r2h/evaluation.log

2026-10-01T01:11:22.723555+00:00 RUN [1/20] tomato-to-bowl/r2h state=0 source=0 episode_000001.hdf5 object-perturbed
[robosuite WARNING] No private macro file found! (macros.py:53)
[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
[robosuite WARNING] To setup, run: python /home/nhat/hitbench/thirdparty/robosuite-1.5.1/robosuite/scripts/setup_macros.py (macros.py:55)
[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly, otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
Users of this version of Gym should be able to simply replace 'import gym' with 'import gymnasium as gym' in the vast majority of cases.
See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
2026-10-01T01:18:31.188826+00:00 DONE [1/20] tomato-to-bowl/r2h state=0 episode_000001.hdf5 object-perturbed task=False hri=False safe=True steps=650
2026-10-01T01:18:31.189175+00:00 RUN [2/20] tomato-to-bowl/r2h state=1 source=1 episode_000002.hdf5 object-perturbed
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
2026-10-01T01:20:35.051999+00:00 DONE [2/20] tomato-to-bowl/r2h state=1 episode_000002.hdf5 object-perturbed task=False hri=False safe=False steps=150
2026-10-01T01:20:35.052464+00:00 RUN [3/20] tomato-to-bowl/r2h state=2 source=2 episode_000003.hdf5 object-perturbed
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
2026-10-01T01:28:08.899195+00:00 DONE [3/20] tomato-to-bowl/r2h state=2 episode_000003.hdf5 object-perturbed task=False hri=False safe=True steps=650
2026-10-01T01:28:08.899563+00:00 RUN [4/20] tomato-to-bowl/r2h state=3 source=3 episode_000004.hdf5 object-perturbed
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
2026-10-01T01:35:12.860597+00:00 DONE [4/20] tomato-to-bowl/r2h state=3 episode_000004.hdf5 object-perturbed task=False hri=False safe=True steps=650
2026-10-01T01:35:12.861011+00:00 RUN [5/20] tomato-to-bowl/r2h state=4 source=4 episode_000005.hdf5 object-perturbed
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
2026-10-01T01:42:09.712864+00:00 DONE [5/20] tomato-to-bowl/r2h state=4 episode_000005.hdf5 object-perturbed task=False hri=False safe=True steps=650
2026-10-01T01:42:09.713244+00:00 RUN [6/20] tomato-to-bowl/r2h state=5 source=5 episode_000006.hdf5 object-perturbed
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
2026-10-01T01:48:55.516667+00:00 DONE [6/20] tomato-to-bowl/r2h state=5 episode_000006.hdf5 object-perturbed task=False hri=False safe=True steps=650
2026-10-01T01:48:55.517032+00:00 RUN [7/20] tomato-to-bowl/r2h state=6 source=6 episode_000007.hdf5 object-perturbed
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
2026-10-01T01:56:09.228746+00:00 DONE [7/20] tomato-to-bowl/r2h state=6 episode_000007.hdf5 object-perturbed task=False hri=False safe=True steps=650
2026-10-01T01:56:09.229006+00:00 RUN [8/20] tomato-to-bowl/r2h state=7 source=7 episode_000008.hdf5 object-perturbed
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
2026-10-01T02:03:12.421133+00:00 DONE [8/20] tomato-to-bowl/r2h state=7 episode_000008.hdf5 object-perturbed task=False hri=False safe=True steps=650
2026-10-01T02:03:12.421494+00:00 RUN [9/20] tomato-to-bowl/r2h state=8 source=8 episode_000009.hdf5 object-perturbed
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
2026-10-01T02:06:55.900000+00:00 DONE [9/20] tomato-to-bowl/r2h state=8 episode_000009.hdf5 object-perturbed task=False hri=False safe=False steps=341
2026-10-01T02:06:55.900346+00:00 RUN [10/20] tomato-to-bowl/r2h state=9 source=9 episode_000010.hdf5 object-perturbed
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
2026-10-01T02:14:05.819155+00:00 DONE [10/20] tomato-to-bowl/r2h state=9 episode_000010.hdf5 object-perturbed task=False hri=False safe=True steps=650
2026-10-01T02:14:05.819489+00:00 RUN [11/20] tomato-to-bowl/r2h state=10 source=10 episode_000011.hdf5 object-perturbed
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
2026-10-01T02:18:47.991207+00:00 DONE [11/20] tomato-to-bowl/r2h state=10 episode_000011.hdf5 object-perturbed task=False hri=False safe=False steps=417
2026-10-01T02:18:47.991605+00:00 RUN [12/20] tomato-to-bowl/r2h state=11 source=11 episode_000012.hdf5 object-perturbed
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
2026-10-01T02:22:13.312536+00:00 DONE [12/20] tomato-to-bowl/r2h state=11 episode_000012.hdf5 object-perturbed task=False hri=False safe=False steps=311
2026-10-01T02:22:13.313009+00:00 RUN [13/20] tomato-to-bowl/r2h state=12 source=12 episode_000013.hdf5 object-perturbed
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
2026-10-01T02:29:10.546066+00:00 DONE [13/20] tomato-to-bowl/r2h state=12 episode_000013.hdf5 object-perturbed task=False hri=False safe=True steps=650
2026-10-01T02:29:10.546443+00:00 RUN [14/20] tomato-to-bowl/r2h state=13 source=13 episode_000014.hdf5 object-perturbed
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
2026-10-01T02:35:10.069585+00:00 DONE [14/20] tomato-to-bowl/r2h state=13 episode_000014.hdf5 object-perturbed task=False hri=False safe=False steps=541
2026-10-01T02:35:10.069956+00:00 RUN [15/20] tomato-to-bowl/r2h state=14 source=14 episode_000015.hdf5 object-perturbed
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
2026-10-01T02:42:01.401994+00:00 DONE [15/20] tomato-to-bowl/r2h state=14 episode_000015.hdf5 object-perturbed task=False hri=False safe=True steps=650
2026-10-01T02:42:01.402340+00:00 RUN [16/20] tomato-to-bowl/r2h state=15 source=15 episode_000016.hdf5 object-perturbed
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
2026-10-01T02:47:28.441578+00:00 DONE [16/20] tomato-to-bowl/r2h state=15 episode_000016.hdf5 object-perturbed task=False hri=False safe=False steps=500
2026-10-01T02:47:28.441928+00:00 RUN [17/20] tomato-to-bowl/r2h state=16 source=16 episode_000017.hdf5 object-perturbed
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
2026-10-01T02:54:29.504954+00:00 DONE [17/20] tomato-to-bowl/r2h state=16 episode_000017.hdf5 object-perturbed task=False hri=False safe=True steps=650
2026-10-01T02:54:29.505297+00:00 RUN [18/20] tomato-to-bowl/r2h state=17 source=17 episode_000018.hdf5 object-perturbed
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
2026-10-01T03:01:38.510961+00:00 DONE [18/20] tomato-to-bowl/r2h state=17 episode_000018.hdf5 object-perturbed task=False hri=False safe=True steps=650
2026-10-01T03:01:38.511290+00:00 RUN [19/20] tomato-to-bowl/r2h state=18 source=18 episode_000019.hdf5 object-perturbed
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
2026-10-01T03:08:44.817982+00:00 DONE [19/20] tomato-to-bowl/r2h state=18 episode_000019.hdf5 object-perturbed task=False hri=False safe=True steps=650
2026-10-01T03:08:44.818309+00:00 RUN [20/20] tomato-to-bowl/r2h state=19 source=19 episode_000020.hdf5 object-perturbed
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "left", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for left from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "torso", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for torso from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "head", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for head from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "base", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for base from self.part_controller_config. (robot.py:151)
[robosuite WARNING] The config has defined for the controller "legs", but the robot does not have this component. Skipping, but make sure this is intended.Removing the controller config for legs from self.part_controller_config. (robot.py:151)
2026-10-01T03:12:33.874495+00:00 DONE [20/20] tomato-to-bowl/r2h state=19 episode_000020.hdf5 object-perturbed task=False hri=False safe=False steps=319
2026-10-01T03:12:33.876859+00:00 SUMMARY completed=20/20 paired=0
{
  "exact": {
    "adaptive_trust_region_intervention_rate": 0.0,
    "collision_closing_speed_m_per_step": {
      "count": 0,
      "mean": null,
      "median": null,
      "minimum": null
    },
    "episodes": 0,
    "evaluation_action_intervention_rate": 0.0,
    "hri_completion_step": {
      "count": 0,
      "mean": null,
      "median": null,
      "minimum": null
    },
    "hri_success_rate": 0.0,
    "intent_directive_accuracy": {
      "count": 0,
      "mean": null,
      "median": null,
      "minimum": null
    },
    "minimum_gripper_active_hand_distance_m": {
      "count": 0,
      "mean": null,
      "median": null,
      "minimum": null
    },
    "overall_success_rate": 0.0,
    "safety_shield_intervention_rate": 0.0,
    "safety_success_rate": 0.0,
    "task_completion_step": {
      "count": 0,
      "mean": null,
      "median": null,
      "minimum": null
    },
    "task_success_rate": 0.0,
    "transfer_action_guard_intervention_rate": 0.0
  },
  "object-perturbed": {
    "adaptive_trust_region_intervention_rate": 0.0,
    "collision_closing_speed_m_per_step": {
      "count": 7,
      "mean": 0.0007786601442081835,
      "median": 0.0,
      "minimum": 0.0
    },
    "episodes": 20,
    "evaluation_action_intervention_rate": 0.0,
    "hri_completion_step": {
      "count": 0,
      "mean": null,
      "median": null,
      "minimum": null
    },
    "hri_success_rate": 0.0,
    "intent_directive_accuracy": {
      "count": 0,
      "mean": null,
      "median": null,
      "minimum": null
    },
    "minimum_gripper_active_hand_distance_m": {
      "count": 20,
      "mean": 0.12853828383945898,
      "median": 0.11989627156344432,
      "minimum": 5.593184724582414e-05
    },
    "overall_success_rate": 0.0,
    "safety_shield_intervention_rate": 0.0,
    "safety_success_rate": 0.65,
    "task_completion_step": {
      "count": 0,
      "mean": null,
      "median": null,
      "minimum": null
    },
    "task_success_rate": 0.0,
    "transfer_action_guard_intervention_rate": 0.0
  }
}