Upload harness_robolab_exploration outputs (part 23)

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/MustardInLeftBinTask/env_cfg.json

@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:4", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/two_bin.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471368432044983, 1.2532538562481932e-08, -0.3449999988079071], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "mustard": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mustard", "spawn": null, "init_state": {"pos": [0.5899075865745544, 3.1596486223861575e-05, 0.10049273818731308], "rot": [0.9999995827674866, -0.0001625543796023939, -0.0008989080091618884, 2.305972504116673e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "grey_bin_right": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/grey_bin_right", "spawn": null, "init_state": {"pos": [0.5183118581771851, -0.29250726103782654, 0.005000010132789612], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "grey_bin_left": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/grey_bin_left", "spawn": null, "init_state": {"pos": [0.5183117985725403, 0.28813636302948, 0.005000028759241104], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard", "/World/envs/env_.*/scene/grey_bin_right", "/World/envs/env_.*/scene/grey_bin_left"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__grey_bin_right": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_right"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__grey_bin_left": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_left"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__grey_bin_right": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_right"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__grey_bin_left": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_left"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mustard__grey_bin_right": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_right"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mustard__grey_bin_left": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_left"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin_right__grey_bin_left": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin_right", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_left"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/MustardInLeftBinTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "policies.harness_policy.hybrid_actions:HybridArmAction", "asset_name": "robot", "debug_vis": false, "clip": null, "pose": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "joints": {"class_type": "isaaclab.envs.mdp.actions.joint_actions:JointPositionAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "scale": 1.0, "offset": 0.0, "preserve_order": true, "use_default_offset": false}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 30, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "mustard", "container": "grey_bin_left", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"mustard": [["functools.partial(<function object_grabbed at 0x7fe640499940>, object='mustard')", 0.0], ["functools.partial(<function object_in_container at 0x7fe640a411c0>, object='mustard', container='grey_bin_left', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["spatial", "simple"], "_task_attributes": ["spatial", "simple"], "_task_name": "MustardInLeftBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the mustard in the left bin", "contact_object_list": ["table", "mustard", "grey_bin_right", "grey_bin_left"], "_instruction_variants": {"default": "Put the mustard in the left bin", "vague": "Use the left bin for mustard", "specific": "Pick up the mustard bottle and place it in the bin on the left side"}, "policy": "harness", "renderer": "realtime"}

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/MustardInLeftBinTask/log_0_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 450, "events": [{"step": 62, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 152, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 191, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 217, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 221, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 221, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 221, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 259, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 259, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 287, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 313, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 313, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 316, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 323, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 359, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 363, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 363, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 381, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 381, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 409, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/MustardInLeftBinTask/log_1_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 211, "events": [{"step": 62, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 123, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 211, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/MustardInLeftBinTask/log_2_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 2, "success": false, "final_step": 450, "events": [{"step": 106, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 161, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 173, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 173, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 176, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 183, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 197, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 208, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 209, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 209, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 255, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 266, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 266, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 271, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 292, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 293, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 293, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 332, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 332, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 335, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 336, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 336, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 383, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 383, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 392, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 396, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 397, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 416, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 436, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 449, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin_left'", "score": 0.0}]}

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/MustardInLeftBinTask/run_0.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd78f7c8b4f5ca27429f7dbb21f08ec0f9fcece592693f9c8f778aef8c853e83
+size 332806

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/MustardInLeftBinTask/run_1.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c6229007e92200d1b0f02d6bf9125b0d2a4e4ba9aa09d95997053e9ac5abee9
+size 252636

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/MustardInLeftBinTask/run_2.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5502c61211673995f6f059fadd06d4f22e77a3e9374e6047c89e7d60d605ab3b
+size 340045

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_0.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c53154279763afd7a9d0a207a86cb07122379fb7e6101b1e2f5d006a13b8ce12
+size 7431532

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_0_viewport.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb1485ae8f32cb1a3b3c39c79fba12620deaa8aa38d22e42bd2479da57da2767
+size 2066814

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_1.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb12aad8d6d8ce87eef7309aa6ea9c9275e45654441c9eec6b5801d36eb2b2a1
+size 18200914

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_1_viewport.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0689008fad7810aed5992c4daf639ba8107e235c04270bcd29122e8e0b05453d
+size 4603133

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_2.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bae64d61c78c2185cf7fd2b34f88eb066616bfff1a09cf6aa9f88139120f4f1c
+size 19437564

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_2_viewport.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb4d1957461868f1a512847cb150ce646fa10439d8ed648ec9b2799bf57c5a28
+size 4213326

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/log_0_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 0, "success": true, "final_step": 391, "events": [{"step": 77, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 132, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 148, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 168, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 195, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 301, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 355, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.087m", "score": 0.0}, {"step": 391, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 391, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/log_1_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 61, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.057m", "score": 0.0}, {"step": 78, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 83, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.072m", "score": 0.0}, {"step": 140, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 171, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 181, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 181, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 336, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 336, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.0}, {"step": 346, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 349, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 351, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 407, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 422, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 423, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 434, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.089m", "score": 0.0}, {"step": 437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 479, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 511, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 572, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 602, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 607, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 616, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 617, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 646, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 662, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 675, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 675, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 676, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 680, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 688, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 704, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.274m", "score": 0.0}, {"step": 714, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 723, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 723, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 812, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 846, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 872, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 872, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 887, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/log_2_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 126, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 153, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 153, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 153, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 243, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 245, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 245, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 246, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 261, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 265, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 265, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 380, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.086m", "score": 0.0}, {"step": 452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 469, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.0}, {"step": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 498, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 499, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 563, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 572, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 617, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 661, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 679, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 679, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 679, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 706, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 722, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 726, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 728, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 799, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.089m", "score": 0.0}, {"step": 812, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.067m", "score": 0.0}, {"step": 814, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 816, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.067m", "score": 0.0}, {"step": 873, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 875, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 875, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 876, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 878, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.095m", "score": 0.0}, {"step": 886, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}]}

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/run_0.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49f3a3c04376d94e3665dff4ec2020b8f756ff673a146da4f0022129ba32b63c
+size 410287

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/run_1.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa6fa77b5e36204ad6daf67f89b70c81c4ec96cf8a7c4a5daf5f1d959a01ced2
+size 643059

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/run_2.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:264d94397145c4374e9c11476fd13fa1f808ce920f559c09b8e137d547575b5e
+size 644636

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5924c185bdd3eadc1a7f07df778024a4def86a8d9621e633011e0f0aa983d475
+size 37659254

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0_viewport.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a16bda637ed86bb9b4af914ee6979e97a1cba239212b7ada5390eb2a615def4
+size 9969035

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a86d878ec83b21b81a214bdfd2748946489b71c5df8c6867988b397db7657f1
+size 50970769

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1_viewport.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df9970f6f11e3a807272983f142c6655eaeddf715c515c85fe4626bc4dbca637
+size 12033122

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c3d4c0d93a9d30f4dd903a0fe3922f49fbaf2776729a3b8e825ead06b265268
+size 53491265

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2_viewport.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29d27e6bdab10695445094aa1133880e1d23bb15bbe092978ec71a22393ff06d
+size 14697994

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 62, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 107, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 290, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 407, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 429, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 452, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 467, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 468, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 472, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 472, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 544, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 602, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 602, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 604, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 677, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 707, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 783, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 871, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 946, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 946, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 1005, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.054m", "score": 0.6666666666666666}, {"step": 1052, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1193, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.6666666666666666}, {"step": 1195, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1196, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 1197, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.6666666666666666}, {"step": 1201, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.121m", "score": 0.6666666666666666}, {"step": 1205, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 1219, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.6666666666666666}, {"step": 1224, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1229, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 1247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1247, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.187m", "score": 0.6666666666666666}, {"step": 1248, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.170m", "score": 0.6666666666666666}, {"step": 1256, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.6666666666666666}, {"step": 1261, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 1262, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.6666666666666666}, {"step": 1266, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 1274, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.133m", "score": 0.6666666666666666}, {"step": 1292, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.118m", "score": 0.6666666666666666}, {"step": 1294, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.094m", "score": 0.6666666666666666}, {"step": 1352, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1401, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.6666666666666666}, {"step": 1401, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1402, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 1409, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.072m", "score": 0.6666666666666666}, {"step": 1490, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1517, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1524, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.6666666666666666}, {"step": 1531, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 1541, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.098m", "score": 0.6666666666666666}, {"step": 1553, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.6666666666666666}, {"step": 1561, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 1567, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.080m", "score": 0.6666666666666666}, {"step": 1742, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}]}

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 1, "success": false, "final_step": 2700, "events": [{"step": 82, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 152, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 389, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 390, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 390, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 406, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 422, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 465, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 468, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 486, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.107m", "score": 0.0}, {"step": 492, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.0}, {"step": 494, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 494, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 496, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 0.766m", "score": 0.0}, {"step": 545, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 572, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 601, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 618, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 662, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 736, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 742, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 743, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 743, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 744, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 751, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 751, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 779, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 780, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1003, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.087m", "score": 0.0}, {"step": 1007, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.054m", "score": 0.0}, {"step": 1023, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.052m", "score": 0.0}, {"step": 1482, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 1482, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1518, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.148m", "score": 0.0}, {"step": 1537, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.057m", "score": 0.0}, {"step": 1733, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.082m", "score": 0.0}, {"step": 1784, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 1785, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.3333333333333333}, {"step": 1785, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1785, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 1786, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1793, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.3333333333333333}, {"step": 1810, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.3333333333333333}, {"step": 1811, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.236m", "score": 0.3333333333333333}, {"step": 1876, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.3333333333333333}, {"step": 1877, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.3333333333333333}, {"step": 1894, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1895, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.3333333333333333}, {"step": 2072, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2132, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2182, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.064m", "score": 0.3333333333333333}, {"step": 2194, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2206, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.3333333333333333}, {"step": 2207, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.3333333333333333}, {"step": 2221, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a02'", "score": 0.3333333333333333}, {"step": 2257, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a02' displaced 0.958m", "score": 0.3333333333333333}, {"step": 2371, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.078m", "score": 0.3333333333333333}, {"step": 2431, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.123m", "score": 0.3333333333333333}, {"step": 2445, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.064m", "score": 0.3333333333333333}, {"step": 2466, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.278m", "score": 0.3333333333333333}]}

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 2, "success": false, "final_step": 2700, "events": [{"step": 2, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 149, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 467, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 467, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 475, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 477, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 479, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 479, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 488, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.321m", "score": 0.0}, {"step": 505, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.258m", "score": 0.0}, {"step": 505, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.193m", "score": 0.0}, {"step": 530, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.076m", "score": 0.0}, {"step": 535, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.052m", "score": 0.0}, {"step": 596, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 597, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 601, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.094m", "score": 0.0}, {"step": 604, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 612, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.097m", "score": 0.0}, {"step": 663, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.092m", "score": 0.0}, {"step": 691, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.087m", "score": 0.0}, {"step": 752, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 797, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 843, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.116m", "score": 0.0}, {"step": 887, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 892, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 893, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 897, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.190m", "score": 0.0}, {"step": 963, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.102m", "score": 0.0}, {"step": 974, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.062m", "score": 0.0}, {"step": 997, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 998, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1013, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1015, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.146m", "score": 0.0}, {"step": 1057, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1066, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1066, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1174, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 1177, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1178, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 1179, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1194, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 1198, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1232, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.172m", "score": 0.0}, {"step": 1248, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 1249, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1249, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1305, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1323, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1349, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1382, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1382, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1383, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1457, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1486, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1504, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1508, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1508, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1558, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1576, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1576, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1592, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1621, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1623, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1636, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1636, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1682, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1682, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1696, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1696, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1726, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1782, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1782, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1782, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1794, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 1801, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1805, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 1808, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1809, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 1831, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1840, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.059m", "score": 0.0}, {"step": 1888, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 1889, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1890, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 1890, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.084m", "score": 0.0}, {"step": 1892, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1915, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.165m", "score": 0.0}, {"step": 1924, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 1925, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1931, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1932, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1940, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.153m", "score": 0.0}, {"step": 1982, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2006, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 2011, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2013, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 2014, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2017, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 2018, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.056m", "score": 0.0}, {"step": 2026, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2093, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2101, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2102, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2117, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2132, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2132, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2133, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2148, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2191, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2191, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2192, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2251, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 2252, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2252, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2253, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 2254, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2263, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.103m", "score": 0.0}, {"step": 2311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2332, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2332, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2332, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2388, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2472, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2472, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2477, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2478, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2480, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2480, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2488, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 2500, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2551, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2573, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2573, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2574, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2612, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2612, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2613, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2626, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2626, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 2642, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2672, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}]}

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_0.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da128fbd89f8cbe9d5a510bba6fec2a56a8b8cce5a0ae3b468e911db4fe09b17
+size 1400453

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_1.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86f8f04b184d67147e5edd565f968cc2273277f4921efa97b65c90507e3927c0
+size 1468784

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_2.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3c54883a8b1c67a1fc8ea58b473c73c14f158948832a7abcde8953a0c730174
+size 1475505

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70adc778f0039135d27c9b711feb94236a365df2c261800325fbb4ce86eec22d
+size 11200150

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0_viewport.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b39259d23221045e79730a4ce1a2acad915757f84f7e1fc68a5526625c4f649b
+size 2929789

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2db5e94ea3966bcfaafb48cbfe1290eabfa94bdde819dc39e62572b2170825e7
+size 11936592

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1_viewport.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5661a066965b735734cff087d80d23d53bef5a2f22d0dc8b721af730c9fe02f6
+size 3358161

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9da2c3e44d3f0970f1ed780fcc56dd2bf4e3897e05f04ad3363a091f756f4a7
+size 9481095

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2_viewport.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8974739bc2f529c76903794882988a3922879728ce9e4675fac434316e9f0bef
+size 2450578

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/RedItemsInBinTask/env_cfg.json

@@ -0,0 +1 @@
+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:4", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/rubiks_cube_banana_bowl_mug_bin.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.37651363015174866, -0.21301063895225525, 0.030325712636113167], "rot": [0.9999999403953552, -0.00013068903548728105, -0.00031947125349474667, 8.232872643681093e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "rubiks_cube": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "spawn": null, "init_state": {"pos": [0.43070706725120544, 0.031155899167060852, 0.03409084305167198], "rot": [0.9999987483024597, -0.0007058795111196671, 0.0014135157511410818, 8.426654660775871e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "banana": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/banana", "spawn": null, "init_state": {"pos": [0.5388621091842651, -0.07553913444280624, 0.021424103528261185], "rot": [0.9999789595603943, -0.0026495461569310936, -0.005916839225075561, 0.00022661698574001523], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "grey_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/grey_bin", "spawn": null, "init_state": {"pos": [0.4809686839580536, 0.31765681505203247, 0.002999093383550644], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mug", "spawn": null, "init_state": {"pos": [0.612150251865387, 0.07300157099962234, 0.04352624714374542], "rot": [0.9999993443489075, -0.0006294004352500517, -0.0009533495229199647, 7.925613184833387e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.19861090183258057, 0.022085392847657204, 0.003002345561981201], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug", "/World/envs/env_.*/scene/bowl", "/World/envs/env_.*/scene/grey_bin", "/World/envs/env_.*/scene/banana", "/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "mug__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "grey_bin__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "table__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/RedItemsInBinTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "policies.harness_policy.hybrid_actions:HybridArmAction", "asset_name": "robot", "debug_vis": false, "clip": null, "pose": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "joints": {"class_type": "isaaclab.envs.mdp.actions.joint_actions:JointPositionAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "scale": 1.0, "offset": 0.0, "preserve_order": true, "use_default_offset": false}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["mug", "bowl"], "container": "grey_bin", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"mug": [["functools.partial(<function object_grabbed at 0x7fe640499940>, object='mug')", 0.0], ["functools.partial(<function object_in_container at 0x7fe640a411c0>, object='mug', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "bowl": [["functools.partial(<function object_grabbed at 0x7fe640499940>, object='bowl')", 0.0], ["functools.partial(<function object_in_container at 0x7fe640a411c0>, object='bowl', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["color", "sorting", "moderate"], "_task_attributes": ["color", "sorting", "moderate"], "_task_name": "RedItemsInBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put all the red things in the grey bin", "contact_object_list": ["mug", "bowl", "grey_bin", "table", "banana", "rubiks_cube"], "_instruction_variants": {"default": "Put all the red things in the grey bin", "vague": "Sort items by color", "specific": "Identify every red-colored object on the table and place each one into the grey bin"}, "policy": "harness", "renderer": "realtime"}

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/RedItemsInBinTask/log_0_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 526, "events": [{"step": 78, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 108, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 173, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 181, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 187, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 187, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 207, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 211, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 213, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 227, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 227, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 230, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 230, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 250, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 250, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 251, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 331, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 334, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 362, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 362, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 423, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 424, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 424, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 438, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 526, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/RedItemsInBinTask/log_1_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 631, "events": [{"step": 78, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 156, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 157, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 157, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 158, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 279, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 279, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 359, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 367, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 415, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 426, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 507, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 526, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 526, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 527, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 591, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 592, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 631, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/RedItemsInBinTask/log_2_env0.json

@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 451, "events": [{"step": 44, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 107, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 183, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 227, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 227, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 228, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 245, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 246, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 246, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 246, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 271, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 332, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 349, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 349, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 349, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 393, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 393, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 451, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/RedItemsInBinTask/run_0.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:636850fa6055a91344e56d05e0796cacde95d31554f22e4317c3c3697b7724d8
+size 445884

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/RedItemsInBinTask/run_1.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de02b6e6cb9d10999971442e38274bc218c0fcf1d34ff6e35621b19aee618c0f
+size 497784

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/RedItemsInBinTask/run_2.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f4bdb951d10bd46e233382fef46b8538291848c58c69a511561271f3180748a
+size 408648

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d148afb30dc93470c2a1b0a5bad832c37a2882837b5381c8b54a606300c141c2
+size 4388565

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daa9a980f554011c40ec7920a5445b82e5cca453c57772b4f46cddba8908e3d1
+size 1026888

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdefcae117bd38f31f14c00227ace4abeb9df7240dabd567f91e8f4a3c96a930
+size 15229893

harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58582fdf067d2715846f6c8cb02171ec9bf5249c992e85ce3c1c393afcce0567
+size 4003051