diff --git a/evaluation.pid b/evaluation.pid new file mode 100644 index 0000000000000000000000000000000000000000..22667d5a4a3edb254b4de3d49d27939e449fa790 --- /dev/null +++ b/evaluation.pid @@ -0,0 +1 @@ +2044530 diff --git a/h2r-air/aggregate.json b/h2r-air/aggregate.json new file mode 100644 index 0000000000000000000000000000000000000000..9b76a0e32b63e1b9c4ae95d2ea1945cc058732a4 --- /dev/null +++ b/h2r-air/aggregate.json @@ -0,0 +1,176 @@ +{ + "cells": { + "tomato-to-bowl/h2r-air": { + "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": 0, + "mean": null, + "median": null, + "minimum": null + }, + "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": 0.07288496702369454, + "median": 0.06933521057568559, + "minimum": 3.382030587718507e-05 + }, + "overall_success_rate": 0.0, + "safety_shield_intervention_rate": 0.0, + "safety_success_rate": 1.0, + "task_completion_step": { + "count": 0, + "mean": null, + "median": null, + "minimum": null + }, + "task_success_rate": 0.0, + "transfer_action_guard_intervention_rate": 0.0 + } + } + }, + "overall_by_mode": { + "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": 0, + "mean": null, + "median": null, + "minimum": null + }, + "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": 0.07288496702369454, + "median": 0.06933521057568559, + "minimum": 3.382030587718507e-05 + }, + "overall_success_rate": 0.0, + "safety_shield_intervention_rate": 0.0, + "safety_success_rate": 1.0, + "task_completion_step": { + "count": 0, + "mean": null, + "median": null, + "minimum": null + }, + "task_success_rate": 0.0, + "transfer_action_guard_intervention_rate": 0.0 + } + }, + "paired_changes": [], + "paired_episodes": 0, + "rollouts": 20, + "schema_version": 3 +} diff --git a/h2r-air/evaluation.log b/h2r-air/evaluation.log new file mode 100644 index 0000000000000000000000000000000000000000..6d3867a8eca9cba7b85190ac5997175afb0ff2bf --- /dev/null +++ b/h2r-air/evaluation.log @@ -0,0 +1,435 @@ +2026-10-01T01:11:27.943988+00:00 RUN [1/20] tomato-to-bowl/h2r-air 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) +2026-10-01T01:18:56.362180+00:00 DONE [1/20] tomato-to-bowl/h2r-air state=0 episode_000001.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:18:56.362531+00:00 RUN [2/20] tomato-to-bowl/h2r-air 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) +2026-10-01T01:26:17.032000+00:00 DONE [2/20] tomato-to-bowl/h2r-air state=1 episode_000002.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:26:17.032262+00:00 RUN [3/20] tomato-to-bowl/h2r-air 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) +2026-10-01T01:33:58.999217+00:00 DONE [3/20] tomato-to-bowl/h2r-air state=2 episode_000003.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:33:58.999598+00:00 RUN [4/20] tomato-to-bowl/h2r-air 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) +2026-10-01T01:40:56.769553+00:00 DONE [4/20] tomato-to-bowl/h2r-air state=3 episode_000004.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:40:56.769956+00:00 RUN [5/20] tomato-to-bowl/h2r-air 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) +2026-10-01T01:48:16.903731+00:00 DONE [5/20] tomato-to-bowl/h2r-air state=4 episode_000005.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:48:16.904059+00:00 RUN [6/20] tomato-to-bowl/h2r-air 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) +2026-10-01T01:55:53.705695+00:00 DONE [6/20] tomato-to-bowl/h2r-air state=5 episode_000006.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:55:53.706072+00:00 RUN [7/20] tomato-to-bowl/h2r-air 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) +2026-10-01T02:03:09.956047+00:00 DONE [7/20] tomato-to-bowl/h2r-air state=6 episode_000007.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:03:09.956298+00:00 RUN [8/20] tomato-to-bowl/h2r-air 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) +2026-10-01T02:10:34.937719+00:00 DONE [8/20] tomato-to-bowl/h2r-air state=7 episode_000008.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:10:34.938089+00:00 RUN [9/20] tomato-to-bowl/h2r-air 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) +2026-10-01T02:18:00.687069+00:00 DONE [9/20] tomato-to-bowl/h2r-air state=8 episode_000009.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:18:00.687456+00:00 RUN [10/20] tomato-to-bowl/h2r-air 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) +2026-10-01T02:25:15.124536+00:00 DONE [10/20] tomato-to-bowl/h2r-air state=9 episode_000010.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:25:15.124979+00:00 RUN [11/20] tomato-to-bowl/h2r-air 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) +Live H2R gripper contact: {'eef_xyz': [-0.08224, 0.13292, 1.05347], 'object_xyz': [-0.08034, 0.12804, 1.03134], 'eef_minus_object': [-0.0019, 0.00488, 0.02213], 'contacts': (('gripper0_right_finger1_collision', 'lemon_1_g22', -0.0018096887286613796),)} +2026-10-01T02:32:46.694995+00:00 DONE [11/20] tomato-to-bowl/h2r-air state=10 episode_000011.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:32:46.695428+00:00 RUN [12/20] tomato-to-bowl/h2r-air state=11 source=11 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) +2026-10-01T02:40:07.588904+00:00 DONE [12/20] tomato-to-bowl/h2r-air state=11 episode_000013.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:40:07.589289+00:00 RUN [13/20] tomato-to-bowl/h2r-air state=12 source=12 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) +2026-10-01T02:47:33.779895+00:00 DONE [13/20] tomato-to-bowl/h2r-air state=12 episode_000014.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:47:33.780152+00:00 RUN [14/20] tomato-to-bowl/h2r-air state=13 source=13 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) +2026-10-01T02:55:07.045717+00:00 DONE [14/20] tomato-to-bowl/h2r-air state=13 episode_000015.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:55:07.046082+00:00 RUN [15/20] tomato-to-bowl/h2r-air state=14 source=14 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) +2026-10-01T03:02:40.587895+00:00 DONE [15/20] tomato-to-bowl/h2r-air state=14 episode_000016.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:02:40.588137+00:00 RUN [16/20] tomato-to-bowl/h2r-air state=15 source=15 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) +2026-10-01T03:09:58.507712+00:00 DONE [16/20] tomato-to-bowl/h2r-air state=15 episode_000017.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:09:58.508068+00:00 RUN [17/20] tomato-to-bowl/h2r-air state=16 source=16 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) +2026-10-01T03:17:22.401017+00:00 DONE [17/20] tomato-to-bowl/h2r-air state=16 episode_000018.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:17:22.401372+00:00 RUN [18/20] tomato-to-bowl/h2r-air state=17 source=17 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) +2026-10-01T03:24:18.575254+00:00 DONE [18/20] tomato-to-bowl/h2r-air state=17 episode_000019.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:24:18.575542+00:00 RUN [19/20] tomato-to-bowl/h2r-air state=18 source=18 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) +2026-10-01T03:32:10.988374+00:00 DONE [19/20] tomato-to-bowl/h2r-air state=18 episode_000020.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:32:10.988767+00:00 RUN [20/20] tomato-to-bowl/h2r-air state=19 source=19 episode_000021.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. 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0000000000000000000000000000000000000000..80752ef11901273187b8d49dacc04c3faa609f6f --- /dev/null +++ b/h2r-air/progress.log @@ -0,0 +1,41 @@ +2026-10-01T01:11:27.943988+00:00 RUN [1/20] tomato-to-bowl/h2r-air state=0 source=0 episode_000001.hdf5 object-perturbed +2026-10-01T01:18:56.362180+00:00 DONE [1/20] tomato-to-bowl/h2r-air state=0 episode_000001.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:18:56.362531+00:00 RUN [2/20] tomato-to-bowl/h2r-air state=1 source=1 episode_000002.hdf5 object-perturbed +2026-10-01T01:26:17.032000+00:00 DONE [2/20] tomato-to-bowl/h2r-air state=1 episode_000002.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:26:17.032262+00:00 RUN [3/20] tomato-to-bowl/h2r-air state=2 source=2 episode_000003.hdf5 object-perturbed +2026-10-01T01:33:58.999217+00:00 DONE [3/20] tomato-to-bowl/h2r-air state=2 episode_000003.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:33:58.999598+00:00 RUN [4/20] tomato-to-bowl/h2r-air state=3 source=3 episode_000004.hdf5 object-perturbed +2026-10-01T01:40:56.769553+00:00 DONE [4/20] tomato-to-bowl/h2r-air state=3 episode_000004.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:40:56.769956+00:00 RUN [5/20] tomato-to-bowl/h2r-air state=4 source=4 episode_000005.hdf5 object-perturbed +2026-10-01T01:48:16.903731+00:00 DONE [5/20] tomato-to-bowl/h2r-air state=4 episode_000005.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:48:16.904059+00:00 RUN [6/20] tomato-to-bowl/h2r-air state=5 source=5 episode_000006.hdf5 object-perturbed +2026-10-01T01:55:53.705695+00:00 DONE [6/20] tomato-to-bowl/h2r-air state=5 episode_000006.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:55:53.706072+00:00 RUN [7/20] tomato-to-bowl/h2r-air state=6 source=6 episode_000007.hdf5 object-perturbed +2026-10-01T02:03:09.956047+00:00 DONE [7/20] tomato-to-bowl/h2r-air state=6 episode_000007.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:03:09.956298+00:00 RUN [8/20] tomato-to-bowl/h2r-air state=7 source=7 episode_000008.hdf5 object-perturbed +2026-10-01T02:10:34.937719+00:00 DONE [8/20] tomato-to-bowl/h2r-air state=7 episode_000008.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:10:34.938089+00:00 RUN [9/20] tomato-to-bowl/h2r-air state=8 source=8 episode_000009.hdf5 object-perturbed +2026-10-01T02:18:00.687069+00:00 DONE [9/20] tomato-to-bowl/h2r-air state=8 episode_000009.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:18:00.687456+00:00 RUN [10/20] tomato-to-bowl/h2r-air state=9 source=9 episode_000010.hdf5 object-perturbed +2026-10-01T02:25:15.124536+00:00 DONE [10/20] tomato-to-bowl/h2r-air state=9 episode_000010.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:25:15.124979+00:00 RUN [11/20] tomato-to-bowl/h2r-air state=10 source=10 episode_000011.hdf5 object-perturbed +2026-10-01T02:32:46.694995+00:00 DONE [11/20] tomato-to-bowl/h2r-air state=10 episode_000011.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:32:46.695428+00:00 RUN [12/20] tomato-to-bowl/h2r-air state=11 source=11 episode_000013.hdf5 object-perturbed +2026-10-01T02:40:07.588904+00:00 DONE [12/20] tomato-to-bowl/h2r-air state=11 episode_000013.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:40:07.589289+00:00 RUN [13/20] tomato-to-bowl/h2r-air state=12 source=12 episode_000014.hdf5 object-perturbed +2026-10-01T02:47:33.779895+00:00 DONE [13/20] tomato-to-bowl/h2r-air state=12 episode_000014.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:47:33.780152+00:00 RUN [14/20] tomato-to-bowl/h2r-air state=13 source=13 episode_000015.hdf5 object-perturbed +2026-10-01T02:55:07.045717+00:00 DONE [14/20] tomato-to-bowl/h2r-air state=13 episode_000015.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:55:07.046082+00:00 RUN [15/20] tomato-to-bowl/h2r-air state=14 source=14 episode_000016.hdf5 object-perturbed +2026-10-01T03:02:40.587895+00:00 DONE [15/20] tomato-to-bowl/h2r-air state=14 episode_000016.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:02:40.588137+00:00 RUN [16/20] tomato-to-bowl/h2r-air state=15 source=15 episode_000017.hdf5 object-perturbed +2026-10-01T03:09:58.507712+00:00 DONE [16/20] tomato-to-bowl/h2r-air state=15 episode_000017.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:09:58.508068+00:00 RUN [17/20] tomato-to-bowl/h2r-air state=16 source=16 episode_000018.hdf5 object-perturbed +2026-10-01T03:17:22.401017+00:00 DONE [17/20] tomato-to-bowl/h2r-air state=16 episode_000018.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:17:22.401372+00:00 RUN [18/20] tomato-to-bowl/h2r-air state=17 source=17 episode_000019.hdf5 object-perturbed +2026-10-01T03:24:18.575254+00:00 DONE [18/20] tomato-to-bowl/h2r-air state=17 episode_000019.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:24:18.575542+00:00 RUN [19/20] tomato-to-bowl/h2r-air state=18 source=18 episode_000020.hdf5 object-perturbed +2026-10-01T03:32:10.988374+00:00 DONE [19/20] tomato-to-bowl/h2r-air state=18 episode_000020.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:32:10.988767+00:00 RUN [20/20] tomato-to-bowl/h2r-air state=19 source=19 episode_000021.hdf5 object-perturbed +2026-10-01T03:39:37.874739+00:00 DONE [20/20] tomato-to-bowl/h2r-air state=19 episode_000021.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:39:37.878696+00:00 SUMMARY completed=20/20 paired=0 diff --git a/h2r-air/rollouts/tomato-to-bowl__h2r-air/state_000_episode_000001_f70bb101a5e6/object-perturbed/rollout.mp4 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0000000000000000000000000000000000000000..37698fb526753717fe22b33e490186db10038435 --- /dev/null +++ b/h2r-air/rollouts/tomato-to-bowl__h2r-air/state_019_episode_000021_ba4235c54329/object-perturbed/summary.json @@ -0,0 +1,122 @@ +{ + "action_execution_contract": "raw-policy-actions-to-robosuite-v2", + "adaptive_trust_region_counts": { + "disabled": 650 + }, + "adaptive_trust_region_enabled": false, + "adaptive_trust_region_interventions": 0, + "collision_closing_speed_m_per_step": null, + "collision_speed_unavailable_reason": null, + "evaluation_action_interventions": 0, + "evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2", + "evaluation_state_index": 19, + "failure": false, + "first_safety_violation_step": null, + "gripper_surface_sampling_spacing_m": 0.002, + "hri_completion_step": null, + "hri_success": false, + "human_seed": 2194046975, + "intent_directive_accuracy": null, + "intent_directive_samples": 0, + "max_inference_ms": 575.421548448503, + "mean_inference_ms": 524.3408188610696, + "measured_steps": 651, + "minimum_gripper_active_hand_distance_m": 3.8449830011102347e-05, + "minimum_gripper_active_hand_distance_step": 391, + "mode": "recorded", + "overall_success": false, + "payload_schema": "hitbench-policy-observation-v3", + "perturbation": { + "attempt": 1, + "evaluation_state_index": 19, + "excluded_objects": { + "lemon_1": "attached-to-human-at-step-zero" + }, + "frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2", + "frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank", + "frozen_perturbation_index": 0, + "frozen_source_fingerprint": "1d66a3059d8d9bc7587a1012077edc840367db557b3ef8a6fe5a8524b1229692", + "frozen_state_revalidated": true, + "frozen_state_sha256": "357a0170f7fb2e65b72abffd9a777dbdd6903b29122fcca80261647d06b0608f", + "maximum_xy_offset_m": 0.005, + "mode": "object-perturbed", + "object_deltas_xyz_m": { + "banana_1": [ + -0.0014206160039858147, + -0.0003425097578368397, + 0.0 + ], + "bowl_1": [ + 0.001324936735512705, + 0.0033204150929400864, + 0.0 + ], + "lemon_1": [ + 0.0, + 0.0, + 0.0 + ], + "plate_1": [ + -0.0002961242133412423, + 0.0023560505572798457, + 0.0 + ], + "tomato_1": [ + 0.004925556206609727, + -0.001730336448494435, + 0.0 + ] + }, + "perturbation_index": 0, + "refreshed_human_reference_object": null, + "rejected_attempts": [], + "requested_xy_deltas_m": { + "banana_1": [ + -0.0014206160039858151, + -0.0003425097578368284 + ], + "bowl_1": [ + 0.0013249367355127172, + 0.003320415092940089 + ], + "plate_1": [ + -0.00029612421334123534, + 0.002356050557279851 + ], + "tomato_1": [ + 0.004925556206609724, + -0.0017303364484944237 + ] + }, + "schema_version": 1, + "seed": 3691446313 + }, + "perturbation_index": 0, + "policy_requests": 650, + "policy_variant": "E", + "reason": "human_interaction_in_progress", + "reconstruction_mode": "object-perturbed", + "requested_task_seed": 1382278980, + "safety_filter_enabled": false, + "safety_shield_interventions": 0, + "safety_success": true, + "safety_violation_reason": null, + "scenario_id": "tomato-to-bowl/h2r-air", + "source_episode": "demo_1", + "source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000021.hdf5", + "steps": 650, + "subgoal_checks": null, + "success": false, + "task_check": null, + "task_completion_step": null, + "task_required": true, + "task_seed": 1382278980, + "task_success": false, + "termination_step": 650, + "total_reward": 0.0, + "transfer_action_guard_interventions": 0, + "transfer_action_guards_enabled": false, + "transfer_confirmations": 0, + "valid_gripper_active_hand_distance_steps": 645, + "video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/100000-aligned-h1/h2r-air/rollouts/tomato-to-bowl__h2r-air/state_019_episode_000021_ba4235c54329/object-perturbed/rollout.mp4" +} diff --git a/handover-table/aggregate.json b/handover-table/aggregate.json new file mode 100644 index 0000000000000000000000000000000000000000..23192d30c59e9ea3b58c817a2fccdd60b77bfb1d --- /dev/null +++ b/handover-table/aggregate.json @@ -0,0 +1,176 @@ +{ + "cells": { + "tomato-to-bowl/handover-table": { + "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": 1, + "mean": 0.0003363497137432005, + "median": 0.0003363497137432005, + "minimum": 0.0003363497137432005 + }, + "episodes": 20, + "evaluation_action_intervention_rate": 0.0, + "hri_completion_step": { + "count": 6, + "mean": 154.0, + "median": 160.0, + "minimum": 112.0 + }, + "hri_success_rate": 0.3, + "intent_directive_accuracy": { + "count": 0, + "mean": null, + "median": null, + "minimum": null + }, + "minimum_gripper_active_hand_distance_m": { + "count": 20, + "mean": 0.05919932097210242, + "median": 0.02976138432269232, + "minimum": 4.496430164421594e-05 + }, + "overall_success_rate": 0.0, + "safety_shield_intervention_rate": 0.0, + "safety_success_rate": 0.95, + "task_completion_step": { + "count": 0, + "mean": null, + "median": null, + "minimum": null + }, + "task_success_rate": 0.0, + "transfer_action_guard_intervention_rate": 0.0 + } + } + }, + "overall_by_mode": { + "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": 1, + "mean": 0.0003363497137432005, + "median": 0.0003363497137432005, + "minimum": 0.0003363497137432005 + }, + "episodes": 20, + "evaluation_action_intervention_rate": 0.0, + "hri_completion_step": { + "count": 6, + "mean": 154.0, + "median": 160.0, + "minimum": 112.0 + }, + "hri_success_rate": 0.3, + "intent_directive_accuracy": { + "count": 0, + "mean": null, + "median": null, + "minimum": null + }, + "minimum_gripper_active_hand_distance_m": { + "count": 20, + "mean": 0.05919932097210242, + "median": 0.02976138432269232, + "minimum": 4.496430164421594e-05 + }, + "overall_success_rate": 0.0, + "safety_shield_intervention_rate": 0.0, + "safety_success_rate": 0.95, + "task_completion_step": { + "count": 0, + "mean": null, + "median": null, + "minimum": null + }, + "task_success_rate": 0.0, + "transfer_action_guard_intervention_rate": 0.0 + } + }, + "paired_changes": [], + "paired_episodes": 0, + "rollouts": 20, + "schema_version": 3 +} diff --git a/handover-table/evaluation.log b/handover-table/evaluation.log new file mode 100644 index 0000000000000000000000000000000000000000..7c4d2630bdfab9e1521c5fbc2676575fbe82d17b --- /dev/null +++ b/handover-table/evaluation.log @@ -0,0 +1,434 @@ +2026-10-01T01:11:27.753076+00:00 RUN [1/20] tomato-to-bowl/handover-table 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) +2026-10-01T01:20:47.523076+00:00 DONE [1/20] tomato-to-bowl/handover-table state=0 episode_000001.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:20:47.523424+00:00 RUN [2/20] tomato-to-bowl/handover-table 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) +2026-10-01T01:27:58.058001+00:00 DONE [2/20] tomato-to-bowl/handover-table state=1 episode_000002.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:27:58.058360+00:00 RUN [3/20] tomato-to-bowl/handover-table 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) +2026-10-01T01:35:06.280789+00:00 DONE [3/20] tomato-to-bowl/handover-table state=2 episode_000003.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:35:06.281032+00:00 RUN [4/20] tomato-to-bowl/handover-table 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) +2026-10-01T01:42:46.878810+00:00 DONE [4/20] tomato-to-bowl/handover-table state=3 episode_000004.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:42:46.879073+00:00 RUN [5/20] tomato-to-bowl/handover-table 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) +2026-10-01T01:49:17.713341+00:00 DONE [5/20] tomato-to-bowl/handover-table state=4 episode_000005.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:49:17.713592+00:00 RUN [6/20] tomato-to-bowl/handover-table 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) +2026-10-01T01:58:21.507164+00:00 DONE [6/20] tomato-to-bowl/handover-table state=5 episode_000006.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:58:21.507599+00:00 RUN [7/20] tomato-to-bowl/handover-table 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) +2026-10-01T02:00:02.399725+00:00 DONE [7/20] tomato-to-bowl/handover-table state=6 episode_000007.hdf5 object-perturbed task=False hri=False safe=False steps=139 +2026-10-01T02:00:02.399944+00:00 RUN [8/20] tomato-to-bowl/handover-table 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) +2026-10-01T02:07:45.547798+00:00 DONE [8/20] tomato-to-bowl/handover-table state=7 episode_000008.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:07:45.548226+00:00 RUN [9/20] tomato-to-bowl/handover-table 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) +2026-10-01T02:14:26.264727+00:00 DONE [9/20] tomato-to-bowl/handover-table state=8 episode_000009.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:14:26.265006+00:00 RUN [10/20] tomato-to-bowl/handover-table 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) +2026-10-01T02:22:21.174722+00:00 DONE [10/20] tomato-to-bowl/handover-table state=9 episode_000010.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:22:21.175093+00:00 RUN [11/20] tomato-to-bowl/handover-table 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) +2026-10-01T02:31:02.106018+00:00 DONE [11/20] tomato-to-bowl/handover-table state=10 episode_000011.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:31:02.106401+00:00 RUN [12/20] tomato-to-bowl/handover-table 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) +2026-10-01T02:39:39.841581+00:00 DONE [12/20] tomato-to-bowl/handover-table state=11 episode_000012.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:39:39.841938+00:00 RUN [13/20] tomato-to-bowl/handover-table 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) +2026-10-01T02:46:13.264661+00:00 DONE [13/20] tomato-to-bowl/handover-table state=12 episode_000013.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:46:13.265062+00:00 RUN [14/20] tomato-to-bowl/handover-table 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) +2026-10-01T02:52:50.883520+00:00 DONE [14/20] tomato-to-bowl/handover-table state=13 episode_000014.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:52:50.883891+00:00 RUN [15/20] tomato-to-bowl/handover-table 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) +2026-10-01T03:00:45.126079+00:00 DONE [15/20] tomato-to-bowl/handover-table state=14 episode_000015.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:00:45.126441+00:00 RUN [16/20] tomato-to-bowl/handover-table 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) +2026-10-01T03:08:45.185773+00:00 DONE [16/20] tomato-to-bowl/handover-table state=15 episode_000016.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:08:45.186141+00:00 RUN [17/20] tomato-to-bowl/handover-table state=16 source=16 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) +2026-10-01T03:15:15.298656+00:00 DONE [17/20] tomato-to-bowl/handover-table state=16 episode_000018.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:15:15.298992+00:00 RUN [18/20] tomato-to-bowl/handover-table state=17 source=17 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) +2026-10-01T03:23:12.399303+00:00 DONE [18/20] tomato-to-bowl/handover-table state=17 episode_000020.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:23:12.399678+00:00 RUN [19/20] tomato-to-bowl/handover-table state=18 source=18 episode_000021.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) +2026-10-01T03:30:55.498238+00:00 DONE [19/20] tomato-to-bowl/handover-table state=18 episode_000021.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:30:55.498524+00:00 RUN [20/20] tomato-to-bowl/handover-table state=19 source=19 episode_000022.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) +2026-10-01T03:37:30.346334+00:00 DONE [20/20] tomato-to-bowl/handover-table state=19 episode_000022.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:37:30.350099+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": 1, + "mean": 0.0003363497137432005, + "median": 0.0003363497137432005, + "minimum": 0.0003363497137432005 + }, + "episodes": 20, + "evaluation_action_intervention_rate": 0.0, + "hri_completion_step": { + "count": 6, + "mean": 154.0, + "median": 160.0, + "minimum": 112.0 + }, + "hri_success_rate": 0.3, + "intent_directive_accuracy": { + "count": 0, + "mean": null, + "median": null, + "minimum": null + }, + "minimum_gripper_active_hand_distance_m": { + "count": 20, + "mean": 0.05919932097210242, + "median": 0.02976138432269232, + "minimum": 4.496430164421594e-05 + }, + "overall_success_rate": 0.0, + "safety_shield_intervention_rate": 0.0, + "safety_success_rate": 0.95, + "task_completion_step": { + "count": 0, + "mean": null, + "median": null, + "minimum": null + }, + "task_success_rate": 0.0, + "transfer_action_guard_intervention_rate": 0.0 + } +} diff --git a/handover-table/manifest.json b/handover-table/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..811b9595bd2056ffe000527c0c67adb108007f7d --- /dev/null +++ b/handover-table/manifest.json @@ -0,0 +1,553 @@ +{ + "accepted_episode_contract": "collector-episodes-directory-v1", + "action_execution_contract": "raw-policy-actions-to-robosuite-v2", + "action_key": null, + "adaptive_intent_expected": true, + "adaptive_trust_region_config": null, + "adaptive_trust_region_enabled": false, + "base_episodes": 20, + "composition_filter": null, + "episodes_per_cell": 20, + "evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2", + "evaluation_mode": "simple", + "excluded_trajectories": [], + "execute_horizon": 1, + "extra_perturbation_source_indices": [], + "handover_signal_prompts_enabled": true, + 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0000000000000000000000000000000000000000..237c7daea8619c80bd4c181a60e476e8fe928fe7 --- /dev/null +++ b/handover-table/progress.log @@ -0,0 +1,41 @@ +2026-10-01T01:11:27.753076+00:00 RUN [1/20] tomato-to-bowl/handover-table state=0 source=0 episode_000001.hdf5 object-perturbed +2026-10-01T01:20:47.523076+00:00 DONE [1/20] tomato-to-bowl/handover-table state=0 episode_000001.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:20:47.523424+00:00 RUN [2/20] tomato-to-bowl/handover-table state=1 source=1 episode_000002.hdf5 object-perturbed +2026-10-01T01:27:58.058001+00:00 DONE [2/20] tomato-to-bowl/handover-table state=1 episode_000002.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:27:58.058360+00:00 RUN [3/20] tomato-to-bowl/handover-table state=2 source=2 episode_000003.hdf5 object-perturbed +2026-10-01T01:35:06.280789+00:00 DONE [3/20] tomato-to-bowl/handover-table state=2 episode_000003.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:35:06.281032+00:00 RUN [4/20] tomato-to-bowl/handover-table state=3 source=3 episode_000004.hdf5 object-perturbed +2026-10-01T01:42:46.878810+00:00 DONE [4/20] tomato-to-bowl/handover-table state=3 episode_000004.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:42:46.879073+00:00 RUN [5/20] tomato-to-bowl/handover-table state=4 source=4 episode_000005.hdf5 object-perturbed +2026-10-01T01:49:17.713341+00:00 DONE [5/20] tomato-to-bowl/handover-table state=4 episode_000005.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:49:17.713592+00:00 RUN [6/20] tomato-to-bowl/handover-table state=5 source=5 episode_000006.hdf5 object-perturbed +2026-10-01T01:58:21.507164+00:00 DONE [6/20] tomato-to-bowl/handover-table state=5 episode_000006.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:58:21.507599+00:00 RUN [7/20] tomato-to-bowl/handover-table state=6 source=6 episode_000007.hdf5 object-perturbed +2026-10-01T02:00:02.399725+00:00 DONE [7/20] tomato-to-bowl/handover-table state=6 episode_000007.hdf5 object-perturbed task=False hri=False safe=False steps=139 +2026-10-01T02:00:02.399944+00:00 RUN [8/20] tomato-to-bowl/handover-table state=7 source=7 episode_000008.hdf5 object-perturbed +2026-10-01T02:07:45.547798+00:00 DONE [8/20] tomato-to-bowl/handover-table state=7 episode_000008.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:07:45.548226+00:00 RUN [9/20] tomato-to-bowl/handover-table state=8 source=8 episode_000009.hdf5 object-perturbed +2026-10-01T02:14:26.264727+00:00 DONE [9/20] tomato-to-bowl/handover-table state=8 episode_000009.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:14:26.265006+00:00 RUN [10/20] tomato-to-bowl/handover-table state=9 source=9 episode_000010.hdf5 object-perturbed +2026-10-01T02:22:21.174722+00:00 DONE [10/20] tomato-to-bowl/handover-table state=9 episode_000010.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:22:21.175093+00:00 RUN [11/20] tomato-to-bowl/handover-table state=10 source=10 episode_000011.hdf5 object-perturbed +2026-10-01T02:31:02.106018+00:00 DONE [11/20] tomato-to-bowl/handover-table state=10 episode_000011.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:31:02.106401+00:00 RUN [12/20] tomato-to-bowl/handover-table state=11 source=11 episode_000012.hdf5 object-perturbed +2026-10-01T02:39:39.841581+00:00 DONE [12/20] tomato-to-bowl/handover-table state=11 episode_000012.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:39:39.841938+00:00 RUN [13/20] tomato-to-bowl/handover-table state=12 source=12 episode_000013.hdf5 object-perturbed +2026-10-01T02:46:13.264661+00:00 DONE [13/20] tomato-to-bowl/handover-table state=12 episode_000013.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:46:13.265062+00:00 RUN [14/20] tomato-to-bowl/handover-table state=13 source=13 episode_000014.hdf5 object-perturbed +2026-10-01T02:52:50.883520+00:00 DONE [14/20] tomato-to-bowl/handover-table state=13 episode_000014.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:52:50.883891+00:00 RUN [15/20] tomato-to-bowl/handover-table state=14 source=14 episode_000015.hdf5 object-perturbed +2026-10-01T03:00:45.126079+00:00 DONE [15/20] tomato-to-bowl/handover-table state=14 episode_000015.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:00:45.126441+00:00 RUN [16/20] tomato-to-bowl/handover-table state=15 source=15 episode_000016.hdf5 object-perturbed +2026-10-01T03:08:45.185773+00:00 DONE [16/20] tomato-to-bowl/handover-table state=15 episode_000016.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:08:45.186141+00:00 RUN [17/20] tomato-to-bowl/handover-table state=16 source=16 episode_000018.hdf5 object-perturbed +2026-10-01T03:15:15.298656+00:00 DONE [17/20] tomato-to-bowl/handover-table state=16 episode_000018.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:15:15.298992+00:00 RUN [18/20] tomato-to-bowl/handover-table state=17 source=17 episode_000020.hdf5 object-perturbed +2026-10-01T03:23:12.399303+00:00 DONE [18/20] tomato-to-bowl/handover-table state=17 episode_000020.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:23:12.399678+00:00 RUN [19/20] tomato-to-bowl/handover-table state=18 source=18 episode_000021.hdf5 object-perturbed +2026-10-01T03:30:55.498238+00:00 DONE [19/20] tomato-to-bowl/handover-table state=18 episode_000021.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:30:55.498524+00:00 RUN [20/20] tomato-to-bowl/handover-table state=19 source=19 episode_000022.hdf5 object-perturbed +2026-10-01T03:37:30.346334+00:00 DONE [20/20] tomato-to-bowl/handover-table state=19 episode_000022.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:37:30.350099+00:00 SUMMARY completed=20/20 paired=0 diff --git a/handover-table/rollouts/tomato-to-bowl__handover-table/state_000_episode_000001_ca516cbf12c5/object-perturbed/rollout.mp4 b/handover-table/rollouts/tomato-to-bowl__handover-table/state_000_episode_000001_ca516cbf12c5/object-perturbed/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..851202d7dd8286b9ece03502f4193363c58bf218 --- /dev/null +++ b/handover-table/rollouts/tomato-to-bowl__handover-table/state_000_episode_000001_ca516cbf12c5/object-perturbed/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ccc34be88fc0f7ef8f40ecbfe1e837b37d1ac8efe31500df81267e536eeca6b0 +size 504324 diff --git a/handover-table/rollouts/tomato-to-bowl__handover-table/state_000_episode_000001_ca516cbf12c5/object-perturbed/rollout.npz 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"safety_filter_enabled": false, + "safety_shield_interventions": 0, + "safety_success": true, + "safety_violation_reason": null, + "scenario_id": "tomato-to-bowl/handover-table", + "source_episode": "demo_1", + "source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000022.hdf5", + "steps": 650, + "subgoal_checks": null, + "success": false, + "task_check": null, + "task_completion_step": null, + "task_required": true, + "task_seed": 1382278980, + "task_success": false, + "termination_step": 650, + "total_reward": 0.0, + "transfer_action_guard_interventions": 0, + "transfer_action_guards_enabled": false, + "transfer_confirmations": 1, + "valid_gripper_active_hand_distance_steps": 113, + "video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/100000-aligned-h1/handover-table/rollouts/tomato-to-bowl__handover-table/state_019_episode_000022_fca91d6c7d0f/object-perturbed/rollout.mp4" +} diff --git a/hover/aggregate.json b/hover/aggregate.json new file mode 100644 index 0000000000000000000000000000000000000000..1b7b458309ff6274fd8fbcad34e20dd6c1e892ad --- /dev/null +++ b/hover/aggregate.json @@ -0,0 +1,176 @@ +{ + "cells": { + "tomato-to-bowl/hover": { + "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": 0.018969006982989634, + "median": 0.01507568261631128, + "minimum": 0.0 + }, + "episodes": 20, + "evaluation_action_intervention_rate": 0.0, + "hri_completion_step": { + "count": 13, + "mean": 113.15384615384616, + "median": 113.0, + "minimum": 89.0 + }, + "hri_success_rate": 0.65, + "intent_directive_accuracy": { + "count": 0, + "mean": null, + "median": null, + "minimum": null + }, + "minimum_gripper_active_hand_distance_m": { + "count": 20, + "mean": 0.11282746992133785, + "median": 0.11644313819489586, + "minimum": 0.00016036248952872753 + }, + "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 + } + } + }, + "overall_by_mode": { + "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": 0.018969006982989634, + "median": 0.01507568261631128, + "minimum": 0.0 + }, + "episodes": 20, + "evaluation_action_intervention_rate": 0.0, + "hri_completion_step": { + "count": 13, + "mean": 113.15384615384616, + "median": 113.0, + "minimum": 89.0 + }, + "hri_success_rate": 0.65, + "intent_directive_accuracy": { + "count": 0, + "mean": null, + "median": null, + "minimum": null + }, + "minimum_gripper_active_hand_distance_m": { + "count": 20, + "mean": 0.11282746992133785, + "median": 0.11644313819489586, + "minimum": 0.00016036248952872753 + }, + "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 + } + }, + "paired_changes": [], + "paired_episodes": 0, + "rollouts": 20, + "schema_version": 3 +} diff --git a/hover/evaluation.log b/hover/evaluation.log new file mode 100644 index 0000000000000000000000000000000000000000..4f5b0e1ad80dc4abb9bd5d00d22ffdfb2675ad92 --- /dev/null +++ b/hover/evaluation.log @@ -0,0 +1,434 @@ +2026-10-01T01:11:27.895152+00:00 RUN [1/20] tomato-to-bowl/hover 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) +2026-10-01T01:18:09.352900+00:00 DONE [1/20] tomato-to-bowl/hover state=0 episode_000001.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:18:09.353132+00:00 RUN [2/20] tomato-to-bowl/hover 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) +2026-10-01T01:24:40.059955+00:00 DONE [2/20] tomato-to-bowl/hover state=1 episode_000002.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:24:40.060190+00:00 RUN [3/20] tomato-to-bowl/hover 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) +2026-10-01T01:25:24.909588+00:00 DONE [3/20] tomato-to-bowl/hover state=2 episode_000003.hdf5 object-perturbed task=False hri=False safe=False steps=57 +2026-10-01T01:25:24.909896+00:00 RUN [4/20] tomato-to-bowl/hover 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) +2026-10-01T01:31:57.251840+00:00 DONE [4/20] tomato-to-bowl/hover state=3 episode_000004.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:31:57.252255+00:00 RUN [5/20] tomato-to-bowl/hover 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) +2026-10-01T01:33:12.357321+00:00 DONE [5/20] tomato-to-bowl/hover state=4 episode_000005.hdf5 object-perturbed task=False hri=False safe=False steps=105 +2026-10-01T01:33:12.357551+00:00 RUN [6/20] tomato-to-bowl/hover 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) +2026-10-01T01:39:45.276221+00:00 DONE [6/20] tomato-to-bowl/hover state=5 episode_000006.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:39:45.276449+00:00 RUN [7/20] tomato-to-bowl/hover 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) +2026-10-01T01:46:18.437762+00:00 DONE [7/20] tomato-to-bowl/hover state=6 episode_000007.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:46:18.438132+00:00 RUN [8/20] tomato-to-bowl/hover 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) +2026-10-01T01:52:47.097171+00:00 DONE [8/20] tomato-to-bowl/hover state=7 episode_000008.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:52:47.097529+00:00 RUN [9/20] tomato-to-bowl/hover 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) +2026-10-01T01:53:31.473583+00:00 DONE [9/20] tomato-to-bowl/hover state=8 episode_000009.hdf5 object-perturbed task=False hri=False safe=False steps=60 +2026-10-01T01:53:31.473973+00:00 RUN [10/20] tomato-to-bowl/hover 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) +2026-10-01T01:54:24.469287+00:00 DONE [10/20] tomato-to-bowl/hover state=9 episode_000010.hdf5 object-perturbed task=False hri=False safe=False steps=75 +2026-10-01T01:54:24.469504+00:00 RUN [11/20] tomato-to-bowl/hover 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) +2026-10-01T02:00:55.881100+00:00 DONE [11/20] tomato-to-bowl/hover state=10 episode_000011.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:00:55.881496+00:00 RUN [12/20] tomato-to-bowl/hover 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) +2026-10-01T02:07:25.467326+00:00 DONE [12/20] tomato-to-bowl/hover state=11 episode_000012.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:07:25.467551+00:00 RUN [13/20] tomato-to-bowl/hover 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) +2026-10-01T02:13:55.913537+00:00 DONE [13/20] tomato-to-bowl/hover state=12 episode_000013.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:13:55.913883+00:00 RUN [14/20] tomato-to-bowl/hover 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) +2026-10-01T02:20:24.123306+00:00 DONE [14/20] tomato-to-bowl/hover state=13 episode_000014.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:20:24.123534+00:00 RUN [15/20] tomato-to-bowl/hover 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) +2026-10-01T02:21:03.919183+00:00 DONE [15/20] tomato-to-bowl/hover state=14 episode_000015.hdf5 object-perturbed task=False hri=False safe=False steps=49 +2026-10-01T02:21:03.919377+00:00 RUN [16/20] tomato-to-bowl/hover 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) +2026-10-01T02:21:36.199647+00:00 DONE [16/20] tomato-to-bowl/hover state=15 episode_000016.hdf5 object-perturbed task=False hri=False safe=False steps=39 +2026-10-01T02:21:36.199846+00:00 RUN [17/20] tomato-to-bowl/hover 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) +2026-10-01T02:28:06.470992+00:00 DONE [17/20] tomato-to-bowl/hover state=16 episode_000017.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:28:06.471233+00:00 RUN [18/20] tomato-to-bowl/hover 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) +2026-10-01T02:34:36.427170+00:00 DONE [18/20] tomato-to-bowl/hover state=17 episode_000018.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:34:36.427516+00:00 RUN [19/20] tomato-to-bowl/hover 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) +2026-10-01T02:41:07.710117+00:00 DONE [19/20] tomato-to-bowl/hover state=18 episode_000019.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:41:07.710339+00:00 RUN [20/20] tomato-to-bowl/hover 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) +2026-10-01T02:41:58.877688+00:00 DONE [20/20] tomato-to-bowl/hover state=19 episode_000020.hdf5 object-perturbed task=False hri=False safe=False steps=70 +2026-10-01T02:41:58.881455+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": 0.018969006982989634, + "median": 0.01507568261631128, + "minimum": 0.0 + }, + "episodes": 20, + "evaluation_action_intervention_rate": 0.0, + "hri_completion_step": { + "count": 13, + "mean": 113.15384615384616, + "median": 113.0, + "minimum": 89.0 + }, + "hri_success_rate": 0.65, + "intent_directive_accuracy": { + "count": 0, + "mean": null, + "median": null, + "minimum": null + }, + "minimum_gripper_active_hand_distance_m": { + "count": 20, + "mean": 0.11282746992133785, + "median": 0.11644313819489586, + "minimum": 0.00016036248952872753 + }, + "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 + } +} diff --git a/hover/manifest.json b/hover/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..44c6a76cbf4d5cc405e3975e23ea4c4c4cb05838 --- /dev/null +++ b/hover/manifest.json @@ -0,0 +1,553 @@ +{ + "accepted_episode_contract": "collector-episodes-directory-v1", + "action_execution_contract": "raw-policy-actions-to-robosuite-v2", + "action_key": null, + "adaptive_intent_expected": true, + "adaptive_trust_region_config": null, + "adaptive_trust_region_enabled": false, + "base_episodes": 20, + "composition_filter": null, + "episodes_per_cell": 20, + "evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2", + "evaluation_mode": "simple", + "excluded_trajectories": [], + "execute_horizon": 1, + "extra_perturbation_source_indices": [], + "handover_signal_prompts_enabled": true, + "human_annotations_root": "/mnt/data/data_nhat/hitbench/human_annotations", + "human_interaction_filter": "hover", + "human_interaction_prompts_enabled": true, + "human_task_dir": null, + "initialization_contract": "sealed-frozen-multi-perturbation-reconstruction-v2", + "initialization_source": "human-plan", + "intent_human_prompts_enabled": true, + "intent_visual_history_enabled": true, + "intrinsic_action_evaluation": true, + "max_steps": 650, + "modes": [ + "object-perturbed" + ], + "object_perturbation_m": 0.005, + "observation_keys": [], + "perturbation_attempts": 20, + "perturbation_bank": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank", + "perturbation_bank_manifest_sha256": "2dc4669160fb81459b3a812075b19fe48abc65156428d5689eca80f41d0a6988", + "perturbed_state_schedule": [ + { + "evaluation_state_index": 0, + "perturbation_index": 0, + "scenario_id": "tomato-to-bowl/hover", + "source_index": 0, + "source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__hover__onset-0-80/episodes/successful/episode_000001.hdf5" + }, + { + "evaluation_state_index": 1, + "perturbation_index": 0, + "scenario_id": "tomato-to-bowl/hover", + "source_index": 1, + "source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__hover__onset-0-80/episodes/successful/episode_000002.hdf5" + }, + { + "evaluation_state_index": 2, + "perturbation_index": 0, + "scenario_id": "tomato-to-bowl/hover", + "source_index": 2, + "source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__hover__onset-0-80/episodes/successful/episode_000003.hdf5" + }, + { + "evaluation_state_index": 3, + "perturbation_index": 0, + "scenario_id": "tomato-to-bowl/hover", + "source_index": 3, + "source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__hover__onset-0-80/episodes/successful/episode_000004.hdf5" + }, + { + "evaluation_state_index": 4, + "perturbation_index": 0, + "scenario_id": "tomato-to-bowl/hover", + "source_index": 4, + "source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__hover__onset-0-80/episodes/successful/episode_000005.hdf5" + }, + { + "evaluation_state_index": 5, + "perturbation_index": 0, + "scenario_id": "tomato-to-bowl/hover", + "source_index": 5, + "source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__hover__onset-0-80/episodes/successful/episode_000006.hdf5" + }, + { + "evaluation_state_index": 6, + "perturbation_index": 0, + "scenario_id": "tomato-to-bowl/hover", + "source_index": 6, + "source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__hover__onset-0-80/episodes/successful/episode_000007.hdf5" + }, + { + "evaluation_state_index": 7, + "perturbation_index": 0, + "scenario_id": "tomato-to-bowl/hover", + "source_index": 7, + "source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__hover__onset-0-80/episodes/successful/episode_000008.hdf5" + }, + { + "evaluation_state_index": 8, + "perturbation_index": 0, + "scenario_id": "tomato-to-bowl/hover", + "source_index": 8, + "source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__hover__onset-0-80/episodes/successful/episode_000009.hdf5" + }, + { + "evaluation_state_index": 9, + "perturbation_index": 0, + "scenario_id": "tomato-to-bowl/hover", + "source_index": 9, + "source_trajectory": 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"interaction_ids": [ + "hover" + ], + "scenario_id": "tomato-to-bowl/hover", + "source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__hover__onset-0-80/episodes/successful/episode_000020.hdf5", + "task_seed": 2200621456, + "task_sim_state_sha256": "16077a974417645ea7ee95126316a5ed59c2ba3580efd51894c02923f87f54a8" + } + ], + "source_alignment_contract": "accepted-exact-state-and-human-plan-v1", + "split_family": null, + "split_manifest": null, + "split_manifest_sha256": null, + "split_name": null, + "state_atol": 0.0001, + "task_filter": "tomato-to-bowl", + "trajectory_root": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw", + "transfer_action_guards_enabled": false, + "video_fps": 30, + "video_success_metric": "overall_success", + "visual_history_enabled": false +} diff --git a/hover/progress.log b/hover/progress.log new file mode 100644 index 0000000000000000000000000000000000000000..00f795f6f759cb48ec4c2d92fd0051376320381d --- /dev/null +++ b/hover/progress.log @@ -0,0 +1,41 @@ +2026-10-01T01:11:27.895152+00:00 RUN [1/20] tomato-to-bowl/hover state=0 source=0 episode_000001.hdf5 object-perturbed +2026-10-01T01:18:09.352900+00:00 DONE [1/20] tomato-to-bowl/hover state=0 episode_000001.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:18:09.353132+00:00 RUN [2/20] tomato-to-bowl/hover state=1 source=1 episode_000002.hdf5 object-perturbed +2026-10-01T01:24:40.059955+00:00 DONE [2/20] tomato-to-bowl/hover state=1 episode_000002.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:24:40.060190+00:00 RUN [3/20] tomato-to-bowl/hover state=2 source=2 episode_000003.hdf5 object-perturbed +2026-10-01T01:25:24.909588+00:00 DONE [3/20] tomato-to-bowl/hover state=2 episode_000003.hdf5 object-perturbed task=False hri=False safe=False steps=57 +2026-10-01T01:25:24.909896+00:00 RUN [4/20] tomato-to-bowl/hover state=3 source=3 episode_000004.hdf5 object-perturbed +2026-10-01T01:31:57.251840+00:00 DONE [4/20] tomato-to-bowl/hover state=3 episode_000004.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:31:57.252255+00:00 RUN [5/20] tomato-to-bowl/hover state=4 source=4 episode_000005.hdf5 object-perturbed +2026-10-01T01:33:12.357321+00:00 DONE [5/20] tomato-to-bowl/hover state=4 episode_000005.hdf5 object-perturbed task=False hri=False safe=False steps=105 +2026-10-01T01:33:12.357551+00:00 RUN [6/20] tomato-to-bowl/hover state=5 source=5 episode_000006.hdf5 object-perturbed +2026-10-01T01:39:45.276221+00:00 DONE [6/20] tomato-to-bowl/hover state=5 episode_000006.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:39:45.276449+00:00 RUN [7/20] tomato-to-bowl/hover state=6 source=6 episode_000007.hdf5 object-perturbed +2026-10-01T01:46:18.437762+00:00 DONE [7/20] tomato-to-bowl/hover state=6 episode_000007.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:46:18.438132+00:00 RUN [8/20] tomato-to-bowl/hover state=7 source=7 episode_000008.hdf5 object-perturbed +2026-10-01T01:52:47.097171+00:00 DONE [8/20] tomato-to-bowl/hover state=7 episode_000008.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:52:47.097529+00:00 RUN [9/20] tomato-to-bowl/hover state=8 source=8 episode_000009.hdf5 object-perturbed +2026-10-01T01:53:31.473583+00:00 DONE [9/20] tomato-to-bowl/hover state=8 episode_000009.hdf5 object-perturbed task=False hri=False safe=False steps=60 +2026-10-01T01:53:31.473973+00:00 RUN [10/20] tomato-to-bowl/hover state=9 source=9 episode_000010.hdf5 object-perturbed +2026-10-01T01:54:24.469287+00:00 DONE [10/20] tomato-to-bowl/hover state=9 episode_000010.hdf5 object-perturbed task=False hri=False safe=False steps=75 +2026-10-01T01:54:24.469504+00:00 RUN [11/20] tomato-to-bowl/hover state=10 source=10 episode_000011.hdf5 object-perturbed +2026-10-01T02:00:55.881100+00:00 DONE [11/20] tomato-to-bowl/hover state=10 episode_000011.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:00:55.881496+00:00 RUN [12/20] tomato-to-bowl/hover state=11 source=11 episode_000012.hdf5 object-perturbed +2026-10-01T02:07:25.467326+00:00 DONE [12/20] tomato-to-bowl/hover state=11 episode_000012.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:07:25.467551+00:00 RUN [13/20] tomato-to-bowl/hover state=12 source=12 episode_000013.hdf5 object-perturbed +2026-10-01T02:13:55.913537+00:00 DONE [13/20] tomato-to-bowl/hover state=12 episode_000013.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:13:55.913883+00:00 RUN [14/20] tomato-to-bowl/hover state=13 source=13 episode_000014.hdf5 object-perturbed +2026-10-01T02:20:24.123306+00:00 DONE [14/20] tomato-to-bowl/hover state=13 episode_000014.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:20:24.123534+00:00 RUN [15/20] tomato-to-bowl/hover state=14 source=14 episode_000015.hdf5 object-perturbed +2026-10-01T02:21:03.919183+00:00 DONE [15/20] tomato-to-bowl/hover state=14 episode_000015.hdf5 object-perturbed task=False hri=False safe=False steps=49 +2026-10-01T02:21:03.919377+00:00 RUN [16/20] tomato-to-bowl/hover state=15 source=15 episode_000016.hdf5 object-perturbed +2026-10-01T02:21:36.199647+00:00 DONE [16/20] tomato-to-bowl/hover state=15 episode_000016.hdf5 object-perturbed task=False hri=False safe=False steps=39 +2026-10-01T02:21:36.199846+00:00 RUN [17/20] tomato-to-bowl/hover state=16 source=16 episode_000017.hdf5 object-perturbed +2026-10-01T02:28:06.470992+00:00 DONE [17/20] tomato-to-bowl/hover state=16 episode_000017.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:28:06.471233+00:00 RUN [18/20] tomato-to-bowl/hover state=17 source=17 episode_000018.hdf5 object-perturbed +2026-10-01T02:34:36.427170+00:00 DONE [18/20] tomato-to-bowl/hover state=17 episode_000018.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:34:36.427516+00:00 RUN [19/20] tomato-to-bowl/hover state=18 source=18 episode_000019.hdf5 object-perturbed +2026-10-01T02:41:07.710117+00:00 DONE [19/20] tomato-to-bowl/hover state=18 episode_000019.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:41:07.710339+00:00 RUN [20/20] tomato-to-bowl/hover state=19 source=19 episode_000020.hdf5 object-perturbed +2026-10-01T02:41:58.877688+00:00 DONE [20/20] tomato-to-bowl/hover state=19 episode_000020.hdf5 object-perturbed task=False hri=False safe=False steps=70 +2026-10-01T02:41:58.881455+00:00 SUMMARY completed=20/20 paired=0 diff --git a/hover/rollouts/tomato-to-bowl__hover/state_000_episode_000001_e7713df0e19d/object-perturbed/rollout.mp4 b/hover/rollouts/tomato-to-bowl__hover/state_000_episode_000001_e7713df0e19d/object-perturbed/rollout.mp4 new file mode 100644 index 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"source_episode": "demo_1", + "source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__hover__onset-0-80/episodes/successful/episode_000020.hdf5", + "steps": 70, + "subgoal_checks": null, + "success": false, + "task_check": null, + "task_completion_step": null, + "task_required": true, + "task_seed": 2200621456, + "task_success": false, + "termination_step": 70, + "total_reward": 0.0, + "transfer_action_guard_interventions": 0, + "transfer_action_guards_enabled": false, + "transfer_confirmations": 0, + "valid_gripper_active_hand_distance_steps": 21, + "video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/100000-aligned-h1/hover/rollouts/tomato-to-bowl__hover/state_019_episode_000020_bb08d1c3c99b/object-perturbed/rollout.mp4" +} diff --git a/independent-observe/aggregate.json b/independent-observe/aggregate.json new file mode 100644 index 0000000000000000000000000000000000000000..ea1e592bd8e062668d234e0c1fab7dcb89f5b1ea --- /dev/null +++ b/independent-observe/aggregate.json @@ -0,0 +1,176 @@ +{ + "cells": { + "tomato-to-bowl/independent-observe": { + "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 + }, 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"mean": null, + "median": null, + "minimum": null + }, + "episodes": 20, + "evaluation_action_intervention_rate": 0.0, + "hri_completion_step": { + "count": 20, + "mean": 105.4, + "median": 107.0, + "minimum": 74.0 + }, + "hri_success_rate": 1.0, + "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": 0.1, + "safety_shield_intervention_rate": 0.0, + "safety_success_rate": 1.0, + "task_completion_step": { + "count": 2, + "mean": 163.0, + "median": 163.0, + "minimum": 156.0 + }, + "task_success_rate": 0.1, + "transfer_action_guard_intervention_rate": 0.0 + } + }, + "paired_changes": [], + "paired_episodes": 0, + "rollouts": 20, + "schema_version": 3 +} diff --git a/independent-observe/evaluation.log b/independent-observe/evaluation.log new file mode 100644 index 0000000000000000000000000000000000000000..6ef9eecfc865ab56baaf65e4ee03c8cd1e8aaf2c --- /dev/null +++ b/independent-observe/evaluation.log @@ -0,0 +1,434 @@ +2026-10-01T01:11:27.949127+00:00 RUN [1/20] tomato-to-bowl/independent-observe 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) +2026-10-01T01:18:03.353629+00:00 DONE [1/20] tomato-to-bowl/independent-observe state=0 episode_000001.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:18:03.354006+00:00 RUN [2/20] tomato-to-bowl/independent-observe 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) +2026-10-01T01:24:27.785157+00:00 DONE [2/20] tomato-to-bowl/independent-observe state=1 episode_000002.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:24:27.785425+00:00 RUN [3/20] tomato-to-bowl/independent-observe 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) +2026-10-01T01:30:51.300982+00:00 DONE [3/20] tomato-to-bowl/independent-observe state=2 episode_000003.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:30:51.301255+00:00 RUN [4/20] tomato-to-bowl/independent-observe 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) +2026-10-01T01:37:13.929323+00:00 DONE [4/20] tomato-to-bowl/independent-observe state=3 episode_000004.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:37:13.929701+00:00 RUN [5/20] tomato-to-bowl/independent-observe 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) +2026-10-01T01:43:35.321932+00:00 DONE [5/20] tomato-to-bowl/independent-observe state=4 episode_000005.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:43:35.322330+00:00 RUN [6/20] tomato-to-bowl/independent-observe 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) +2026-10-01T01:49:53.220779+00:00 DONE [6/20] tomato-to-bowl/independent-observe state=5 episode_000006.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:49:53.221130+00:00 RUN [7/20] tomato-to-bowl/independent-observe 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) +2026-10-01T01:56:15.155673+00:00 DONE [7/20] tomato-to-bowl/independent-observe state=6 episode_000007.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:56:15.156023+00:00 RUN [8/20] tomato-to-bowl/independent-observe 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) +2026-10-01T02:02:35.996092+00:00 DONE [8/20] tomato-to-bowl/independent-observe state=7 episode_000008.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:02:35.996350+00:00 RUN [9/20] tomato-to-bowl/independent-observe 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) +2026-10-01T02:08:55.736070+00:00 DONE [9/20] tomato-to-bowl/independent-observe state=8 episode_000009.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:08:55.736459+00:00 RUN [10/20] tomato-to-bowl/independent-observe 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) +2026-10-01T02:15:17.050508+00:00 DONE [10/20] tomato-to-bowl/independent-observe state=9 episode_000010.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:15:17.050896+00:00 RUN [11/20] tomato-to-bowl/independent-observe 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) +2026-10-01T02:21:38.000092+00:00 DONE [11/20] tomato-to-bowl/independent-observe state=10 episode_000011.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:21:38.000436+00:00 RUN [12/20] tomato-to-bowl/independent-observe 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) +2026-10-01T02:27:59.837764+00:00 DONE [12/20] tomato-to-bowl/independent-observe state=11 episode_000012.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:27:59.837991+00:00 RUN [13/20] tomato-to-bowl/independent-observe 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) +2026-10-01T02:34:21.050883+00:00 DONE [13/20] tomato-to-bowl/independent-observe state=12 episode_000013.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:34:21.051253+00:00 RUN [14/20] tomato-to-bowl/independent-observe 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) +2026-10-01T02:40:42.372006+00:00 DONE [14/20] tomato-to-bowl/independent-observe state=13 episode_000014.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:40:42.372429+00:00 RUN [15/20] tomato-to-bowl/independent-observe 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) +2026-10-01T02:47:03.650904+00:00 DONE [15/20] tomato-to-bowl/independent-observe state=14 episode_000015.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:47:03.651285+00:00 RUN [16/20] tomato-to-bowl/independent-observe 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) +2026-10-01T02:48:59.689129+00:00 DONE [16/20] tomato-to-bowl/independent-observe state=15 episode_000016.hdf5 object-perturbed task=True hri=True safe=True steps=170 +2026-10-01T02:48:59.689383+00:00 RUN [17/20] tomato-to-bowl/independent-observe 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) +2026-10-01T02:55:19.223180+00:00 DONE [17/20] tomato-to-bowl/independent-observe state=16 episode_000017.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:55:19.223414+00:00 RUN [18/20] tomato-to-bowl/independent-observe 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) +2026-10-01T03:01:38.934674+00:00 DONE [18/20] tomato-to-bowl/independent-observe state=17 episode_000018.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:01:38.934915+00:00 RUN [19/20] tomato-to-bowl/independent-observe 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) +2026-10-01T03:03:26.573649+00:00 DONE [19/20] tomato-to-bowl/independent-observe state=18 episode_000019.hdf5 object-perturbed task=True hri=True safe=True steps=156 +2026-10-01T03:03:26.574053+00:00 RUN [20/20] tomato-to-bowl/independent-observe 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) +2026-10-01T03:09:47.050264+00:00 DONE [20/20] tomato-to-bowl/independent-observe state=19 episode_000020.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:09:47.053960+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": 0, + "mean": null, + "median": null, + "minimum": null + }, + "episodes": 20, + "evaluation_action_intervention_rate": 0.0, + "hri_completion_step": { + "count": 20, + "mean": 105.4, + "median": 107.0, + "minimum": 74.0 + }, + "hri_success_rate": 1.0, + "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": 0.1, + "safety_shield_intervention_rate": 0.0, + "safety_success_rate": 1.0, + "task_completion_step": { + "count": 2, + "mean": 163.0, + "median": 163.0, + "minimum": 156.0 + }, + "task_success_rate": 0.1, + "transfer_action_guard_intervention_rate": 0.0 + } +} diff --git a/independent-observe/manifest.json b/independent-observe/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..55c53a61c9e9c6fa4f2c503c2033d5ceb604e2f7 --- /dev/null +++ b/independent-observe/manifest.json @@ -0,0 +1,553 @@ +{ + "accepted_episode_contract": "collector-episodes-directory-v1", + "action_execution_contract": "raw-policy-actions-to-robosuite-v2", + "action_key": null, + "adaptive_intent_expected": true, + "adaptive_trust_region_config": null, + "adaptive_trust_region_enabled": false, + "base_episodes": 20, + "composition_filter": null, + "episodes_per_cell": 20, + "evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2", + "evaluation_mode": "simple", + "excluded_trajectories": [], + "execute_horizon": 1, + "extra_perturbation_source_indices": [], + "handover_signal_prompts_enabled": true, + "human_annotations_root": "/mnt/data/data_nhat/hitbench/human_annotations", + "human_interaction_filter": "independent-observe", + "human_interaction_prompts_enabled": true, + "human_task_dir": null, + "initialization_contract": "sealed-frozen-multi-perturbation-reconstruction-v2", + "initialization_source": "human-plan", + "intent_human_prompts_enabled": true, + "intent_visual_history_enabled": true, + "intrinsic_action_evaluation": true, + "max_steps": 650, + "modes": [ + "object-perturbed" + ], + "object_perturbation_m": 0.005, + "observation_keys": [], + "perturbation_attempts": 20, + "perturbation_bank": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank", + "perturbation_bank_manifest_sha256": "2dc4669160fb81459b3a812075b19fe48abc65156428d5689eca80f41d0a6988", + "perturbed_state_schedule": [ + { + "evaluation_state_index": 0, + "perturbation_index": 0, + "scenario_id": "tomato-to-bowl/independent-observe", + "source_index": 0, + "source_trajectory": 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"state_atol": 0.0001, + "task_filter": "tomato-to-bowl", + "trajectory_root": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw", + "transfer_action_guards_enabled": false, + "video_fps": 30, + "video_success_metric": "overall_success", + "visual_history_enabled": false +} diff --git a/independent-observe/progress.log b/independent-observe/progress.log new file mode 100644 index 0000000000000000000000000000000000000000..ea9bf52b148ea8e5fad1d409d617cd2caab37983 --- /dev/null +++ b/independent-observe/progress.log @@ -0,0 +1,41 @@ +2026-10-01T01:11:27.949127+00:00 RUN [1/20] tomato-to-bowl/independent-observe state=0 source=0 episode_000001.hdf5 object-perturbed +2026-10-01T01:18:03.353629+00:00 DONE [1/20] tomato-to-bowl/independent-observe state=0 episode_000001.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:18:03.354006+00:00 RUN [2/20] tomato-to-bowl/independent-observe state=1 source=1 episode_000002.hdf5 object-perturbed +2026-10-01T01:24:27.785157+00:00 DONE [2/20] tomato-to-bowl/independent-observe state=1 episode_000002.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:24:27.785425+00:00 RUN [3/20] tomato-to-bowl/independent-observe state=2 source=2 episode_000003.hdf5 object-perturbed +2026-10-01T01:30:51.300982+00:00 DONE [3/20] tomato-to-bowl/independent-observe state=2 episode_000003.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:30:51.301255+00:00 RUN [4/20] tomato-to-bowl/independent-observe state=3 source=3 episode_000004.hdf5 object-perturbed +2026-10-01T01:37:13.929323+00:00 DONE [4/20] tomato-to-bowl/independent-observe state=3 episode_000004.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:37:13.929701+00:00 RUN [5/20] tomato-to-bowl/independent-observe state=4 source=4 episode_000005.hdf5 object-perturbed +2026-10-01T01:43:35.321932+00:00 DONE [5/20] tomato-to-bowl/independent-observe state=4 episode_000005.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:43:35.322330+00:00 RUN [6/20] tomato-to-bowl/independent-observe state=5 source=5 episode_000006.hdf5 object-perturbed +2026-10-01T01:49:53.220779+00:00 DONE [6/20] tomato-to-bowl/independent-observe state=5 episode_000006.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:49:53.221130+00:00 RUN [7/20] tomato-to-bowl/independent-observe state=6 source=6 episode_000007.hdf5 object-perturbed +2026-10-01T01:56:15.155673+00:00 DONE [7/20] tomato-to-bowl/independent-observe state=6 episode_000007.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:56:15.156023+00:00 RUN [8/20] tomato-to-bowl/independent-observe state=7 source=7 episode_000008.hdf5 object-perturbed +2026-10-01T02:02:35.996092+00:00 DONE [8/20] tomato-to-bowl/independent-observe state=7 episode_000008.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:02:35.996350+00:00 RUN [9/20] tomato-to-bowl/independent-observe state=8 source=8 episode_000009.hdf5 object-perturbed +2026-10-01T02:08:55.736070+00:00 DONE [9/20] tomato-to-bowl/independent-observe state=8 episode_000009.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:08:55.736459+00:00 RUN [10/20] tomato-to-bowl/independent-observe state=9 source=9 episode_000010.hdf5 object-perturbed +2026-10-01T02:15:17.050508+00:00 DONE [10/20] tomato-to-bowl/independent-observe state=9 episode_000010.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:15:17.050896+00:00 RUN [11/20] tomato-to-bowl/independent-observe state=10 source=10 episode_000011.hdf5 object-perturbed +2026-10-01T02:21:38.000092+00:00 DONE [11/20] tomato-to-bowl/independent-observe state=10 episode_000011.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:21:38.000436+00:00 RUN [12/20] tomato-to-bowl/independent-observe state=11 source=11 episode_000012.hdf5 object-perturbed +2026-10-01T02:27:59.837764+00:00 DONE [12/20] tomato-to-bowl/independent-observe state=11 episode_000012.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:27:59.837991+00:00 RUN [13/20] tomato-to-bowl/independent-observe state=12 source=12 episode_000013.hdf5 object-perturbed +2026-10-01T02:34:21.050883+00:00 DONE [13/20] tomato-to-bowl/independent-observe state=12 episode_000013.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:34:21.051253+00:00 RUN [14/20] tomato-to-bowl/independent-observe state=13 source=13 episode_000014.hdf5 object-perturbed +2026-10-01T02:40:42.372006+00:00 DONE [14/20] tomato-to-bowl/independent-observe state=13 episode_000014.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:40:42.372429+00:00 RUN [15/20] tomato-to-bowl/independent-observe state=14 source=14 episode_000015.hdf5 object-perturbed +2026-10-01T02:47:03.650904+00:00 DONE [15/20] tomato-to-bowl/independent-observe state=14 episode_000015.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:47:03.651285+00:00 RUN [16/20] tomato-to-bowl/independent-observe state=15 source=15 episode_000016.hdf5 object-perturbed +2026-10-01T02:48:59.689129+00:00 DONE [16/20] tomato-to-bowl/independent-observe state=15 episode_000016.hdf5 object-perturbed task=True hri=True safe=True steps=170 +2026-10-01T02:48:59.689383+00:00 RUN [17/20] tomato-to-bowl/independent-observe state=16 source=16 episode_000017.hdf5 object-perturbed +2026-10-01T02:55:19.223180+00:00 DONE [17/20] tomato-to-bowl/independent-observe state=16 episode_000017.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:55:19.223414+00:00 RUN [18/20] tomato-to-bowl/independent-observe state=17 source=17 episode_000018.hdf5 object-perturbed +2026-10-01T03:01:38.934674+00:00 DONE [18/20] tomato-to-bowl/independent-observe state=17 episode_000018.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:01:38.934915+00:00 RUN [19/20] tomato-to-bowl/independent-observe state=18 source=18 episode_000019.hdf5 object-perturbed +2026-10-01T03:03:26.573649+00:00 DONE [19/20] tomato-to-bowl/independent-observe state=18 episode_000019.hdf5 object-perturbed task=True hri=True safe=True steps=156 +2026-10-01T03:03:26.574053+00:00 RUN [20/20] tomato-to-bowl/independent-observe state=19 source=19 episode_000020.hdf5 object-perturbed +2026-10-01T03:09:47.050264+00:00 DONE [20/20] tomato-to-bowl/independent-observe state=19 episode_000020.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:09:47.053960+00:00 SUMMARY completed=20/20 paired=0 diff --git a/independent-observe/rollouts/tomato-to-bowl__independent-observe/state_000_episode_000001_c43a42dbbc7e/object-perturbed/rollout.mp4 b/independent-observe/rollouts/tomato-to-bowl__independent-observe/state_000_episode_000001_c43a42dbbc7e/object-perturbed/rollout.mp4 new file mode 100644 index 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"median": null, + "minimum": null + }, + "overall_success_rate": 0.0, + "safety_shield_intervention_rate": 0.0, + "safety_success_rate": 0.95, + "task_completion_step": { + "count": 0, + "mean": null, + "median": null, + "minimum": null + }, + "task_success_rate": 0.0, + "transfer_action_guard_intervention_rate": 0.0 + } + } + }, + "overall_by_mode": { + "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": 0, + "mean": null, + "median": null, + "minimum": null + }, + "episodes": 20, + "evaluation_action_intervention_rate": 0.0, + "hri_completion_step": { + "count": 19, + "mean": 260.36842105263156, + "median": 258.0, + "minimum": 230.0 + }, + "hri_success_rate": 0.95, + "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": 0.95, + "task_completion_step": { + "count": 0, + "mean": null, + "median": null, + "minimum": null + }, + "task_success_rate": 0.0, + "transfer_action_guard_intervention_rate": 0.0 + } + }, + "paired_changes": [], + "paired_episodes": 0, + "rollouts": 20, + "schema_version": 3 +} diff --git a/independent-tasking/evaluation.log b/independent-tasking/evaluation.log new file mode 100644 index 0000000000000000000000000000000000000000..efdc331d47777bc7f75670ff91d905fa4f98b180 --- /dev/null +++ b/independent-tasking/evaluation.log @@ -0,0 +1,434 @@ +2026-10-01T01:11:27.792482+00:00 RUN [1/20] tomato-to-bowl/independent-tasking 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) +2026-10-01T01:18:43.312311+00:00 DONE [1/20] tomato-to-bowl/independent-tasking state=0 episode_000001.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:18:43.312602+00:00 RUN [2/20] tomato-to-bowl/independent-tasking 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) +2026-10-01T01:25:51.721156+00:00 DONE [2/20] tomato-to-bowl/independent-tasking state=1 episode_000002.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:25:51.721549+00:00 RUN [3/20] tomato-to-bowl/independent-tasking 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) +2026-10-01T01:32:58.609433+00:00 DONE [3/20] tomato-to-bowl/independent-tasking state=2 episode_000003.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:32:58.609663+00:00 RUN [4/20] tomato-to-bowl/independent-tasking 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) +2026-10-01T01:40:07.296017+00:00 DONE [4/20] tomato-to-bowl/independent-tasking state=3 episode_000004.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:40:07.296256+00:00 RUN [5/20] tomato-to-bowl/independent-tasking 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) +2026-10-01T01:47:16.706287+00:00 DONE [5/20] tomato-to-bowl/independent-tasking state=4 episode_000005.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:47:16.706704+00:00 RUN [6/20] tomato-to-bowl/independent-tasking 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) +2026-10-01T01:54:22.417629+00:00 DONE [6/20] tomato-to-bowl/independent-tasking state=5 episode_000006.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:54:22.418034+00:00 RUN [7/20] tomato-to-bowl/independent-tasking 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) +2026-10-01T02:01:28.606096+00:00 DONE [7/20] tomato-to-bowl/independent-tasking state=6 episode_000007.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:01:28.606421+00:00 RUN [8/20] tomato-to-bowl/independent-tasking 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) +2026-10-01T02:03:01.861344+00:00 DONE [8/20] tomato-to-bowl/independent-tasking state=7 episode_000008.hdf5 object-perturbed task=False hri=False safe=False steps=123 +2026-10-01T02:03:01.861752+00:00 RUN [9/20] tomato-to-bowl/independent-tasking 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) +2026-10-01T02:10:07.552791+00:00 DONE [9/20] tomato-to-bowl/independent-tasking state=8 episode_000009.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:10:07.553093+00:00 RUN [10/20] tomato-to-bowl/independent-tasking 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) +2026-10-01T02:17:14.345045+00:00 DONE [10/20] tomato-to-bowl/independent-tasking state=9 episode_000010.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:17:14.345412+00:00 RUN [11/20] tomato-to-bowl/independent-tasking 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) +2026-10-01T02:24:20.612121+00:00 DONE [11/20] tomato-to-bowl/independent-tasking state=10 episode_000011.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:24:20.612373+00:00 RUN [12/20] tomato-to-bowl/independent-tasking 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) +2026-10-01T02:31:29.550803+00:00 DONE [12/20] tomato-to-bowl/independent-tasking state=11 episode_000012.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:31:29.551136+00:00 RUN [13/20] tomato-to-bowl/independent-tasking 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) +2026-10-01T02:38:37.780890+00:00 DONE [13/20] tomato-to-bowl/independent-tasking state=12 episode_000013.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:38:37.781144+00:00 RUN [14/20] tomato-to-bowl/independent-tasking 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) +2026-10-01T02:45:45.340497+00:00 DONE [14/20] tomato-to-bowl/independent-tasking state=13 episode_000014.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:45:45.340862+00:00 RUN [15/20] tomato-to-bowl/independent-tasking 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) +2026-10-01T02:52:55.025029+00:00 DONE [15/20] tomato-to-bowl/independent-tasking state=14 episode_000015.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:52:55.025275+00:00 RUN [16/20] tomato-to-bowl/independent-tasking 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) +2026-10-01T03:00:05.266485+00:00 DONE [16/20] tomato-to-bowl/independent-tasking state=15 episode_000016.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:00:05.266837+00:00 RUN [17/20] tomato-to-bowl/independent-tasking 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) +2026-10-01T03:07:15.615267+00:00 DONE [17/20] tomato-to-bowl/independent-tasking state=16 episode_000017.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:07:15.615633+00:00 RUN [18/20] tomato-to-bowl/independent-tasking 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) +2026-10-01T03:14:26.379425+00:00 DONE [18/20] tomato-to-bowl/independent-tasking state=17 episode_000018.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:14:26.379652+00:00 RUN [19/20] tomato-to-bowl/independent-tasking 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) +2026-10-01T03:21:30.469417+00:00 DONE [19/20] tomato-to-bowl/independent-tasking state=18 episode_000019.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:21:30.469771+00:00 RUN [20/20] tomato-to-bowl/independent-tasking 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. 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"state_atol": 0.0001, + "task_filter": "tomato-to-bowl", + "trajectory_root": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw", + "transfer_action_guards_enabled": false, + "video_fps": 30, + "video_success_metric": "overall_success", + "visual_history_enabled": false +} diff --git a/independent-tasking/progress.log b/independent-tasking/progress.log new file mode 100644 index 0000000000000000000000000000000000000000..ec84315593ccbd7c8da4a706da27aa52d473ea87 --- /dev/null +++ b/independent-tasking/progress.log @@ -0,0 +1,41 @@ +2026-10-01T01:11:27.792482+00:00 RUN [1/20] tomato-to-bowl/independent-tasking state=0 source=0 episode_000001.hdf5 object-perturbed +2026-10-01T01:18:43.312311+00:00 DONE [1/20] tomato-to-bowl/independent-tasking state=0 episode_000001.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:18:43.312602+00:00 RUN [2/20] tomato-to-bowl/independent-tasking state=1 source=1 episode_000002.hdf5 object-perturbed +2026-10-01T01:25:51.721156+00:00 DONE [2/20] tomato-to-bowl/independent-tasking state=1 episode_000002.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:25:51.721549+00:00 RUN [3/20] tomato-to-bowl/independent-tasking state=2 source=2 episode_000003.hdf5 object-perturbed +2026-10-01T01:32:58.609433+00:00 DONE [3/20] tomato-to-bowl/independent-tasking state=2 episode_000003.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:32:58.609663+00:00 RUN [4/20] tomato-to-bowl/independent-tasking state=3 source=3 episode_000004.hdf5 object-perturbed +2026-10-01T01:40:07.296017+00:00 DONE [4/20] tomato-to-bowl/independent-tasking state=3 episode_000004.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:40:07.296256+00:00 RUN [5/20] tomato-to-bowl/independent-tasking state=4 source=4 episode_000005.hdf5 object-perturbed +2026-10-01T01:47:16.706287+00:00 DONE [5/20] tomato-to-bowl/independent-tasking state=4 episode_000005.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:47:16.706704+00:00 RUN [6/20] tomato-to-bowl/independent-tasking state=5 source=5 episode_000006.hdf5 object-perturbed +2026-10-01T01:54:22.417629+00:00 DONE [6/20] tomato-to-bowl/independent-tasking state=5 episode_000006.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T01:54:22.418034+00:00 RUN [7/20] tomato-to-bowl/independent-tasking state=6 source=6 episode_000007.hdf5 object-perturbed +2026-10-01T02:01:28.606096+00:00 DONE [7/20] tomato-to-bowl/independent-tasking state=6 episode_000007.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:01:28.606421+00:00 RUN [8/20] tomato-to-bowl/independent-tasking state=7 source=7 episode_000008.hdf5 object-perturbed +2026-10-01T02:03:01.861344+00:00 DONE [8/20] tomato-to-bowl/independent-tasking state=7 episode_000008.hdf5 object-perturbed task=False hri=False safe=False steps=123 +2026-10-01T02:03:01.861752+00:00 RUN [9/20] tomato-to-bowl/independent-tasking state=8 source=8 episode_000009.hdf5 object-perturbed +2026-10-01T02:10:07.552791+00:00 DONE [9/20] tomato-to-bowl/independent-tasking state=8 episode_000009.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:10:07.553093+00:00 RUN [10/20] tomato-to-bowl/independent-tasking state=9 source=9 episode_000010.hdf5 object-perturbed +2026-10-01T02:17:14.345045+00:00 DONE [10/20] tomato-to-bowl/independent-tasking state=9 episode_000010.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:17:14.345412+00:00 RUN [11/20] tomato-to-bowl/independent-tasking state=10 source=10 episode_000011.hdf5 object-perturbed +2026-10-01T02:24:20.612121+00:00 DONE [11/20] tomato-to-bowl/independent-tasking state=10 episode_000011.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:24:20.612373+00:00 RUN [12/20] tomato-to-bowl/independent-tasking state=11 source=11 episode_000012.hdf5 object-perturbed +2026-10-01T02:31:29.550803+00:00 DONE [12/20] tomato-to-bowl/independent-tasking state=11 episode_000012.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:31:29.551136+00:00 RUN [13/20] tomato-to-bowl/independent-tasking state=12 source=12 episode_000013.hdf5 object-perturbed +2026-10-01T02:38:37.780890+00:00 DONE [13/20] tomato-to-bowl/independent-tasking state=12 episode_000013.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:38:37.781144+00:00 RUN [14/20] tomato-to-bowl/independent-tasking state=13 source=13 episode_000014.hdf5 object-perturbed +2026-10-01T02:45:45.340497+00:00 DONE [14/20] tomato-to-bowl/independent-tasking state=13 episode_000014.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:45:45.340862+00:00 RUN [15/20] tomato-to-bowl/independent-tasking state=14 source=14 episode_000015.hdf5 object-perturbed +2026-10-01T02:52:55.025029+00:00 DONE [15/20] tomato-to-bowl/independent-tasking state=14 episode_000015.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T02:52:55.025275+00:00 RUN [16/20] tomato-to-bowl/independent-tasking state=15 source=15 episode_000016.hdf5 object-perturbed +2026-10-01T03:00:05.266485+00:00 DONE [16/20] tomato-to-bowl/independent-tasking state=15 episode_000016.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:00:05.266837+00:00 RUN [17/20] tomato-to-bowl/independent-tasking state=16 source=16 episode_000017.hdf5 object-perturbed +2026-10-01T03:07:15.615267+00:00 DONE [17/20] tomato-to-bowl/independent-tasking state=16 episode_000017.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:07:15.615633+00:00 RUN [18/20] tomato-to-bowl/independent-tasking state=17 source=17 episode_000018.hdf5 object-perturbed +2026-10-01T03:14:26.379425+00:00 DONE [18/20] tomato-to-bowl/independent-tasking state=17 episode_000018.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:14:26.379652+00:00 RUN [19/20] tomato-to-bowl/independent-tasking state=18 source=18 episode_000019.hdf5 object-perturbed +2026-10-01T03:21:30.469417+00:00 DONE [19/20] tomato-to-bowl/independent-tasking state=18 episode_000019.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:21:30.469771+00:00 RUN [20/20] tomato-to-bowl/independent-tasking state=19 source=19 episode_000020.hdf5 object-perturbed +2026-10-01T03:28:34.302622+00:00 DONE [20/20] tomato-to-bowl/independent-tasking state=19 episode_000020.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:28:34.304995+00:00 SUMMARY completed=20/20 paired=0 diff --git a/independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_000_episode_000001_75cacc8bb69b/object-perturbed/rollout.mp4 b/independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_000_episode_000001_75cacc8bb69b/object-perturbed/rollout.mp4 new file mode 100644 index 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"max_inference_ms": 554.5760560780764, + "mean_inference_ms": 509.0927286961904, + "measured_steps": 651, + "minimum_gripper_active_hand_distance_m": null, + "minimum_gripper_active_hand_distance_step": null, + "mode": "recorded", + "overall_success": false, + "payload_schema": "hitbench-policy-observation-v3", + "perturbation": { + "attempt": 1, + "evaluation_state_index": 19, + "excluded_objects": {}, + "frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2", + "frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank", + "frozen_perturbation_index": 0, + "frozen_source_fingerprint": "d5285615f9ccb6f6ab75a25f13f4305583df4331bde3faee95168ea7621fbb5f", + "frozen_state_revalidated": true, + "frozen_state_sha256": "3206713c5215790d4cc748d4c4c39e1e84cbd9184e255816d9e079577d50b662", + "maximum_xy_offset_m": 0.005, + "mode": "object-perturbed", + "object_deltas_xyz_m": { + "banana_1": [ + -0.0007592466645482314, + -0.0026152859120826544, + 0.0 + ], + "bowl_1": [ + 0.0006900269250604552, + -0.004151846867323707, + 0.0 + ], + "lemon_1": [ + 0.0020599168765393916, + -0.00030409738512723883, + 0.0 + ], + "plate_1": [ + -0.002910474052797346, + 0.0009481631616370598, + 0.0 + ], + "tomato_1": [ + -0.0010967448208930447, + -0.00023454355677759997, + 0.0 + ] + }, + "perturbation_index": 0, + "refreshed_human_reference_object": null, + "rejected_attempts": [], + "requested_xy_deltas_m": { + "banana_1": [ + -0.0007592466645482306, + -0.002615285912082652 + ], + "bowl_1": [ + 0.0006900269250604543, + -0.004151846867323704 + ], + "lemon_1": [ + 0.002059916876539375, + -0.00030409738512723015 + ], + "plate_1": [ + -0.0029104740527973504, + 0.0009481631616370615 + ], + "tomato_1": [ + -0.001096744820893043, + -0.0002345435567775913 + ] + }, + "schema_version": 1, + "seed": 2974963324 + }, + "perturbation_index": 0, + "policy_requests": 650, + "policy_variant": "E", + "reason": "resume_regular_task", + "reconstruction_mode": "object-perturbed", + "requested_task_seed": 847517899, + "safety_filter_enabled": false, + "safety_shield_interventions": 0, + "safety_success": true, + "safety_violation_reason": null, + "scenario_id": "tomato-to-bowl/independent-tasking", + "source_episode": "demo_1", + "source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__independent-tasking__onset-0-80/episodes/successful/episode_000020.hdf5", + "steps": 650, + "subgoal_checks": null, + "success": false, + "task_check": null, + "task_completion_step": null, + "task_required": true, + "task_seed": 847517899, + "task_success": false, + "termination_step": 650, + "total_reward": 0.0, + "transfer_action_guard_interventions": 0, + "transfer_action_guards_enabled": false, + "transfer_confirmations": 0, + "valid_gripper_active_hand_distance_steps": 0, + "video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/100000-aligned-h1/independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_019_episode_000020_cbcbc90778f7/object-perturbed/rollout.mp4" +} diff --git a/manifest.json b/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..53528ecf3333879b16318cb4a80e2799c57438bc --- /dev/null +++ b/manifest.json @@ -0,0 +1,102 @@ +{ + "task": "tomato-to-bowl", + "interactions": [ + "independent-observe", + "independent-tasking", + "r2h", + "h2r-air", + "handover-table", + "hover", + "stop", + "takeaway", + "redirect" + ], + "trajectory_root": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw", + "perturbation_bank": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank", + "human_annotations_root": "/mnt/data/data_nhat/hitbench/human_annotations", + "object_perturbation_m": 0.005, + "max_steps": 650, + "video_fps": 30, + "models": [ + "hri-diff" + ], + "checkpoints": { + "hri-diff": "/mnt/data/data_nhat/hitbench/outputs/hri_diff/joint_h50_100k/checkpoints/100000/hri_diff" + }, + "evaluation_protocol": "hri-diff-rgbd-history-prompts-v1", + "expected_total_rollouts": 180, + "episodes_per_cell": 20, + "policy_payload_contract": "E", + "visual_history_frames": 4, + "history_indices": [ + -9, + -6, + -3, + 0 + ], + "rgb_input_contract": { + "storage": "av1_yuv420_video", + "codec_roundtrip": { + "vcodec": "libsvtav1", + "canonical_codec": "av1", + "pix_fmt": "yuv420p", + "fps": 20, + "g": 2, + "crf": 30 + }, + "alignment": "exact_odd_gop; causal_current_frame_approximation; exact_history_after_next_frame" + }, + "flow_steps": 20, + "action_horizon": 50, + "execute_horizon": 1, + "worker_gpu_ids": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7 + ], + "worker_ports": [ + 5590, + 5591, + 5592, + 5593, + 5594, + 5595, + 5596, + 5597 + ], + "worker_interactions": [ + [ + "independent-observe", + "redirect" + ], + [ + "independent-tasking" + ], + [ + "r2h" + ], + [ + "h2r-air" + ], + [ + "handover-table" + ], + [ + "hover" + ], + [ + "stop" + ], + [ + "takeaway" + ] + ], + "status": "complete", + "started_at": 1790817072.1856277, + "finished_at": 1790830714.2998974 +} diff --git a/policy_server_0.log b/policy_server_0.log new file mode 100644 index 0000000000000000000000000000000000000000..44cc4c2c08eb9c88ef101e2fcfebcd89e0dae06a --- /dev/null +++ b/policy_server_0.log @@ -0,0 +1 @@ +Policy server ready at http://127.0.0.1:5590/v1 (protocol=1, policy=PythonPolicyAdapter) diff --git a/policy_server_1.log b/policy_server_1.log new file mode 100644 index 0000000000000000000000000000000000000000..ad47cb460e8835bdc23a83ab55c15d42a1857087 --- /dev/null +++ b/policy_server_1.log @@ -0,0 +1 @@ +Policy server ready at http://127.0.0.1:5591/v1 (protocol=1, policy=PythonPolicyAdapter) diff --git a/policy_server_2.log b/policy_server_2.log new file mode 100644 index 0000000000000000000000000000000000000000..d9948de3b086213b1f9297aa4365d2e24d1121d2 --- /dev/null +++ b/policy_server_2.log @@ -0,0 +1 @@ +Policy server ready at http://127.0.0.1:5592/v1 (protocol=1, policy=PythonPolicyAdapter) diff --git a/policy_server_3.log b/policy_server_3.log new file mode 100644 index 0000000000000000000000000000000000000000..e043633ab2851fc26bc965b19b94259acd90aeb7 --- /dev/null +++ b/policy_server_3.log @@ -0,0 +1 @@ +Policy server ready at http://127.0.0.1:5593/v1 (protocol=1, policy=PythonPolicyAdapter) diff --git a/policy_server_4.log b/policy_server_4.log new file mode 100644 index 0000000000000000000000000000000000000000..00cf8e2037cec074a23d508d2a826b2f92452fb3 --- /dev/null +++ b/policy_server_4.log @@ -0,0 +1 @@ +Policy server ready at http://127.0.0.1:5594/v1 (protocol=1, policy=PythonPolicyAdapter) diff --git a/policy_server_5.log b/policy_server_5.log new file mode 100644 index 0000000000000000000000000000000000000000..df6aed5c06b1beda08c8bd79b029300214ee2f8b --- /dev/null +++ b/policy_server_5.log @@ -0,0 +1 @@ +Policy server ready at http://127.0.0.1:5595/v1 (protocol=1, policy=PythonPolicyAdapter) diff --git a/policy_server_6.log b/policy_server_6.log new file mode 100644 index 0000000000000000000000000000000000000000..2354e19631be2854bc9c5b3e5b448f81455e1d05 --- /dev/null +++ b/policy_server_6.log @@ -0,0 +1 @@ +Policy server ready at http://127.0.0.1:5596/v1 (protocol=1, policy=PythonPolicyAdapter) diff --git a/policy_server_7.log b/policy_server_7.log new file mode 100644 index 0000000000000000000000000000000000000000..f92df88303b66ffea58eb31720071f683c404f1b --- /dev/null +++ b/policy_server_7.log @@ -0,0 +1 @@ +Policy server ready at http://127.0.0.1:5597/v1 (protocol=1, policy=PythonPolicyAdapter) diff --git a/r2h/aggregate.json b/r2h/aggregate.json new file mode 100644 index 0000000000000000000000000000000000000000..f7302e50991c95bb6f15e8a91b3a45c9d7eb9ccc --- /dev/null +++ b/r2h/aggregate.json @@ -0,0 +1,176 @@ +{ + "cells": { + "tomato-to-bowl/r2h": { + "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 + } + } + }, + "overall_by_mode": { + "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 + } + }, + "paired_changes": [], + "paired_episodes": 0, + "rollouts": 20, + "schema_version": 3 +} diff --git a/r2h/evaluation.log b/r2h/evaluation.log new file mode 100644 index 0000000000000000000000000000000000000000..f1aa1f8aa43334dc62905d3db5d2f30ed9588289 --- /dev/null +++ b/r2h/evaluation.log @@ -0,0 +1,434 @@ +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 + } +} diff --git a/r2h/manifest.json b/r2h/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..ba99ea74131608370bce10c0f4f06b4c762b7176 --- /dev/null +++ b/r2h/manifest.json @@ -0,0 +1,553 @@ +{ + "accepted_episode_contract": "collector-episodes-directory-v1", + "action_execution_contract": "raw-policy-actions-to-robosuite-v2", + "action_key": null, + "adaptive_intent_expected": true, + "adaptive_trust_region_config": null, + "adaptive_trust_region_enabled": false, + "base_episodes": 20, + "composition_filter": null, + "episodes_per_cell": 20, + "evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2", + "evaluation_mode": "simple", + "excluded_trajectories": [], + "execute_horizon": 1, + "extra_perturbation_source_indices": [], + "handover_signal_prompts_enabled": true, + "human_annotations_root": "/mnt/data/data_nhat/hitbench/human_annotations", + "human_interaction_filter": "r2h", + "human_interaction_prompts_enabled": true, + "human_task_dir": null, + "initialization_contract": "sealed-frozen-multi-perturbation-reconstruction-v2", + "initialization_source": "human-plan", + "intent_human_prompts_enabled": true, + "intent_visual_history_enabled": true, + "intrinsic_action_evaluation": true, + "max_steps": 650, + "modes": [ + "object-perturbed" + ], + "object_perturbation_m": 0.005, + "observation_keys": [], + "perturbation_attempts": 20, + "perturbation_bank": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank", + "perturbation_bank_manifest_sha256": "2dc4669160fb81459b3a812075b19fe48abc65156428d5689eca80f41d0a6988", + "perturbed_state_schedule": [ + { + "evaluation_state_index": 0, + "perturbation_index": 0, + "scenario_id": "tomato-to-bowl/r2h", + "source_index": 0, + "source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__r2h__onset-0-80/episodes/successful/episode_000001.hdf5" + }, + { + "evaluation_state_index": 1, + "perturbation_index": 0, + "scenario_id": "tomato-to-bowl/r2h", + "source_index": 1, + "source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__r2h__onset-0-80/episodes/successful/episode_000002.hdf5" + }, + { + "evaluation_state_index": 2, + "perturbation_index": 0, + "scenario_id": "tomato-to-bowl/r2h", + "source_index": 2, + "source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__r2h__onset-0-80/episodes/successful/episode_000003.hdf5" + }, + { + "evaluation_state_index": 3, + "perturbation_index": 0, + "scenario_id": "tomato-to-bowl/r2h", + "source_index": 3, + "source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__r2h__onset-0-80/episodes/successful/episode_000004.hdf5" + }, + { + "evaluation_state_index": 4, + "perturbation_index": 0, + "scenario_id": "tomato-to-bowl/r2h", + "source_index": 4, + "source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__r2h__onset-0-80/episodes/successful/episode_000005.hdf5" + }, + { + "evaluation_state_index": 5, + "perturbation_index": 0, + "scenario_id": "tomato-to-bowl/r2h", + "source_index": 5, + "source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__r2h__onset-0-80/episodes/successful/episode_000006.hdf5" + }, + { + "evaluation_state_index": 6, + "perturbation_index": 0, + "scenario_id": "tomato-to-bowl/r2h", + "source_index": 6, + "source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__r2h__onset-0-80/episodes/successful/episode_000007.hdf5" + }, + { + "evaluation_state_index": 7, + "perturbation_index": 0, + "scenario_id": "tomato-to-bowl/r2h", + "source_index": 7, + "source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__r2h__onset-0-80/episodes/successful/episode_000008.hdf5" + }, + { + "evaluation_state_index": 8, + "perturbation_index": 0, + "scenario_id": "tomato-to-bowl/r2h", + "source_index": 8, + "source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__r2h__onset-0-80/episodes/successful/episode_000009.hdf5" + }, + { + "evaluation_state_index": 9, + "perturbation_index": 0, + "scenario_id": "tomato-to-bowl/r2h", + "source_index": 9, + "source_trajectory": 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--- /dev/null +++ b/r2h/progress.log @@ -0,0 +1,41 @@ +2026-10-01T01:11:22.723555+00:00 RUN [1/20] tomato-to-bowl/r2h state=0 source=0 episode_000001.hdf5 object-perturbed +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 +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 +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 +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 +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 +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 +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 +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 +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 +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 +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 +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 +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 +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 +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 +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 +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 +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 +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 +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 diff --git a/r2h/rollouts/tomato-to-bowl__r2h/state_000_episode_000001_416bb4e552be/object-perturbed/rollout.mp4 b/r2h/rollouts/tomato-to-bowl__r2h/state_000_episode_000001_416bb4e552be/object-perturbed/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0c50ddf42a2c855e2c183e304be73a6faebf83c3 --- /dev/null +++ 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+ "safety_shield_intervention_rate": 0.0, + "safety_success_rate": 0.95, + "task_completion_step": { + "count": 4, + "mean": 154.25, + "median": 151.5, + "minimum": 143.0 + }, + "task_success_rate": 0.2, + "transfer_action_guard_intervention_rate": 0.0 + } + }, + "paired_changes": [], + "paired_episodes": 0, + "rollouts": 20, + "schema_version": 3 +} diff --git a/redirect/evaluation.log b/redirect/evaluation.log new file mode 100644 index 0000000000000000000000000000000000000000..30a7477a8360e4714a71041e4c856527b1e159be --- /dev/null +++ b/redirect/evaluation.log @@ -0,0 +1,434 @@ +2026-10-01T03:09:53.266929+00:00 RUN [1/20] tomato-to-bowl/redirect 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) +2026-10-01T03:16:31.956120+00:00 DONE [1/20] tomato-to-bowl/redirect state=0 episode_000001.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:16:31.956345+00:00 RUN [2/20] tomato-to-bowl/redirect 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) +2026-10-01T03:18:26.548222+00:00 DONE [2/20] tomato-to-bowl/redirect state=1 episode_000002.hdf5 object-perturbed task=True hri=True safe=True steps=143 +2026-10-01T03:18:26.548435+00:00 RUN [3/20] tomato-to-bowl/redirect 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) +2026-10-01T03:24:55.916120+00:00 DONE [3/20] tomato-to-bowl/redirect state=2 episode_000003.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:24:55.916413+00:00 RUN [4/20] tomato-to-bowl/redirect 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) +2026-10-01T03:31:29.469738+00:00 DONE [4/20] tomato-to-bowl/redirect state=3 episode_000004.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:31:29.470112+00:00 RUN [5/20] tomato-to-bowl/redirect 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) +2026-10-01T03:38:04.876089+00:00 DONE [5/20] tomato-to-bowl/redirect state=4 episode_000005.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:38:04.876503+00:00 RUN [6/20] tomato-to-bowl/redirect 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) +2026-10-01T03:44:42.320473+00:00 DONE [6/20] tomato-to-bowl/redirect state=5 episode_000006.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:44:42.320713+00:00 RUN [7/20] tomato-to-bowl/redirect 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) +2026-10-01T03:51:17.343312+00:00 DONE [7/20] tomato-to-bowl/redirect state=6 episode_000007.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:51:17.343666+00:00 RUN [8/20] tomato-to-bowl/redirect 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) +2026-10-01T03:53:19.187848+00:00 DONE [8/20] tomato-to-bowl/redirect state=7 episode_000008.hdf5 object-perturbed task=True hri=True safe=True steps=158 +2026-10-01T03:53:19.188301+00:00 RUN [9/20] tomato-to-bowl/redirect 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) +2026-10-01T03:59:57.316554+00:00 DONE [9/20] tomato-to-bowl/redirect state=8 episode_000009.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:59:57.316795+00:00 RUN [10/20] tomato-to-bowl/redirect 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) +2026-10-01T04:01:12.518365+00:00 DONE [10/20] tomato-to-bowl/redirect state=9 episode_000010.hdf5 object-perturbed task=False hri=False safe=False steps=81 +2026-10-01T04:01:12.518664+00:00 RUN [11/20] tomato-to-bowl/redirect 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) +2026-10-01T04:07:53.399615+00:00 DONE [11/20] tomato-to-bowl/redirect state=10 episode_000011.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T04:07:53.399848+00:00 RUN [12/20] tomato-to-bowl/redirect 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) +2026-10-01T04:14:29.699414+00:00 DONE [12/20] tomato-to-bowl/redirect state=11 episode_000012.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T04:14:29.699682+00:00 RUN [13/20] tomato-to-bowl/redirect 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) +2026-10-01T04:21:06.312421+00:00 DONE [13/20] tomato-to-bowl/redirect state=12 episode_000013.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T04:21:06.312775+00:00 RUN [14/20] tomato-to-bowl/redirect 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) +2026-10-01T04:27:42.155030+00:00 DONE [14/20] tomato-to-bowl/redirect state=13 episode_000014.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T04:27:42.155339+00:00 RUN [15/20] tomato-to-bowl/redirect 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) +2026-10-01T04:34:18.739639+00:00 DONE [15/20] tomato-to-bowl/redirect state=14 episode_000015.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T04:34:18.740026+00:00 RUN [16/20] tomato-to-bowl/redirect state=15 source=15 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) +2026-10-01T04:40:56.402837+00:00 DONE [16/20] tomato-to-bowl/redirect state=15 episode_000017.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T04:40:56.403257+00:00 RUN [17/20] tomato-to-bowl/redirect state=16 source=16 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) +2026-10-01T04:43:09.582948+00:00 DONE [17/20] tomato-to-bowl/redirect state=16 episode_000018.hdf5 object-perturbed task=True hri=True safe=True steps=171 +2026-10-01T04:43:09.583362+00:00 RUN [18/20] tomato-to-bowl/redirect state=17 source=17 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) +2026-10-01T04:49:46.711384+00:00 DONE [18/20] tomato-to-bowl/redirect state=17 episode_000019.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T04:49:46.711619+00:00 RUN [19/20] tomato-to-bowl/redirect state=18 source=18 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) +2026-10-01T04:56:30.097588+00:00 DONE [19/20] tomato-to-bowl/redirect state=18 episode_000020.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T04:56:30.097928+00:00 RUN [20/20] tomato-to-bowl/redirect state=19 source=19 episode_000021.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) +2026-10-01T04:58:32.139709+00:00 DONE [20/20] tomato-to-bowl/redirect state=19 episode_000021.hdf5 object-perturbed task=True hri=False safe=True steps=145 +2026-10-01T04:58:32.143111+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": 1, + "mean": 0.0004447631683973316, + "median": 0.0004447631683973316, + "minimum": 0.0004447631683973316 + }, + "episodes": 20, + "evaluation_action_intervention_rate": 0.0, + "hri_completion_step": { + "count": 18, + "mean": 136.05555555555554, + "median": 134.0, + "minimum": 104.0 + }, + "hri_success_rate": 0.9, + "intent_directive_accuracy": { + "count": 0, + "mean": null, + "median": null, + "minimum": null + }, + "minimum_gripper_active_hand_distance_m": { + "count": 20, + "mean": 0.16650971829188962, + "median": 0.16657804969896212, + "minimum": 0.01931456444519746 + }, + "overall_success_rate": 0.15, + "safety_shield_intervention_rate": 0.0, + "safety_success_rate": 0.95, + "task_completion_step": { + "count": 4, + "mean": 154.25, + "median": 151.5, + "minimum": 143.0 + }, + "task_success_rate": 0.2, + "transfer_action_guard_intervention_rate": 0.0 + } +} diff --git a/redirect/manifest.json b/redirect/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..1c4a346ae6be2990054ca1cec85b0d3a885b5bec --- /dev/null +++ b/redirect/manifest.json @@ -0,0 +1,553 @@ +{ + "accepted_episode_contract": "collector-episodes-directory-v1", + "action_execution_contract": "raw-policy-actions-to-robosuite-v2", + "action_key": null, + "adaptive_intent_expected": true, + "adaptive_trust_region_config": null, + "adaptive_trust_region_enabled": false, + "base_episodes": 20, + "composition_filter": null, + "episodes_per_cell": 20, + "evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2", + "evaluation_mode": "simple", + "excluded_trajectories": [], + "execute_horizon": 1, + "extra_perturbation_source_indices": [], + "handover_signal_prompts_enabled": true, + "human_annotations_root": "/mnt/data/data_nhat/hitbench/human_annotations", + "human_interaction_filter": "redirect", + "human_interaction_prompts_enabled": true, + "human_task_dir": null, + "initialization_contract": "sealed-frozen-multi-perturbation-reconstruction-v2", + "initialization_source": "human-plan", + "intent_human_prompts_enabled": true, + "intent_visual_history_enabled": true, + "intrinsic_action_evaluation": true, + "max_steps": 650, + "modes": [ + "object-perturbed" + ], + "object_perturbation_m": 0.005, + "observation_keys": [], + "perturbation_attempts": 20, + "perturbation_bank": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank", + "perturbation_bank_manifest_sha256": "2dc4669160fb81459b3a812075b19fe48abc65156428d5689eca80f41d0a6988", + "perturbed_state_schedule": [ + { + "evaluation_state_index": 0, + "perturbation_index": 0, + "scenario_id": "tomato-to-bowl/redirect", + "source_index": 0, + "source_trajectory": 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"accepted-exact-state-and-human-plan-v1", + "split_family": null, + "split_manifest": null, + "split_manifest_sha256": null, + "split_name": null, + "state_atol": 0.0001, + "task_filter": "tomato-to-bowl", + "trajectory_root": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw", + "transfer_action_guards_enabled": false, + "video_fps": 30, + "video_success_metric": "overall_success", + "visual_history_enabled": false +} diff --git a/redirect/progress.log b/redirect/progress.log new file mode 100644 index 0000000000000000000000000000000000000000..6e067d124c3e40d6ae6bad41a5501c8b92833140 --- /dev/null +++ b/redirect/progress.log @@ -0,0 +1,41 @@ +2026-10-01T03:09:53.266929+00:00 RUN [1/20] tomato-to-bowl/redirect state=0 source=0 episode_000001.hdf5 object-perturbed +2026-10-01T03:16:31.956120+00:00 DONE [1/20] tomato-to-bowl/redirect state=0 episode_000001.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:16:31.956345+00:00 RUN [2/20] tomato-to-bowl/redirect state=1 source=1 episode_000002.hdf5 object-perturbed +2026-10-01T03:18:26.548222+00:00 DONE [2/20] tomato-to-bowl/redirect state=1 episode_000002.hdf5 object-perturbed task=True hri=True safe=True steps=143 +2026-10-01T03:18:26.548435+00:00 RUN [3/20] tomato-to-bowl/redirect state=2 source=2 episode_000003.hdf5 object-perturbed +2026-10-01T03:24:55.916120+00:00 DONE [3/20] tomato-to-bowl/redirect state=2 episode_000003.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:24:55.916413+00:00 RUN [4/20] tomato-to-bowl/redirect state=3 source=3 episode_000004.hdf5 object-perturbed +2026-10-01T03:31:29.469738+00:00 DONE [4/20] tomato-to-bowl/redirect state=3 episode_000004.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:31:29.470112+00:00 RUN [5/20] tomato-to-bowl/redirect state=4 source=4 episode_000005.hdf5 object-perturbed +2026-10-01T03:38:04.876089+00:00 DONE [5/20] tomato-to-bowl/redirect state=4 episode_000005.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:38:04.876503+00:00 RUN [6/20] tomato-to-bowl/redirect state=5 source=5 episode_000006.hdf5 object-perturbed +2026-10-01T03:44:42.320473+00:00 DONE [6/20] tomato-to-bowl/redirect state=5 episode_000006.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:44:42.320713+00:00 RUN [7/20] tomato-to-bowl/redirect state=6 source=6 episode_000007.hdf5 object-perturbed +2026-10-01T03:51:17.343312+00:00 DONE [7/20] tomato-to-bowl/redirect state=6 episode_000007.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:51:17.343666+00:00 RUN [8/20] tomato-to-bowl/redirect state=7 source=7 episode_000008.hdf5 object-perturbed +2026-10-01T03:53:19.187848+00:00 DONE [8/20] tomato-to-bowl/redirect state=7 episode_000008.hdf5 object-perturbed task=True hri=True safe=True steps=158 +2026-10-01T03:53:19.188301+00:00 RUN [9/20] tomato-to-bowl/redirect state=8 source=8 episode_000009.hdf5 object-perturbed +2026-10-01T03:59:57.316554+00:00 DONE [9/20] tomato-to-bowl/redirect state=8 episode_000009.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T03:59:57.316795+00:00 RUN [10/20] tomato-to-bowl/redirect state=9 source=9 episode_000010.hdf5 object-perturbed +2026-10-01T04:01:12.518365+00:00 DONE [10/20] tomato-to-bowl/redirect state=9 episode_000010.hdf5 object-perturbed task=False hri=False safe=False steps=81 +2026-10-01T04:01:12.518664+00:00 RUN [11/20] tomato-to-bowl/redirect state=10 source=10 episode_000011.hdf5 object-perturbed +2026-10-01T04:07:53.399615+00:00 DONE [11/20] tomato-to-bowl/redirect state=10 episode_000011.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T04:07:53.399848+00:00 RUN [12/20] tomato-to-bowl/redirect state=11 source=11 episode_000012.hdf5 object-perturbed +2026-10-01T04:14:29.699414+00:00 DONE [12/20] tomato-to-bowl/redirect state=11 episode_000012.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T04:14:29.699682+00:00 RUN [13/20] tomato-to-bowl/redirect state=12 source=12 episode_000013.hdf5 object-perturbed +2026-10-01T04:21:06.312421+00:00 DONE [13/20] tomato-to-bowl/redirect state=12 episode_000013.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T04:21:06.312775+00:00 RUN [14/20] tomato-to-bowl/redirect state=13 source=13 episode_000014.hdf5 object-perturbed +2026-10-01T04:27:42.155030+00:00 DONE [14/20] tomato-to-bowl/redirect state=13 episode_000014.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T04:27:42.155339+00:00 RUN [15/20] tomato-to-bowl/redirect state=14 source=14 episode_000015.hdf5 object-perturbed +2026-10-01T04:34:18.739639+00:00 DONE [15/20] tomato-to-bowl/redirect state=14 episode_000015.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T04:34:18.740026+00:00 RUN [16/20] tomato-to-bowl/redirect state=15 source=15 episode_000017.hdf5 object-perturbed +2026-10-01T04:40:56.402837+00:00 DONE [16/20] tomato-to-bowl/redirect state=15 episode_000017.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T04:40:56.403257+00:00 RUN [17/20] tomato-to-bowl/redirect state=16 source=16 episode_000018.hdf5 object-perturbed +2026-10-01T04:43:09.582948+00:00 DONE [17/20] tomato-to-bowl/redirect state=16 episode_000018.hdf5 object-perturbed task=True hri=True safe=True steps=171 +2026-10-01T04:43:09.583362+00:00 RUN [18/20] tomato-to-bowl/redirect state=17 source=17 episode_000019.hdf5 object-perturbed +2026-10-01T04:49:46.711384+00:00 DONE [18/20] tomato-to-bowl/redirect state=17 episode_000019.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T04:49:46.711619+00:00 RUN [19/20] tomato-to-bowl/redirect state=18 source=18 episode_000020.hdf5 object-perturbed +2026-10-01T04:56:30.097588+00:00 DONE [19/20] tomato-to-bowl/redirect state=18 episode_000020.hdf5 object-perturbed task=False hri=True safe=True steps=650 +2026-10-01T04:56:30.097928+00:00 RUN [20/20] tomato-to-bowl/redirect state=19 source=19 episode_000021.hdf5 object-perturbed +2026-10-01T04:58:32.139709+00:00 DONE [20/20] tomato-to-bowl/redirect state=19 episode_000021.hdf5 object-perturbed task=True hri=False safe=True steps=145 +2026-10-01T04:58:32.143111+00:00 SUMMARY completed=20/20 paired=0 diff --git a/redirect/rollouts/tomato-to-bowl__redirect/state_000_episode_000001_0f2449cffa8a/object-perturbed/rollout.mp4 b/redirect/rollouts/tomato-to-bowl__redirect/state_000_episode_000001_0f2449cffa8a/object-perturbed/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7d175f9edfa66a1523d3c9823f635cdf9ed7e2f1 --- /dev/null +++ b/redirect/rollouts/tomato-to-bowl__redirect/state_000_episode_000001_0f2449cffa8a/object-perturbed/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69db8082aefa8ac6c0357a622eebf3f03b065a08bb9d6e6b4c0b93833f552722 +size 760061 diff --git 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--- /dev/null +++ b/stop/aggregate.json @@ -0,0 +1,176 @@ +{ + "cells": { + "tomato-to-bowl/stop": { + "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": { + 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--- /dev/null +++ b/stop/evaluation.log @@ -0,0 +1,434 @@ +2026-10-01T01:11:27.691681+00:00 RUN [1/20] tomato-to-bowl/stop 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) +2026-10-01T01:18:04.804375+00:00 DONE [1/20] tomato-to-bowl/stop state=0 episode_000001.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:18:04.804623+00:00 RUN [2/20] tomato-to-bowl/stop 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) +2026-10-01T01:24:32.664086+00:00 DONE [2/20] tomato-to-bowl/stop state=1 episode_000002.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:24:32.664459+00:00 RUN [3/20] tomato-to-bowl/stop 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) +2026-10-01T01:31:00.323933+00:00 DONE [3/20] tomato-to-bowl/stop state=2 episode_000003.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:31:00.324240+00:00 RUN [4/20] tomato-to-bowl/stop 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) +2026-10-01T01:37:28.434388+00:00 DONE [4/20] tomato-to-bowl/stop state=3 episode_000004.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:37:28.434778+00:00 RUN [5/20] tomato-to-bowl/stop 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) +2026-10-01T01:43:58.826211+00:00 DONE [5/20] tomato-to-bowl/stop state=4 episode_000005.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:43:58.826651+00:00 RUN [6/20] tomato-to-bowl/stop 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) +2026-10-01T01:50:26.597703+00:00 DONE [6/20] tomato-to-bowl/stop state=5 episode_000006.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:50:26.598077+00:00 RUN [7/20] tomato-to-bowl/stop 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) +2026-10-01T01:56:54.611180+00:00 DONE [7/20] tomato-to-bowl/stop state=6 episode_000007.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:56:54.611587+00:00 RUN [8/20] tomato-to-bowl/stop 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) +2026-10-01T02:03:21.423508+00:00 DONE [8/20] tomato-to-bowl/stop state=7 episode_000008.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:03:21.423915+00:00 RUN [9/20] tomato-to-bowl/stop 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) +2026-10-01T02:09:50.398722+00:00 DONE [9/20] tomato-to-bowl/stop state=8 episode_000009.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:09:50.399072+00:00 RUN [10/20] tomato-to-bowl/stop 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) +2026-10-01T02:16:19.558819+00:00 DONE [10/20] tomato-to-bowl/stop state=9 episode_000010.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:16:19.559068+00:00 RUN [11/20] tomato-to-bowl/stop 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) +2026-10-01T02:22:47.816682+00:00 DONE [11/20] tomato-to-bowl/stop state=10 episode_000011.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:22:47.817075+00:00 RUN [12/20] tomato-to-bowl/stop 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) +2026-10-01T02:29:16.454055+00:00 DONE [12/20] tomato-to-bowl/stop state=11 episode_000012.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:29:16.454317+00:00 RUN [13/20] tomato-to-bowl/stop 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) +2026-10-01T02:35:44.727145+00:00 DONE [13/20] tomato-to-bowl/stop state=12 episode_000013.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:35:44.727509+00:00 RUN [14/20] tomato-to-bowl/stop 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) +2026-10-01T02:42:16.231561+00:00 DONE [14/20] tomato-to-bowl/stop state=13 episode_000014.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:42:16.231961+00:00 RUN [15/20] tomato-to-bowl/stop 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) +2026-10-01T02:48:46.804572+00:00 DONE [15/20] tomato-to-bowl/stop state=14 episode_000015.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:48:46.804997+00:00 RUN [16/20] tomato-to-bowl/stop 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) +2026-10-01T02:55:16.035035+00:00 DONE [16/20] tomato-to-bowl/stop state=15 episode_000016.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:55:16.035402+00:00 RUN [17/20] tomato-to-bowl/stop 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) +2026-10-01T03:01:48.884734+00:00 DONE [17/20] tomato-to-bowl/stop state=16 episode_000017.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:01:48.885059+00:00 RUN [18/20] tomato-to-bowl/stop 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) +2026-10-01T03:08:25.040115+00:00 DONE [18/20] tomato-to-bowl/stop state=17 episode_000018.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:08:25.040572+00:00 RUN [19/20] tomato-to-bowl/stop 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) +2026-10-01T03:14:56.470346+00:00 DONE [19/20] tomato-to-bowl/stop state=18 episode_000019.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:14:56.470592+00:00 RUN [20/20] tomato-to-bowl/stop 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) +2026-10-01T03:21:24.417002+00:00 DONE [20/20] tomato-to-bowl/stop state=19 episode_000020.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:21:24.420904+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": 0, + "mean": null, + "median": null, + "minimum": null + }, + "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": 0.23704204372656287, + "median": 0.22248727556128425, + "minimum": 0.15739929953271753 + }, + "overall_success_rate": 0.0, + "safety_shield_intervention_rate": 0.0, + "safety_success_rate": 1.0, + "task_completion_step": { + "count": 0, + "mean": null, + "median": null, + "minimum": null + }, + "task_success_rate": 0.0, + "transfer_action_guard_intervention_rate": 0.0 + } +} diff --git a/stop/manifest.json b/stop/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..afd1837c0088aa28d9672aeae46fcee8f48e30a4 --- /dev/null +++ b/stop/manifest.json @@ -0,0 +1,553 @@ +{ + "accepted_episode_contract": "collector-episodes-directory-v1", + "action_execution_contract": "raw-policy-actions-to-robosuite-v2", + "action_key": null, + "adaptive_intent_expected": true, + "adaptive_trust_region_config": null, + "adaptive_trust_region_enabled": false, + "base_episodes": 20, + "composition_filter": null, + "episodes_per_cell": 20, + "evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2", + "evaluation_mode": "simple", + "excluded_trajectories": [], + "execute_horizon": 1, + "extra_perturbation_source_indices": [], + "handover_signal_prompts_enabled": true, + "human_annotations_root": "/mnt/data/data_nhat/hitbench/human_annotations", + "human_interaction_filter": "stop", + "human_interaction_prompts_enabled": true, + "human_task_dir": null, + "initialization_contract": "sealed-frozen-multi-perturbation-reconstruction-v2", + "initialization_source": "human-plan", + "intent_human_prompts_enabled": true, + "intent_visual_history_enabled": true, + "intrinsic_action_evaluation": true, + "max_steps": 650, + "modes": [ + "object-perturbed" + ], + "object_perturbation_m": 0.005, + "observation_keys": [], + "perturbation_attempts": 20, + "perturbation_bank": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank", + "perturbation_bank_manifest_sha256": "2dc4669160fb81459b3a812075b19fe48abc65156428d5689eca80f41d0a6988", + "perturbed_state_schedule": [ + { + "evaluation_state_index": 0, + "perturbation_index": 0, + "scenario_id": "tomato-to-bowl/stop", + "source_index": 0, + "source_trajectory": 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0000000000000000000000000000000000000000..cf6351612f6489b645b43cd0afd88fdacb5868cf --- /dev/null +++ b/stop/progress.log @@ -0,0 +1,41 @@ +2026-10-01T01:11:27.691681+00:00 RUN [1/20] tomato-to-bowl/stop state=0 source=0 episode_000001.hdf5 object-perturbed +2026-10-01T01:18:04.804375+00:00 DONE [1/20] tomato-to-bowl/stop state=0 episode_000001.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:18:04.804623+00:00 RUN [2/20] tomato-to-bowl/stop state=1 source=1 episode_000002.hdf5 object-perturbed +2026-10-01T01:24:32.664086+00:00 DONE [2/20] tomato-to-bowl/stop state=1 episode_000002.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:24:32.664459+00:00 RUN [3/20] tomato-to-bowl/stop state=2 source=2 episode_000003.hdf5 object-perturbed +2026-10-01T01:31:00.323933+00:00 DONE [3/20] tomato-to-bowl/stop state=2 episode_000003.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:31:00.324240+00:00 RUN [4/20] tomato-to-bowl/stop state=3 source=3 episode_000004.hdf5 object-perturbed +2026-10-01T01:37:28.434388+00:00 DONE [4/20] tomato-to-bowl/stop state=3 episode_000004.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:37:28.434778+00:00 RUN [5/20] tomato-to-bowl/stop state=4 source=4 episode_000005.hdf5 object-perturbed +2026-10-01T01:43:58.826211+00:00 DONE [5/20] tomato-to-bowl/stop state=4 episode_000005.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:43:58.826651+00:00 RUN [6/20] tomato-to-bowl/stop state=5 source=5 episode_000006.hdf5 object-perturbed +2026-10-01T01:50:26.597703+00:00 DONE [6/20] tomato-to-bowl/stop state=5 episode_000006.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:50:26.598077+00:00 RUN [7/20] tomato-to-bowl/stop state=6 source=6 episode_000007.hdf5 object-perturbed +2026-10-01T01:56:54.611180+00:00 DONE [7/20] tomato-to-bowl/stop state=6 episode_000007.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:56:54.611587+00:00 RUN [8/20] tomato-to-bowl/stop state=7 source=7 episode_000008.hdf5 object-perturbed +2026-10-01T02:03:21.423508+00:00 DONE [8/20] tomato-to-bowl/stop state=7 episode_000008.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:03:21.423915+00:00 RUN [9/20] tomato-to-bowl/stop state=8 source=8 episode_000009.hdf5 object-perturbed +2026-10-01T02:09:50.398722+00:00 DONE [9/20] tomato-to-bowl/stop state=8 episode_000009.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:09:50.399072+00:00 RUN [10/20] tomato-to-bowl/stop state=9 source=9 episode_000010.hdf5 object-perturbed +2026-10-01T02:16:19.558819+00:00 DONE [10/20] tomato-to-bowl/stop state=9 episode_000010.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:16:19.559068+00:00 RUN [11/20] tomato-to-bowl/stop state=10 source=10 episode_000011.hdf5 object-perturbed +2026-10-01T02:22:47.816682+00:00 DONE [11/20] tomato-to-bowl/stop state=10 episode_000011.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:22:47.817075+00:00 RUN [12/20] tomato-to-bowl/stop state=11 source=11 episode_000012.hdf5 object-perturbed +2026-10-01T02:29:16.454055+00:00 DONE [12/20] tomato-to-bowl/stop state=11 episode_000012.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:29:16.454317+00:00 RUN [13/20] tomato-to-bowl/stop state=12 source=12 episode_000013.hdf5 object-perturbed +2026-10-01T02:35:44.727145+00:00 DONE [13/20] tomato-to-bowl/stop state=12 episode_000013.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:35:44.727509+00:00 RUN [14/20] tomato-to-bowl/stop state=13 source=13 episode_000014.hdf5 object-perturbed +2026-10-01T02:42:16.231561+00:00 DONE [14/20] tomato-to-bowl/stop state=13 episode_000014.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:42:16.231961+00:00 RUN [15/20] tomato-to-bowl/stop state=14 source=14 episode_000015.hdf5 object-perturbed +2026-10-01T02:48:46.804572+00:00 DONE [15/20] tomato-to-bowl/stop state=14 episode_000015.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:48:46.804997+00:00 RUN [16/20] tomato-to-bowl/stop state=15 source=15 episode_000016.hdf5 object-perturbed +2026-10-01T02:55:16.035035+00:00 DONE [16/20] tomato-to-bowl/stop state=15 episode_000016.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:55:16.035402+00:00 RUN [17/20] tomato-to-bowl/stop state=16 source=16 episode_000017.hdf5 object-perturbed +2026-10-01T03:01:48.884734+00:00 DONE [17/20] tomato-to-bowl/stop state=16 episode_000017.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:01:48.885059+00:00 RUN [18/20] tomato-to-bowl/stop state=17 source=17 episode_000018.hdf5 object-perturbed +2026-10-01T03:08:25.040115+00:00 DONE [18/20] tomato-to-bowl/stop state=17 episode_000018.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:08:25.040572+00:00 RUN [19/20] tomato-to-bowl/stop state=18 source=18 episode_000019.hdf5 object-perturbed +2026-10-01T03:14:56.470346+00:00 DONE [19/20] tomato-to-bowl/stop state=18 episode_000019.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:14:56.470592+00:00 RUN [20/20] tomato-to-bowl/stop state=19 source=19 episode_000020.hdf5 object-perturbed +2026-10-01T03:21:24.417002+00:00 DONE [20/20] tomato-to-bowl/stop state=19 episode_000020.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:21:24.420904+00:00 SUMMARY completed=20/20 paired=0 diff --git a/stop/rollouts/tomato-to-bowl__stop/state_000_episode_000001_dd2215b8a5ae/object-perturbed/rollout.mp4 b/stop/rollouts/tomato-to-bowl__stop/state_000_episode_000001_dd2215b8a5ae/object-perturbed/rollout.mp4 new file mode 100644 index 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0000000000000000000000000000000000000000..41bcd379a1a8acfb7471057a53c80d227d88e70d --- /dev/null +++ b/takeaway/evaluation.log @@ -0,0 +1,434 @@ +2026-10-01T01:11:27.921262+00:00 RUN [1/20] tomato-to-bowl/takeaway 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) +2026-10-01T01:18:36.323496+00:00 DONE [1/20] tomato-to-bowl/takeaway state=0 episode_000001.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:18:36.323838+00:00 RUN [2/20] tomato-to-bowl/takeaway 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) +2026-10-01T01:25:57.420836+00:00 DONE [2/20] tomato-to-bowl/takeaway state=1 episode_000002.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:25:57.421203+00:00 RUN [3/20] tomato-to-bowl/takeaway 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) +2026-10-01T01:33:02.219551+00:00 DONE [3/20] tomato-to-bowl/takeaway state=2 episode_000003.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:33:02.219781+00:00 RUN [4/20] tomato-to-bowl/takeaway 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) +2026-10-01T01:40:02.615735+00:00 DONE [4/20] tomato-to-bowl/takeaway state=3 episode_000004.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:40:02.616039+00:00 RUN [5/20] tomato-to-bowl/takeaway 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) +2026-10-01T01:46:57.745820+00:00 DONE [5/20] tomato-to-bowl/takeaway state=4 episode_000005.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:46:57.746191+00:00 RUN [6/20] tomato-to-bowl/takeaway 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) +2026-10-01T01:53:41.698649+00:00 DONE [6/20] tomato-to-bowl/takeaway state=5 episode_000006.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:53:41.698884+00:00 RUN [7/20] tomato-to-bowl/takeaway 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) +2026-10-01T02:00:37.329530+00:00 DONE [7/20] tomato-to-bowl/takeaway state=6 episode_000007.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:00:37.329893+00:00 RUN [8/20] tomato-to-bowl/takeaway 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) +2026-10-01T02:01:41.170262+00:00 DONE [8/20] tomato-to-bowl/takeaway state=7 episode_000008.hdf5 object-perturbed task=False hri=False safe=False steps=81 +2026-10-01T02:01:41.170475+00:00 RUN [9/20] tomato-to-bowl/takeaway 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) +2026-10-01T02:08:38.640176+00:00 DONE [9/20] tomato-to-bowl/takeaway state=8 episode_000009.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:08:38.640537+00:00 RUN [10/20] tomato-to-bowl/takeaway 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) +2026-10-01T02:15:26.746406+00:00 DONE [10/20] tomato-to-bowl/takeaway state=9 episode_000010.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:15:26.746630+00:00 RUN [11/20] tomato-to-bowl/takeaway 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) +2026-10-01T02:22:22.659605+00:00 DONE [11/20] tomato-to-bowl/takeaway state=10 episode_000011.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:22:22.660014+00:00 RUN [12/20] tomato-to-bowl/takeaway 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) +2026-10-01T02:29:09.984278+00:00 DONE [12/20] tomato-to-bowl/takeaway state=11 episode_000012.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:29:09.984535+00:00 RUN [13/20] tomato-to-bowl/takeaway 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) +2026-10-01T02:36:01.080047+00:00 DONE [13/20] tomato-to-bowl/takeaway state=12 episode_000013.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:36:01.080413+00:00 RUN [14/20] tomato-to-bowl/takeaway 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) +2026-10-01T02:37:05.824990+00:00 DONE [14/20] tomato-to-bowl/takeaway state=13 episode_000014.hdf5 object-perturbed task=False hri=False safe=False steps=81 +2026-10-01T02:37:05.825293+00:00 RUN [15/20] tomato-to-bowl/takeaway 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) +2026-10-01T02:37:51.327691+00:00 DONE [15/20] tomato-to-bowl/takeaway state=14 episode_000015.hdf5 object-perturbed task=False hri=False safe=False steps=54 +2026-10-01T02:37:51.327894+00:00 RUN [16/20] tomato-to-bowl/takeaway 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) +2026-10-01T02:44:50.336501+00:00 DONE [16/20] tomato-to-bowl/takeaway state=15 episode_000016.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:44:50.336859+00:00 RUN [17/20] tomato-to-bowl/takeaway 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) +2026-10-01T02:51:42.853775+00:00 DONE [17/20] tomato-to-bowl/takeaway state=16 episode_000017.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:51:42.854106+00:00 RUN [18/20] tomato-to-bowl/takeaway 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) +2026-10-01T02:53:14.937243+00:00 DONE [18/20] tomato-to-bowl/takeaway state=17 episode_000018.hdf5 object-perturbed task=False hri=True safe=True steps=108 +2026-10-01T02:53:14.937442+00:00 RUN [19/20] tomato-to-bowl/takeaway 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) +2026-10-01T02:54:26.322784+00:00 DONE [19/20] tomato-to-bowl/takeaway state=18 episode_000019.hdf5 object-perturbed task=False hri=False safe=False steps=86 +2026-10-01T02:54:26.323005+00:00 RUN [20/20] tomato-to-bowl/takeaway 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) +2026-10-01T03:01:15.259747+00:00 DONE [20/20] tomato-to-bowl/takeaway state=19 episode_000020.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:01:15.263680+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": 4, + "mean": 0.013160514051695991, + "median": 0.011911661081456514, + "minimum": 0.0012983492923280462 + }, + "episodes": 20, + "evaluation_action_intervention_rate": 0.0, + "hri_completion_step": { + "count": 1, + "mean": 108.0, + "median": 108.0, + "minimum": 108.0 + }, + "hri_success_rate": 0.05, + "intent_directive_accuracy": { + "count": 0, + "mean": null, + "median": null, + "minimum": null + }, + "minimum_gripper_active_hand_distance_m": { + "count": 20, + "mean": 0.12681352038947374, + "median": 0.10326832062441492, + "minimum": 0.006348514712140851 + }, + "overall_success_rate": 0.05, + "safety_shield_intervention_rate": 0.0, + "safety_success_rate": 0.8, + "task_completion_step": { + "count": 0, + "mean": null, + "median": null, + "minimum": null + }, + "task_success_rate": 0.0, + "transfer_action_guard_intervention_rate": 0.0 + } +} diff --git a/takeaway/manifest.json b/takeaway/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..e9f6f2b9cb81f10e279456692a4f5091e14e78d9 --- /dev/null +++ b/takeaway/manifest.json @@ -0,0 +1,553 @@ +{ + "accepted_episode_contract": "collector-episodes-directory-v1", + "action_execution_contract": "raw-policy-actions-to-robosuite-v2", + "action_key": null, + "adaptive_intent_expected": true, + "adaptive_trust_region_config": null, + "adaptive_trust_region_enabled": false, + "base_episodes": 20, + "composition_filter": null, + "episodes_per_cell": 20, + "evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2", + "evaluation_mode": "simple", + "excluded_trajectories": [], + "execute_horizon": 1, + "extra_perturbation_source_indices": [], + "handover_signal_prompts_enabled": true, + "human_annotations_root": 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"/mnt/data/data_nhat/hitbench/hitbench-1.0/raw", + "transfer_action_guards_enabled": false, + "video_fps": 30, + "video_success_metric": "overall_success", + "visual_history_enabled": false +} diff --git a/takeaway/progress.log b/takeaway/progress.log new file mode 100644 index 0000000000000000000000000000000000000000..e04b327f849ff0c55cfb25c320afab2d32c80c41 --- /dev/null +++ b/takeaway/progress.log @@ -0,0 +1,41 @@ +2026-10-01T01:11:27.921262+00:00 RUN [1/20] tomato-to-bowl/takeaway state=0 source=0 episode_000001.hdf5 object-perturbed +2026-10-01T01:18:36.323496+00:00 DONE [1/20] tomato-to-bowl/takeaway state=0 episode_000001.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:18:36.323838+00:00 RUN [2/20] tomato-to-bowl/takeaway state=1 source=1 episode_000002.hdf5 object-perturbed +2026-10-01T01:25:57.420836+00:00 DONE [2/20] tomato-to-bowl/takeaway state=1 episode_000002.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:25:57.421203+00:00 RUN [3/20] tomato-to-bowl/takeaway state=2 source=2 episode_000003.hdf5 object-perturbed +2026-10-01T01:33:02.219551+00:00 DONE [3/20] tomato-to-bowl/takeaway state=2 episode_000003.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:33:02.219781+00:00 RUN [4/20] tomato-to-bowl/takeaway state=3 source=3 episode_000004.hdf5 object-perturbed +2026-10-01T01:40:02.615735+00:00 DONE [4/20] tomato-to-bowl/takeaway state=3 episode_000004.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:40:02.616039+00:00 RUN [5/20] tomato-to-bowl/takeaway state=4 source=4 episode_000005.hdf5 object-perturbed +2026-10-01T01:46:57.745820+00:00 DONE [5/20] tomato-to-bowl/takeaway state=4 episode_000005.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:46:57.746191+00:00 RUN [6/20] tomato-to-bowl/takeaway state=5 source=5 episode_000006.hdf5 object-perturbed +2026-10-01T01:53:41.698649+00:00 DONE [6/20] tomato-to-bowl/takeaway state=5 episode_000006.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T01:53:41.698884+00:00 RUN [7/20] tomato-to-bowl/takeaway state=6 source=6 episode_000007.hdf5 object-perturbed +2026-10-01T02:00:37.329530+00:00 DONE [7/20] tomato-to-bowl/takeaway state=6 episode_000007.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:00:37.329893+00:00 RUN [8/20] tomato-to-bowl/takeaway state=7 source=7 episode_000008.hdf5 object-perturbed +2026-10-01T02:01:41.170262+00:00 DONE [8/20] tomato-to-bowl/takeaway state=7 episode_000008.hdf5 object-perturbed task=False hri=False safe=False steps=81 +2026-10-01T02:01:41.170475+00:00 RUN [9/20] tomato-to-bowl/takeaway state=8 source=8 episode_000009.hdf5 object-perturbed +2026-10-01T02:08:38.640176+00:00 DONE [9/20] tomato-to-bowl/takeaway state=8 episode_000009.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:08:38.640537+00:00 RUN [10/20] tomato-to-bowl/takeaway state=9 source=9 episode_000010.hdf5 object-perturbed +2026-10-01T02:15:26.746406+00:00 DONE [10/20] tomato-to-bowl/takeaway state=9 episode_000010.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:15:26.746630+00:00 RUN [11/20] tomato-to-bowl/takeaway state=10 source=10 episode_000011.hdf5 object-perturbed +2026-10-01T02:22:22.659605+00:00 DONE [11/20] tomato-to-bowl/takeaway state=10 episode_000011.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:22:22.660014+00:00 RUN [12/20] tomato-to-bowl/takeaway state=11 source=11 episode_000012.hdf5 object-perturbed +2026-10-01T02:29:09.984278+00:00 DONE [12/20] tomato-to-bowl/takeaway state=11 episode_000012.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:29:09.984535+00:00 RUN [13/20] tomato-to-bowl/takeaway state=12 source=12 episode_000013.hdf5 object-perturbed +2026-10-01T02:36:01.080047+00:00 DONE [13/20] tomato-to-bowl/takeaway state=12 episode_000013.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:36:01.080413+00:00 RUN [14/20] tomato-to-bowl/takeaway state=13 source=13 episode_000014.hdf5 object-perturbed +2026-10-01T02:37:05.824990+00:00 DONE [14/20] tomato-to-bowl/takeaway state=13 episode_000014.hdf5 object-perturbed task=False hri=False safe=False steps=81 +2026-10-01T02:37:05.825293+00:00 RUN [15/20] tomato-to-bowl/takeaway state=14 source=14 episode_000015.hdf5 object-perturbed +2026-10-01T02:37:51.327691+00:00 DONE [15/20] tomato-to-bowl/takeaway state=14 episode_000015.hdf5 object-perturbed task=False hri=False safe=False steps=54 +2026-10-01T02:37:51.327894+00:00 RUN [16/20] tomato-to-bowl/takeaway state=15 source=15 episode_000016.hdf5 object-perturbed +2026-10-01T02:44:50.336501+00:00 DONE [16/20] tomato-to-bowl/takeaway state=15 episode_000016.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:44:50.336859+00:00 RUN [17/20] tomato-to-bowl/takeaway state=16 source=16 episode_000017.hdf5 object-perturbed +2026-10-01T02:51:42.853775+00:00 DONE [17/20] tomato-to-bowl/takeaway state=16 episode_000017.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T02:51:42.854106+00:00 RUN [18/20] tomato-to-bowl/takeaway state=17 source=17 episode_000018.hdf5 object-perturbed +2026-10-01T02:53:14.937243+00:00 DONE [18/20] tomato-to-bowl/takeaway state=17 episode_000018.hdf5 object-perturbed task=False hri=True safe=True steps=108 +2026-10-01T02:53:14.937442+00:00 RUN [19/20] tomato-to-bowl/takeaway state=18 source=18 episode_000019.hdf5 object-perturbed +2026-10-01T02:54:26.322784+00:00 DONE [19/20] tomato-to-bowl/takeaway state=18 episode_000019.hdf5 object-perturbed task=False hri=False safe=False steps=86 +2026-10-01T02:54:26.323005+00:00 RUN [20/20] tomato-to-bowl/takeaway state=19 source=19 episode_000020.hdf5 object-perturbed +2026-10-01T03:01:15.259747+00:00 DONE [20/20] tomato-to-bowl/takeaway state=19 episode_000020.hdf5 object-perturbed task=False hri=False safe=True steps=650 +2026-10-01T03:01:15.263680+00:00 SUMMARY completed=20/20 paired=0 diff --git a/takeaway/rollouts/tomato-to-bowl__takeaway/state_000_episode_000001_84b404931ea8/object-perturbed/rollout.mp4 b/takeaway/rollouts/tomato-to-bowl__takeaway/state_000_episode_000001_84b404931ea8/object-perturbed/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9e00b432e2cb1bf103eb2b601f9a35809909e37b --- /dev/null +++ b/takeaway/rollouts/tomato-to-bowl__takeaway/state_000_episode_000001_84b404931ea8/object-perturbed/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8cea6b78b216fec06d31c59bdfe07e9f99daeed0c9afc04bcc180b3aca161d7 +size 235027 diff --git a/takeaway/rollouts/tomato-to-bowl__takeaway/state_000_episode_000001_84b404931ea8/object-perturbed/rollout.npz 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