Hugging Face's logo

Datasets:
waynechu1109
/
mimic

Modalities:
Image
Dataset card Data Studio Files
xet
 Community
waynechu1109 commited on
Commit
c2d914e
·
verified ·
1 Parent(s): 88bab49

Upload folder using huggingface_hub

Browse files
Files changed (4) hide show
  1. .gitattributes +2 -0
  2. insert_bottles/synthplace_batch_margin1/gen.hdf5 +3 -0
  3. insert_bottles/synthplace_batch_margin1/gen.log +324 -0
  4. insert_bottles/synthplace_batch_margin1/gen_failed.hdf5 +3 -0
.gitattributes CHANGED
@@ -12821,3 +12821,5 @@ small_boxes/0720_3/gen/gpu7.hdf5 filter=lfs diff=lfs merge=lfs -text
12821
  small_boxes/0720_3/gen/gpu7_failed.hdf5 filter=lfs diff=lfs merge=lfs -text
12822
  small_boxes/0720_3/src.hdf5 filter=lfs diff=lfs merge=lfs -text
12823
  small_boxes/0720_3/wpgen.hdf5 filter=lfs diff=lfs merge=lfs -text
 
 
 
12821
  small_boxes/0720_3/gen/gpu7_failed.hdf5 filter=lfs diff=lfs merge=lfs -text
12822
  small_boxes/0720_3/src.hdf5 filter=lfs diff=lfs merge=lfs -text
12823
  small_boxes/0720_3/wpgen.hdf5 filter=lfs diff=lfs merge=lfs -text
12824
+ insert_bottles/synthplace_batch_margin1/gen.hdf5 filter=lfs diff=lfs merge=lfs -text
12825
+ insert_bottles/synthplace_batch_margin1/gen_failed.hdf5 filter=lfs diff=lfs merge=lfs -text
insert_bottles/synthplace_batch_margin1/gen.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ab6f0275fc980546fa263e4124c83075f93decebc084b678880619a0a8525642
3
+ size 59329300
insert_bottles/synthplace_batch_margin1/gen.log ADDED
@@ -0,0 +1,324 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 
2
+ Loading user config located at: '/home/ubuntu/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
3
+ [Info] [carb] Logging to file: /home/ubuntu/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260812_203648.log
4
+ 2026-08-12T20:36:48Z [83ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX
5
+ 2026-08-12T20:36:48Z [342ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
6
+ 2026-08-12T20:36:48Z [482ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
7
+ 2026-08-12T20:36:48Z [490ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
8
+ 2026-08-12T20:36:51Z [3,273ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
9
+ 2026-08-12T20:36:51Z [3,273ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
10
+ 2026-08-12T20:36:51Z [3,273ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
11
+ 2026-08-12T20:36:51Z [3,340ms] [Error] [carb.graphics-vulkan.plugin] VkResult: ERROR_INCOMPATIBLE_DRIVER
12
+ 2026-08-12T20:36:51Z [3,340ms] [Error] [carb.graphics-vulkan.plugin] vkCreateInstance failed. Vulkan 1.1 is not supported, or your driver requires an update.
13
+ 2026-08-12T20:36:51Z [3,340ms] [Error] [gpu.foundation.plugin] carb::graphics::createInstance failed.
14
+ 2026-08-12T20:36:52Z [4,371ms] [Error] [gpu.foundation.plugin] Invalid getDeviceInfo parameters.
15
+ [WARN][AppLauncher]: There are no arguments attached to the ArgumentParser object. If you have your own arguments, please load your own arguments before calling the `AppLauncher.add_app_launcher_args` method. This allows the method to check the validity of the arguments and perform checks for argument names.
16
+ [INFO][AppLauncher]: Using device: cuda
17
+ [INFO][AppLauncher]: Loading experience file: /home/ubuntu/workspace/wayne/IsaacLab/apps/isaaclab.python.headless.kit
18
+ >> 08-12 20:36:52 [wpgen/setup] seated-orientation gate ON (insert.conditions.bottles): |yaw of axis (0.0, 1.0, 0.0)|<=15deg, tilt[level]<=10deg
19
+ >> 08-12 20:36:52 [wpgen/setup] SYNTH place windows ON: clear=[0.08, 0.12] hover=[0.015, 0.03] hover_xy=0.005 place_z=0.024 (replayed place vias replaced; grasp/push untouched)
20
+ >> 08-12 20:36:52 [wpgen/setup] EXCLUDED 2 source demo(s) via mimic.exclude_takes (demo_16=take_20260807_142443, demo_17=take_20260807_142630); 23 remain
21
+ >> 08-12 20:36:52 [wpgen/setup] task=bottles (Isaac-InsertBottles-PiperX-IK-Abs-Mimic-v0) payloads=['insert_bottle_0', 'insert_bottle_1', 'insert_bottle_2', 'insert_bottle_3']
22
+ >> 08-12 20:36:52 [wpgen/setup] annotation=/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/insert_bottles/0807_1/insert_bottles_annotation.json source=demo_0 subtasks=['grasp_bottle_0', 'place_bottle_0', 'push_seat_0']
23
+ 2026-08-12T20:36:52Z [4,371ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Couldn't get driver version, failed to getDeviceInfo
24
+ 2026-08-12T20:36:52Z [4,371ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Unable to get IGpuFoundation, GpuDevices or Graphics!
25
+ 2026-08-12T20:36:53Z [5,326ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
26
+ 2026-08-12T20:36:53Z [5,326ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
27
+ 2026-08-12T20:36:53Z [5,355ms] [Error] [carb.graphics-vulkan.plugin] VkResult: ERROR_INCOMPATIBLE_DRIVER
28
+ 2026-08-12T20:36:53Z [5,355ms] [Error] [carb.graphics-vulkan.plugin] vkCreateInstance failed. Vulkan 1.1 is not supported, or your driver requires an update.
29
+ 2026-08-12T20:36:53Z [5,355ms] [Error] [gpu.foundation.plugin] carb::graphics::createInstance failed.
30
+ 2026-08-12T20:36:54Z [6,474ms] [Error] [carb.graphics-vulkan.plugin] VkResult: ERROR_INCOMPATIBLE_DRIVER
31
+ 2026-08-12T20:36:54Z [6,474ms] [Error] [carb.graphics-vulkan.plugin] vkCreateInstance failed. Vulkan 1.1 is not supported, or your driver requires an update.
32
+ 2026-08-12T20:36:54Z [6,474ms] [Error] [gpu.foundation.plugin] carb::graphics::createInstance failed.
33
+ 2026-08-12T20:36:55Z [7,534ms] [Error] [omni.gpu_foundation_factory.plugin] Failed to create any GPU devices, including an attempt with compatibility mode.
34
+ sh: 1: zenity: not found
35
+ 2026-08-12T20:36:55Z [7,620ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
36
+ 2026-08-12T20:36:55Z [7,620ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
37
+ 2026-08-12T20:36:55Z [7,624ms] [Error] [omni.kit.renderer.plugin] GPU Foundation is not initialized!
38
+ 2026-08-12T20:36:55Z [7,631ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
39
+ 2026-08-12T20:36:55Z [7,631ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
40
+ 2026-08-12T20:36:55Z [7,639ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
41
+ 2026-08-12T20:36:55Z [7,639ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
42
+ 2026-08-12T20:36:55Z [7,641ms] [Error] [omni.kit.imgui_renderer.plugin] _prepareDefaultWindow: invalid device attached to the default window!
43
+ 2026-08-12T20:36:56Z [8,124ms] [Warning] [omni.graph.visualization.nodes._impl.extension] No Viewport Window to add omni.graph.visualization.nodes-2.1.3 scene to
44
+ 2026-08-12T20:36:56Z [8,158ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
45
+ 2026-08-12T20:36:56Z [8,158ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
46
+ 2026-08-12T20:36:56Z [8,164ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
47
+ 2026-08-12T20:36:56Z [8,164ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
48
+ [INFO]: Parsing configuration from: nimble.brain.sim.mimic.bottle_env_cfg:BottlesMimicEnvCfg
49
+
50
+ ======================================================================================
51
+ [INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-12_20-36-56.log
52
+ ======================================================================================
53
+
54
+ 20:36:56 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
55
+ [INFO]: Base environment:
56
+ Environment device : cuda:0
57
+ Environment seed : None
58
+ Physics step-size : 0.0020833333333333333
59
+ Rendering step-size : 0.016666666666666666
60
+ Environment step-size : 0.016666666666666666
61
+ [INFO]: Time taken for scene creation : 4.648128 seconds
62
+ [INFO]: Scene manager: <class InteractiveScene>
63
+ Number of environments: 512
64
+ Environment spacing : 3.0
65
+ Source prim name : /World/envs/env_0
66
+ Global prim paths : []
67
+ Replicate physics : True
68
+ [INFO]: Starting the simulation. This may take a few seconds. Please wait...
69
+ [INFO]: Time taken for simulation start : 1.821863 seconds
70
+ [INFO] Command Manager: <CommandManager> contains 0 active terms.
71
+ +------------------------+
72
+ | Active Command Terms |
73
+ +--------+-------+-------+
74
+ | Index | Name | Type |
75
+ +--------+-------+-------+
76
+ +--------+-------+-------+
77
+
78
+ [INFO] Event Manager: <EventManager> contains 1 active terms.
79
+ +-------------------------------------+
80
+ | Active Event Terms in Mode: 'reset' |
81
+ +----------+--------------------------+
82
+ | Index | Name |
83
+ +----------+--------------------------+
84
+ | 0 | randomize_layout |
85
+ | 1 | seat_brush |
86
+ +----------+--------------------------+
87
+
88
+ [INFO] Recorder Manager: <RecorderManager> contains 6 active terms.
89
+ +--------------------------------------------------+
90
+ | Active Recorder Terms |
91
+ +-------+------------------------------------------+
92
+ | Index | Name |
93
+ +-------+------------------------------------------+
94
+ | 0 | record_initial_state |
95
+ | 1 | record_post_step_states |
96
+ | 2 | record_pre_step_actions |
97
+ | 3 | record_pre_step_flat_policy_observations |
98
+ | 4 | record_post_step_processed_actions |
99
+ | 5 | record_post_step_joint_commands |
100
+ +-------+------------------------------------------+
101
+
102
+ [INFO] Action Manager: <ActionManager> contains 2 active terms.
103
+ +-----------------------------------+
104
+ | Active Action Terms (shape: 8) |
105
+ +-------+---------------+-----------+
106
+ | Index | Name | Dimension |
107
+ +-------+---------------+-----------+
108
+ | 0 | right_arm | 7 |
109
+ | 1 | right_gripper | 1 |
110
+ +-------+---------------+-----------+
111
+
112
+ [INFO] Observation Manager: <ObservationManager> contains 2 groups.
113
+ +---------------------------------------------+
114
+ | Active Observation Terms in Group: 'policy' |
115
+ +----------+-----------------------+----------+
116
+ | Index | Name | Shape |
117
+ +----------+-----------------------+----------+
118
+ | 0 | actions | (8,) |
119
+ | 1 | left_eef_pos | (3,) |
120
+ | 2 | left_eef_quat | (4,) |
121
+ | 3 | right_eef_pos | (3,) |
122
+ | 4 | right_eef_quat | (4,) |
123
+ | 5 | left_gripper | (1,) |
124
+ | 6 | right_gripper | (1,) |
125
+ | 7 | box_pose | (7,) |
126
+ | 8 | bottle_0_pose | (7,) |
127
+ | 9 | bottle_1_pose | (7,) |
128
+ | 10 | bottle_2_pose | (7,) |
129
+ | 11 | bottle_3_pose | (7,) |
130
+ +----------+-----------------------+----------+
131
+ +---------------------------------------------------+
132
+ | Active Observation Terms in Group: 'subtask_terms' |
133
+ +-----------+---------------------------+-----------+
134
+ | Index | Name | Shape |
135
+ +-----------+---------------------------+-----------+
136
+ | 0 | grasp_bottle_0 | () |
137
+ | 1 | bottle_0_placed | () |
138
+ | 2 | grasp_bottle_1 | () |
139
+ | 3 | bottle_1_placed | () |
140
+ | 4 | grasp_bottle_2 | () |
141
+ | 5 | bottle_2_placed | () |
142
+ | 6 | grasp_bottle_3 | () |
143
+ | 7 | bottle_3_placed | () |
144
+ +-----------+---------------------------+-----------+
145
+
146
+ [INFO] Termination Manager: <TerminationManager> contains 1 active terms.
147
+ +-----------------------------+
148
+ | Active Termination Terms |
149
+ +-------+----------+----------+
150
+ | Index | Name | Time Out |
151
+ +-------+----------+----------+
152
+ | 0 | time_out | True |
153
+ +-------+----------+----------+
154
+
155
+ [INFO] Reward Manager: <RewardManager> contains 0 active terms.
156
+ +-----------------------+
157
+ | Active Reward Terms |
158
+ +-------+------+--------+
159
+ | Index | Name | Weight |
160
+ +-------+------+--------+
161
+ +-------+------+--------+
162
+
163
+ [INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
164
+ +----------------------+
165
+ | Active Curriculum Terms |
166
+ +-----------+----------+
167
+ | Index | Name |
168
+ +-----------+----------+
169
+ +-----------+----------+
170
+
171
+ [INFO]: Completed setting up the environment...
172
+ >> 08-12 20:37:03 [env] settle gate: position<10mm AND orientation<5.2deg (settle_ori_tol)
173
+ >> 08-12 20:37:03 [env] widened J4 limit to +-88deg
174
+ >> 08-12 20:37:04 [wpgen/setup] box base mass set to 0.6 kg (stops the box being shoved on contact)
175
+ >> 08-12 20:37:04 [wpgen/chunk] catalog dropped 6 chunk(s) seated OFF-ORIENTATION (would fail the accept gate on every replay): demo_1/b1 tilt, demo_4/b0 tilt, demo_9/b0 tilt, demo_13/b2 tilt, demo_15/b1 tilt, demo_23/b1 tilt
176
+ >> 08-12 20:37:04 [wpgen/chunk] CHUNK mode: 13 usable source chunks; native target slot s0:4, s1:1, s2:4, s3:4
177
+ >> 08-12 20:37:04 [wpgen/chunk] RETARGET on: target slot decoupled from the source chunk (pairs in the source: [(0, 0), (0, 2), (0, 3), (1, 0), (1, 2), (1, 3), (2, 1)])
178
+ >> 08-12 20:37:04 [wpgen/chunk] BALANCE on: scheduling by fewest KEPT per (cube, slot), give up on a pair after 20 barren attempts
179
+ >> 08-12 20:37:04 [wpgen/chunk] REPAYLOAD on: source chunk decoupled from the DELIVERED payload -- any of the 13 chunks may be re-pointed at any of the 4 payloads, so all 16 (cube, slot) pairs are schedulable (sourced cubes: [0, 1, 2])
180
+ >> 08-12 20:37:04 [wpgen/setup] no-weld hold bounds (src grasp offset + grasp_hold_xy): insert_bottle_0=43mm, insert_bottle_1=40mm, insert_bottle_2=42mm
181
+ >> 08-12 20:37:04 [wpgen/setup] REPAYLOAD hold bound for un-sourced payloads ['insert_bottle_3']: 43mm (largest measured source offset)
182
+ >> 08-12 20:37:04 [wpgen/chunk] BATCHED chunks: num_envs=512, one cube per batch, per-env slot/occupancy. target 1 kept, budget 512 rollouts
183
+ >> 08-12 20:37:05 [wpgen/setup] randomized initial arm pose ON (mimic.init_arm_random): arms=['right_arm', 'left_arm'], delta=[0.4, 0.3, 0.3, 0.4, 0.4, 0.6] rad around home (clamped inside motion_filter joint limits)
184
+ >> 08-12 20:37:46 [gen] step 40: lag=34/42mm(med/max) ORI=0/1deg(med/p90) j2sat=0.09/0.01(med/min) bottle_0_tilt=17/17deg(med/p90) eef->bottle_0=392mm(med) grip=0/512 bottle_0->pocket=222/286mm(med/p90)
185
+ >> 08-12 20:38:19 [gen] step 80: lag=26/375mm(med/max) ORI=1/3deg(med/p90) j2sat=0.18/-0.00(med/min) bottle_0_tilt=17/17deg(med/p90) eef->bottle_0=243mm(med) grip=0/512 bottle_0->pocket=222/286mm(med/p90)
186
+ >> 08-12 20:38:53 [gen] step 120: lag=12/773mm(med/max) ORI=0/1deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_0_tilt=17/17deg(med/p90) eef->bottle_0=125mm(med) grip=0/512 bottle_0->pocket=222/286mm(med/p90)
187
+ >> 08-12 20:39:26 [gen] step 160: lag=0/1010mm(med/max) ORI=0/0deg(med/p90) j4sat=0.12/-0.00(med/min) bottle_0_tilt=17/17deg(med/p90) eef->bottle_0=110mm(med) grip=0/512 bottle_0->pocket=222/286mm(med/p90)
188
+ >> 08-12 20:39:59 [gen] step 200: lag=0/696mm(med/max) ORI=0/0deg(med/p90) j4sat=0.12/-0.00(med/min) bottle_0_tilt=17/17deg(med/p90) eef->bottle_0=110mm(med) grip=0/512 bottle_0->pocket=223/286mm(med/p90)
189
+ >> 08-12 20:40:35 [gen] step 240: lag=3/672mm(med/max) ORI=0/4deg(med/p90) j4sat=0.14/-0.00(med/min) bottle_0_tilt=17/86deg(med/p90) eef->bottle_0=21mm(med) grip=440/512 bottle_0->pocket=222/290mm(med/p90)
190
+ >> 08-12 20:41:10 [gen] step 280: lag=0/672mm(med/max) ORI=0/3deg(med/p90) j4sat=0.14/-0.00(med/min) bottle_0_tilt=17/108deg(med/p90) eef->bottle_0=21mm(med) grip=478/512 bottle_0->pocket=220/289mm(med/p90)
191
+ >> 08-12 20:41:33 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=18.6mm minimal-tilt=16.1deg free-spin=15.8deg (accepted)
192
+ >> 08-12 20:41:33 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=53.9deg (of total-rotation=56.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
193
+ >> 08-12 20:41:33 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=147.9deg (of total-rotation=168.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
194
+ >> 08-12 20:41:33 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=116.5deg (of total-rotation=116.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
195
+ >> 08-12 20:41:33 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=105.0deg (of total-rotation=108.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
196
+ >> 08-12 20:41:33 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=25.9mm minimal-tilt=17.7deg free-spin=0.2deg (accepted)
197
+ >> 08-12 20:41:33 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=59.6deg (of total-rotation=62.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
198
+ >> 08-12 20:41:34 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=120.7deg (of total-rotation=122.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
199
+ >> 08-12 20:41:34 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=102.1deg (of total-rotation=108.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
200
+ >> 08-12 20:41:34 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=16.5mm minimal-tilt=14.7deg free-spin=23.7deg (accepted)
201
+ >> 08-12 20:41:34 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=112.3deg (of total-rotation=113.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
202
+ >> 08-12 20:41:35 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=85.8deg (of total-rotation=121.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
203
+ >> 08-12 20:41:35 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=121.2deg (of total-rotation=121.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
204
+ >> 08-12 20:41:36 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=114.9deg (of total-rotation=117.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
205
+ >> 08-12 20:41:36 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=163.8deg (of total-rotation=168.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
206
+ >> 08-12 20:41:36 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=113.1deg (of total-rotation=114.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
207
+ >> 08-12 20:41:36 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=105.4deg (of total-rotation=109.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
208
+ >> 08-12 20:41:36 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=119.3deg (of total-rotation=120.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
209
+ >> 08-12 20:41:36 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=106.1deg (of total-rotation=109.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
210
+ >> 08-12 20:41:37 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=108.0deg (of total-rotation=108.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
211
+ >> 08-12 20:41:37 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=83.6deg (of total-rotation=87.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
212
+ >> 08-12 20:41:37 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=13.5mm minimal-tilt=22.8deg free-spin=7.5deg (accepted)
213
+ >> 08-12 20:41:37 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=161.3deg (of total-rotation=163.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
214
+ >> 08-12 20:41:37 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=45.3deg (of total-rotation=46.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
215
+ >> 08-12 20:41:38 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=153.5deg (of total-rotation=153.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
216
+ >> 08-12 20:41:38 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=108.3deg (of total-rotation=109.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
217
+ >> 08-12 20:41:38 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=32.8mm minimal-tilt=29.6deg free-spin=0.2deg (accepted)
218
+ >> 08-12 20:41:38 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=106.9deg (of total-rotation=110.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
219
+ >> 08-12 20:41:38 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=65.9deg (of total-rotation=67.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
220
+ >> 08-12 20:41:39 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=107.5deg (of total-rotation=109.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
221
+ >> 08-12 20:41:39 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=137.7deg (of total-rotation=144.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
222
+ >> 08-12 20:41:39 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=137.9deg (of total-rotation=168.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
223
+ >> 08-12 20:41:39 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=108.7deg (of total-rotation=109.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
224
+ >> 08-12 20:41:39 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=108.2deg (of total-rotation=108.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
225
+ >> 08-12 20:41:39 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=167.9deg (of total-rotation=169.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
226
+ >> 08-12 20:41:40 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=107.4deg (of total-rotation=108.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
227
+ >> 08-12 20:41:40 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=103.3deg (of total-rotation=108.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
228
+ >> 08-12 20:41:40 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=108.1deg (of total-rotation=108.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
229
+ >> 08-12 20:41:40 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=48.6deg (of total-rotation=48.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
230
+ >> 08-12 20:41:40 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=77.7deg (of total-rotation=110.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
231
+ >> 08-12 20:41:40 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=28.3mm minimal-tilt=15.9deg free-spin=1.5deg (accepted)
232
+ >> 08-12 20:41:40 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=49.0deg (of total-rotation=50.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
233
+ >> 08-12 20:41:40 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=93.5deg (of total-rotation=114.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
234
+ >> 08-12 20:41:40 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=88.1deg (of total-rotation=108.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
235
+ >> 08-12 20:41:40 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=69.3deg (of total-rotation=70.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
236
+ >> 08-12 20:41:40 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=149.0deg (of total-rotation=169.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
237
+ >> 08-12 20:41:40 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=105.9deg (of total-rotation=109.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
238
+ >> 08-12 20:41:41 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=118.8deg (of total-rotation=118.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
239
+ >> 08-12 20:41:41 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=19.9mm minimal-tilt=17.4deg free-spin=0.0deg (accepted)
240
+ >> 08-12 20:41:41 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=107.2deg (of total-rotation=109.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
241
+ >> 08-12 20:41:42 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=9.6mm minimal-tilt=13.7deg free-spin=35.5deg (accepted)
242
+ >> 08-12 20:41:42 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=107.8deg (of total-rotation=118.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
243
+ >> 08-12 20:41:42 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=108.9deg (of total-rotation=109.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
244
+ >> 08-12 20:41:42 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=117.3deg (of total-rotation=120.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
245
+ >> 08-12 20:41:43 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=16.1mm minimal-tilt=13.2deg free-spin=24.0deg (accepted)
246
+ >> 08-12 20:41:43 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=113.6deg (of total-rotation=113.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
247
+ >> 08-12 20:41:43 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=153.3deg (of total-rotation=153.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
248
+ >> 08-12 20:41:43 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=113.5deg (of total-rotation=113.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
249
+ >> 08-12 20:41:43 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=95.5deg (of total-rotation=109.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
250
+ >> 08-12 20:41:43 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=102.5deg (of total-rotation=119.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
251
+ >> 08-12 20:41:43 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=144.8deg (of total-rotation=168.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
252
+ >> 08-12 20:41:43 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=162.8deg (of total-rotation=169.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
253
+ >> 08-12 20:41:44 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=48.0deg (of total-rotation=48.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
254
+ >> 08-12 20:41:44 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=17.2mm minimal-tilt=17.8deg free-spin=1.4deg (accepted)
255
+ >> 08-12 20:41:44 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=100.2deg (of total-rotation=111.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
256
+ >> 08-12 20:41:44 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=23.9mm minimal-tilt=38.1deg free-spin=0.7deg (accepted)
257
+ >> 08-12 20:41:44 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=108.4deg (of total-rotation=110.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
258
+ >> 08-12 20:41:44 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=118.4deg (of total-rotation=118.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
259
+ >> 08-12 20:41:44 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=65.7deg (of total-rotation=65.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
260
+ >> 08-12 20:41:44 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=152.8deg (of total-rotation=153.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
261
+ >> 08-12 20:41:45 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=21.4mm minimal-tilt=17.3deg free-spin=4.9deg (accepted)
262
+ >> 08-12 20:41:45 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=101.0deg (of total-rotation=109.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
263
+ >> 08-12 20:41:45 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=48.1deg (of total-rotation=55.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
264
+ >> 08-12 20:41:45 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=33.2mm minimal-tilt=13.2deg free-spin=4.2deg (accepted)
265
+ >> 08-12 20:41:45 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=71.4deg (of total-rotation=73.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
266
+ >> 08-12 20:41:45 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=26.5mm minimal-tilt=25.3deg free-spin=9.0deg (accepted)
267
+ >> 08-12 20:41:46 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=153.4deg (of total-rotation=153.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
268
+ >> 08-12 20:41:46 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=113.9deg (of total-rotation=119.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
269
+ >> 08-12 20:41:46 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=97.8deg (of total-rotation=103.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
270
+ >> 08-12 20:41:46 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=78.2deg (of total-rotation=80.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
271
+ >> 08-12 20:41:47 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=117.0deg (of total-rotation=119.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
272
+ >> 08-12 20:41:47 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=20.8mm minimal-tilt=18.0deg free-spin=7.1deg (accepted)
273
+ >> 08-12 20:41:47 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=88.5deg (of total-rotation=97.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
274
+ >> 08-12 20:41:47 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=75.1deg (of total-rotation=83.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
275
+ >> 08-12 20:41:47 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=145.4deg (of total-rotation=153.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
276
+ >> 08-12 20:41:47 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=113.6deg (of total-rotation=118.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
277
+ >> 08-12 20:41:47 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=46.1deg (of total-rotation=47.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
278
+ >> 08-12 20:41:47 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=108.0deg (of total-rotation=109.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
279
+ >> 08-12 20:41:48 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=112.9deg (of total-rotation=113.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
280
+ >> 08-12 20:41:48 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=145.5deg (of total-rotation=168.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
281
+ >> 08-12 20:41:48 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=117.2deg (of total-rotation=120.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
282
+ >> 08-12 20:41:48 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=15.6mm minimal-tilt=20.3deg free-spin=5.0deg (accepted)
283
+ >> 08-12 20:41:49 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=30.1mm minimal-tilt=10.2deg free-spin=9.0deg (accepted)
284
+ >> 08-12 20:41:49 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=21.3mm minimal-tilt=14.7deg free-spin=2.6deg (accepted)
285
+ >> 08-12 20:41:49 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=49.0deg (of total-rotation=83.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
286
+ >> 08-12 20:41:49 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=105.5deg (of total-rotation=116.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
287
+ >> 08-12 20:41:49 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=16.5mm minimal-tilt=15.6deg free-spin=3.7deg (accepted)
288
+ >> 08-12 20:41:49 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=106.2deg (of total-rotation=108.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
289
+ >> 08-12 20:41:50 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=144.9deg (of total-rotation=153.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
290
+ >> 08-12 20:42:01 [gen] step 320: lag=3/667mm(med/max) ORI=0/3deg(med/p90) j4sat=0.14/-0.00(med/min) bottle_0_tilt=17/108deg(med/p90) eef->bottle_0=21mm(med) grip=476/512 bottle_0->pocket=222/288mm(med/p90)
291
+ >> 08-12 20:42:35 [gen] step 360: lag=6/667mm(med/max) ORI=0/4deg(med/p90) j4sat=0.08/-0.00(med/min) bottle_0_tilt=17/108deg(med/p90) eef->bottle_0=27mm(med) grip=319/512 bottle_0->pocket=226/293mm(med/p90)
292
+ >> 08-12 20:43:09 [gen] step 400: lag=2/667mm(med/max) ORI=0/6deg(med/p90) j4sat=0.04/-0.00(med/min) bottle_0_tilt=17/108deg(med/p90) eef->bottle_0=28mm(med) grip=302/512 bottle_0->pocket=236/298mm(med/p90)
293
+ >> 08-12 20:43:45 [gen] step 440: lag=3/667mm(med/max) ORI=0/5deg(med/p90) j4sat=0.05/-0.00(med/min) bottle_0_tilt=17/108deg(med/p90) eef->bottle_0=28mm(med) grip=302/512 bottle_0->pocket=226/291mm(med/p90)
294
+ >> 08-12 20:44:18 [gen] step 480: lag=4/667mm(med/max) ORI=0/3deg(med/p90) j4sat=0.06/-0.00(med/min) bottle_0_tilt=17/108deg(med/p90) eef->bottle_0=28mm(med) grip=302/512 bottle_0->pocket=207/274mm(med/p90)
295
+ >> 08-12 20:44:55 [gen] step 520: lag=5/667mm(med/max) ORI=0/2deg(med/p90) j4sat=0.07/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=195mm(med) grip=1/512 bottle_2->pocket=145/279mm(med/p90)
296
+ >> 08-12 20:45:28 [gen] step 560: lag=5/667mm(med/max) ORI=0/1deg(med/p90) j4sat=0.08/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=185mm(med) grip=2/512 bottle_2->pocket=144/279mm(med/p90)
297
+ >> 08-12 20:46:01 [gen] step 600: lag=4/667mm(med/max) ORI=0/2deg(med/p90) j4sat=0.07/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=189mm(med) grip=2/512 bottle_2->pocket=144/279mm(med/p90)
298
+ >> 08-12 20:46:39 [gen] step 640: lag=4/667mm(med/max) ORI=0/2deg(med/p90) j4sat=0.08/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=212mm(med) grip=13/512 bottle_2->pocket=144/279mm(med/p90)
299
+ >> 08-12 20:47:12 [gen] step 680: lag=4/667mm(med/max) ORI=0/2deg(med/p90) j4sat=0.09/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=219mm(med) grip=43/512 bottle_2->pocket=144/279mm(med/p90)
300
+ >> 08-12 20:47:46 [gen] step 720: lag=4/667mm(med/max) ORI=0/1deg(med/p90) j4sat=0.12/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=218mm(med) grip=74/512 bottle_2->pocket=144/279mm(med/p90)
301
+ >> 08-12 20:48:20 [gen] step 760: lag=4/667mm(med/max) ORI=0/1deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=218mm(med) grip=86/512 bottle_2->pocket=144/279mm(med/p90)
302
+ >> 08-12 20:48:56 [gen] step 800: lag=3/667mm(med/max) ORI=0/1deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=218mm(med) grip=87/512 bottle_2->pocket=144/279mm(med/p90)
303
+ >> 08-12 20:49:30 [gen] step 840: lag=5/667mm(med/max) ORI=1/3deg(med/p90) j4sat=0.14/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=219mm(med) grip=86/512 bottle_2->pocket=144/283mm(med/p90)
304
+ >> 08-12 20:49:53 [wpgen/diag] place_bottle_0: post-phaseB margin-to-placed_z(mm) n=221 med=6.2 p10=-0.0 frac_over=10% dist(mm) med=3.9 p90=22.6
305
+ >> 08-12 20:50:04 [gen] step 880: lag=2/667mm(med/max) ORI=0/2deg(med/p90) j4sat=0.14/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=219mm(med) grip=0/512 bottle_2->pocket=144/285mm(med/p90)
306
+ >> 08-12 20:50:43 [gen] step 920: lag=8/667mm(med/max) ORI=1/3deg(med/p90) j4sat=0.08/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=219mm(med) grip=0/512 bottle_2->pocket=144/285mm(med/p90)
307
+ >> 08-12 20:51:18 [gen] step 960: lag=5/667mm(med/max) ORI=0/2deg(med/p90) j4sat=0.11/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=218mm(med) grip=44/512 bottle_2->pocket=145/285mm(med/p90)
308
+ >> 08-12 20:51:58 [gen] step 1000: lag=10/667mm(med/max) ORI=1/6deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=219mm(med) grip=51/512 bottle_2->pocket=145/285mm(med/p90)
309
+ >> 08-12 20:52:31 [gen] step 1040: lag=0/667mm(med/max) ORI=0/2deg(med/p90) j4sat=0.10/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=221mm(med) grip=3/512 bottle_2->pocket=145/289mm(med/p90)
310
+ >> 08-12 20:52:40 [wpgen/press] push_seat_0: peak press force N all med=0.00 max=75.30 CONTACT n=209/512 med=11.39 p90=20.45 max=75.30 (gate 10.00 <= f <= 35.00)
311
+ >> 08-12 20:52:40 [wpgen/diag] push_seat_0: post-push seat terms n=219 xy_ok=87% (dist med=1.4 p90=25.2mm tol=15) z_ok=92% (z med=21.1 p10=21.0mm seat_z=27) ori_ok=80%
312
+ >> 08-12 20:53:05 [gen] step 1080: lag=0/667mm(med/max) ORI=0/2deg(med/p90) j4sat=0.09/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=220mm(med) grip=3/512 bottle_2->pocket=145/289mm(med/p90)
313
+ >> 08-12 20:55:48 [wpgen/progress] batch 1 (cube b0): 77/512 kept running 77/1 (512 rollouts)
314
+ >> 08-12 20:55:48 [wpgen/done] DONE (batched chunks): 77/1 kept in 512 rollouts (1 batches of 512). success 77 | fail@[place_bottle_0_slip 254, grasp_bottle_0 37, motion:right_arm:j5_pos 22, push_seat_0 120, place_bottle_0 2] (fail rate 435/512 = 85%)
315
+ >> 08-12 20:55:48 [wpgen/done] DISTRIBUTION of kept demos, (cube -> slot): count [attempted, keep rate]
316
+ >> 08-12 20:55:48 [wpgen/done] b0->s0: 28 [ 128, 22%] b0->s1: 21 [ 128, 16%] b0->s2: 16 [ 128, 12%] b0->s3: 12 [ 128, 9%] | b0 total 77
317
+ >> 08-12 20:55:48 [wpgen/done] b1->s0: 0 [ 0, 0%] b1->s1: 0 [ 0, 0%] b1->s2: 0 [ 0, 0%] b1->s3: 0 [ 0, 0%] | b1 total 0
318
+ >> 08-12 20:55:48 [wpgen/done] b2->s0: 0 [ 0, 0%] b2->s1: 0 [ 0, 0%] b2->s2: 0 [ 0, 0%] b2->s3: 0 [ 0, 0%] | b2 total 0
319
+ >> 08-12 20:55:48 [wpgen/done] b3->s0: 0 [ 0, 0%] b3->s1: 0 [ 0, 0%] b3->s2: 0 [ 0, 0%] b3->s3: 0 [ 0, 0%] | b3 total 0
320
+ >> 08-12 20:55:48 [wpgen/done] per-slot totals: s0= 28 s1= 21 s2= 16 s3= 12
321
+ >> 08-12 20:55:48 [wpgen/done] balance: min 0, max 28 per pair (infx spread over 16 pairs) <- UNEVEN, the commonest pair dominates training
322
+ 2026-08-12T20:36:56Z [8,328ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
323
+ 2026-08-12T20:36:56Z [8,332ms] [Warning] [omni.graph.core.plugin] OmniGraphSettings::getCudaDeviceOrdinal: unable to get a valid CUDA device id from the renderer. Defaulting to GPU0.
324
+ 2026-08-12T20:55:49Z [1,141,783ms] [Error] [omni.physx.plugin] CUDA libs are present, but no suitable CUDA GPU was found!
insert_bottles/synthplace_batch_margin1/gen_failed.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0e57ab1c762facdeaeb22647db24589de556d26276ae7c301be9948301937063
3
+ size 53657312