [04:12<03:00,  1.62it/s]
 35%|███▌      | 158/450 [04:12<02:27,  1.98it/s]
 35%|███▌      | 159/450 [04:12<02:05,  2.32it/s]
 36%|███▌      | 160/450 [04:12<01:49,  2.64it/s]
 36%|███▌      | 161/450 [04:20<11:45,  2.44s/it]
 36%|███▌      | 162/450 [04:20<08:33,  1.78s/it]
 36%|███▌      | 163/450 [04:20<06:17,  1.32s/it]
 36%|███▋      | 164/450 [04:20<04:44,  1.00it/s]
 37%|███▋      | 165/450 [04:21<03:39,  1.30it/s]
 37%|███▋      | 166/450 [04:21<02:53,  1.64it/s]
 37%|███▋      | 167/450 [04:21<02:20,  2.02it/s]
 37%|███▋      | 168/450 [04:21<01:55,  2.44it/s]
 38%|███▊      | 169/450 [04:35<20:29,  4.38s/it]
 38%|███▊      | 170/450 [04:35<14:36,  3.13s/it]
 38%|███▊      | 171/450 [04:35<10:29,  2.26s/it]
 38%|███▊      | 172/450 [04:36<07:37,  1.65s/it]
 38%|███▊      | 173/450 [04:36<05:37,  1.22s/it]
 39%|███▊      | 174/450 [04:36<04:14,  1.09it/s]
 39%|███▉      | 175/450 [04:36<03:15,  1.41it/s]
 39%|███▉      | 176/450 [04:36<02:34,  1.77it/s]
 39%|███▉      | 177/450 [04:44<12:31,  2.75s/it]
 40%|███▉      | 178/450 [04:44<09:01,  1.99s/it]
 40%|███▉      | 179/450 [04:45<06:35,  1.46s/it]
 40%|████      | 180/450 [04:45<04:53,  1.09s/it]
 40%|████      | 181/450 [04:45<03:43,  1.20it/s]
 40%|████      | 182/450 [04:45<02:55,  1.53it/s]
 41%|████      | 183/450 [04:46<02:21,  1.89it/s]
 41%|████      | 184/450 [04:46<01:57,  2.26it/s]
 41%|████      | 185/450 [04:56<14:59,  3.39s/it]
 41%|████▏     | 186/450 [04:56<10:44,  2.44s/it]
 42%|████▏     | 187/450 [04:57<07:47,  1.78s/it]
 42%|████▏     | 188/450 [04:57<05:43,  1.31s/it]
 42%|████▏     | 189/450 [04:57<04:16,  1.02it/s]
 42%|████▏     | 190/450 [04:57<03:17,  1.32it/s]
 42%|████▏     | 191/450 [04:57<02:36,  1.66it/s]
 43%|████▎     | 192/450 [04:58<02:06,  2.04it/s]
 43%|████▎     | 193/450 [05:12<19:35,  4.57s/it]
 43%|████▎     | 194/450 [05:12<13:57,  3.27s/it]
 43%|████▎     | 195/450 [05:12<10:01,  2.36s/it]
 44%|████▎     | 196/450 [05:13<07:16,  1.72s/it]
 44%|████▍     | 197/450 [05:13<05:21,  1.27s/it]
 44%|████▍     | 198/450 [05:13<04:01,  1.04it/s]
 44%|████▍     | 199/450 [05:13<03:05,  1.35it/s]
 44%|████▍     | 200/450 [05:13<02:26,  1.71it/s]
 45%|████▍     | 201/450 [05:22<12:49,  3.09s/it]
 45%|████▍     | 202/450 [05:23<09:13,  2.23s/it]
 45%|████▌     | 203/450 [05:23<06:42,  1.63s/it]
 45%|████▌     | 204/450 [05:23<04:56,  1.21s/it]
 46%|████▌     | 205/450 [05:23<03:43,  1.10it/s]
 46%|████▌     | 206/450 [05:23<02:52,  1.42it/s]
 46%|████▌     | 207/450 [05:24<02:16,  1.78it/s]
 46%|████▌     | 208/450 [05:24<01:51,  2.16it/s]
 46%|████▋     | 209/450 [05:31<10:02,  2.50s/it]
 47%|████▋     | 210/450 [05:31<07:15,  1.81s/it]
 47%|████▋     | 211/450 [05:32<05:19,  1.34s/it]
 47%|████▋     | 212/450 [05:32<03:58,  1.00s/it]
 47%|████▋     | 213/450 [05:32<03:03,  1.29it/s]
 48%|████▊     | 214/450 [05:32<02:23,  1.64it/s]
 48%|████▊     | 215/450 [05:33<01:55,  2.04it/s]
 48%|████▊     | 216/450 [05:33<01:36,  2.43it/s]
 48%|████▊     | 217/450 [05:47<18:11,  4.68s/it]
 48%|████▊     | 218/450 [05:48<12:54,  3.34s/it]
 49%|████▊     | 219/450 [05:48<09:15,  2.40s/it]
 49%|████▉     | 220/450 [05:48<06:42,  1.75s/it]
 49%|████▉     | 221/450 [05:48<04:55,  1.29s/it]
 49%|████▉     | 222/450 [05:48<03:41,  1.03it/s]
 50%|████▉     | 223/450 [05:49<02:49,  1.34it/s]
 50%|████▉     | 224/450 [05:49<02:13,  1.69it/s]
 50%|█████     | 225/450 [05:58<11:22,  3.03s/it]
 50%|█████     | 226/450 [05:58<08:10,  2.19s/it]
 50%|█████     | 227/450 [05:58<05:56,  1.60s/it]
 51%|█████     | 228/450 [05:58<04:21,  1.18s/it]
 51%|█████     | 229/450 [05:59<03:15,  1.13it/s]
 51%|█████     | 230/450 [05:59<02:30,  1.46it/s]
 51%|█████▏    | 231/450 [05:59<01:59,  1.83it/s]
 52%|█████▏    | 232/450 [05:59<01:38,  2.20it/s]
 52%|█████▏    | 233/450 [06:08<11:11,  3.09s/it]
 52%|█████▏    | 234/450 [06:09<08:04,  2.24s/it]
 52%|█████▏    | 235/450 [06:09<05:52,  1.64s/it]
 52%|█████▏    | 236/450 [06:09<04:19,  1.21s/it]
 53%|█████▎    | 237/450 [06:09<03:15,  1.09it/s]
 53%|█████▎    | 238/450 [06:10<02:30,  1.41it/s]
 53%|█████▎    | 239/450 [06:10<02:03,  1.71it/s]
 53%|█████▎    | 240/450 [06:10<01:40,  2.08it/s]
 54%|█████▎    | 241/450 [06:18<09:34,  2.75s/it]
 54%|█████▍    | 242/450 [06:18<06:55,  2.00s/it]
 54%|█████▍    | 243/450 [06:19<05:04,  1.47s/it]
 54%|█████▍    | 244/450 [06:19<03:47,  1.10s/it]
 54%|█████▍    | 245/450 [06:19<02:52,  1.19it/s]
 55%|█████▍    | 246/450 [06:19<02:14,  1.52it/s]
 55%|█████▍    | 247/450 [06:20<01:46,  1.90it/s]
 55%|█████▌    | 248/450 [06:20<01:29,  2.26it/s]
 55%|█████▌    | 249/450 [06:25<06:36,  1.97s/it]
 56%|█████▌    | 250/450 [06:26<04:50,  1.45s/it]
 56%|█████▌    | 251/450 [06:26<03:36,  1.09s/it]
 56%|█████▌    | 252/450 [06:26<02:45,  1.20it/s]
 56%|█████▌    | 253/450 [06:26<02:08,  1.53it/s]
 56%|█████▋    | 254/450 [06:27<01:42,  1.92it/s]
 57%|█████▋    | 255/450 [06:27<01:23,  2.33it/s]
 57%|█████▋    | 256/450 [06:27<01:10,  2.76it/s]
 57%|█████▋    | 257/450 [06:44<17:22,  5.40s/it]
 57%|█████▋    | 258/450 [06:44<12:17,  3.84s/it]
 58%|█████▊    | 259/450 [06:45<08:45,  2.75s/it]
 58%|█████▊    | 260/450 [06:45<06:17,  1.99s/it]
 58%|█████▊    | 261/450 [06:45<04:34,  1.45s/it]
 58%|█████▊    | 262/450 [06:45<03:23,  1.08s/it]
 58%|█████▊    | 263/450 [06:45<02:34,  1.21it/s]
 59%|█████▊    | 264/450 [06:46<02:00,  1.54it/s]
 59%|█████▉    | 265/450 [06:55<09:56,  3.23s/it]
 59%|█████▉    | 266/450 [06:55<07:09,  2.33s/it]
 59%|█████▉    | 267/450 [06:55<05:11,  1.70s/it]
 60%|█████▉    | 268/450 [06:56<03:49,  1.26s/it]
 60%|█████▉    | 269/450 [06:56<02:52,  1.05it/s]
 60%|██████    | 270/450 [06:56<02:12,  1.36it/s]
 60%|██████    | 271/450 [06:56<01:43,  1.72it/s]
 60%|██████    | 272/450 [06:56<01:23,  2.13it/s]
 61%|██████    | 273/450 [07:03<07:06,  2.41s/it]
 61%|██████    | 274/450 [07:04<05:08,  1.75s/it]
 61%|██████    | 275/450 [07:04<03:45,  1.29s/it]
 61%|██████▏   | 276/450 [07:04<02:48,  1.03it/s]
 62%|██████▏   | 277/450 [07:04<02:08,  1.34it/s]
 62%|██████▏   | 278/450 [07:04<01:40,  1.71it/s]
 62%|██████▏   | 279/450 [07:05<01:21,  2.09it/s]
 62%|██████▏   | 280/450 [07:05<01:07,  2.51it/s]
 62%|██████▏   | 281/450 [07:13<07:55,  2.81s/it]
 63%|██████▎   | 282/450 [07:14<05:43,  2.04s/it]
 63%|██████▎   | 283/450 [07:14<04:10,  1.50s/it]
 63%|██████▎   | 284/450 [07:14<03:05,  1.12s/it]
 63%|██████▎   | 285/450 [07:14<02:21,  1.17it/s]
 64%|██████▎   | 286/450 [07:15<01:50,  1.49it/s]
 64%|██████▍   | 287/450 [07:15<01:27,  1.85it/s]
 64%|██████▍   | 288/450 [07:15<01:12,  2.24it/s]
 64%|██████▍   | 289/450 [07:22<06:24,  2.39s/it]
 64%|██████▍   | 290/450 [07:22<04:40,  1.75s/it]
 65%|██████▍   | 291/450 [07:22<03:27,  1.30s/it]
 65%|██████▍   | 292/450 [07:23<02:36,  1.01it/s]
 65%|██████▌   | 293/450 [07:23<02:00,  1.30it/s]
 65%|██████▌   | 294/450 [07:23<01:34,  1.65it/s]
 66%|██████▌   | 295/450 [07:23<01:17,  2.01it/s]
 66%|██████▌   | 296/450 [07:24<01:04,  2.39it/s]
 66%|██████▌   | 297/450 [07:30<05:52,  2.31s/it]
 66%|██████▌   | 298/450 [07:31<04:18,  1.70s/it]
 66%|██████▋   | 299/450 [07:31<03:11,  1.27s/it]
 67%|██████▋   | 300/450 [07:31<02:24,  1.04it/s]
 67%|██████▋   | 301/450 [07:31<01:51,  1.34it/s]
 67%|██████▋   | 302/450 [07:32<01:28,  1.68it/s]
 67%|██████▋   | 303/450 [07:32<01:12,  2.03it/s]
 68%|██████▊   | 304/450 [07:32<01:01,  2.37it/s]
 68%|██████▊   | 305/450 [07:40<06:22,  2.64s/it]
 68%|██████▊   | 306/450 [07:40<04:36,  1.92s/it]
 68%|██████▊   | 307/450 [07:40<03:22,  1.42s/it]
 68%|██████▊   | 308/450 [07:41<02:30,  1.06s/it]
 69%|██████▊   | 309/450 [07:41<01:54,  1.23it/s]
 69%|██████▉   | 310/450 [07:41<01:29,  1.56it/s]
 69%|██████▉   | 311/450 [07:41<01:12,  1.91it/s]
 69%|██████▉   | 312/450 [07:42<01:01,  2.26it/s]
 70%|██████▉   | 313/450 [07:51<07:02,  3.08s/it]
 70%|██████▉   | 314/450 [07:51<05:03,  2.23s/it]
 70%|███████   | 315/450 [07:51<03:40,  1.64s/it]
 70%|███████   | 316/450 [07:52<02:43,  1.22s/it]
 70%|███████   | 317/450 [07:52<02:03,  1.07it/s]
 71%|███████   | 318/450 [07:52<01:35,  1.38it/s]
 71%|███████   | 319/450 [07:52<01:16,  1.71it/s]
 71%|███████   | 320/450 [07:53<01:02,  2.07it/s]
 71%|███████▏  | 321/450 [08:06<09:15,  4.30s/it]
 72%|███████▏  | 322/450 [08:06<06:34,  3.08s/it]
 72%|███████▏  | 323/450 [08:06<04:43,  2.23s/it]
 72%|███████▏  | 324/450 [08:07<03:26,  1.64s/it]
 72%|███████▏  | 325/450 [08:07<02:32,  1.22s/it]
 72%|███████▏  | 326/450 [08:07<01:54,  1.08it/s]
 73%|███████▎  | 327/450 [08:07<01:28,  1.39it/s]
 73%|███████▎  | 328/450 [08:08<01:10,  1.72it/s]
 73%|███████▎  | 329/450 [08:18<06:51,  3.40s/it]
 73%|███████▎  | 330/450 [08:18<04:54,  2.46s/it]
 74%|███████▎  | 331/450 [08:18<03:32,  1.78s/it]
 74%|███████▍  | 332/450 [08:18<02:35,  1.32s/it]
 74%|███████▍  | 333/450 [08:18<01:55,  1.01it/s]
 74%|███████▍  | 334/450 [08:19<01:27,  1.33it/s]
 74%|███████▍  | 335/450 [08:19<01:08,  1.67it/s]
 75%|███████▍  | 336/450 [08:19<00:55,  2.04it/s]
 75%|███████▍  | 337/450 [08:34<09:14,  4.91s/it]
 75%|███████▌  | 338/450 [08:35<06:31,  3.50s/it]
 75%|███████▌  | 339/450 [08:35<04:39,  2.52s/it]
 76%|███████▌  | 340/450 [08:35<03:21,  1.83s/it]
 76%|███████▌  | 341/450 [08:35<02:26,  1.35s/it]
 76%|███████▌  | 342/450 [08:36<01:49,  1.01s/it]
 76%|███████▌  | 343/450 [08:36<01:22,  1.30it/s]
 76%|███████▋  | 344/450 [08:36<01:03,  1.66it/s]
 77%|███████▋  | 345/450 [08:49<07:43,  4.41s/it]
 77%|███████▋  | 346/450 [08:49<05:29,  3.17s/it]
 77%|███████▋  | 347/450 [08:50<03:54,  2.28s/it]
 77%|███████▋  | 348/450 [08:50<02:49,  1.66s/it]
 78%|███████▊  | 349/450 [08:50<02:04,  1.23s/it]
 78%|███████▊  | 350/450 [08:50<01:34,  1.06it/s]
 78%|███████▊  | 351/450 [08:51<01:12,  1.37it/s]
 78%|███████▊  | 352/450 [08:51<00:56,  1.73it/s]
 78%|███████▊  | 353/450 [09:09<09:29,  5.87s/it]
 79%|███████▊  | 354/450 [09:09<06:41,  4.18s/it]
 79%|███████▉  | 355/450 [09:10<04:45,  3.00s/it]
 79%|███████▉  | 356/450 [09:10<03:24,  2.18s/it]
 79%|███████▉  | 357/450 [09:10<02:28,  1.60s/it]
 80%|███████▉  | 358/450 [09:10<01:49,  1.19s/it]
 80%|███████▉  | 359/450 [09:11<01:22,  1.10it/s]
 80%|████████  | 360/450 [09:11<01:03,  1.42it/s]
 80%|████████  | 361/450 [09:19<04:15,  2.87s/it]
 80%|████████  | 362/450 [09:19<03:03,  2.09s/it]
 81%|████████  | 363/450 [09:19<02:12,  1.53s/it]
 81%|████████  | 364/450 [09:19<01:38,  1.14s/it]
 81%|████████  | 365/450 [09:20<01:13,  1.16it/s]
 81%|████████▏ | 366/450 [09:20<00:56,  1.50it/s]
 82%|████████▏ | 367/450 [09:20<00:44,  1.86it/s]
 82%|████████▏ | 368/450 [09:20<00:36,  2.24it/s]
 82%|████████▏ | 369/450 [09:30<04:31,  3.36s/it]
 82%|████████▏ | 370/450 [09:31<03:13,  2.41s/it]
 82%|████████▏ | 371/450 [09:31<02:18,  1.75s/it]
 83%|████████▎ | 372/450 [09:31<01:41,  1.30s/it]
 83%|████████▎ | 373/450 [09:31<01:15,  1.02it/s]
 83%|████████▎ | 374/450 [09:32<00:57,  1.33it/s]
 83%|████████▎ | 375/450 [09:32<00:44,  1.69it/s]
 84%|████████▎ | 376/450 [09:32<00:35,  2.07it/s]
 84%|████████▍ | 377/450 [09:40<03:14,  2.66s/it]
 84%|████████▍ | 378/450 [09:40<02:19,  1.93s/it]
 84%|████████▍ | 379/450 [09:40<01:40,  1.42s/it]
 84%|████████▍ | 380/450 [09:40<01:13,  1.06s/it]
 85%|████████▍ | 381/450 [09:41<00:55,  1.25it/s]
 85%|████████▍ | 382/450 [09:41<00:42,  1.60it/s]
 85%|████████▌ | 383/450 [09:41<00:33,  2.01it/s]
 85%|████████▌ | 384/450 [09:41<00:27,  2.41it/s]
 86%|████████▌ | 385/450 [09:49<02:42,  2.50s/it]
 86%|████████▌ | 386/450 [09:49<01:56,  1.82s/it]
 86%|████████▌ | 387/450 [09:49<01:24,  1.34s/it]
 86%|████████▌ | 388/450 [09:49<01:01,  1.00it/s]
 86%|████████▋ | 389/450 [09:50<00:46,  1.31it/s]
 87%|████████▋ | 390/450 [09:50<00:36,  1.66it/s]
 87%|████████▋ | 391/450 [09:50<00:28,  2.05it/s]
 87%|████████▋ | 392/450 [09:50<00:23,  2.44it/s]
 87%|████████▋ | 393/450 [10:03<03:47,  3.99s/it]
 88%|████████▊ | 394/450 [10:03<02:40,  2.87s/it]
 88%|████████▊ | 395/450 [10:03<01:54,  2.08s/it]
 88%|████████▊ | 396/450 [10:03<01:22,  1.52s/it]
 88%|████████▊ | 397/450 [10:04<01:00,  1.14s/it]
 88%|████████▊ | 398/450 [10:04<00:45,  1.15it/s]
 89%|████████▊ | 399/450 [10:04<00:34,  1.47it/s]
 89%|████████▉ | 400/450 [10:04<00:27,  1.82it/s]
 89%|████████▉ | 401/450 [10:12<02:09,  2.63s/it]
 89%|████████▉ | 402/450 [10:12<01:31,  1.92s/it]
 90%|████████▉ | 403/450 [10:12<01:06,  1.41s/it]
 90%|████████▉ | 404/450 [10:12<00:48,  1.06s/it]
 90%|█████████ | 405/450 [10:13<00:36,  1.22it/s]
 90%|█████████ | 406/450 [10:13<00:28,  1.56it/s]
 90%|█████████ | 407/450 [10:13<00:22,  1.90it/s]
 91%|█████████ | 408/450 [10:13<00:19,  2.21it/s]
 91%|█████████ | 409/450 [10:28<03:13,  4.71s/it]
 91%|█████████ | 410/450 [10:28<02:14,  3.37s/it]
 91%|█████████▏| 411/450 [10:29<01:34,  2.42s/it]
 92%|█████████▏| 412/450 [10:29<01:06,  1.76s/it]
 92%|█████████▏| 413/450 [10:29<00:47,  1.29s/it]
 92%|█████████▏| 414/450 [10:29<00:34,  1.03it/s]
 92%|█████████▏| 415/450 [10:29<00:25,  1.35it/s]
 92%|█████████▏| 416/450 [10:30<00:19,  1.72it/s]
 93%|█████████▎| 417/450 [10:41<02:05,  3.80s/it]
 93%|█████████▎| 418/450 [10:41<01:27,  2.73s/it]
 93%|█████████▎| 419/450 [10:41<01:01,  1.99s/it]
 93%|█████████▎| 420/450 [10:42<00:43,  1.46s/it]
 94%|█████████▎| 421/450 [10:42<00:31,  1.10s/it]
 94%|█████████▍| 422/450 [10:42<00:23,  1.18it/s]
 94%|█████████▍| 423/450 [10:42<00:18,  1.48it/s]
 94%|█████████▍| 424/450 [10:43<00:14,  1.85it/s]
 94%|█████████▍| 425/450 [10:52<01:22,  3.30s/it]
 95%|█████████▍| 426/450 [10:53<00:57,  2.39s/it]
 95%|█████████▍| 427/450 [10:53<00:40,  1.74s/it]
 95%|█████████▌| 428/450 [10:53<00:28,  1.28s/it]
 95%|█████████▌| 429/450 [10:53<00:20,  1.04it/s]
 96%|█████████▌| 430/450 [10:54<00:14,  1.34it/s]
 96%|█████████▌| 431/450 [10:54<00:11,  1.70it/s]
 96%|█████████▌| 432/450 [10:54<00:08,  2.08it/s]
 96%|█████████▌| 433/450 [11:05<01:02,  3.67s/it]
 96%|█████████▋| 434/450 [11:05<00:42,  2.63s/it]
 97%|█████████▋| 435/450 [11:06<00:28,  1.91s/it]
 97%|█████████▋| 436/450 [11:06<00:19,  1.41s/it]
 97%|█████████▋| 437/450 [11:06<00:13,  1.06s/it]
 97%|█████████▋| 438/450 [11:06<00:09,  1.23it/s]
 98%|█████████▊| 439/450 [11:07<00:07,  1.57it/s]
 98%|█████████▊| 440/450 [11:07<00:05,  1.93it/s]
 98%|█████████▊| 441/450 [11:23<00:46,  5.18s/it]
 98%|█████████▊| 442/450 [11:23<00:29,  3.70s/it]
 98%|█████████▊| 443/450 [11:23<00:18,  2.66s/it]
 99%|█████████▊| 444/450 [11:23<00:11,  1.92s/it]
 99%|█████████▉| 445/450 [11:24<00:07,  1.42s/it]
 99%|█████████▉| 446/450 [11:24<00:04,  1.07s/it]
 99%|█████████▉| 447/450 [11:24<00:02,  1.23it/s]
100%|█████████▉| 448/450 [11:24<00:01,  1.59it/s]
100%|█████████▉| 449/450 [11:41<00:05,  5.45s/it]
100%|█████████▉| 449/450 [11:41<00:01,  1.56s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/log_2_env0.json.
+MustardInLeftBinTask_2 complete: task_name: MustardInLeftBinTask, run_name: MustardInLeftBinTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the mustard in the left bin, attributes: ['spatial', 'simple'], success: False, episode_step: 450, duration: 30.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.763837441985512, 'joint_sparc_mean': -11.894208288678367, 'ee_isj': 2588.470255078878, 'joint_isj': 46876.36988422327, 'ee_path_length': 4.01042706216133, 'joint_rmse_mean': 0.9230309301789538, 'ee_speed_max': 0.7785128355026245, 'ee_speed_mean': 0.12982650101184845}, events: {'GRIPPER_FULLY_CLOSED': 7, 'TARGET_OBJECT_DROPPED': 11, 'GRIPPER_HIT_TABLE': 2, 'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 2, 'OBJECT_BUMPED': 1, 'wrong_objects_grabbed': ['grey_bin_left', 'grey_bin_left']}, instruction_type: default, timing: {'policy_inference_s': 601.7, 'policy_inference_avg_ms': 1337.1, 'env_step_s': 95.657, 'env_step_avg_ms': 212.6, 'video_write_s': 4.3, 'video_write_avg_ms': 9.6, 'wall_total_s': 701.658, 'it_per_sec': 0.64}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=mustard) (step 1/2), harness_episode_id: 02432b9bf3dd4281b9382142574feade-2
+------------------------------------------------------------------- EXPERIMENT SUMMARY --------------------------------------------------------------------
+Task Name               Success    %     95% CI         Score(total) Score(fail) Time(s) EE SPARC PathLen(m) Speed(cm/s) it/s Walltime(m)
+-----------------------------------------------------------------------------------------------------------------------------------------------------------
+TOTAL (5 tasks)         8/15     53.3%   [29.9-75.3]    0.633        0.214       18.76   -8.26    4.69       15.3        0.52 16.5       
+-----------------------------------------------------------------------------------------------------------------------------------------------------------
+MustardInLeftBinTask    0/3      0.0%    [0.6-60.2]     0.000        0.000       -       -8.90    4.11       13.3        0.58 13.0       
+RedItemsInBinTask       2/3      66.7%   [19.4-93.2]    0.833        0.500       18.20   -7.77    4.68       16.0        0.62 15.3       
+ReorientWhiteMugsTask   1/3      33.3%   [6.8-80.6]     0.667        0.500       9.67    -8.92    7.96       16.7        0.53 20.7       
+SmallPumpkinInBinTask   2/3      66.7%   [19.4-93.2]    0.667        0.000       33.67   -9.84    4.44       12.1        0.40 26.7       
+TakeSpatulaOffShelfTask 3/3      100.0%  [39.8-99.4]    1.000        -           12.22   -5.88    2.26       18.3        0.46 6.6        
+-----------------------------------------------------------------------------------------------------------------------------------------------------------
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval.episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..388bff469173a183e9947b78de6843bc97d95d40
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval.episodes.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da7ed9cb5ad954dc2d8d14836411a00e572c3129330ab284a60022ea04aa8924
+size 29955
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7b6889bfcd774b4023fdbfcbd010b49c9d536d01
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07a1fb435c2770717b20ab2b923043897d0d8e203bbb8f45d515a293dec346c0
+size 2736383
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0001/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..59c655b682c500768a6579839b865d854acd1fb8
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0001/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4807e4405a0e874a519143418365e0bd6cc7c24a2715ffc78bf0c38e09c0daa8
+size 32903773
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0001/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0001/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..73c508cad9d5891a563b4c5a179cefd50960349e
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0001/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:473ae94cfdb8c6eaa301ce297dfbf3c3610329d1a7121690391b322567a3fc97
+size 43066
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0001/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0002/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0002/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..332fdb90beff263cc2ef9e664a37b77b9cb4987a
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0002/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:778253dc53f50a5e4f009fff545b311b3e7986c45a1a8f19a159c569f7143ab3
+size 32485033
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0002/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0002/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9af12f4a0cd06650c54f60ca60750c125f89372c
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0002/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6b3ebeb227acab1614721c164dcce81d0afc6d16cb5e7c11aa62600949d2367
+size 35426
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0002/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0002/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0003/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0003/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..359c69ce416fb43ae738177cb57123e24777773a
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0003/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91ca090247a51cfa546e4ad664a31f60a3bda9700e953f8105c0b4482d879cdc
+size 5514794
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0003/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0003/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d6a39fb9aa088767ec93879216c1197ef6efcead
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0003/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10d6d32cdde14fcd7efe1bd4f9bd000944eeee126f81c48bf3a5e5e2b970432e
+size 6792
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0003/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0003/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0004/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0004/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a86d6b55f52681fae6904e313ed5269242466bb0
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0004/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3130a6e74d2ff6f669ed0b461b0d386e3379057de766779949377660c074075d
+size 30591786
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0004/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0004/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..55c57eece5a6697b586f1251deb19abcb80c0b45
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0004/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71bb4046cb35cc6f10bab07d553d6af694b01d81308f0eb27ccb3acad76730e2
+size 30738
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0004/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0004/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0005/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0005/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..318c9bdc639ba692f3ced70168eb2f55779919f3
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0005/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5aef924a542b4a13b6ec6679b3ff458f1ccb71e2dce091de6aaf6c067446ef23
+size 56859144
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0005/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0005/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..804cfd541bf87fcf673a7b7fbb3aac81c4373e92
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0005/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fe0df8fadfbcfc22c94d9758632a9436ce8de25ab6b43d8a8c99f073eeb52c8
+size 34708
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0005/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0005/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..d9778a211de0f6f3696da90a5b89941708ce4339
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0005/stderr.log
@@ -0,0 +1 @@
+2026-10-29T18:46:26.341539Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0006/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0006/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ebf5008d45e28799140ee1784627a913da9b2230
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0006/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ea4ad1558acbb5e7492276108ba9ccc264bb8a6529d0ff8489ba635aed4da5d
+size 5909193
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0006/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0006/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a694d6c39cb7f0b3782d3b2309bf35bcc3a25ef
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0006/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce0162ca991a40c3557dfae270251c65e68cc4ea05f9fd2301cfaef66ae8bfe9
+size 7352
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0006/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0006/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0007/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0007/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5d1d6dbf6b70afea3bc9298c9a0f007ff670e632
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0007/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02641d60eaccea2e2a485da15cceb2ccd7ecb820cbf20e0eea2456280d53b94f
+size 12032482
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0007/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0007/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..61f03cac229f7cce3eae27aff6d148ef846e249c
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0007/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e70976312518b8cba4cd513c7954cda6ace8170342924f8b2ad6485e7a5333e
+size 13792
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0007/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0007/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0008/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0008/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b3129b1c74da49062b778ede4e9cfa313953280b
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0008/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28a55bc169ae7f2922a013d722f8e453f3367520bbcd0afc7187e630dd536ea5
+size 6995386
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0008/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0008/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f8df8b1a037a20580b826551e6f4e0da61da466b
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0008/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bafc664b0323064fcd468eb19bf8e3758d654b3650b3f915c4b3f4ec314f01c
+size 8192
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0008/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0008/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0009/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0009/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eda5178b4f9d344cc63122acf4336be0aab9599e
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0009/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a9a4b927f59b86457688096a595c339492c5c251dea3b6c3343a5b47c913c4c
+size 6425782
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0009/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0009/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eea9229645437a8919633535467c7fa64a9bc431
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0009/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e598646efa5323e1326454b7c24b72df56eabd7f4b42d1af0bf28d7f2c6d6063
+size 7352
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0009/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0009/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..74ed4abcc69c2d7ae5c4baa1720c326bfb3852a0
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0009/stderr.log
@@ -0,0 +1 @@
+2026-10-29T19:38:27.895878Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0010/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0010/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..25696e35cc61beba861272edca540355ef376be0
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0010/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48b13c3e7401980b83bd7acb693cb6321525f54d0110ddf8efe6b77e28452fbc
+size 12124639
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0010/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0010/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..93355d617f474906f5cbbb3637558fb1d166086e
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0010/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f23382c98668ce8c660c7fcc7bcd0384720132d1c53090f245ad34ea2a289fa4
+size 14356
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0010/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0010/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0011/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0011/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cbfb0583af941cdabadb25507c50b9d03906c2c7
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0011/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:562bd61143dd47a675a6eaf980c40b04654ce9fb23945326327c2f84222a1efd
+size 7322847
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0011/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0011/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..72eedeca838aac36ebb7a1685d5b133a5e524c1e
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0011/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef211fe80324a685d7b0b6196d1eb2de2f1f18cd8cb1ad9f1489770a282ff8a2
+size 9032
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0011/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0011/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0012/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0012/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..174577e5fdc9f42937db8b820a7dba3354b89427
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0012/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8b7848db1aeb9bce69498d3a45e69f0258d58a84957efc9d4265e464c915013
+size 47020170
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0012/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0012/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2b42170d9628edc1518a8c3bce20bf6b1b136689
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0012/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63f9620439bfa0a59d88fa628af1f0f18258b64f355d3f6a3d64463a686f4429
+size 40678
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0012/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0012/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..eaa471acefafcb051c68e7ac39de47750e375f92
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0012/stderr.log
@@ -0,0 +1 @@
+2026-10-29T19:59:15.366930Z ERROR codex_core::tools::router: error=apply_patch verification failed: invalid patch: multiple operations target /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0012/runtime_yoiaxwwb/workspace/observation.txt
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0013/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0013/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7afb6c29a4e8d99cdf4f782c4977abd9c1c9c021
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0013/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f96ae30ada23fd5109dd898a5a7a9cc1b4f9200d010315e98b5400df11327330
+size 17205270
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0013/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0013/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..980337036a3f3e83321ab57e53ac33c8f9d0f8ca
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0013/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ced09cde783308fd021ded968c5ccb2a84476083fe81ebe9838639fc59b0dee9
+size 18586
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0013/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0013/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..652fcaa86659cc0696ab648b291bd2d9a5486ac5
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0013/stderr.log
@@ -0,0 +1,2 @@
+2026-10-29T20:33:13.293232Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-29T20:33:21.828612Z ERROR codex_core::tools::router: error=unable to locate image at `/tmp/robot_view_0.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0014/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0014/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..93487e377a74e510a469e0bd4d5d344e1779567a
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0014/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32649a914e48e235a57399bfca9d3aac30e914e99340ce41792c12fed695a610
+size 17861099
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0014/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0014/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0caee57bcf8291d9bd679200f865f20341fe4463
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0014/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a673ee3232dd625ac2167de43bf71ad3cfcc3d80df9bd5aacb66227bb16aa2cb
+size 19150
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0014/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0014/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..62a916f4259ca1843eb6425e4eee89c594b4dbbe
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0014/stderr.log
@@ -0,0 +1 @@
+2026-10-29T20:49:16.294249Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0015/events.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0015/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8e1837cfaecd26f4a836ba8ec8d77fea9500ff19
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0015/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbbeac1081c216e8fb7cb0f0013c6624ba78356ad66fb5361076275f29a37063
+size 16615212
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0015/network_timing.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0015/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ac67dc46a36fb5d5a0e3dd5aaeee4faeab2e6254
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0015/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc2580c5e4c475c61892b4c7896d5d96003047a206b72bbe28b0a832061a523f
+size 18304
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0015/stderr.log b/harness_robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval/episode-0015/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_0.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8f65c4cc6548d6a7350dc2f3817fc51449f0ff3a
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f653464cf2d08fb19d219043a95fb24477ff9e1b8d89332d09ac197997019e9
+size 11566588
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_0_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1e9b7dc64c039182e07cf6a37ea6dc7f2469a081
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f90b0bcafc58a462c67939a06fbcb80a1c74654b56e62fdc37971343c50f56bd
+size 3336507
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_1.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..900e9fe8c2aa157642ac249f90705b7c93920336
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb1866c951d95f7df39d8ab3cd33c1dfbd8d669d7156648fa4e4e7dbd77372e4
+size 10945443
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_1_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bf65e9c696f7fa0659897622cba75e6401746c87
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aec70f8e366744a3030eaf13b3abb7677a4f466aff3f8aa63e0e9e4b1f6742d1
+size 3510333
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_2.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..222bfafb048fd2e7a3dd74399d88db2efcb38794
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b2aab142aea8a683ddab6f43657c52fde2a21bfe2e8cb4b0c7411b9525bd82f
+size 11080856
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_2_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..90b086e39df2338f0bfff9a9057cb1b76fa31ce6
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38293c8180eab37867ab6e991f24a7ee9ff9c4943f76dcbc635feb196f14e326
+size 3184675
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/env_cfg.json b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb12a728f540a6dab68db358a313d1f58fb3d9c2
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:7", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/two_bin.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471368432044983, 1.2532538562481932e-08, -0.3449999988079071], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "mustard": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mustard", "spawn": null, "init_state": {"pos": [0.5899075865745544, 3.1596486223861575e-05, 0.10049273818731308], "rot": [0.9999995827674866, -0.0001625543796023939, -0.0008989080091618884, 2.305972504116673e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "grey_bin_right": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/grey_bin_right", "spawn": null, "init_state": {"pos": [0.5183118581771851, -0.29250726103782654, 0.005000010132789612], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "grey_bin_left": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/grey_bin_left", "spawn": null, "init_state": {"pos": [0.5183117985725403, 0.28813636302948, 0.005000028759241104], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard", "/World/envs/env_.*/scene/grey_bin_right", "/World/envs/env_.*/scene/grey_bin_left"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__grey_bin_right": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_right"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__grey_bin_left": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_left"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__grey_bin_right": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_right"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__grey_bin_left": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_left"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mustard__grey_bin_right": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_right"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mustard__grey_bin_left": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_left"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin_right__grey_bin_left": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin_right", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_left"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 30, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "mustard", "container": "grey_bin_left", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"mustard": [["functools.partial(<function object_grabbed at 0x7f8108976340>, object='mustard')", 0.0], ["functools.partial(<function object_in_container at 0x7f8108974900>, object='mustard', container='grey_bin_left', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["spatial", "simple"], "_task_attributes": ["spatial", "simple"], "_task_name": "MustardInLeftBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the mustard in the left bin", "contact_object_list": ["table", "mustard", "grey_bin_right", "grey_bin_left"], "_instruction_variants": {"default": "Put the mustard in the left bin", "vague": "Use the left bin for mustard", "specific": "Pick up the mustard bottle and place it in the bin on the left side"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/log_0_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3ee41d80b6c515a1816b1f18e4d342c9e8650b0
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 450, "events": [{"step": 41, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 44, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 44, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 44, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 93, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 111, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 111, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 111, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 125, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 129, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 143, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 145, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 145, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 178, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 178, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 178, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 200, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 241, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 242, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 242, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 270, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 273, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 371, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 411, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 426, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 432, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 432, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 433, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 436, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 436, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 449, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 450, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/log_1_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d13b2382c7c44cc58f8731d3c380b2548618db4a
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 1, "success": false, "final_step": 450, "events": [{"step": 46, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 47, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 47, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 63, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 66, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 67, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 69, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 70, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 70, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 87, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 88, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 88, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 89, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 93, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 93, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 152, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 170, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 170, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 173, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 186, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 186, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 188, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 190, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 191, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 191, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 225, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 234, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 235, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 255, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 257, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 257, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 265, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 296, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 298, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 298, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 333, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 333, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 339, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 345, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 348, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 348, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 376, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 403, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 411, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin_right' (target objects: ['mustard'])", "score": 0.0}, {"step": 411, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin_right'", "score": 0.0}, {"step": 418, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin_right'", "score": 0.0}, {"step": 418, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin_right' nudged 0.056m", "score": 0.0}, {"step": 448, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/log_2_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c716d4671c55e69bfe7f8886531197cbf3f01351
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 2, "success": false, "final_step": 450, "events": [{"step": 37, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 71, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 71, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 71, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 120, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 122, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 129, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 131, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 131, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 132, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 155, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 157, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 157, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 162, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 166, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 233, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 234, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 250, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 250, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 252, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 264, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 265, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 265, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 282, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 282, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 324, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 330, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 350, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin_left'", "score": 0.0}, {"step": 403, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 403, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 408, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 408, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 417, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 425, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 425, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 428, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 431, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin_left' (target objects: ['mustard'])", "score": 0.0}, {"step": 433, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin_left'", "score": 0.0}, {"step": 450, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin_left' (target objects: ['mustard'])", "score": 0.0}, {"step": 450, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin_left' nudged 0.062m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/run_0.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..93a39e8e7150c40a519dd0c4585706bfd6ceaba2
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e2c7dca27c373a68c3a4a44329a2ea91ee8f59fbe7b59fcb0f75323def6727a
+size 343273
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/run_1.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..94c77d4859ea0555cb90c23689c72a66b4fc1bd6
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09950b77dbee87d895f6a883a48a94d3f1d92bc92976bc2b0f7997eacc40cfc0
+size 342812
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/run_2.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..bab1c206059687d700ddaa2e552316d4ac85a291
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/MustardInLeftBinTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6993d45dbf6f77f84b059cec6a70a3f83216dc2198a7178b5ad6324254c8c5c
+size 343169
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aed029819b2e0dfe03c8fd13819124a4053abbec
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bb42aff13959ffb7c7c8e71d94e40eec81cbbd679bd2df43826d58e5adc4a88
+size 8021171
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da7c563b8313a47446fc7e1bec06553ca2578738
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bae76ce03e14c3a17e7db38c17e5f79f8d7a099fbf32f3e3ae7ef53d65c38da
+size 2302067
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..34fb1cfce8997ec86f3739900e06df16137cec04
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ed42127dd8ecbf4e3d468cd4f52d17f819e7fafc8246704fd01a59170649b07
+size 4721663
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..531c222138ae3628132c3cd6523281fd1ac670a9
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c02f23470b80d7929340efaf2a2eb5e644a622d1f2ca43a6fb0996eb05460da3
+size 1252574
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0aa2180a13cdcb33b3d1b1ab744f509ee2a844c3
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a17db109c40a23f06a16df43a67de7618286ae017bc838c79a96a9a0a364c9a8
+size 20311748
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1942a7078d1fffbd24160f0df474b9b8b9835a9e
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33e6d7e473973bb36020c5f4ee744704f0b492566965d8d94c2887b4b2b627e0
+size 5447949
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/env_cfg.json b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..3634540a5532f06b0e0351a6e7a9d6db22ea477b
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:7", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/rubiks_cube_banana_bowl_mug_bin.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.37651363015174866, -0.21301063895225525, 0.030325712636113167], "rot": [0.9999999403953552, -0.00013068903548728105, -0.00031947125349474667, 8.232872643681093e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "rubiks_cube": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "spawn": null, "init_state": {"pos": [0.43070706725120544, 0.031155899167060852, 0.03409084305167198], "rot": [0.9999987483024597, -0.0007058795111196671, 0.0014135157511410818, 8.426654660775871e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "banana": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/banana", "spawn": null, "init_state": {"pos": [0.5388621091842651, -0.07553913444280624, 0.021424103528261185], "rot": [0.9999789595603943, -0.0026495461569310936, -0.005916839225075561, 0.00022661698574001523], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "grey_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/grey_bin", "spawn": null, "init_state": {"pos": [0.4809686839580536, 0.31765681505203247, 0.002999093383550644], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mug", "spawn": null, "init_state": {"pos": [0.612150251865387, 0.07300157099962234, 0.04352624714374542], "rot": [0.9999993443489075, -0.0006294004352500517, -0.0009533495229199647, 7.925613184833387e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.19861090183258057, 0.022085392847657204, 0.003002345561981201], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug", "/World/envs/env_.*/scene/bowl", "/World/envs/env_.*/scene/grey_bin", "/World/envs/env_.*/scene/banana", "/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["mug", "bowl"], "container": "grey_bin", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"mug": [["functools.partial(<function object_grabbed at 0x7f8108976340>, object='mug')", 0.0], ["functools.partial(<function object_in_container at 0x7f8108974900>, object='mug', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "bowl": [["functools.partial(<function object_grabbed at 0x7f8108976340>, object='bowl')", 0.0], ["functools.partial(<function object_in_container at 0x7f8108974900>, object='bowl', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["color", "sorting", "moderate"], "_task_attributes": ["color", "sorting", "moderate"], "_task_name": "RedItemsInBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put all the red things in the grey bin", "contact_object_list": ["mug", "bowl", "grey_bin", "table", "banana", "rubiks_cube"], "_instruction_variants": {"default": "Put all the red things in the grey bin", "vague": "Sort items by color", "specific": "Identify every red-colored object on the table and place each one into the grey bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/log_0_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc29a71b824a31b75a2770c46a02f3e337aa1e7a
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 345, "events": [{"step": 18, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 41, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 55, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 56, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 102, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.109m", "score": 0.0}, {"step": 129, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 147, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bowl', 'mug'])", "score": 0.0}, {"step": 153, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.081m", "score": 0.0}, {"step": 154, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.0}, {"step": 162, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.090m", "score": 0.0}, {"step": 172, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.101m", "score": 0.0}, {"step": 211, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 242, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 243, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 265, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 265, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 323, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 323, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 345, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 345, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/log_1_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..72eaf49184ccbb46bbd2e2a2d4091424b55d5a71
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 201, "events": [{"step": 32, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 55, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 58, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 58, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 61, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 65, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 65, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 74, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 105, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 105, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 163, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 165, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 171, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 201, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/log_2_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2b75a0145fafbe78ab19f8c5423c3054f53cf37
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 51, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 105, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 127, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 129, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 147, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 148, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 153, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 153, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 167, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 167, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 168, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 169, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 169, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 201, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 215, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 220, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 220, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 233, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 234, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 239, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 239, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 281, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 303, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 309, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 309, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 443, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 443, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 481, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 530, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 532, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 532, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 537, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 540, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 545, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 545, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 550, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 551, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 551, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 552, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 554, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 554, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 614, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 617, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 625, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 625, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 642, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 666, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 684, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 685, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 685, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 686, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 686, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 705, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 705, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 729, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 733, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 753, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 753, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 789, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 817, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.063m", "score": 0.5}, {"step": 845, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 857, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 857, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 875, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 892, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 897, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 897, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 899, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/run_0.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f837bcada973a07515e23f4fe9cb9ebfd2a732db
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c239e2c10605d9c42c08342ee934d0393c0a8652054310e0e8950b3fc46795b
+size 366115
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/run_1.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1bf3593356f5b66c5736c6ac9c3d5041e8f1137e
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:839a4e32939a348b48832ac943ea027e388d3ce6434c7d5138ecc60a70808f31
+size 306511
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/run_2.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ac37c559b1103ed9bf93cacdbbbb211a37bddcb3
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/RedItemsInBinTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7af80e7e5e6dabad09681802e1ea9aaf415188bc4c867207fc832ea7629d2313
+size 615605
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e2c34f7a998288876367db540763239de36be137
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df50e389aeae92bc77b3be2de1fc48434291d0a3243d2eb14bda0ce89e359477
+size 12872592
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f10532338b1bb63d9a34730433d49134cae98204
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a221e0eedc2d120b8a3aa2ca696560dd8f5fbf8348a0566239686b3f945e561
+size 4437045
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..88fb8a05f5f371675745312baf52e327ce6a7161
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74999f62fc5677cdfd11e93bddfdb0ced636f3704aea9fe0d83e0ada1a564d66
+size 17358593
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b3b3ab13007ba3612a92b4215c59d2c76b3b9660
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d408599f67a28dcfb2160fc95a3fe212a794cc79dafea132961df26d7fcfc615
+size 4679541
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_2.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f077222c4f3c636c16d17f194d038f203a60bec
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b095acfca7a1a12be0c931f5f7030040eee33958f8ffb718719ee0dba2723ec0
+size 2709839
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_2_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..791b5239734b78c84662e1a55537ea6f19c649d5
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad347fd27ef470cdc443b938fe2b70d4dae290c0270e05eebe987718b294b03d
+size 742636
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/env_cfg.json b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..019481f7473b851366acd9adf449bab90e02eea7
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:7", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/mugs4_measuringcup_drill_bowl_v2.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.19859781861305237, 0.022068122401833534, 0.05000331252813339], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.3577835559844965, -0.15699950562908752, 0.07734613120555886], "rot": [0.9999995827674866, -0.0005100198318133888, -0.0007578271317653915, -6.531637603328665e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "ceramic_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "spawn": null, "init_state": {"pos": [0.4228050112724304, 0.38089555501937866, 0.09759876877069473], "rot": [-0.07831525057554245, -0.6183157783848653, 0.33409981131658834, 0.7070570244370876], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "red_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_mug", "spawn": null, "init_state": {"pos": [0.39351657032966614, 0.03161013871431351, 0.10334596782922745], "rot": [0.7180227041244508, -0.1619565392647481, -0.6584077103990432, 0.1572029345727593], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "measuring_cup": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/measuring_cup", "spawn": null, "init_state": {"pos": [0.33294488523219357, -0.13786247714482544, 0.15878276657184598], "rot": [0.6315095424652098, -0.6293708753387485, 0.3064612184923824, 0.33342093607163176], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "cordless_drill": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "spawn": null, "init_state": {"pos": [0.6272314190864563, -0.13758935034275055, 0.07787983864545822], "rot": [0.7692766785621643, -0.0007317252418772974, 0.00015319586883993998, -0.6389153566236773], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "upright_white_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "spawn": null, "init_state": {"pos": [0.5596883296966553, 0.20370197296142578, 0.050025418400764465], "rot": [0.8934262990951538, -0.001972623371147258, 0.002114251239366738, -0.44920049731035383], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sideways_white_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "spawn": null, "init_state": {"pos": [0.2661939859390259, 0.17003755271434784, 0.08165376633405685], "rot": [0.5630677342414856, -0.4930617350200139, 0.4112477168205797, -0.5203077623148377], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_mug", "/World/envs/env_.*/scene/bowl", "/World/envs/env_.*/scene/ceramic_mug", "/World/envs/env_.*/scene/upright_white_mug", "/World/envs/env_.*/scene/sideways_white_mug", "/World/envs/env_.*/scene/cordless_drill", "/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__red_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "upright_white_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sideways_white_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sideways_white_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "sideways_white_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "cordless_drill__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "measuring_cup__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/measuring_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_upright", "params": {"object": ["upright_white_mug", "sideways_white_mug"], "up_axis": "z", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"reorienting_sideways_white_mug": [["functools.partial(<function object_grabbed at 0x7f8108976340>, object='sideways_white_mug')", 0.5], ["functools.partial(<function object_upright at 0x7f810911e340>, object='sideways_white_mug', require_gripper_detached=True)", 0.5]]}, "score": 1.0, "logical": "all", "K": null, "name": "reorient_white_mugs"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["reorientation", "color", "moderate"], "_task_attributes": ["reorientation", "color", "moderate"], "_task_name": "ReorientWhiteMugsTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Make sure all the white mugs are upright so that the opening is facing upwards.", "contact_object_list": ["red_mug", "bowl", "ceramic_mug", "upright_white_mug", "sideways_white_mug", "cordless_drill", "measuring_cup", "table"], "_instruction_variants": {"default": "Make sure all the white mugs are upright so that the opening is facing upwards.", "vague": "Fix the cups", "specific": "For each white mug that is tipped over or upside down, rotate it so the opening faces straight up"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/log_0_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1931282e7c6f3644ac462b001db806645b81363
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 30, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 30, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 32, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 67, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 76, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'sideways_white_mug'", "score": 0.0}, {"step": 92, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'sideways_white_mug' displaced 0.748m", "score": 0.0}, {"step": 217, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.080m", "score": 0.0}, {"step": 217, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.080m", "score": 0.0}, {"step": 217, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.059m", "score": 0.0}, {"step": 293, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.053m", "score": 0.0}, {"step": 293, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.083m", "score": 0.0}, {"step": 293, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.065m", "score": 0.0}, {"step": 295, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.067m", "score": 0.0}, {"step": 298, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.074m", "score": 0.0}, {"step": 509, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 514, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 527, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.212m", "score": 0.0}, {"step": 530, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.200m", "score": 0.0}, {"step": 530, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.129m", "score": 0.0}, {"step": 625, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.094m", "score": 0.0}, {"step": 625, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.079m", "score": 0.0}, {"step": 625, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.076m", "score": 0.0}, {"step": 625, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.082m", "score": 0.0}, {"step": 626, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.100m", "score": 0.0}, {"step": 626, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.103m", "score": 0.0}, {"step": 659, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'bowl'", "score": 0.0}, {"step": 659, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'ceramic_mug'", "score": 0.0}, {"step": 659, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'red_mug'", "score": 0.0}, {"step": 659, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'measuring_cup'", "score": 0.0}, {"step": 659, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'cordless_drill'", "score": 0.0}, {"step": 659, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'upright_white_mug'", "score": 0.0}, {"step": 666, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'cordless_drill' displaced 1.272m", "score": 0.0}, {"step": 667, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'ceramic_mug' displaced 1.443m", "score": 0.0}, {"step": 669, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'red_mug' displaced 1.280m", "score": 0.0}, {"step": 669, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'upright_white_mug' displaced 1.161m", "score": 0.0}, {"step": 674, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'bowl' displaced 1.806m", "score": 0.0}, {"step": 675, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'measuring_cup' displaced 1.796m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/log_1_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..38cf131d077836ebe307be8eeb69fa34a076d881
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 39, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 72, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.210m", "score": 0.0}, {"step": 74, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 148, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 161, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 161, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 167, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 168, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 177, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 201, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.246m", "score": 0.5}, {"step": 207, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 208, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 225, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_white_mugs' 1/1", "score": 1.0}, {"step": 230, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.406m", "score": 1.0}, {"step": 262, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: [])", "score": 1.0}, {"step": 267, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 1.0}, {"step": 267, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 288, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 1.0}, {"step": 322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 346, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 386, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: [])", "score": 1.0}, {"step": 386, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 420, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 1.0}, {"step": 424, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.131m", "score": 1.0}, {"step": 431, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: [])", "score": 1.0}, {"step": 433, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 1.0}, {"step": 465, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: [])", "score": 1.0}, {"step": 468, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 470, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 1.0}, {"step": 478, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.064m", "score": 1.0}, {"step": 499, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: [])", "score": 1.0}, {"step": 501, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 545, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 1.0}, {"step": 546, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: [])", "score": 1.0}, {"step": 547, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.209m", "score": 1.0}, {"step": 553, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 1.0}, {"step": 569, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.066m", "score": 1.0}, {"step": 626, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 633, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: [])", "score": 1.0}, {"step": 635, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 1.0}, {"step": 665, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: [])", "score": 1.0}, {"step": 667, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 669, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 1.0}, {"step": 693, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: [])", "score": 1.0}, {"step": 696, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 1.0}, {"step": 696, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 707, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.054m", "score": 1.0}, {"step": 769, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 772, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.120m", "score": 1.0}, {"step": 875, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: [])", "score": 1.0}, {"step": 876, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 1.0}, {"step": 876, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/log_2_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..50b4afc715170e7a84f02cbb2b0dd1d97fb04f4c
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 2, "success": true, "final_step": 145, "events": [{"step": 54, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 66, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 98, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 98, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 145, "code": 144, "name": "OBJECT_UPRIGHT_SUCCESS", "info": "Completed subtask 'reorient_white_mugs' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/run_0.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..325721957c23f1a08c6cb4c5e2e627fbf0e89c73
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f348a89f2b53235ad9a0895fd065d8d81472e2a3c81e05bfc3b02fe6bac590bd
+size 713947
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/run_1.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4ea270a06ee2cd639b2fb34d9883f92d92184d16
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d33e855d8c54635f0f93954f02712547e93ba08ddcf63b12d7fb6ebe24c65cdd
+size 728740
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/run_2.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b0316170692f7c41017d4ca2d780e93eba99f857
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/ReorientWhiteMugsTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d37936194345d06a0766ec0d53901f04d6ec995404b941d11b32d1914dc3ed3
+size 333344
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_0.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..93d972c1b9f9815251a9d9f03ddfda5b78a7b82b
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a3555ad66dfa815e843afa42b806fa60ff7663d1f0dbb19abe8b1cac77305e6
+size 23859060
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_0_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d2d9b75caad95c0d210dcdeab4b07ee034d5af48
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a53cd3f42d2613c6610a31394949ef32ba508e54ed8190ace66ec9a6c05d69e9
+size 5085691
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_1.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f11484f05d86b6a48fc43416ce1d511db815fe57
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7ff90be6c05311462c2faf54c3d83f63c74a0ecfcf5015959d4a7be9a8846e3
+size 22163662
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_1_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7497e5c3cefd90fb13dffaba921bf5acc483ed2d
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14a994c3290359b521be51efe514298e33d72e5afde423349a783bc1d3d0b92e
+size 5202604
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_2.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bf8cafde0d868578fa5e8d6f1488032246c2b46d
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ac301a2a08d9410f208d732d46de3e733478f4da894cfa8f1a95b13d00b44e3
+size 2839310
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_2_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2c8d0c0db252ec69ed55d5ca888145c080b99e23
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:775408d84b4dfbe613a2e87c0e3159c621aeb0268bc7d0eda7a7d8850fbd218c
+size 828897
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/env_cfg.json b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..be4e233c06a9b4fc8cfddad810a32baea428bd67
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:7", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/clutter_fruit_bottle_bluebin.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471951961517334, -5.8073303080163896e-05, -0.3470001220703125], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lemon_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lemon_01", "spawn": null, "init_state": {"pos": [0.42004135231769196, 0.24292358325906008, 0.0012257490307096648], "rot": [0.9846045970916748, -0.16874899526712514, -0.034167048716950296, 0.030169135954648194], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lemon_02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lemon_02", "spawn": null, "init_state": {"pos": [0.4783624110678453, 0.06863716244697649, 0.0005861949175596484], "rot": [0.989768385887146, 0.14194340769289784, -0.008274530855149887, -0.01192239279711131], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lime01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lime01", "spawn": null, "init_state": {"pos": [0.4800299106100824, -0.15183968842029988, 0.006471998989582058], "rot": [0.9476653337478638, -0.29089067142251884, 0.12936576046996942, 0.02403190608197013], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lime01_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lime01_01", "spawn": null, "init_state": {"pos": [0.37394365649020833, 0.07729133963584861, 0.006466416642069829], "rot": [0.9476335644721985, -0.2911056799881831, 0.12859947642382488, 0.026651176856777665], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "orange_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/orange_01", "spawn": null, "init_state": {"pos": [0.5467105803946302, -0.024539051577445625, 0.0013540238142013665], "rot": [0.9693353176116943, -0.04060796698326201, -0.24204914570234276, 0.012338805164520043], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "orange_02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/orange_02", "spawn": null, "init_state": {"pos": [0.44774821381366525, -0.024718308821323143, 0.0029870755970478093], "rot": [0.9742560386657716, 0.07376372951924767, -0.21295188765032888, -0.00596463551707301], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "pomegranate01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "spawn": null, "init_state": {"pos": [0.618233889148591, 0.06038472056388822, 0.0014266334474086814], "rot": [0.9938273429870605, 0.09737984038826487, -0.05288813607347244, 0.005217669969386112], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "pumpkinlarge": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "spawn": null, "init_state": {"pos": [0.605211645172, 0.2390698939561846, 0.002787627279758442], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "pumpkinsmall": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "spawn": null, "init_state": {"pos": [0.509778767631412, 0.20728765428066104, 0.0027397200465202275], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "whitepackerbottle_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "spawn": null, "init_state": {"pos": [0.42710998635089487, 0.18918211758136536, 0.0030382685363292863], "rot": [0.9999993443489075, -4.062506945318602e-07, 1.9921224614790785e-07, 0.0011451207580229664], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "avocado01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/avocado01", "spawn": null, "init_state": {"pos": [0.3237164775318006, 0.3751741051673868, 0.04620943846160508], "rot": [0.8237728476524353, -0.5130934104975109, 0.14720055420049882, -0.19095927423850437], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "crabbypenholder": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/crabbypenholder", "spawn": null, "init_state": {"pos": [0.25074413399493706, 0.3030255734920471, 0.010265939086708446], "rot": [0.9999998211860657, 1.9076973700592745e-06, -7.99542283520071e-07, 0.000598016352703504], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "milkjug_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/milkjug_a01", "spawn": null, "init_state": {"pos": [0.6447099447250366, 0.40290379524230957, 0.0029997751116752625], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "serving_bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "spawn": null, "init_state": {"pos": [0.34600949624756583, 0.39387801289558205, 0.009603579000957901], "rot": [0.9999989867210388, -7.789356750222853e-06, -1.4550870762228825e-05, 0.0014234762006126085], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "utilityjug_a03": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/utilityjug_a03", "spawn": null, "init_state": {"pos": [0.5616968274116515, 0.3863130509853362, 0.005757811823843203], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "right_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/right_bin", "spawn": null, "init_state": {"pos": [0.5060220327993279, -0.29056422266758647, 0.002997465431690216], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "red_onion": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_onion", "spawn": null, "init_state": {"pos": [0.7519021312696973, 0.18498873936468602, 0.0], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_01", "/World/envs/env_.*/scene/lemon_02", "/World/envs/env_.*/scene/lime01", "/World/envs/env_.*/scene/lime01_01", "/World/envs/env_.*/scene/orange_01", "/World/envs/env_.*/scene/orange_02", "/World/envs/env_.*/scene/pomegranate01", "/World/envs/env_.*/scene/pumpkinlarge", "/World/envs/env_.*/scene/pumpkinsmall", "/World/envs/env_.*/scene/red_onion", "/World/envs/env_.*/scene/whitepackerbottle_a01", "/World/envs/env_.*/scene/avocado01", "/World/envs/env_.*/scene/crabbypenholder", "/World/envs/env_.*/scene/milkjug_a01", "/World/envs/env_.*/scene/serving_bowl", "/World/envs/env_.*/scene/utilityjug_a03", "/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lemon_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lemon_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lime01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__lemon_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__lime01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__lime01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lemon_02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "lime01_01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "orange_02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pomegranate01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinlarge__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "pumpkinsmall__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_onion__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_onion__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_onion__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_onion__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_onion__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_onion__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_onion__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "red_onion__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "whitepackerbottle_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "avocado01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/avocado01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "avocado01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/avocado01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "avocado01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/avocado01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "avocado01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/avocado01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "avocado01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/avocado01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "avocado01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/avocado01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "crabbypenholder__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/crabbypenholder", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "crabbypenholder__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/crabbypenholder", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "crabbypenholder__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/crabbypenholder", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "crabbypenholder__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/crabbypenholder", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "crabbypenholder__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/crabbypenholder", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "milkjug_a01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/milkjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "milkjug_a01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/milkjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "milkjug_a01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/milkjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "milkjug_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/milkjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "serving_bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a03__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "utilityjug_a03__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "right_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "pumpkinsmall", "container": "right_bin", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"pumpkinsmall": [["functools.partial(<function object_grabbed at 0x7f8108976340>, object='pumpkinsmall')", 0.0], ["functools.partial(<function object_in_container at 0x7f8108974900>, object='pumpkinsmall', container='right_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["size", "simple"], "_task_attributes": ["size", "simple"], "_task_name": "SmallPumpkinInBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the small pumpkin in the bin", "contact_object_list": ["lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01", "pumpkinlarge", "pumpkinsmall", "red_onion", "whitepackerbottle_a01", "avocado01", "crabbypenholder", "milkjug_a01", "serving_bowl", "utilityjug_a03", "right_bin", "table"], "_instruction_variants": {"default": "Put the small pumpkin in the bin", "vague": "Put away the small pumpkin", "specific": "Identify the smaller pumpkin of the two pumpkins on the table and place it in the bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/log_0_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..79ef37acbd9754c696558383d5ee613ce85c6cd4
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.056m", "score": 0.0}, {"step": 31, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pomegranate01'", "score": 0.0}, {"step": 83, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 113, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_01'", "score": 0.0}, {"step": 122, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 124, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 125, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.0}, {"step": 178, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'whitepackerbottle_a01' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 178, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 180, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 180, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 321, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 322, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 325, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 325, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 355, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 369, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 370, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 370, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 413, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 413, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 414, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 414, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 468, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 469, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 474, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 474, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 514, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 540, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 543, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 543, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 589, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 590, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 591, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 591, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 624, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 625, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 625, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 642, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 658, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 705, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 708, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 709, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 709, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 730, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 758, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 762, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 763, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 763, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 786, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 802, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_02' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 802, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_02'", "score": 0.0}, {"step": 849, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_02'", "score": 0.0}, {"step": 859, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.357m", "score": 0.0}, {"step": 872, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 873, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 873, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 883, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 886, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pomegranate01' nudged 0.115m", "score": 0.0}, {"step": 886, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 897, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 897, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/log_1_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..18a7cc1794c3f9ef9678c4604a90f8547380ed45
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 889, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.056m", "score": 0.0}, {"step": 47, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_01'", "score": 0.0}, {"step": 60, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.062m", "score": 0.0}, {"step": 66, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 124, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 183, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 183, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 183, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 184, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 244, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 246, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 246, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 299, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 351, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 352, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 352, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 352, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 361, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 369, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 369, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 370, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 386, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 404, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'whitepackerbottle_a01' nudged 0.066m", "score": 0.0}, {"step": 409, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 428, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 429, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 429, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 492, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 494, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 494, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 497, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 499, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 499, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 502, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 502, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 505, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 505, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 513, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 530, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 536, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 536, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 546, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 561, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 584, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 585, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 585, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 594, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 610, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 624, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 630, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 652, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 658, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 658, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 674, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 675, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 675, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 737, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 740, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 740, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 745, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 762, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 762, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 763, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 769, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 769, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 771, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 771, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 772, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 772, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 794, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 797, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.0}, {"step": 797, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 819, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 819, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 820, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 822, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 822, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 822, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 858, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 889, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 889, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/log_2_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cbac12a0779be7724fd2b5cd4677eff27a553b1
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 121, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.054m", "score": 0.0}, {"step": 66, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 121, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/run_0.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ea1c54d1c5d9671f1a7006e6523005a7ad0970a0
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ed470edca3905fa56734f13b4b3389042ecdec38176e20ae21e60668fdf14b7
+size 1321575
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/run_1.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..97f6b1200b05ca1221588a638d22ded82d669c62
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41693cbdfeea66f088abd2a5c4059f242ecdf1c9af9f23edaa0a935b77b58ebf
+size 1300030
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/run_2.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..693b0e06c3455e95e41a26dd5ae5c8bfb3226514
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/SmallPumpkinInBinTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18dd01c2061111d89a975e8bdda6937adbc61a4b00b2ab9cb6226c309e713d86
+size 576262
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_0.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b62ef2854a6b8ac1b0147bc07b30b76ecdb0ba48
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba8bbf844ca6e2326725abec7f18e2d053bd5c0c749029375dc8c32720f2bab9
+size 6920091
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_0_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..768b64134054f742a487468765fc95a3ec15ecea
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1df551a3479b599ca020ac6e904b2c514964f77956a37c8263eebebe80c68f91
+size 1285886
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_1.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5191982232073181577dbc75d6924e837a850df4
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1ff656276f25a8dda234b4c159afa313ff3101c392d7328fb4eca4ee58a091b
+size 4403142
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_1_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d9bf6f61ea51491a0587c81e131e8cd62ad6cc7
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c37979120d42f736aa737875d5031b6a8bf1a9534f5725ad11dfcb2141e995dc
+size 836186
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_2.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1180e95c1bea908a99f39209d710e492891d62af
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0cc00c5c8413d38d1dd0dd56c9edf810aec4c07bec2984a73a38a5263d27c3e
+size 3181122
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_2_viewport.mp4 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4e9ed853bf45c66a7c33e0d23cbbaf21182ddd99
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:698127b624e781c34c54c620bdaa4829f6a42df223edb369f8d7c8e1b8daac51
+size 737833
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/env_cfg.json b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..42be347f4546e174a30d69584353118d0ea56dd0
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/env_cfg.json
@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:7", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/wire_shelf_mugs_plate_spatula.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471948981285095, -5.743423753301613e-05, -0.3469998240470886], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "wireshelving_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "spawn": null, "init_state": {"pos": [0.41964787244796753, 0.27813032269477844, 0.00300009548664093], "rot": [0.9999994039535522, -1.851806177954209e-06, 1.4014767047196113e-06, 0.0010918274345854157], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spatula_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spatula_01", "spawn": null, "init_state": {"pos": [0.34557458758354187, 0.3195316791534424, 0.1960526555776596], "rot": [0.9974027872085571, 0.001141250963763657, 4.311542631822928e-05, -0.0720164964150536], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "plate_small": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/plate_small", "spawn": null, "init_state": {"pos": [0.3285421133041382, -0.11671658605337143, 0.0028548259288072586], "rot": [0.9856335520744324, 0.0005606650072762441, 9.961156318894264e-05, 0.16889694123169696], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "fork_big": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/fork_big", "spawn": null, "init_state": {"pos": [0.3289452791213989, -0.02117539942264557, 0.013585123233497143], "rot": [0.9965218305587769, 0.07855446006194756, 0.011680336565407803, 0.025239012696203326], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "fork_small": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/fork_small", "spawn": null, "init_state": {"pos": [0.348644495010376, 0.37387433648109436, 0.19016678631305695], "rot": [0.9998441934585571, 0.016889608901442116, 0.005124753391098125, -0.00025849766757412624], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "ceramic_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "spawn": null, "init_state": {"pos": [0.6134013533592224, -0.12643824517726898, 0.002795230597257614], "rot": [0.9999955892562866, -0.001384895545501545, 0.0026189072781798383, 0.00021179463743058427], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mug", "spawn": null, "init_state": {"pos": [0.5376058220863342, -0.29392483830451965, 0.003037039190530777], "rot": [0.9999966621398926, -0.0024172569202343297, 0.0009024336205745309, 0.00013487629728620396], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "mug_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mug_01", "spawn": null, "init_state": {"pos": [0.4037923216819763, -0.14007866382598877, 0.05663011223077774], "rot": [0.6496669650077819, -0.011240714971599888, -0.005198479542477169, 0.7601180544592736], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wireshelving_a01", "/World/envs/env_.*/scene/spatula_01", "/World/envs/env_.*/scene/plate_small", "/World/envs/env_.*/scene/fork_big", "/World/envs/env_.*/scene/fork_small", "/World/envs/env_.*/scene/ceramic_mug", "/World/envs/env_.*/scene/mug", "/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__wireshelving_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wireshelving_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__spatula_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__wireshelving_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wireshelving_a01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__spatula_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wireshelving_a01__spatula_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wireshelving_a01__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wireshelving_a01__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wireshelving_a01__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wireshelving_a01__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wireshelving_a01__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "wireshelving_a01__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_01__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_01__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_01__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_01__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_01__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "spatula_01__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "plate_small__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_big__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_small__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_small__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "fork_small__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "ceramic_mug__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_outside_of_and_on_surface", "params": {"object": ["spatula_01"], "container": "wireshelving_a01", "surface": "table", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"spatula_01": [["functools.partial(<function object_grabbed at 0x7f8108976340>, object='spatula_01')", 0.0], ["functools.partial(<function object_on_top at 0x7f8108974860>, object='spatula_01', reference_object='table', require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": 2, "name": "pick_and_place_on_surface"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["affordance", "spatial", "moderate"], "_task_attributes": ["affordance", "spatial", "moderate"], "_task_name": "TakeSpatulaOffShelfTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Take the spatula off the shelf and put it on the table", "contact_object_list": ["table", "wireshelving_a01", "spatula_01", "plate_small", "fork_big", "fork_small", "ceramic_mug", "mug", "mug_01"], "_instruction_variants": {"default": "Take the spatula off the shelf and put it on the table", "vague": "Take the spatula off the shelf", "specific": "Reach up and remove the spatula from the shelf, then place it flat on the table surface"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ece37f544d0a5cdfbf652e2625439ef8834c70a
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 0, "run": 0, "success": true, "final_step": 276, "events": [{"step": 17, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 114, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 178, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 242, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 242, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 271, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 276, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/log_1_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c18a99fc57394bc8bd62e14a93077876a39a1173
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 0, "run": 1, "success": true, "final_step": 159, "events": [{"step": 6, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 108, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 109, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 109, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 122, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 151, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 159, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/log_2_env0.json b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c34a26db392ee32fd6d6930b7b771b8411d46e6e
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 0, "run": 2, "success": true, "final_step": 115, "events": [{"step": 29, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 82, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 82, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 112, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 112, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 112, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 115, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/run_0.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..acc7444ae8a2f0eff0fbb853fa86120029c9a743
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a63abba9f6588e56fbc1f5f93aa978b88945d361d7e627f1e3a793aaee18d0be
+size 442066
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/run_1.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1138375acb9174319f418f0baad41a89e96d609a
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d33bb4a1d8df8284705a05485a46e5e6ab19e3e9922e84f96f8721ca22e913f9
+size 376993
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/run_2.hdf5 b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c365a0aa9a95f3ad686006e2d34c02ca042eb88d
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/TakeSpatulaOffShelfTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6a710e02ccae1e2b18ce8af4b7b93d86d2ba8e58f76af6f0574984db9746a89
+size 347937
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/episode_results.jsonl b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f6a4d38f7c5a86d17f6f1bbe8ea84bf49a155b3f
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/robolab/episode_results.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf810b8c9486cec59dd1a671d2980faaf717cdfa8210f907416636bfca0ebc3d
+size 18568
diff --git a/harness_robolab_exploration/embo_xhigh/gpu_7/server.log b/harness_robolab_exploration/embo_xhigh/gpu_7/server.log
new file mode 100644
index 0000000000000000000000000000000000000000..e3fb78035c94a438457585d8af01a5cee54c7d0e
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/gpu_7/server.log
@@ -0,0 +1,39 @@
+[2026-10-29T16:55:03Z] GPU 7: Starting worker at SmallPumpkinInBinTask/0 (resume=false)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: False; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8023
+INFO:websockets.server:server listening on 127.0.0.1:8023
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 49164) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode e7f704762b864274a6fe70667dcd3430-0 (codex/gpt-6-astra) ended: wall=2243.833s harness=1604.415s tokens=11559608 usage_complete=True decisions=113 executed_steps=900 steps_complete=True network_wait=102.26191995292902 rate_limit_wait=0 rate_limit_count=0 excluded=102.26191995292902 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 24678918fe064d188992e416b380d253-1 (codex/gpt-6-astra) ended: wall=2165.948s harness=1535.073s tokens=11170857 usage_complete=False decisions=112 executed_steps=889 steps_complete=True network_wait=7.4205992594361305 rate_limit_wait=0 rate_limit_count=0 excluded=7.4205992594361305 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode cd7dfcfa8f3f49149bb61c70940759e1-2 (codex/gpt-6-astra) ended: wall=296.834s harness=209.054s tokens=1419956 usage_complete=True decisions=16 executed_steps=121 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode c782b17887764a1aa9540111c2676bc8-0 (codex/gpt-6-astra) ended: wall=1560.715s harness=1281.786s tokens=7787647 usage_complete=True decisions=113 executed_steps=900 steps_complete=True network_wait=43.424171425402164 rate_limit_wait=0 rate_limit_count=0 excluded=43.424171425402164 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 50f7ad5f95444a3aa1846fc1bfa3d4f2-1 (codex/gpt-6-astra) ended: wall=1870.041s harness=1588.220s tokens=11219947 usage_complete=True decisions=113 executed_steps=900 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode b5cfe831600149da9a78d45c63a59fb5-2 (codex/gpt-6-astra) ended: wall=259.836s harness=212.706s tokens=1465414 usage_complete=True decisions=19 executed_steps=145 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 0f4eb624010441ddbb53b7084d35a93b-0 (codex/gpt-6-astra) ended: wall=594.295s harness=499.235s tokens=3411514 usage_complete=True decisions=35 executed_steps=276 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 9222aa96a7064b17a0812853d00f11dc-1 (codex/gpt-6-astra) ended: wall=300.661s harness=244.771s tokens=1764266 usage_complete=True decisions=20 executed_steps=159 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode d525b2189e974a039e5fd20b50a1e644-2 (codex/gpt-6-astra) ended: wall=284.482s harness=244.371s tokens=1548049 usage_complete=True decisions=15 executed_steps=115 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode f0548c7f850943c79c7e5d31fca086bf-0 (codex/gpt-6-astra) ended: wall=510.074s harness=418.480s tokens=3460607 usage_complete=True decisions=44 executed_steps=345 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode ad1cf5ef30f9477b8bc1bb6011a48fe7-1 (codex/gpt-6-astra) ended: wall=281.249s harness=225.891s tokens=1939178 usage_complete=True decisions=26 executed_steps=201 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode f03117bf4e374caea4f391e54d40f32a-2 (codex/gpt-6-astra) ended: wall=1912.947s harness=1670.380s tokens=11238043 usage_complete=True decisions=113 executed_steps=900 steps_complete=True network_wait=44.68073672801256 rate_limit_wait=0 rate_limit_count=0 excluded=44.68073672801256 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 52383fb225e34dfa9a10c4d541eabf05-0 (codex/gpt-6-astra) ended: wall=753.692s harness=648.227s tokens=4795211 usage_complete=True decisions=57 executed_steps=450 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 7ebd628ab03b488a9e5d812b31800792-1 (codex/gpt-6-astra) ended: wall=891.228s harness=784.800s tokens=5233982 usage_complete=True decisions=57 executed_steps=450 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 02432b9bf3dd4281b9382142574feade-2 (codex/gpt-6-astra) ended: wall=701.902s harness=596.395s tokens=3137619 usage_complete=True decisions=57 executed_steps=450 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_xhigh/gpu_7/harness/20261029T165506.207435Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 49164) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_xhigh/progress.log b/harness_robolab_exploration/embo_xhigh/progress.log
new file mode 100644
index 0000000000000000000000000000000000000000..7b3bf16aeebe9bfd187370412734b5d03f34c7c3
--- /dev/null
+++ b/harness_robolab_exploration/embo_xhigh/progress.log
@@ -0,0 +1,63 @@
+[Batch] Committed trajectories only; means exclude interrupted retries. Corrected times require complete network and rate-limit coverage; raw times include waiting. Both exclude wrap-up; tokens require complete usage.
+[Batch] Initial | Tasks 0/20 | Episodes 0/60 | Success N/A | Mean Harness N/A | Mean Wall N/A | Mean Tokens N/A | Mean Raw Harness N/A | Mean Raw Wall N/A
+[Batch] GPU 5 finished FruitsOnionToPlateTask/0: FAILURE | Tasks 0/20 | Episodes 1/60 | Success 0.00% (0/1) | Mean Harness 470.933s | Mean Wall 1063.697s | Mean Tokens 4,094,215.0 | Mean Raw Harness 493.520s | Mean Raw Wall 1086.283s
+[Batch] GPU 6 finished MarkerInMugTask/0: FAILURE | Tasks 0/20 | Episodes 2/60 | Success 0.00% (0/2) | Mean Harness 802.756s | Mean Wall 1263.882s | Mean Tokens 5,853,227.5 | Mean Raw Harness 848.632s | Mean Raw Wall 1309.758s
+[Batch] GPU 7 finished SmallPumpkinInBinTask/0: FAILURE | Tasks 0/20 | Episodes 3/60 | Success 0.00% (0/3) | Mean Harness 1069.976s | Mean Wall 1590.532s | Mean Tokens 7,755,354.3 | Mean Raw Harness 1134.647s | Mean Raw Wall 1655.204s
+[Batch] GPU 6 finished MarkerInMugTask/1: FAILURE | Tasks 0/20 | Episodes 4/60 | Success 0.00% (0/4) | Mean Harness 1086.657s | Mean Wall 1559.539s | Mean Tokens 7,652,942.0 | Mean Raw Harness 1135.160s | Mean Raw Wall 1608.042s
+[Batch] GPU 4 finished PlasticBottlesInSquarePailTask/0: FAILURE | Tasks 0/20 | Episodes 5/60 | Success 0.00% (0/5) | Mean Harness 1386.077s | Mean Wall 1944.092s | Mean Tokens 7,652,942.0 (4/5 complete) | Mean Raw Harness 1434.658s | Mean Raw Wall 1992.674s
+[Batch] GPU 5 finished FruitsOnionToPlateTask/1: FAILURE | Tasks 0/20 | Episodes 6/60 | Success 0.00% (0/6) | Mean Harness 1468.952s | Mean Wall 2034.751s | Mean Tokens 8,531,666.0 (5/6 complete) | Mean Raw Harness 1519.272s | Mean Raw Wall 2085.070s
+[Batch] GPU 6 finished MarkerInMugTask/2: FAILURE | Tasks 1/20 | Episodes 7/60 | Success 0.00% (0/7) | Mean Harness 1418.432s | Mean Wall 1951.063s | Mean Tokens 8,342,226.3 (6/7 complete) | Mean Raw Harness 1462.180s | Mean Raw Wall 1994.811s
+[Batch] GPU 7 finished SmallPumpkinInBinTask/1: SUCCESS | Tasks 1/20 | Episodes 8/60 | Success 12.50% (1/8) | Mean Harness 1433.012s | Mean Wall 1977.923s | Mean Tokens 8,342,226.3 (6/8 complete) | Mean Raw Harness 1472.219s | Mean Raw Wall 2017.130s
+[Batch] GPU 5 finished FruitsOnionToPlateTask/2: FAILURE | Tasks 2/20 | Episodes 9/60 | Success 11.11% (1/9) | Mean Harness 1319.536s | Mean Wall 1868.996s | Mean Tokens 7,659,574.0 (7/9 complete) | Mean Raw Harness 1354.387s | Mean Raw Wall 1903.847s
+[Batch] GPU 7 finished SmallPumpkinInBinTask/2: SUCCESS | Tasks 3/20 | Episodes 10/60 | Success 20.00% (2/10) | Mean Harness 1208.488s | Mean Wall 1711.780s | Mean Tokens 6,879,621.8 (8/10 complete) | Mean Raw Harness 1239.854s | Mean Raw Wall 1743.145s
+[Batch] GPU 4 finished PlasticBottlesInSquarePailTask/1: SUCCESS | Tasks 3/20 | Episodes 11/60 | Success 27.27% (3/11) | Mean Harness 1203.814s | Mean Wall 1687.024s | Mean Tokens 7,199,285.1 (9/11 complete) | Mean Raw Harness 1232.328s | Mean Raw Wall 1715.539s
+[Batch] GPU 5 finished BlockStackingSpecifiedOrderTask/0: SUCCESS | Tasks 3/20 | Episodes 12/60 | Success 33.33% (4/12) | Mean Harness 1138.637s | Mean Wall 1588.876s | Mean Tokens 6,750,911.6 (10/12 complete) | Mean Raw Harness 1164.775s | Mean Raw Wall 1615.014s
+[Batch] GPU 6 finished SpoonInMugTask/0: SUCCESS | Tasks 3/20 | Episodes 13/60 | Success 38.46% (5/13) | Mean Harness 1127.464s | Mean Wall 1567.121s | Mean Tokens 6,613,042.9 (11/13 complete) | Mean Raw Harness 1153.950s | Mean Raw Wall 1593.607s
+[Batch] GPU 5 finished BlockStackingSpecifiedOrderTask/1: SUCCESS | Tasks 3/20 | Episodes 14/60 | Success 42.86% (6/14) | Mean Harness 1101.843s | Mean Wall 1518.909s | Mean Tokens 6,520,641.4 (12/14 complete) | Mean Raw Harness 1129.045s | Mean Raw Wall 1546.111s
+[Batch] GPU 6 finished SpoonInMugTask/1: SUCCESS | Tasks 3/20 | Episodes 15/60 | Success 46.67% (7/15) | Mean Harness 1052.416s | Mean Wall 1447.503s | Mean Tokens 6,173,799.8 (13/15 complete) | Mean Raw Harness 1077.805s | Mean Raw Wall 1472.891s
+[Batch] GPU 7 finished ReorientWhiteMugsTask/0: FAILURE | Tasks 3/20 | Episodes 16/60 | Success 43.75% (7/16) | Mean Harness 1066.752s | Mean Wall 1454.579s | Mean Tokens 6,289,074.6 (14/16 complete) | Mean Raw Harness 1093.268s | Mean Raw Wall 1481.094s
+[Batch] GPU 5 finished BlockStackingSpecifiedOrderTask/2: SUCCESS | Tasks 4/20 | Episodes 17/60 | Success 47.06% (8/17) | Mean Harness 1046.587s | Mean Wall 1418.581s | Mean Tokens 6,208,552.7 (15/17 complete) | Mean Raw Harness 1071.543s | Mean Raw Wall 1443.537s
+[Batch] GPU 6 finished SpoonInMugTask/2: SUCCESS | Tasks 5/20 | Episodes 18/60 | Success 50.00% (9/18) | Mean Harness 1028.378s | Mean Wall 1390.707s | Mean Tokens 6,208,552.7 (15/18 complete) | Mean Raw Harness 1051.947s | Mean Raw Wall 1414.277s
+[Batch] GPU 7 finished ReorientWhiteMugsTask/1: FAILURE | Tasks 5/20 | Episodes 19/60 | Success 47.37% (9/19) | Mean Harness 1057.843s | Mean Wall 1415.936s | Mean Tokens 6,521,764.8 (16/19 complete) | Mean Raw Harness 1080.172s | Mean Raw Wall 1438.264s
+[Batch] GPU 4 finished PlasticBottlesInSquarePailTask/2: SUCCESS | Tasks 6/20 | Episodes 20/60 | Success 50.00% (10/20) | Mean Harness 1148.470s | Mean Wall 1513.303s | Mean Tokens 6,521,764.8 (16/20 complete) | Mean Raw Harness 1172.089s | Mean Raw Wall 1536.922s
+[Batch] GPU 5 finished ReorientRedMugTask/0: SUCCESS | Tasks 6/20 | Episodes 21/60 | Success 52.38% (11/21) | Mean Harness 1153.956s | Mean Wall 1513.252s | Mean Tokens 6,667,180.3 (17/21 complete) | Mean Raw Harness 1176.450s | Mean Raw Wall 1535.746s
+[Batch] GPU 7 finished ReorientWhiteMugsTask/2: SUCCESS | Tasks 7/20 | Episodes 22/60 | Success 54.55% (12/22) | Mean Harness 1111.172s | Mean Wall 1456.279s | Mean Tokens 6,378,193.3 (18/22 complete) | Mean Raw Harness 1132.644s | Mean Raw Wall 1477.750s
+[Batch] GPU 4 finished OneBottleInSquarePailTask/0: SUCCESS | Tasks 7/20 | Episodes 23/60 | Success 56.52% (13/23) | Mean Harness 1076.527s | Mean Wall 1410.039s | Mean Tokens 6,154,004.3 (19/23 complete) | Mean Raw Harness 1097.065s | Mean Raw Wall 1430.577s
+[Batch] GPU 6 finished ClampInRightBinTask/0: FAILURE | Tasks 7/20 | Episodes 24/60 | Success 54.17% (13/24) | Mean Harness 1093.497s | Mean Wall 1423.603s | Mean Tokens 6,410,927.7 (20/24 complete) | Mean Raw Harness 1113.179s | Mean Raw Wall 1443.285s
+[Batch] GPU 7 finished TakeSpatulaOffShelfTask/0: SUCCESS | Tasks 7/20 | Episodes 25/60 | Success 56.00% (14/25) | Mean Harness 1069.727s | Mean Wall 1390.430s | Mean Tokens 6,268,098.4 (21/25 complete) | Mean Raw Harness 1088.622s | Mean Raw Wall 1409.325s
+[Batch] GPU 5 finished ReorientRedMugTask/1: SUCCESS | Tasks 7/20 | Episodes 26/60 | Success 57.69% (15/26) | Mean Harness 1052.945s | Mean Wall 1365.545s | Mean Tokens 6,161,848.0 (22/26 complete) | Mean Raw Harness 1071.113s | Mean Raw Wall 1383.713s
+[Batch] GPU 4 finished OneBottleInSquarePailTask/1: SUCCESS | Tasks 7/20 | Episodes 27/60 | Success 59.26% (16/27) | Mean Harness 1032.668s | Mean Wall 1337.918s | Mean Tokens 6,047,200.8 (23/27 complete) | Mean Raw Harness 1050.163s | Mean Raw Wall 1355.413s
+[Batch] GPU 5 finished ReorientRedMugTask/2: SUCCESS | Tasks 8/20 | Episodes 28/60 | Success 60.71% (17/28) | Mean Harness 1000.248s | Mean Wall 1295.502s | Mean Tokens 5,831,667.9 (24/28 complete) | Mean Raw Harness 1017.119s | Mean Raw Wall 1312.372s
+[Batch] GPU 7 finished TakeSpatulaOffShelfTask/1: SUCCESS | Tasks 8/20 | Episodes 29/60 | Success 62.07% (18/29) | Mean Harness 974.197s | Mean Wall 1261.197s | Mean Tokens 5,668,971.8 (25/29 complete) | Mean Raw Harness 990.486s | Mean Raw Wall 1277.486s
+[Batch] GPU 6 finished ClampInRightBinTask/1: SUCCESS | Tasks 8/20 | Episodes 30/60 | Success 63.33% (19/30) | Mean Harness 958.730s | Mean Wall 1239.357s | Mean Tokens 5,593,997.7 (26/30 complete) | Mean Raw Harness 974.475s | Mean Raw Wall 1255.103s
+[Batch] GPU 7 finished TakeSpatulaOffShelfTask/2: SUCCESS | Tasks 9/20 | Episodes 31/60 | Success 64.52% (20/31) | Mean Harness 935.686s | Mean Wall 1208.554s | Mean Tokens 5,444,147.7 (27/31 complete) | Mean Raw Harness 950.924s | Mean Raw Wall 1223.792s
+[Batch] GPU 4 finished OneBottleInSquarePailTask/2: SUCCESS | Tasks 10/20 | Episodes 32/60 | Success 65.62% (21/32) | Mean Harness 924.997s | Mean Wall 1193.298s | Mean Tokens 5,395,084.5 (28/32 complete) | Mean Raw Harness 939.759s | Mean Raw Wall 1208.059s
+[Batch] GPU 4 finished BananasInBinThreeTotalTask/0: SUCCESS | Tasks 10/20 | Episodes 33/60 | Success 66.67% (22/33) | Mean Harness 901.584s | Mean Wall 1162.657s | Mean Tokens 5,248,754.6 (29/33 complete) | Mean Raw Harness 915.898s | Mean Raw Wall 1176.971s
+[Batch] GPU 7 finished RedItemsInBinTask/0: SUCCESS | Tasks 10/20 | Episodes 34/60 | Success 67.65% (23/34) | Mean Harness 887.375s | Mean Wall 1143.463s | Mean Tokens 5,189,149.6 (30/34 complete) | Mean Raw Harness 901.268s | Mean Raw Wall 1157.356s
+[Batch] GPU 4 finished BananasInBinThreeTotalTask/1: SUCCESS | Tasks 10/20 | Episodes 35/60 | Success 68.57% (24/35) | Mean Harness 866.950s | Mean Wall 1116.889s | Mean Tokens 5,066,811.2 (31/35 complete) | Mean Raw Harness 880.446s | Mean Raw Wall 1130.385s
+[Batch] GPU 5 finished BananaThenRubiksCubeTask/0: SUCCESS | Tasks 10/20 | Episodes 36/60 | Success 69.44% (25/36) | Mean Harness 870.595s | Mean Wall 1117.936s | Mean Tokens 5,147,055.7 (32/36 complete) | Mean Raw Harness 883.717s | Mean Raw Wall 1131.057s
+[Batch] GPU 7 finished RedItemsInBinTask/1: SUCCESS | Tasks 10/20 | Episodes 37/60 | Success 70.27% (26/37) | Mean Harness 853.171s | Mean Wall 1095.322s | Mean Tokens 5,049,847.3 (33/37 complete) | Mean Raw Harness 865.938s | Mean Raw Wall 1108.089s
+[Batch] GPU 4 finished BananasInBinThreeTotalTask/2: SUCCESS | Tasks 11/20 | Episodes 38/60 | Success 71.05% (27/38) | Mean Harness 837.396s | Mean Wall 1074.688s | Mean Tokens 4,956,332.8 (34/38 complete) | Mean Raw Harness 849.827s | Mean Raw Wall 1087.118s
+[Batch] GPU 5 finished BananaThenRubiksCubeTask/1: SUCCESS | Tasks 11/20 | Episodes 39/60 | Success 71.79% (28/39) | Mean Harness 825.654s | Mean Wall 1058.622s | Mean Tokens 4,896,166.5 (35/39 complete) | Mean Raw Harness 837.766s | Mean Raw Wall 1070.734s
+[Batch] GPU 4 finished BowlStackingRightOnLeftTask/0: SUCCESS | Tasks 11/20 | Episodes 40/60 | Success 72.50% (29/40) | Mean Harness 810.058s | Mean Wall 1037.756s | Mean Tokens 4,788,780.6 (36/40 complete) | Mean Raw Harness 821.867s | Mean Raw Wall 1049.565s
+[Batch] GPU 6 finished ClampInRightBinTask/2: FAILURE | Tasks 12/20 | Episodes 41/60 | Success 70.73% (29/41) | Mean Harness 829.880s | Mean Wall 1058.068s | Mean Tokens 4,788,780.6 (36/41 complete) | Mean Raw Harness 842.521s | Mean Raw Wall 1070.709s
+[Batch] GPU 4 finished BowlStackingRightOnLeftTask/1: SUCCESS | Tasks 12/20 | Episodes 42/60 | Success 71.43% (30/42) | Mean Harness 821.466s | Mean Wall 1045.478s | Mean Tokens 4,735,182.1 (37/42 complete) | Mean Raw Harness 834.911s | Mean Raw Wall 1058.923s
+[Batch] GPU 4 finished BowlStackingRightOnLeftTask/2: SUCCESS | Tasks 13/20 | Episodes 43/60 | Success 72.09% (31/43) | Mean Harness 813.506s | Mean Wall 1033.375s | Mean Tokens 4,680,631.4 (38/43 complete) | Mean Raw Harness 826.639s | Mean Raw Wall 1046.508s
+[Batch] GPU 5 finished BananaThenRubiksCubeTask/2: FAILURE | Tasks 14/20 | Episodes 44/60 | Success 70.45% (31/44) | Mean Harness 823.180s | Mean Wall 1042.751s | Mean Tokens 4,812,141.9 (39/44 complete) | Mean Raw Harness 837.503s | Mean Raw Wall 1057.075s
+[Batch] GPU 7 finished RedItemsInBinTask/2: FAILURE | Tasks 15/20 | Episodes 45/60 | Success 68.89% (31/45) | Mean Harness 842.006s | Mean Wall 1062.089s | Mean Tokens 4,972,789.5 (40/45 complete) | Mean Raw Harness 857.004s | Mean Raw Wall 1077.087s
+[Batch] GPU 6 finished FoodPacking1BoxesTask/0: FAILURE | Tasks 15/20 | Episodes 46/60 | Success 67.39% (31/46) | Mean Harness 854.685s | Mean Wall 1074.812s | Mean Tokens 5,110,629.0 (41/46 complete) | Mean Raw Harness 869.845s | Mean Raw Wall 1089.973s
+[Batch] GPU 7 finished MustardInLeftBinTask/0: FAILURE | Tasks 15/20 | Episodes 47/60 | Success 65.96% (31/47) | Mean Harness 850.292s | Mean Wall 1067.980s | Mean Tokens 5,103,119.0 (42/47 complete) | Mean Raw Harness 865.130s | Mean Raw Wall 1082.818s
+[Batch] GPU 5 finished FoodPacking1CansTask/0: FAILURE | Tasks 15/20 | Episodes 48/60 | Success 64.58% (31/48) | Mean Harness 862.392s | Mean Wall 1080.163s | Mean Tokens 5,238,345.8 (43/48 complete) | Mean Raw Harness 877.504s | Mean Raw Wall 1095.275s
+[Batch] GPU 7 finished MustardInLeftBinTask/1: FAILURE | Tasks 15/20 | Episodes 49/60 | Success 63.27% (31/49) | Mean Harness 860.809s | Mean Wall 1076.308s | Mean Tokens 5,238,246.6 (44/49 complete) | Mean Raw Harness 875.612s | Mean Raw Wall 1091.111s
+[Batch] GPU 7 finished MustardInLeftBinTask/2: FAILURE | Tasks 16/20 | Episodes 50/60 | Success 62.00% (31/50) | Mean Harness 855.521s | Mean Wall 1068.819s | Mean Tokens 5,191,566.0 (45/50 complete) | Mean Raw Harness 870.028s | Mean Raw Wall 1083.327s
+[Batch] GPU 5 finished FoodPacking1CansTask/1: SUCCESS | Tasks 16/20 | Episodes 51/60 | Success 62.75% (32/51) | Mean Harness 852.001s | Mean Wall 1063.674s | Mean Tokens 5,198,469.8 (46/51 complete) | Mean Raw Harness 866.223s | Mean Raw Wall 1077.897s
+[Batch] GPU 6 finished FoodPacking1BoxesTask/1: FAILURE | Tasks 16/20 | Episodes 52/60 | Success 61.54% (32/52) | Mean Harness 867.410s | Mean Wall 1079.284s | Mean Tokens 5,198,469.8 (46/52 complete) | Mean Raw Harness 881.359s | Mean Raw Wall 1093.233s
+[Batch] GPU 6 finished FoodPacking1BoxesTask/2: FAILURE | Tasks 17/20 | Episodes 53/60 | Success 60.38% (32/53) | Mean Harness 862.900s | Mean Wall 1074.903s | Mean Tokens 5,177,967.0 (47/53 complete) | Mean Raw Harness 876.586s | Mean Raw Wall 1088.589s
+[Batch] GPU 5 finished FoodPacking1CansTask/2: SUCCESS | Tasks 18/20 | Episodes 54/60 | Success 61.11% (33/54) | Mean Harness 867.142s | Mean Wall 1078.827s | Mean Tokens 5,251,885.5 (48/54 complete) | Mean Raw Harness 880.574s | Mean Raw Wall 1092.260s
+[Batch] GPU 6 finished RubiksCubeThenBananaTask/0: SUCCESS | Tasks 18/20 | Episodes 55/60 | Success 61.82% (34/55) | Mean Harness 861.718s | Mean Wall 1071.296s | Mean Tokens 5,226,960.5 (49/55 complete) | Mean Raw Harness 874.906s | Mean Raw Wall 1084.484s
+[Batch] GPU 6 finished RubiksCubeThenBananaTask/1: SUCCESS | Tasks 18/20 | Episodes 56/60 | Success 62.50% (35/56) | Mean Harness 850.737s | Mean Wall 1057.455s | Mean Tokens 5,163,193.2 (50/56 complete) | Mean Raw Harness 863.689s | Mean Raw Wall 1070.408s
+[Batch] GPU 6 finished RubiksCubeThenBananaTask/2: SUCCESS | Tasks 19/20 | Episodes 57/60 | Success 63.16% (36/57) | Mean Harness 857.223s | Mean Wall 1063.503s | Mean Tokens 5,239,540.3 (51/57 complete) | Mean Raw Harness 869.948s | Mean Raw Wall 1076.228s
+[Batch] GPU 6 finished BananaInBowlTask/0: SUCCESS | Tasks 19/20 | Episodes 58/60 | Success 63.79% (37/58) | Mean Harness 849.652s | Mean Wall 1053.583s | Mean Tokens 5,200,355.1 (52/58 complete) | Mean Raw Harness 862.158s | Mean Raw Wall 1066.089s
+[Batch] GPU 6 finished BananaInBowlTask/1: SUCCESS | Tasks 19/20 | Episodes 59/60 | Success 64.41% (38/59) | Mean Harness 842.112s | Mean Wall 1043.701s | Mean Tokens 5,160,749.8 (53/59 complete) | Mean Raw Harness 854.406s | Mean Raw Wall 1055.995s
+[Batch] GPU 6 finished BananaInBowlTask/2: SUCCESS | Tasks 20/20 | Episodes 60/60 | Success 65.00% (39/60) | Mean Harness 833.701s | Mean Wall 1032.967s | Mean Tokens 5,115,224.7 (54/60 complete) | Mean Raw Harness 846.024s | Mean Raw Wall 1045.290s
+[Batch] Final | Tasks 20/20 | Episodes 60/60 | Success 65.00% (39/60) | Mean Harness 833.701s | Mean Wall 1032.967s | Mean Tokens 5,115,224.7 (54/60 complete) | Mean Raw Harness 846.024s | Mean Raw Wall 1045.290s